Added first CarSim integration to vehicle class.

LibCarla/source/carla/client/Vehicle.cpp

@@ -88,5 +88,9 @@ namespace client {
     return boost::static_pointer_cast<TrafficLight>(GetWorld().GetActor(id));
   }
 
+  void Vehicle::SetCarSimEnabled(bool enabled) {
+    GetEpisode().Lock()->SetCarSimEnabled(*this, enabled);
+  }
+
 } // namespace client
 } // namespace carla

LibCarla/source/carla/client/Vehicle.h

@@ -87,6 +87,9 @@ namespace client {
     /// Retrieve the traffic light actor currently affecting this vehicle.
     SharedPtr<TrafficLight> GetTrafficLight() const;
 
+    /// Enables CarSim simulation if it is availiable
+    void SetCarSimEnabled(bool enabled);
+
   private:
 
     const bool _is_control_sticky;

LibCarla/source/carla/client/detail/Client.cpp

@@ -330,6 +330,10 @@ namespace detail {
     _pimpl->AsyncCall("apply_control_to_vehicle", vehicle, control);
   }
 
+  void Client::SetCarSimEnabled(rpc::ActorId vehicle, bool enabled) {
+    _pimpl->AsyncCall("set_carsim_enabled", vehicle, enabled);
+  }
+
   void Client::ApplyControlToWalker(rpc::ActorId walker, const rpc::WalkerControl &control) {
     _pimpl->AsyncCall("apply_control_to_walker", walker, control);
   }

LibCarla/source/carla/client/detail/Client.h

@@ -211,6 +211,10 @@ namespace detail {
         rpc::ActorId vehicle,
         const rpc::VehicleControl &control);
 
+    void SetCarSimEnabled(
+        rpc::ActorId vehicle,
+        bool enabled);
+
     void ApplyControlToWalker(
         rpc::ActorId walker,
         const rpc::WalkerControl &control);

LibCarla/source/carla/client/detail/Simulator.h

@@ -445,6 +445,10 @@ namespace detail {
       _client.SetLightStateToVehicle(vehicle.GetId(), light_state);
     }
 
+    void SetCarSimEnabled(Vehicle &vehicle, bool enabled) {
+      _client.SetCarSimEnabled(vehicle.GetId(), enabled);
+    }
+
     /// @}
     // =========================================================================
     /// @name Operations with the recorder

PythonAPI/carla/source/libcarla/Actor.cpp

@@ -141,6 +141,7 @@ void export_actor() {
       .def("get_traffic_light_state", &cc::Vehicle::GetTrafficLightState)
       .def("is_at_traffic_light", &cc::Vehicle::IsAtTrafficLight)
       .def("get_traffic_light", &cc::Vehicle::GetTrafficLight)
+      .def("set_carsim_enabled", &cc::Vehicle::SetCarSimEnabled)
       .def(self_ns::str(self_ns::self))
   ;
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs

@@ -41,6 +41,13 @@ public class Carla : ModuleRules
         "ProceduralMeshComponent"
         // ... add other public dependencies that you statically link with here ...
       }
+      );
+    PublicDependencyModuleNames.AddRange(
+      new string[]
+      {
+        "CarSim"
+        // ... add other public dependencies that you statically link with here ...
+      }
       );
 
 	 if (Target.Type == TargetType.Editor)
@@ -68,6 +75,14 @@ public class Carla : ModuleRules
         // ... add private dependencies that you statically link with here ...
       }
       );
+    PrivateDependencyModuleNames.AddRange(
+      new string[]
+      {
+        "CarSim"
+        // ... add private dependencies that you statically link with here ...
+      }
+      );
+    PrivateIncludePathModuleNames.AddRange(new string[] { "CarSim" });
 
     DynamicallyLoadedModuleNames.AddRange(
       new string[]

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp

@@ -1083,6 +1083,24 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
+  BIND_SYNC(set_carsim_enabled) << [this](
+      cr::ActorId ActorId,
+      bool bEnabled) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    auto ActorView = Episode->FindActor(ActorId);
+    if (!ActorView.IsValid())
+    {
+      RESPOND_ERROR("unable to set carsim: actor not found");
+    }
+    auto Vehicle = Cast<ACarlaWheeledVehicle>(ActorView.GetActor());
+    if (Vehicle == nullptr)
+    {
+      RESPOND_ERROR("unable to set carsim: not actor is not a vehicle");
+    }
+    Vehicle->SetCarSimEnabled(bEnabled);
+    return R<void>::Success();
+  };
   // ~~ Traffic lights ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
   BIND_SYNC(set_traffic_light_state) << [this](

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp

@@ -33,6 +33,8 @@ ACarlaWheeledVehicle::ACarlaWheeledVehicle(const FObjectInitializer& ObjectIniti
   VelocityControl = CreateDefaultSubobject<UVehicleVelocityControl>(TEXT("VelocityControl"));
   VelocityControl->Deactivate();
 
