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Fixed constraints breaking on spawn.

This commit is contained in:
Axel 2021-09-29 17:09:35 +02:00 committed by bernat
parent 62e9e8dc6a
commit b5d6eb264b
2 changed files with 41 additions and 8 deletions
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39
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
View File

@ -84,6 +84,15 @@ void ACarlaWheeledVehicle::BeginPlay()
UDefaultMovementComponent::CreateDefaultMovementComponent(this);
// Get constraint components and their initial transforms
ConstraintsComponents.Empty();
for (FName& ComponentName : ConstraintComponentNames)
{
UPhysicsConstraintComponent* ConstraintComponent = Cast<UPhysicsConstraintComponent>(GetDefaultSubobjectByName(ComponentName));
if (ConstraintComponent)
{
ConstraintsComponents.Add(ConstraintComponent);
}
}
DoorComponentsTransform.Empty();
FTransform ActorInverseTransform = GetActorTransform().Inverse();
for (UPhysicsConstraintComponent * Constraint: ConstraintsComponents)
@ -101,6 +110,7 @@ void ACarlaWheeledVehicle::BeginPlay()
UE_LOG(LogCarla, Error, TEXT("Missing component for constraint: %s"), *(Constraint->GetName()));
}
}
ResetConstraints();
float FrictionScale = 3.5f;
@ -472,6 +482,8 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
Vehicle4W->PVehicle->mWheelsSimData.setTireData(i, PTireData);
}
ResetConstraints();
auto * Recorder = UCarlaStatics::GetRecorder(GetWorld());
if (Recorder && Recorder->IsEnabled())
{
@ -616,10 +628,15 @@ void ACarlaWheeledVehicle::SetSimulatePhysics(bool enabled) {
FTransform ComponentWorldTransform = ComponentTransform.Value * ActorTransform;
Component->SetWorldTransform(ComponentWorldTransform);
}
for (UPhysicsConstraintComponent* Constraint : ConstraintsComponents)
{
Constraint->InitComponentConstraint();
}
ResetConstraints();
}
}
void ACarlaWheeledVehicle::ResetConstraints()
{
for (UPhysicsConstraintComponent* Constraint : ConstraintsComponents)
{
Constraint->InitComponentConstraint();
}
}
@ -671,14 +688,24 @@ void ACarlaWheeledVehicle::OpenDoorPhys(const EVehicleDoor DoorIdx)
{
UPhysicsConstraintComponent* Constraint = ConstraintsComponents[static_cast<int>(DoorIdx)];
float AngleLimit = Constraint->ConstraintInstance.GetAngularSwing1Limit();
Constraint->SetAngularOrientationTarget(FRotator(0, 0, AngleLimit));
FRotator AngularRotationOffset = Constraint->ConstraintInstance.AngularRotationOffset;
if (Constraint->ConstraintInstance.AngularRotationOffset.Yaw < 0.0f)
{
AngleLimit = -AngleLimit;
}
Constraint->SetAngularOrientationTarget(FRotator(0, AngleLimit, 0));
Constraint->SetAngularDriveParams(DoorOpenStrength, 1.0, 0.0);
}
void ACarlaWheeledVehicle::CloseDoorPhys(const EVehicleDoor DoorIdx)
{
UPhysicsConstraintComponent* Constraint = ConstraintsComponents[static_cast<int>(DoorIdx)];
Constraint->SetAngularOrientationTarget(FRotator(0, 0, 0));
float AngleLimit = Constraint->ConstraintInstance.GetAngularSwing1Limit();
if (Constraint->ConstraintInstance.AngularRotationOffset.Yaw < 0.0f)
{
AngleLimit = -AngleLimit;
}
Constraint->SetAngularOrientationTarget(FRotator(0, -AngleLimit, 0));
Constraint->SetAngularDriveParams(DoorCloseStrength, 1.0, 0.0);
}

10
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
View File

@ -273,13 +273,16 @@ protected:
TArray<float> DoorAnimAlpha;
UPROPERTY(Category="Door Animation", EditAnywhere, BlueprintReadWrite)
TArray<UPhysicsConstraintComponent*> ConstraintsComponents;
TArray<FName> ConstraintComponentNames;
UPROPERTY(Category="Door Animation", EditAnywhere, BlueprintReadWrite)
float DoorOpenStrength = 100.0f;
UPROPERTY(Category="Door Animation", EditAnywhere, BlueprintReadWrite)
float DoorCloseStrength = 10000.0f;
float DoorCloseStrength = 1000.0f;
UFUNCTION(BlueprintCallable, CallInEditor)
void ResetConstraints();
private:
@ -349,6 +352,9 @@ private:
UPROPERTY(Category="CARLA Wheeled Vehicle", VisibleAnywhere, BlueprintReadOnly, meta = (AllowPrivateAccess = "true"))
UBaseCarlaMovementComponent * BaseMovementComponent = nullptr;
UPROPERTY(Category="CARLA Wheeled Vehicle", VisibleAnywhere, BlueprintReadOnly, meta = (AllowPrivateAccess = "true"))
TArray<UPhysicsConstraintComponent*> ConstraintsComponents;
UPROPERTY(Category="CARLA Wheeled Vehicle", VisibleAnywhere, BlueprintReadOnly, meta = (AllowPrivateAccess = "true"))
TMap<UPrimitiveComponent*, FTransform> DoorComponentsTransform;