Use center of bounding box as vehicle position

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

@@ -132,7 +132,6 @@ void FCarlaEncoder::Encode(
 void FCarlaEncoder::Encode(const UAgentComponent &AgentComponent, carla_agent &AgentData)
 {
   AgentData.id = AgentComponent.GetId();
-  ::Encode(AgentComponent.GetComponentTransform(), AgentData.transform);
   FCarlaEncoder Encoder(AgentData);
   AgentComponent.AcceptVisitor(Encoder);
 }
@@ -145,6 +144,7 @@ FCarlaEncoder::FCarlaEncoder(carla_agent &InData) : Data(InData) {}
 
 void FCarlaEncoder::Visit(const UTrafficSignAgentComponent &Agent)
 {
+  ::Encode(Agent.GetComponentTransform(), Data.transform);
   auto &TrafficSign = Agent.GetTrafficSign();
   switch (TrafficSign.GetTrafficSignState()) {
     case ETrafficSignState::TrafficLightRed:
@@ -196,6 +196,7 @@ void FCarlaEncoder::Visit(const UTrafficSignAgentComponent &Agent)
 void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
 {
   auto &Vehicle = Agent.GetVehicle();
+  ::Encode(Vehicle.GetVehicleTransform(), Data.transform);
   Data.type = CARLA_SERVER_AGENT_VEHICLE;
   Data.forward_speed = Vehicle.GetVehicleForwardSpeed();
   ::Encode(Vehicle.GetVehicleBoundsExtent(), Data.box_extent);
@@ -203,6 +204,7 @@ void FCarlaEncoder::Visit(const UVehicleAgentComponent &Agent)
 
 void FCarlaEncoder::Visit(const UWalkerAgentComponent &Agent)
 {
+  ::Encode(Agent.GetComponentTransform(), Data.transform);
   Data.type = CARLA_SERVER_AGENT_PEDESTRIAN;
   Data.forward_speed = Agent.GetForwardSpeed();
   ::Encode(Agent.GetBoundingBoxExtent(), Data.box_extent);

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

@@ -64,7 +64,7 @@ void ACarlaVehicleController::Tick(float DeltaTime)
     auto Vehicle = GetPossessedVehicle();
     CarlaPlayerState->UpdateTimeStamp(DeltaTime);
     const FVector PreviousSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->GetOrientation();
-    CarlaPlayerState->Transform = Vehicle->GetActorTransform();
+    CarlaPlayerState->Transform = Vehicle->GetVehicleTransform();
     CarlaPlayerState->ForwardSpeed = Vehicle->GetVehicleForwardSpeed();
     const FVector CurrentSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->GetOrientation();
     CarlaPlayerState->Acceleration = (CurrentSpeed - PreviousSpeed) / DeltaTime;
@@ -113,7 +113,7 @@ void ACarlaVehicleController::IntersectPlayerWithRoadMap()
   auto Vehicle = GetPossessedVehicle();
   constexpr float ChecksPerCentimeter = 0.1f;
   auto Result = RoadMap->Intersect(
-      Vehicle->GetActorTransform(),
+      Vehicle->GetVehicleTransform(),
       Vehicle->GetVehicleBoundsExtent(),
       ChecksPerCentimeter);
 

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

@@ -37,6 +37,13 @@ ACarlaWheeledVehicle::~ACarlaWheeledVehicle() {}
 // -- Get functions ------------------------------------------------------------
 // =============================================================================
 
+FTransform ACarlaWheeledVehicle::GetVehicleTransform() const
+{
+  FTransform Transform = VehicleBounds->GetComponentTransform();
+  Transform.SetScale3D(GetActorTransform().GetScale3D());
+  return Transform;
+}
+
 float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const
 {
   return GetVehicleMovementComponent()->GetForwardSpeed() * 0.036f;
@@ -44,7 +51,7 @@ float ACarlaWheeledVehicle::GetVehicleForwardSpeed() const
 
 FVector ACarlaWheeledVehicle::GetVehicleOrientation() const
 {
-  return GetActorTransform().GetRotation().GetForwardVector();
+  return GetVehicleTransform().GetRotation().GetForwardVector();
 }
 
 int32 ACarlaWheeledVehicle::GetVehicleCurrentGear() const

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

@@ -41,6 +41,11 @@ public:
   /// @{
 public:
 
+  /// Transform of the vehicle. Location is shifted so it matches center of the
+  /// vehicle bounds rather than the actor's location.
+  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
+  FTransform GetVehicleTransform() const;
+
   /// Forward speed in km/h. Might be negative if goes backwards.
   UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
   float GetVehicleForwardSpeed() const;