+  CarSimMovementComponent = CreateDefaultSubobject<UCarSimMovementComponent>(TEXT("CarSimMovement"));
+
   GetVehicleMovementComponent()->bReverseAsBrake = false;
 }
 
@@ -110,6 +112,8 @@ void ACarlaWheeledVehicle::BeginPlay()
   }
 
   Vehicle4W->WheelSetups = NewWheelSetups;
+
+  SetCarSimEnabled(false);
 }
 
 void ACarlaWheeledVehicle::AdjustVehicleBounds()
@@ -176,6 +180,33 @@ float ACarlaWheeledVehicle::GetMaximumSteerAngle() const
 // =============================================================================
 
 void ACarlaWheeledVehicle::FlushVehicleControl()
+{
+  if (bCarSimEnabled)
+  {
+    CarSimMovementComponent->SetThrottleInput(InputControl.Control.Throttle);
+    CarSimMovementComponent->SetSteeringInput(InputControl.Control.Steer);
+    CarSimMovementComponent->SetBrakeInput(InputControl.Control.Brake);
+    if (InputControl.Control.bHandBrake)
+    {
+      CarSimMovementComponent->SetBrakeInput(InputControl.Control.Brake + 1.0);
+    }
+    // CarSimMovementComponent->SetHandbrakeInput(InputControl.Control.bHandBrake);
+    // if (LastAppliedControl.bReverse != InputControl.Control.bReverse)
+    // {
+    //   CarSimMovementComponent->SetUseAutoGears(!InputControl.Control.bReverse);
+    //   CarSimMovementComponent->SetTargetGear(InputControl.Control.bReverse ? -1 : 1, true);
+    // }
+    // else
+    // {
+    //   CarSimMovementComponent->SetUseAutoGears(!InputControl.Control.bManualGearShift);
+    //   if (InputControl.Control.bManualGearShift)
+    //   {
+    //     CarSimMovementComponent->SetTargetGear(InputControl.Control.Gear, true);
+    //   }
+    // }
+    InputControl.Control.Gear = CarSimMovementComponent->GetCurrentGear();
+  }
+  else
   {
     auto *MovementComponent = GetVehicleMovementComponent();
     MovementComponent->SetThrottleInput(InputControl.Control.Throttle);
@@ -196,6 +227,7 @@ void ACarlaWheeledVehicle::FlushVehicleControl()
       }
     }
     InputControl.Control.Gear = MovementComponent->GetCurrentGear();
+  }
   InputControl.Control.bReverse = InputControl.Control.Gear < 0;
   LastAppliedControl = InputControl.Control;
   InputControl.Priority = EVehicleInputPriority::INVALID;
@@ -453,3 +485,29 @@ void ACarlaWheeledVehicle::SetVehicleLightState(const FVehicleLightState &LightS
   InputControl.LightState = LightState;
   RefreshLightState(LightState);
 }
+
+//-----CARSIM--------------------------------
+void ACarlaWheeledVehicle::SetCarSimEnabled(bool bEnabled)
+{
+  carla::log_warning("Enabling CarSim", bEnabled);
+  bCarSimEnabled = bEnabled;
+  if (bCarSimEnabled)
+  {
+    GetVehicleMovementComponent()->SetComponentTickEnabled(false);
+    GetVehicleMovementComponent()->Deactivate();
+    CarSimMovementComponent->Activate();
+    CarSimMovementComponent->ResetVsVehicle(false);
+    CarSimMovementComponent->SyncVsVehicleLocOri();
+    CarSimMovementComponent->SetComponentTickEnabled(true);
+    GetMesh()->SetSimulatePhysics(false);
+  }
+  else
+  {
+    GetVehicleMovementComponent()->SetComponentTickEnabled(true);
+    GetVehicleMovementComponent()->Activate();
+    CarSimMovementComponent->SetComponentTickEnabled(false);
+    CarSimMovementComponent->Deactivate();
+    GetMesh()->SetSimulatePhysics(true);
+  }
+}
+//-------------------------------------------

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h

@@ -18,6 +18,10 @@
 
 #include "CoreMinimal.h"
 
+//-----CARSIM--------------------------------
+#include "CarSimMovementComponent.h"
+//-------------------------------------------
+
 #include "CarlaWheeledVehicle.generated.h"
 
 class UBoxComponent;
@@ -235,4 +239,20 @@ private:
   InputControl;
 
   FVehicleControl LastAppliedControl;
+
+
+  //-----CARSIM--------------------------------
+public:
+
+  UFUNCTION(Category="CARLA Wheeled Vehicle", BlueprintCallable)
+  void SetCarSimEnabled(bool bEnabled);
+
+private:
+
+  UPROPERTY(Category="CARLA Wheeled Vehicle", VisibleAnywhere)
+  bool bCarSimEnabled = false;
+
+  UPROPERTY(Category="CARLA Wheeled Vehicle", VisibleAnywhere, BlueprintReadOnly, meta = (AllowPrivateAccess = "true"))
+  UCarSimMovementComponent * CarSimMovementComponent;
+  //-------------------------------------------
 };