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SetVelocity -> SetTargetVelocity 

Change the commands set_velocity to set_target_velocity
for both linear and angular velocities.
This commit is contained in:
Daniel Santos-Olivan 2020-09-21 19:38:40 +02:00 committed by DSantosO
parent cc7b1ea910
commit 9f5758577d
8 changed files with 37 additions and 36 deletions
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8
LibCarla/source/carla/client/Actor.cpp
View File

@ -40,12 +40,12 @@ namespace client {
GetEpisode().Lock()->SetActorTransform(*this, transform);
}
void Actor::SetVelocity(const geom::Vector3D &vector) {
GetEpisode().Lock()->SetActorVelocity(*this, vector);
void Actor::SetTargetVelocity(const geom::Vector3D &vector) {
GetEpisode().Lock()->SetActorTargetVelocity(*this, vector);
}
void Actor::SetAngularVelocity(const geom::Vector3D &vector) {
GetEpisode().Lock()->SetActorAngularVelocity(*this, vector);
void Actor::SetTargetAngularVelocity(const geom::Vector3D &vector) {
GetEpisode().Lock()->SetActorTargetAngularVelocity(*this, vector);
}
void Actor::AddImpulse(const geom::Vector3D &vector) {

8
LibCarla/source/carla/client/Actor.h
View File

@ -64,11 +64,11 @@ namespace client {
/// Teleport and rotate the actor to @a transform.
void SetTransform(const geom::Transform &transform);
/// Set the actor velocity.
void SetVelocity(const geom::Vector3D &vector);
/// Set the actor velocity before applying physics.
void SetTargetVelocity(const geom::Vector3D &vector);
/// Set the angular velocity of the actor
void SetAngularVelocity(const geom::Vector3D &vector);
/// Set the angular velocity of the actor before applying physics.
void SetTargetAngularVelocity(const geom::Vector3D &vector);
/// Add impulse to the actor.
void AddImpulse(const geom::Vector3D &vector);

8
LibCarla/source/carla/client/detail/Client.cpp
View File

@ -264,12 +264,12 @@ namespace detail {
_pimpl->AsyncCall("set_actor_transform", actor, transform);
}
void Client::SetActorVelocity(rpc::ActorId actor, const geom::Vector3D &vector) {
_pimpl->AsyncCall("set_actor_velocity", actor, vector);
void Client::SetActorTargetVelocity(rpc::ActorId actor, const geom::Vector3D &vector) {
_pimpl->AsyncCall("set_actor_target_velocity", actor, vector);
}
void Client::SetActorAngularVelocity(rpc::ActorId actor, const geom::Vector3D &vector) {
_pimpl->AsyncCall("set_actor_angular_velocity", actor, vector);
void Client::SetActorTargetAngularVelocity(rpc::ActorId actor, const geom::Vector3D &vector) {
_pimpl->AsyncCall("set_actor_target_angular_velocity", actor, vector);
}
void Client::AddActorImpulse(rpc::ActorId actor, const geom::Vector3D &vector) {

4
LibCarla/source/carla/client/detail/Client.h
View File

@ -146,11 +146,11 @@ namespace detail {
rpc::ActorId actor,
const geom::Transform &transform);
void SetActorVelocity(
void SetActorTargetVelocity(
rpc::ActorId actor,
const geom::Vector3D &vector);
void SetActorAngularVelocity(
void SetActorTargetAngularVelocity(
rpc::ActorId actor,
const geom::Vector3D &vector);

8
LibCarla/source/carla/client/detail/Simulator.h
View File

@ -319,16 +319,16 @@ namespace detail {
return GetActorSnapshot(actor).velocity;
}
void SetActorVelocity(const Actor &actor, const geom::Vector3D &vector) {
_client.SetActorVelocity(actor.GetId(), vector);
void SetActorTargetVelocity(const Actor &actor, const geom::Vector3D &vector) {
_client.SetActorTargetVelocity(actor.GetId(), vector);
}
geom::Vector3D GetActorAngularVelocity(const Actor &actor) const {
return GetActorSnapshot(actor).angular_velocity;
}
void SetActorAngularVelocity(const Actor &actor, const geom::Vector3D &vector) {
_client.SetActorAngularVelocity(actor.GetId(), vector);
void SetActorTargetAngularVelocity(const Actor &actor, const geom::Vector3D &vector) {
_client.SetActorTargetAngularVelocity(actor.GetId(), vector);
}
void AddActorImpulse(const Actor &actor, const geom::Vector3D &vector) {

16
LibCarla/source/carla/rpc/Command.h
View File

@ -102,9 +102,9 @@ namespace rpc {
MSGPACK_DEFINE_ARRAY(actor, transform, speed);
};
struct ApplyVelocity : CommandBase<ApplyVelocity> {
ApplyVelocity() = default;
ApplyVelocity(ActorId id, const geom::Vector3D &value)
struct ApplyTargetVelocity : CommandBase<ApplyTargetVelocity> {
ApplyTargetVelocity() = default;
ApplyTargetVelocity(ActorId id, const geom::Vector3D &value)
: actor(id),
velocity(value) {}
ActorId actor;
@ -112,9 +112,9 @@ namespace rpc {
MSGPACK_DEFINE_ARRAY(actor, velocity);
};
struct ApplyAngularVelocity : CommandBase<ApplyAngularVelocity> {
ApplyAngularVelocity() = default;
ApplyAngularVelocity(ActorId id, const geom::Vector3D &value)
struct ApplyTargetAngularVelocity : CommandBase<ApplyTargetAngularVelocity> {
ApplyTargetAngularVelocity() = default;
ApplyTargetAngularVelocity(ActorId id, const geom::Vector3D &value)
: actor(id),
angular_velocity(value) {}
ActorId actor;
@ -186,8 +186,8 @@ namespace rpc {
ApplyWalkerControl,
ApplyTransform,
ApplyWalkerState,
ApplyVelocity,
ApplyAngularVelocity,
ApplyTargetVelocity,
ApplyTargetAngularVelocity,
ApplyImpulse,
ApplyAngularImpulse,
SetSimulatePhysics,

