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Added restore_physx_physics function

This commit is contained in:
Axel 2022-12-22 12:26:40 +01:00 committed by Blyron
parent 80af6025b3
commit a12a137c86
15 changed files with 117 additions and 31 deletions
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4
LibCarla/source/carla/client/Vehicle.cpp
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@ -144,6 +144,10 @@ namespace client {
BaseJSONPath);
}
void Vehicle::RestorePhysXPhysics() {
GetEpisode().Lock()->RestorePhysXPhysics(*this);
}
rpc::VehicleFailureState Vehicle::GetFailureState() const {
return GetEpisode().Lock()->GetActorSnapshot(*this).state.vehicle_data.failure_state;
}

2
LibCarla/source/carla/client/Vehicle.h
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@ -137,6 +137,8 @@ namespace client {
std::string TireJSON = "",
std::string BaseJSONPath = "");
void RestorePhysXPhysics();
/// Returns the failure state of the vehicle
rpc::VehicleFailureState GetFailureState() const;

4
LibCarla/source/carla/client/detail/Client.cpp
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@ -528,6 +528,10 @@ namespace detail {
BaseJSONPath);
}
void Client::RestorePhysXPhysics(rpc::ActorId vehicle) {
_pimpl->AsyncCall("restore_physx_physics", vehicle);
}
void Client::ApplyControlToWalker(rpc::ActorId walker, const rpc::WalkerControl &control) {
_pimpl->AsyncCall("apply_control_to_walker", walker, control);
}

2
LibCarla/source/carla/client/detail/Client.h
View File

@ -331,6 +331,8 @@ namespace detail {
std::string TireJSON,
std::string BaseJSONPath);
void RestorePhysXPhysics(rpc::ActorId vehicle);
void ApplyControlToWalker(
rpc::ActorId walker,
const rpc::WalkerControl &control);

4
LibCarla/source/carla/client/detail/Simulator.h
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@ -617,6 +617,10 @@ namespace detail {
BaseJSONPath);
}
void RestorePhysXPhysics(Vehicle &vehicle) {
_client.RestorePhysXPhysics(vehicle.GetId());
}
/// @}
// =========================================================================
/// @name Operations with the recorder

1
PythonAPI/carla/source/libcarla/Actor.cpp
View File

@ -203,6 +203,7 @@ void export_actor() {
.def("enable_carsim", &cc::Vehicle::EnableCarSim, (arg("simfile_path") = ""))
.def("use_carsim_road", &cc::Vehicle::UseCarSimRoad, (arg("enabled")))
.def("enable_chrono_physics", &cc::Vehicle::EnableChronoPhysics, (arg("max_substeps")=30, arg("max_substep_delta_time")=0.002, arg("vehicle_json")="", arg("powetrain_json")="", arg("tire_json")="", arg("base_json_path")=""))
.def("restore_physx_physics", &cc::Vehicle::RestorePhysXPhysics)
.def("get_failure_state", &cc::Vehicle::GetFailureState)
.def(self_ns::str(self_ns::self))
;

23
PythonAPI/examples/manual_control_chrono.py
View File

@ -324,6 +324,7 @@ class KeyboardControl(object):
def __init__(self, world, start_in_autopilot):
self._carsim_enabled = False
self._carsim_road = False
self._chrono_enabled = False
self._autopilot_enabled = start_in_autopilot
if isinstance(world.player, carla.Vehicle):
self._control = carla.VehicleControl()
@ -417,14 +418,24 @@ class KeyboardControl(object):
world.camera_manager.set_sensor(current_index)
elif event.key == K_k and (pygame.key.get_mods() & KMOD_CTRL):
print("k pressed")
world.player.enable_carsim()
if not self._carsim_enabled:
self._carsim_enabled = True
world.player.enable_carsim()
else:
self._carsim_enabled = False
world.player.restore_physx_physics()
elif event.key == K_o and (pygame.key.get_mods() & KMOD_CTRL):
print("o pressed")
vehicle_json = "sedan/vehicle/Sedan_Vehicle.json"
powertrain_json = "sedan/powertrain/Sedan_SimpleMapPowertrain.json"
tire_json = "sedan/tire/Sedan_TMeasyTire.json"
base_path = "~/carla/Build/chrono-install/share/chrono/data/vehicle/"
world.player.enable_chrono_physics(5000, 0.002, vehicle_json, powertrain_json, tire_json, base_path)
if not self._chrono_enabled:
self._chrono_enabled = True
vehicle_json = "sedan/vehicle/Sedan_Vehicle.json"
powertrain_json = "sedan/powertrain/Sedan_SimpleMapPowertrain.json"
tire_json = "sedan/tire/Sedan_TMeasyTire.json"
base_path = "/home/adas/carla/Build/chrono-install/share/chrono/data/vehicle/"
world.player.enable_chrono_physics(5000, 0.002, vehicle_json, powertrain_json, tire_json, base_path)
else:
self._chrono_enabled = False
world.player.restore_physx_physics()
elif event.key == K_j and (pygame.key.get_mods() & KMOD_CTRL):
self._carsim_road = not self._carsim_road
world.player.use_carsim_road(self._carsim_road)

