Houdini mesh position (#6369)

* Fixed Houdini actor locations

* Matched buildings and road position

* review fixes

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Online/CustomFileDownloader.cpp

@@ -9,7 +9,7 @@
 
 #include <OSM2ODR.h>
 
-void UCustomFileDownloader::ConvertOSMInOpenDrive(FString FilePath)
+void UCustomFileDownloader::ConvertOSMInOpenDrive(FString FilePath, float Lat_0, float Lon_0)
 {
   IPlatformFile &FileManager = FPlatformFileManager::Get().GetPlatformFile();
 
@@ -34,8 +34,10 @@ void UCustomFileDownloader::ConvertOSMInOpenDrive(FString FilePath)
   }
   std::string OsmFile = std::string(TCHAR_TO_UTF8(*FileContent));
 
-  osm2odr::OSM2ODRSettings settings;
-  std::string OpenDriveFile = osm2odr::ConvertOSMToOpenDRIVE(OsmFile, settings);
+  osm2odr::OSM2ODRSettings Settings;
+  Settings.proj_string += " +lat_0=" + std::to_string(Lat_0) + " +lon_0=" + std::to_string(Lon_0);
+  Settings.center_map = false;
+  std::string OpenDriveFile = osm2odr::ConvertOSMToOpenDRIVE(OsmFile, Settings);
 
   FilePath.RemoveFromEnd(".osm", ESearchCase::Type::IgnoreCase);
   FilePath += ".xodr";

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Online/CustomFileDownloader.h

@@ -19,7 +19,7 @@ public:
   UFUNCTION(BlueprintCallable)
   void StartDownload();
   UFUNCTION(BlueprintCallable)
-  void ConvertOSMInOpenDrive(FString FilePath); 
+  void ConvertOSMInOpenDrive(FString FilePath, float Lat_0 = 0, float Lon_0 = 0);
 
   FString ResultFileName;
 

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/HoudiniImportNodeWrapper.cpp

@@ -21,7 +21,8 @@ UHoudiniImportNodeWrapper* UHoudiniImportNodeWrapper::ImportBuildings(
     UObject* InWorldContextObject,
     const FString& MapName, const FString& OSMFilePath,
     float Latitude, float Longitude,
-    int ClusterSize, int CurrentCluster)
+    int ClusterSize, int CurrentCluster,
+    bool bUseCOM)
 {
   UE_LOG(LogCarlaTools, Log, TEXT("Start building import"));
   UHoudiniAsset* InHoudiniAsset = Cast<UHoudiniAsset>(InHoudiniObject);
@@ -39,13 +40,15 @@ UHoudiniImportNodeWrapper* UHoudiniImportNodeWrapper::ImportBuildings(
     {"displayedCluster", FHoudiniParameterTuple(CurrentCluster)},
     {"startCooking", FHoudiniParameterTuple(true)},
     {"lat", FHoudiniParameterTuple(Latitude)},
-    {"lon", FHoudiniParameterTuple(Longitude)}};
+    {"lon", FHoudiniParameterTuple(Longitude)},
+    {"centOfMass", FHoudiniParameterTuple(bUseCOM)}};
   
   WrapperNode->HDANode = 
       UHoudiniPublicAPIProcessHDANode::ProcessHDA(
       InHoudiniAsset, InInstantiateAt, InParameters, {}, {},
       InWorldContextObject, nullptr,
-      true, true);
+      true, true, "", EHoudiniEngineBakeOption::ToActor,
+      true);
   WrapperNode->HDANode->Completed.AddDynamic(WrapperNode, &UHoudiniImportNodeWrapper::HandleCompleted);
   WrapperNode->HDANode->Failed.AddDynamic(WrapperNode, &UHoudiniImportNodeWrapper::HandleFailed);
   UE_LOG(LogCarlaTools, Log, TEXT("HDA node created"));

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/HoudiniImporterWidget.cpp

@@ -10,6 +10,7 @@
 #include "Kismet/GameplayStatics.h"
 #include "Kismet/KismetSystemLibrary.h"
 #include "FileHelpers.h"
+#include "Components/PrimitiveComponent.h"
 
 void UHoudiniImporterWidget::CreateSubLevels(ALargeMapManager* LargeMapManager)
 {
@@ -62,6 +63,11 @@ void UHoudiniImporterWidget::MoveActorsToSubLevel(TArray<AActor*> Actors, ALarge
   {
     FCarlaMapTile* Tile = Element.Key;
     TArray<AActor*> ActorList = Element.Value;
+    if(!ActorList.Num())
+    {
+      continue;
+    }
+    UWorld* World = ActorList[0]->GetWorld();
     ULevelStreamingDynamic* StreamingLevel = Tile->StreamingLevel;
     UE_LOG(LogCarlaTools, Log, TEXT("Got Tile %s in location %s"),
         *StreamingLevel->PackageNameToLoad.ToString(), *Tile->Location.ToString());
@@ -70,8 +76,8 @@ void UHoudiniImporterWidget::MoveActorsToSubLevel(TArray<AActor*> Actors, ALarge
     StreamingLevel->SetShouldBeLoaded(true);
     ULevelStreaming* Level = 
         UEditorLevelUtils::AddLevelToWorld(
-        GetWorld(), *Tile->Name, ULevelStreamingDynamic::StaticClass(), FTransform());
-        
+        World, *Tile->Name, ULevelStreamingDynamic::StaticClass(), FTransform());
+
     int MovedActors = UEditorLevelUtils::MoveActorsToLevel(ActorList, Level, false, false);
     // StreamingLevel->SetShouldBeLoaded(false);
     UE_LOG(LogCarlaTools, Log, TEXT("Moved %d actors"), MovedActors);
@@ -105,6 +111,28 @@ void UHoudiniImporterWidget::UpdateInstancedMeshCoordinates(
   Component->BatchUpdateInstancesTransforms(0, NewTransforms, true, true, true);
 }
 
