Luis/vegetation videos (#5861)

* fixed pool increasing size fast.

* Fixed pools

* get the vehicle each frame

* Fixed bug when starting a new manual control script.

* Fixed xerces-c dependency

* fixed xerces-c dependencies

* Adding backup for xerces-c library

* Fix the duplication of collision capsules, and remove the impulse with static bones

* enable impulse force again, for static bones

* nullptr tile bug fixed

Co-authored-by: Axel <axellopez92@outlook.com>
Co-authored-by: bernatx <bernatx@gmail.com>

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/LargeMapManager.cpp

@@ -209,6 +209,17 @@ void ALargeMapManager::OnActorSpawned(
 
 }
 
+ACarlaWheeledVehicle* ALargeMapManager::GetHeroVehicle()
+{
+  if (ActorsToConsider.Num() > 0)
+  {
+    ACarlaWheeledVehicle* Hero = Cast<ACarlaWheeledVehicle>(ActorsToConsider[0]);
+    if (IsValid(Hero))
+      return Hero;
+  }
+  return nullptr;
+}
+
 void ALargeMapManager::OnActorDestroyed(AActor* DestroyedActor)
 {
   LM_LOG(Warning, "ALargeMapManager::OnActorDestroyed %s", *DestroyedActor->GetName());

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/LargeMapManager.h

@@ -197,6 +197,8 @@ public:
 
   FCarlaMapTile& LoadCarlaMapTile(FString TileMapPath, TileID TileId);
 
+  ACarlaWheeledVehicle* GetHeroVehicle();
+
 protected:
 
   void UpdateTilesState();

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/SpringBasedVegetationComponent.cpp

@@ -301,7 +301,7 @@ void USpringBasedVegetationComponent::GenerateSkeletonHierarchy()
     }
   }
 
-  UpdateGlobalTransform();
+  // UpdateGlobalTransform();
 }
 
 void USpringBasedVegetationComponent::BeginPlay()
@@ -330,47 +330,6 @@ void USpringBasedVegetationComponent::BeginPlay()
     GenerateSkeletonHierarchy();
   }
 
-  // Get resting pose for bones
-  auto *AnimInst = SkeletalMesh->GetAnimInstance();
-  if (!AnimInst)
-  {
-    OTHER_LOG(Error, "Could not get animation instance.");
-    return;
-  }
-  UWalkerAnim *WalkerAnim = Cast<UWalkerAnim>(AnimInst);
-  if (!WalkerAnim)
-  {
-    OTHER_LOG(Error, "Could not get UWalkerAnim.");
-    return;
-  }
-
-  // get current pose
-  FPoseSnapshot TempSnapshot;
-  SkeletalMesh->SnapshotPose(TempSnapshot);
-
-  // copy pose
-  WalkerAnim->Snap = TempSnapshot;
-
-  for (int i=0; i<Skeleton.Joints.Num(); ++i)
-  {
-    FSkeletonJoint& Joint = Skeleton.Joints[i];
-    FTransform JointTransform = SkeletalMesh->GetSocketTransform(FName(*Joint.JointName), ERelativeTransformSpace::RTS_ParentBoneSpace);
-    Joint.Transform = JointTransform;
-    Joint.RestingAngles = JointTransform.Rotator();
-    OTHER_LOG(Log, "Getting info for bone %s, %f, %f, %f, %f", *Joint.JointName, Joint.RestingAngles.Pitch, Joint.RestingAngles.Yaw, Joint.RestingAngles.Roll);
-    if(i > 0)
-    {
-      FSkeletonJoint& ParentJoint = Skeleton.Joints[Joint.ParentId];
-      FVector BoneCOM = Joint.Transform.GetLocation()*0.5f;
-      float BoneLength = Joint.Transform.GetLocation().Size();
-      ParentJoint.Bones.Add({10, BoneLength, BoneCOM});
-    }
-  }
-  for (int i=0; i<TempSnapshot.BoneNames.Num(); ++i)
-  {
-    OTHER_LOG(Log, "Joint list: %s", *TempSnapshot.BoneNames[i].ToString());
-  }
-
   UpdateGlobalTransform();
   GenerateCollisionCapsules();
   if(bAutoComputeStrength)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/VegetationManager.cpp

