Added to enable optional compilation of CarSim plugin.

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

@@ -6,6 +6,7 @@ using UnrealBuildTool;
 
 public class Carla : ModuleRules
 {
+  bool UsingCarSim = false;
   private bool IsWindows(ReadOnlyTargetRules Target)
   {
     return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
@@ -20,6 +21,21 @@ public class Carla : ModuleRules
       bEnableExceptions = true;
     }
 
+    // Read config about carsim
+    string CarlaPluginPath = Path.GetFullPath( ModuleDirectory );
+    string ConfigDir =  Path.GetFullPath(Path.Combine(CarlaPluginPath, "../../../../Config/"));
+    string CarSimConfigFile = Path.Combine(ConfigDir, "CarSimConfig.ini");
+    string[] text = System.IO.File.ReadAllLines(CarSimConfigFile);
+    foreach (string line in text)
+    {
+      Console.WriteLine(line);
+      if (line == "CarSim ON")
+      {
+        UsingCarSim = true;
+        PublicDefinitions.Add("WITH_CARSIM");
+      }
+    }
+
     PublicIncludePaths.AddRange(
       new string[] {
         // ... add public include paths required here ...
@@ -42,13 +58,10 @@ public class Carla : ModuleRules
         // ... add other public dependencies that you statically link with here ...
       }
       );
-    PublicDependencyModuleNames.AddRange(
+    if (UsingCarSim)
-      new string[]
+    {
-      {
+      PublicDependencyModuleNames.AddRange(new string[] { "CarSim" });
-        "CarSim"
+    }
-        // ... add other public dependencies that you statically link with here ...
-      }
-      );
 
 	 if (Target.Type == TargetType.Editor)
 	 {
@@ -75,14 +88,12 @@ public class Carla : ModuleRules
         // ... add private dependencies that you statically link with here ...
       }
       );
-    PrivateDependencyModuleNames.AddRange(
+    if (UsingCarSim)
-      new string[]
+    {
-      {
+      PrivateDependencyModuleNames.AddRange(new string[] { "CarSim" });
-        "CarSim"
+      PrivateIncludePathModuleNames.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

@@ -942,7 +942,9 @@ void FCarlaServer::FPimpl::BindActions()
       if(Vehicle)
       {
         Vehicle->SetActorEnableCollision(true);
+        #ifdef WITH_CARSIM
         if(!Vehicle->IsCarSimEnabled())
+        #endif
         {
           RootComponent->SetSimulatePhysics(bEnabled);
           RootComponent->SetCollisionEnabled(ECollisionEnabled::QueryAndPhysics);
@@ -1098,6 +1100,7 @@ void FCarlaServer::FPimpl::BindActions()
       bool bEnabled,
       std::string SimfilePath) -> R<void>
   {
+    #ifdef WITH_CARSIM
     REQUIRE_CARLA_EPISODE();
     auto ActorView = Episode->FindActor(ActorId);
     if (!ActorView.IsValid())
@@ -1111,12 +1114,16 @@ void FCarlaServer::FPimpl::BindActions()
     }
     Vehicle->SetCarSimEnabled(bEnabled, carla::rpc::ToFString(SimfilePath));
     return R<void>::Success();
+    #else
+      RESPOND_ERROR("CarSim plugin is not enabled");
+    #endif
   };
 
   BIND_SYNC(use_carsim_road) << [this](
       cr::ActorId ActorId,
       bool bEnabled) -> R<void>
   {
+    #ifdef WITH_CARSIM
     REQUIRE_CARLA_EPISODE();
     auto ActorView = Episode->FindActor(ActorId);
     if (!ActorView.IsValid())
@@ -1130,6 +1137,9 @@ void FCarlaServer::FPimpl::BindActions()
     }
     Vehicle->UseCarSimRoad(bEnabled);
     return R<void>::Success();
+    #else
+    RESPOND_ERROR("CarSim plugin is not enabled");
+    #endif
   };
 //-----CARSIM--------------------------------
   // ~~ Traffic lights ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

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

@@ -33,8 +33,11 @@ ACarlaWheeledVehicle::ACarlaWheeledVehicle(const FObjectInitializer& ObjectIniti
   VelocityControl = CreateDefaultSubobject<UVehicleVelocityControl>(TEXT("VelocityControl"));
   VelocityControl->Deactivate();
 
-  CarSimMovementComponent = CreateDefaultSubobject<UCarSimMovementComponent>(TEXT("CarSimMovement"));
+  #ifdef WITH_CARSIM
+  ExternalMovementComponent = CreateDefaultSubobject<UCarSimMovementComponent>(TEXT("CarSimMovement"));
+  CarSimMovementComponent = Cast<UCarSimMovementComponent>(ExternalMovementComponent);
   CarSimMovementComponent->DisableVehicle = true;
+  #endif
 