22
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp
View File

@ -1055,6 +1055,28 @@ ECarlaServerResponse FVehicleActor::EnableChronoPhysics(
return ECarlaServerResponse::Success;
}
ECarlaServerResponse FVehicleActor::RestorePhysXPhysics()
{
if (IsDormant())
{
}
else
{
auto Vehicle = Cast<ACarlaWheeledVehicle>(GetActor());
if (Vehicle == nullptr)
{
return ECarlaServerResponse::NotAVehicle;
}
UBaseCarlaMovementComponent* MovementComponent =
Vehicle->GetCarlaMovementComponent<UBaseCarlaMovementComponent>();
if(MovementComponent)
{
MovementComponent->DisableSpecialPhysics();
}
}
return ECarlaServerResponse::Success;
}
// FSensorActor functions ---------------------
// FtrafficSignActor functions ---------------------

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
View File

@ -343,6 +343,11 @@ public:
return ECarlaServerResponse::ActorTypeMismatch;
}
virtual ECarlaServerResponse RestorePhysXPhysics()
{
return ECarlaServerResponse::ActorTypeMismatch;
}
// Traffic light functions
virtual ECarlaServerResponse SetTrafficLightState(const ETrafficLightState&)
@ -532,6 +537,8 @@ public:
uint64_t MaxSubsteps, float MaxSubstepDeltaTime,
const FString& VehicleJSON, const FString& PowertrainJSON,
const FString& TireJSON, const FString& BaseJSONPath) final;
virtual ECarlaServerResponse RestorePhysXPhysics();
};
class FSensorActor : public FCarlaActor

24
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
View File

@ -2319,6 +2319,30 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
return R<void>::Success();
};
BIND_SYNC(restore_physx_physics) << [this](
cr::ActorId ActorId) -> R<void>
{
REQUIRE_CARLA_EPISODE();
FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
if (!CarlaActor)
{
return RespondError(
"restore_physx_physics",
ECarlaServerResponse::ActorNotFound,
" Actor Id: " + FString::FromInt(ActorId));
}
ECarlaServerResponse Response =
CarlaActor->RestorePhysXPhysics();
if (Response != ECarlaServerResponse::Success)
{
return RespondError(
"restore_physx_physics",
Response,
" Actor Id: " + FString::FromInt(ActorId));
}
return R<void>::Success();
};
// ~~ Traffic lights ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
BIND_SYNC(set_traffic_light_state) << [this](

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/BaseCarlaMovementComponent.h
View File

@ -35,6 +35,8 @@ public:
virtual float GetVehicleForwardSpeed() const;
virtual void DisableSpecialPhysics() {};
protected:
void DisableUE4VehiclePhysics();

39
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/CarSimManagerComponent.cpp
View File