4
PythonAPI/carla/source/libcarla/Actor.cpp
View File

@ -85,8 +85,8 @@ void export_actor() {
.def("get_acceleration", &cc::Actor::GetAcceleration)
.def("set_location", &cc::Actor::SetLocation, (arg("location")))
.def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
.def("set_velocity", &cc::Actor::SetVelocity, (arg("vector")))
.def("set_angular_velocity", &cc::Actor::SetAngularVelocity, (arg("vector")))
.def("set_target_velocity", &cc::Actor::SetTargetVelocity, (arg("vector")))
.def("set_target_angular_velocity", &cc::Actor::SetTargetAngularVelocity, (arg("vector")))
.def("add_impulse", &cc::Actor::AddImpulse, (arg("vector")))
.def("add_angular_impulse", &cc::Actor::AddAngularImpulse, (arg("vector")))
.def("set_simulate_physics", &cc::Actor::SetSimulatePhysics, (arg("enabled") = true))

17
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
View File

@ -512,7 +512,8 @@ void FCarlaServer::FPimpl::BindActions()
return R<void>::Success();
};
BIND_SYNC(set_actor_velocity) << [this](
BIND_SYNC(set_actor_target_velocity) << [this](
cr::ActorId ActorId,
cr::Vector3D vector) -> R<void>
{
@ -520,12 +521,12 @@ void FCarlaServer::FPimpl::BindActions()
auto ActorView = Episode->FindActor(ActorId);
if (!ActorView.IsValid())
{
RESPOND_ERROR("unable to set actor velocity: actor not found");
RESPOND_ERROR("unable to set actor target velocity: actor not found");
}
auto RootComponent = Cast<UPrimitiveComponent>(ActorView.GetActor()->GetRootComponent());
if (RootComponent == nullptr)
{
RESPOND_ERROR("unable to set actor velocity: not supported by actor");
RESPOND_ERROR("unable to set actor target velocity: not supported by actor");
}
RootComponent->SetPhysicsLinearVelocity(
vector.ToCentimeters().ToFVector(),
@ -534,7 +535,7 @@ void FCarlaServer::FPimpl::BindActions()
return R<void>::Success();
};
BIND_SYNC(set_actor_angular_velocity) << [this](
BIND_SYNC(set_actor_target_angular_velocity) << [this](
cr::ActorId ActorId,
cr::Vector3D vector) -> R<void>
{
@ -542,12 +543,12 @@ void FCarlaServer::FPimpl::BindActions()
auto ActorView = Episode->FindActor(ActorId);
if (!ActorView.IsValid())
{
RESPOND_ERROR("unable to set actor angular velocity: actor not found");
RESPOND_ERROR("unable to set actor target angular velocity: actor not found");
}
auto RootComponent = Cast<UPrimitiveComponent>(ActorView.GetActor()->GetRootComponent());
if (RootComponent == nullptr)
{
RESPOND_ERROR("unable to set actor angular velocity: not supported by actor");
RESPOND_ERROR("unable to set actor target angular velocity: not supported by actor");
}
RootComponent->SetPhysicsAngularVelocityInDegrees(
vector.ToFVector(),
@ -1102,8 +1103,8 @@ void FCarlaServer::FPimpl::BindActions()
[=](auto, const C::ApplyVehicleControl &c) { MAKE_RESULT(apply_control_to_vehicle(c.actor, c.control)); },
[=](auto, const C::ApplyWalkerControl &c) { MAKE_RESULT(apply_control_to_walker(c.actor, c.control)); },
[=](auto, const C::ApplyTransform &c) { MAKE_RESULT(set_actor_transform(c.actor, c.transform)); },
[=](auto, const C::ApplyVelocity &c) { MAKE_RESULT(set_actor_velocity(c.actor, c.velocity)); },
[=](auto, const C::ApplyAngularVelocity &c) { MAKE_RESULT(set_actor_angular_velocity(c.actor, c.angular_velocity)); },
[=](auto, const C::ApplyTargetVelocity &c) { MAKE_RESULT(set_actor_target_velocity(c.actor, c.velocity)); },
[=](auto, const C::ApplyTargetAngularVelocity &c) { MAKE_RESULT(set_actor_target_angular_velocity(c.actor, c.angular_velocity)); },
[=](auto, const C::ApplyImpulse &c) { MAKE_RESULT(add_actor_impulse(c.actor, c.impulse)); },
[=](auto, const C::ApplyAngularImpulse &c) { MAKE_RESULT(add_actor_angular_impulse(c.actor, c.impulse)); },
[=](auto, const C::SetSimulatePhysics &c) { MAKE_RESULT(set_actor_simulate_physics(c.actor, c.enabled)); },