   GetVehicleMovementComponent()->bReverseAsBrake = false;
 }
@@ -114,7 +117,9 @@ void ACarlaWheeledVehicle::BeginPlay()
 
   Vehicle4W->WheelSetups = NewWheelSetups;
 
+  #ifdef WITH_CARSIM
   SetCarSimEnabled(false);
+  #endif
 }
 
 void ACarlaWheeledVehicle::AdjustVehicleBounds()
@@ -144,14 +149,13 @@ void ACarlaWheeledVehicle::AdjustVehicleBounds()
 
 float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const
 {
+  #ifdef WITH_CARSIM
   if (bCarSimEnabled)
   {
     return CarSimMovementComponent->GetForwardSpeed();
   }
-  else
+  #endif
-  {
+  return GetVehicleMovementComponent()->GetForwardSpeed();
-    return GetVehicleMovementComponent()->GetForwardSpeed();
-  }
 }
 
 FVector ACarlaWheeledVehicle::GetVehicleOrientation() const
@@ -161,14 +165,13 @@ FVector ACarlaWheeledVehicle::GetVehicleOrientation() const
 
 int32 ACarlaWheeledVehicle::GetVehicleCurrentGear() const
 {
+  #ifdef WITH_CARSIM
   if (bCarSimEnabled)
   {
     return CarSimMovementComponent->GetCurrentGear();
   }
-  else
+  #endif
-  {
+  return GetVehicleMovementComponent()->GetCurrentGear();
-    return GetVehicleMovementComponent()->GetCurrentGear();
-  }
 }
 
 FTransform ACarlaWheeledVehicle::GetVehicleBoundingBoxTransform() const
@@ -196,6 +199,7 @@ float ACarlaWheeledVehicle::GetMaximumSteerAngle() const
 
 void ACarlaWheeledVehicle::FlushVehicleControl()
 {
+  #ifdef WITH_CARSIM
   if (bCarSimEnabled)
   {
     //-----CARSIM--------------------------------
@@ -224,6 +228,7 @@ void ACarlaWheeledVehicle::FlushVehicleControl()
     //-----------------------------------------
   }
   else
+  #endif
   {
     auto *MovementComponent = GetVehicleMovementComponent();
     MovementComponent->SetThrottleInput(InputControl.Control.Throttle);
@@ -539,12 +544,15 @@ void ACarlaWheeledVehicle::SwitchToUE4Physics()
 
 void ACarlaWheeledVehicle::RevertToCarSimPhysics()
 {
+  #ifdef WITH_CARSIM
   SetCarSimEnabled(true, CarSimMovementComponent->VsConfigFile);
   carla::log_warning("Collision: giving control to carsim");
+  #endif
 }
 
 void ACarlaWheeledVehicle::SetCarSimEnabled(bool bEnabled, FString SimfilePath)
 {
+  #ifdef WITH_CARSIM
   if (bEnabled == bCarSimEnabled)
   {
     return;
@@ -605,16 +613,20 @@ void ACarlaWheeledVehicle::SetCarSimEnabled(bool bEnabled, FString SimfilePath)
     GetMesh()->SetCollisionProfileName("Vehicle");
   }
   bCarSimEnabled = bEnabled;
+  #endif
 }
 
 void ACarlaWheeledVehicle::UseCarSimRoad(bool bEnabled)
 {
+  #ifdef WITH_CARSIM
   carla::log_warning("Enabling CarSim Road", bEnabled);
   CarSimMovementComponent->UseVehicleSimRoad = bEnabled;
   CarSimMovementComponent->ResetVsVehicle(false);
   CarSimMovementComponent->SyncVsVehicleLocOri();
+  #endif
 }
 
+#ifdef WITH_CARSIM
 FVector ACarlaWheeledVehicle::GetVelocity() const
 {
   if (bCarSimEnabled)
@@ -626,6 +638,7 @@ FVector ACarlaWheeledVehicle::GetVelocity() const
     return Super::GetVelocity();
   }
 }
+#endif
 
 bool ACarlaWheeledVehicle::IsCarSimEnabled() const
 {

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

@@ -19,7 +19,9 @@
 #include "CoreMinimal.h"
 
 //-----CARSIM--------------------------------
+#ifdef WITH_CARSIM
 #include "CarSimMovementComponent.h"
+#endif
 //-------------------------------------------
 
 #include "CarlaWheeledVehicle.generated.h"
@@ -241,7 +243,7 @@ private:
   FVehicleControl LastAppliedControl;
 