@ -103,10 +103,7 @@ void UCarSimManagerComponent::ProcessControl(FVehicleControl &Control)
#endif
}
void UCarSimManagerComponent::OnCarSimHit(AActor *Actor,
AActor *OtherActor,
FVector NormalImpulse,
const FHitResult &Hit)
void UCarSimManagerComponent::DisableCarSimPhysics()
{
#ifdef WITH_CARSIM
// finish Carsim simulation
@ -130,6 +127,19 @@ void UCarSimManagerComponent::OnCarSimHit(AActor *Actor,
#endif
}
void UCarSimManagerComponent::DisableSpecialPhysics()
{
DisableCarSimPhysics();
}
void UCarSimManagerComponent::OnCarSimHit(AActor *Actor,
AActor *OtherActor,
FVector NormalImpulse,
const FHitResult &Hit)
{
DisableCarSimPhysics();
}
void UCarSimManagerComponent::OnCarSimOverlap(UPrimitiveComponent* OverlappedComponent,
AActor* OtherActor,
@ -142,26 +152,7 @@ void UCarSimManagerComponent::OnCarSimOverlap(UPrimitiveComponent* OverlappedCom
ECollisionChannel::ECC_WorldDynamic) ==
ECollisionResponse::ECR_Block)
{
#ifdef WITH_CARSIM
// finish Carsim simulation
UDefaultMovementComponent::CreateDefaultMovementComponent(CarlaVehicle);
CarlaVehicle->GetMesh()->SetPhysicsLinearVelocity(FVector(0,0,0), false, "Vehicle_Base");
CarlaVehicle->GetVehicleMovementComponent()->SetComponentTickEnabled(true);
CarlaVehicle->GetVehicleMovementComponent()->Activate();
CarlaVehicle->GetMesh()->PhysicsTransformUpdateMode = EPhysicsTransformUpdateMode::SimulationUpatesComponentTransform;
auto * Bone = CarlaVehicle->GetMesh()->GetBodyInstance(NAME_None);
if (Bone)
{
Bone->SetInstanceSimulatePhysics(true);
}
else
{
carla::log_warning("No bone with name");
}
CarlaVehicle->GetMesh()->SetCollisionResponseToChannel(ECollisionChannel::ECC_WorldStatic, ECollisionResponse::ECR_Block);
CarlaVehicle->GetMesh()->SetCollisionProfileName("Vehicle");
CarlaVehicle->RestoreVehiclePhysicsControl();
#endif
DisableCarSimPhysics();
}
}

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/CarSimManagerComponent.h
View File

@ -52,6 +52,10 @@ public:
float GetVehicleForwardSpeed() const override;
void DisableCarSimPhysics();
virtual void DisableSpecialPhysics() override;
private:
// On car mesh hit, only works when carsim is enabled

8
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.cpp
View File

@ -348,6 +348,11 @@ void UChronoMovementComponent::EndPlay(const EEndPlayReason::Type EndPlayReason)
}
#endif
void UChronoMovementComponent::DisableSpecialPhysics()
{
DisableChronoPhysics();
}
void UChronoMovementComponent::DisableChronoPhysics()
{
this->SetComponentTickEnabled(false);
@ -358,7 +363,6 @@ void UChronoMovementComponent::DisableChronoPhysics()
CarlaVehicle->GetMesh()->SetCollisionResponseToChannel(
ECollisionChannel::ECC_WorldStatic, ECollisionResponse::ECR_Block);
UDefaultMovementComponent::CreateDefaultMovementComponent(CarlaVehicle);
carla::log_warning("Chrono physics does not support collisions yet, reverting to default PhysX physics.");
}
void UChronoMovementComponent::OnVehicleHit(AActor *Actor,
@ -366,6 +370,7 @@ void UChronoMovementComponent::OnVehicleHit(AActor *Actor,
FVector NormalImpulse,
const FHitResult &Hit)
{
carla::log_warning("Chrono physics does not support collisions yet, reverting to default PhysX physics.");
DisableChronoPhysics();
}
@ -383,6 +388,7 @@ void UChronoMovementComponent::OnVehicleOverlap(
ECollisionChannel::ECC_WorldDynamic) ==
ECollisionResponse::ECR_Block)
{
carla::log_warning("Chrono physics does not support collisions yet, reverting to default PhysX physics.");
DisableChronoPhysics();
}
}

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.h
View File

@ -101,6 +101,8 @@ public:
virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
#endif
virtual void DisableSpecialPhysics() override;
private:
void DisableChronoPhysics();