+void UHoudiniImporterWidget::UseCOMasActorLocation(TArray<AActor*> Actors)
+{
+  for (AActor* Actor : Actors)
+  {
+    UPrimitiveComponent* Primitive = Cast<UPrimitiveComponent>(
+        Actor->GetComponentByClass(UPrimitiveComponent::StaticClass()));
+    if(Primitive)
+    {
+      FBodyInstance* BodyInstance = Primitive->GetBodyInstance();
+      FVector CenterOfMass = BodyInstance->COMNudge;
+      Actor->SetActorLocation(CenterOfMass);
+      UE_LOG(LogCarlaTools, Log, TEXT("Updating actor %s to %s"),
+        *Actor->GetName(), *CenterOfMass.ToString());
+    }
+    else
+    {
+      UE_LOG(LogCarlaTools, Log, TEXT("Not updating actor %s"),
+        *Actor->GetName());
+    }
+  }
+}
+
 bool UHoudiniImporterWidget::GetNumberOfClusters(
     TArray<AActor*> ActorList, int& OutNumClusters)
 {

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/OpenDriveToMap.cpp

@@ -110,9 +110,8 @@ FString LaneTypeToFString(carla::road::Lane::LaneType LaneType)
 
 void UOpenDriveToMap::ConvertOSMInOpenDrive()
 {
-
   FilePath = FPaths::ProjectContentDir() + "CustomMaps/" + MapName + "/OpenDrive/" + MapName + ".osm";
-  FileDownloader->ConvertOSMInOpenDrive( FilePath );
+  FileDownloader->ConvertOSMInOpenDrive( FilePath , OriginGeoCoordinates.X, OriginGeoCoordinates.Y);
   FilePath.RemoveFromEnd(".osm", ESearchCase::Type::IgnoreCase);
   FilePath += ".xodr";
 
@@ -266,10 +265,10 @@ void UOpenDriveToMap::GenerateRoadMesh( const boost::optional<carla::road::Map>&
           TArray<FProcMeshTangent>(), // Tangents
           true); // Create collision
       TempActor->SetActorLocation(MeshCentroid * 100);
-      ActorMeshList.Add(TempActor);
+      // ActorMeshList.Add(TempActor);
 
       RoadType.Add(LaneTypeToFString(PairMap.first));
-      RoadMesh.Add(TempPMC);
+      // RoadMesh.Add(TempPMC);
       index++;
     }
   }

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/HoudiniImportNodeWrapper.h

@@ -32,7 +32,8 @@ public:
       UObject* InWorldContextObject,
       const FString& MapName, const FString& OSMFilePath,
       float Latitude, float Longitude,
-      int ClusterSize, int CurrentCluster);
+      int ClusterSize, int CurrentCluster,
+      bool bUseCOM);
 
   // Fires on task completed
   UPROPERTY(BlueprintAssignable, Category="Houdini|Public API")

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/HoudiniImporterWidget.h

@@ -20,19 +20,22 @@ class CARLATOOLS_API UHoudiniImporterWidget : public UEditorUtilityWidget
   GENERATED_BODY()
 
   UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
-  void CreateSubLevels(ALargeMapManager* LargeMapManager);
+  static void CreateSubLevels(ALargeMapManager* LargeMapManager);
 
   UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
-  void MoveActorsToSubLevel(TArray<AActor*> Actors, ALargeMapManager* LargeMapManager);
+  static void MoveActorsToSubLevel(TArray<AActor*> Actors, ALargeMapManager* LargeMapManager);
 
-  void UpdateGenericActorCoordinates(AActor* Actor, FVector TileOrigin);
+  static void UpdateGenericActorCoordinates(AActor* Actor, FVector TileOrigin);
 
-  void UpdateInstancedMeshCoordinates(
+  static void UpdateInstancedMeshCoordinates(
       UHierarchicalInstancedStaticMeshComponent* Component, FVector TileOrigin);
-  
+
+  UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
+  static void UseCOMasActorLocation(TArray<AActor*> Actors);
+
   // Gets the total number of cluster from the actor name following the following scheme
   // b{builsing}c{cluster}of{clustersize}
   UFUNCTION(BlueprintCallable, Category="HoudiniImporterWidget")
-  bool GetNumberOfClusters(TArray<AActor*> ActorList, int& OutNumClusters);
+  static bool GetNumberOfClusters(TArray<AActor*> ActorList, int& OutNumClusters);
 
 };