 
-  //-----CARSIM--------------------------------
+//-----CARSIM--------------------------------
 public:
 
   UFUNCTION(Category="CARLA Wheeled Vehicle", BlueprintCallable)
@@ -250,7 +252,9 @@ public:
   UFUNCTION(Category="CARLA Wheeled Vehicle", BlueprintCallable)
   void UseCarSimRoad(bool bEnabled);
 
+  #ifdef WITH_CARSIM
   virtual FVector GetVelocity() const override;
+  #endif
 
   UFUNCTION(Category="CARLA Wheeled Vehicle", BlueprintPure)
   bool IsCarSimEnabled() const;
@@ -281,6 +285,11 @@ private:
   bool bCarSimEnabled = false;
 
   UPROPERTY(Category="CARLA Wheeled Vehicle", VisibleAnywhere, BlueprintReadOnly, meta = (AllowPrivateAccess = "true"))
+  UMovementComponent * ExternalMovementComponent;
+
+  #ifdef WITH_CARSIM
+  // Casted version of ExternalMovementComponent
   UCarSimMovementComponent * CarSimMovementComponent;
+  #endif
   //-------------------------------------------
 };

Util/BuildTools/BuildCarlaUE4.sh

@@ -24,11 +24,12 @@ REMOVE_INTERMEDIATE=false
 HARD_CLEAN=false
 BUILD_CARLAUE4=false
 LAUNCH_UE4_EDITOR=false
+USE_CARSIM=false
 
 GDB=
 RHI="-vulkan"
 
-OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb,opengl -n 'parse-options' -- "$@"`
+OPTS=`getopt -o h --long help,build,rebuild,launch,clean,hard-clean,gdb,opengl,carsim -n 'parse-options' -- "$@"`
 
 eval set -- "$OPTS"
 
@@ -57,6 +58,9 @@ while [[ $# -gt 0 ]]; do
     --opengl )
       RHI="-opengl";
       shift ;;
+    --carsim )
+      USE_CARSIM=true;
+      shift ;;
     -h | --help )
       echo "$DOC_STRING"
       echo "$USAGE_STRING"
@@ -123,6 +127,12 @@ if ${BUILD_CARLAUE4} ; then
 
   fi
 
+  if ${USE_CARSIM} ; then
+    echo "CarSim ON" > ${PWD}/Config/CarSimConfig.ini
+  else
+    echo "CarSim OFF" > ${PWD}/Config/CarSimConfig.ini
+  fi
+
   log "Build CarlaUE4 project."
   make CarlaUE4Editor
 

Util/BuildTools/BuildPythonAPI.sh

@@ -17,7 +17,7 @@ REMOVE_INTERMEDIATE=false
 BUILD_RSS_VARIANT=false
 BUILD_PYTHONAPI=true
 
-OPTS=`getopt -o h --long help,config:,rebuild,clean,rss,python-version:,packages:,clean-intermediate,all,xml, -n 'parse-options' -- "$@"`
+OPTS=`getopt -o h --long help,config:,rebuild,clean,rss,carsim,python-version:,packages:,clean-intermediate,all,xml, -n 'parse-options' -- "$@"`
 
 eval set -- "$OPTS"
 

Util/BuildTools/Package.sh

@@ -15,8 +15,9 @@ DO_TARBALL=true
 DO_CLEAN_INTERMEDIATE=false
 PROPS_MAP_NAME=PropsMap
 PACKAGE_CONFIG=Shipping
+USE_CARSIM=false
 
-OPTS=`getopt -o h --long help,config:,no-zip,clean-intermediate,packages:,python-version: -n 'parse-options' -- "$@"`
+OPTS=`getopt -o h --long help,config:,no-zip,clean-intermediate,carsim,packages:,python-version: -n 'parse-options' -- "$@"`
 
 eval set -- "$OPTS"
 
@@ -34,6 +35,9 @@ while [[ $# -gt 0 ]]; do
     --packages )
       PACKAGES="$2"
       shift 2 ;;
+    --carsim )
+      USE_CARSIM=true;
+      shift ;;
     -h | --help )
       echo "$DOC_STRING"
       echo "$USAGE_STRING"
@@ -87,6 +91,12 @@ if ${DO_CARLA_RELEASE} ; then
 
   pushd "${CARLAUE4_ROOT_FOLDER}" >/dev/null
 
+  if [ ${USE_CARSIM} ]; then
+    echo "CarSim ON" > ${PWD}/Config/CarSimConfig.ini
+  else
+    echo "CarSim OFF" > ${PWD}/Config/CarSimConfig.ini
+  fi
+
   log "Cooking CARLA project."
 
   rm -Rf ${RELEASE_BUILD_FOLDER}