@@ -46,10 +46,16 @@ static FString GetVersionFromFString(const FString& String)
 /********************************************************************************/
 /********** POOLED ACTOR STRUCT *************************************************/
 /********************************************************************************/
-void FPooledActor::EnableActor()
+void FPooledActor::EnableActor(const FTransform& Transform, int32 NewIndex, FTileMeshComponent* NewTileMeshComponent)
 {
   TRACE_CPUPROFILER_EVENT_SCOPE(FPooledActor::EnableActor);
   InUse = true;
+  GlobalTransform = Transform;
+  Index = NewIndex;
+  TileMeshComponent = NewTileMeshComponent;
+  TileMeshComponent->IndicesInUse.Emplace(Index);
+
+
   Actor->SetActorHiddenInGame(false);
   Actor->SetActorEnableCollision(true);
   Actor->SetActorTickEnabled(true);
@@ -65,8 +71,17 @@ void FPooledActor::EnableActor()
 void FPooledActor::DisableActor()
 {
   TRACE_CPUPROFILER_EVENT_SCOPE(FPooledActor::DisableActor);
+
+  if (TileMeshComponent)
+  {
+    if (TileMeshComponent->IndicesInUse.Num() > 0)
+      TileMeshComponent->IndicesInUse.RemoveSingle(Index);
+  }
+
   InUse = false;
-  Actor->SetActorTransform(FTransform());
+  Index = -1;
+  TileMeshComponent = nullptr;
+
   Actor->SetActorHiddenInGame(true);
   Actor->SetActorEnableCollision(false);
   Actor->SetActorTickEnabled(false);
@@ -189,22 +204,34 @@ void AVegetationManager::Tick(float DeltaTime)
   }
   if (!LargeMap)
     return;
-  bool FoundVehicles = CheckIfAnyVehicleInLevel();
+  if (!IsValid(HeroVehicle))
-  if (!FoundVehicles)
+  {
+    HeroVehicle = LargeMap->GetHeroVehicle();
+    if (!IsValid(HeroVehicle))
       return;
+  }
     
-  UpdateVehiclesDetectionBoxes();
+  HeroVehicle->UpdateDetectionBox();  
-  
   TArray<FString> TilesInUse = GetTilesInUse();
   if (TilesInUse.Num() == 0)
+  {
+    UE_LOG(LogCarla, Warning, TEXT("No tiles detected."));
     return;
+  }
 
-  UpdateMaterials(TilesInUse);
+  for (const FString& TileName : TilesInUse)
-  TArray<TPair<FFoliageBlueprint, TArray<FTransform>>> ElementsToSpawn = GetElementsToSpawn(TilesInUse);
+  {
+    FTileData* Tile = TileCache.Find(TileName);
+    if (!Tile)
+      continue;
+    UpdateMaterials(Tile);
+    TArray<FElementsToSpawn> ElementsToSpawn = GetElementsToSpawn(Tile);
     SpawnSkeletalFoliages(ElementsToSpawn);
     DestroySkeletalFoliages();
   }
   
+}
+
 /********************************************************************************/
 /********** VEHICLE *************************************************************/
 /********************************************************************************/
@@ -213,9 +240,7 @@ void AVegetationManager::AddVehicle(ACarlaWheeledVehicle* Vehicle)
   TRACE_CPUPROFILER_EVENT_SCOPE(AVegetationManager::AddVehicle);
   if (!IsValid(Vehicle))
     return;
-  if (VehiclesInLevel.Contains(Vehicle))
+  HeroVehicle = Vehicle;
-    return;
-  VehiclesInLevel.Emplace(Vehicle);
   UE_LOG(LogCarla, Display, TEXT("Vehicle added."));
 }
 
@@ -224,9 +249,7 @@ void AVegetationManager::RemoveVehicle(ACarlaWheeledVehicle* Vehicle)
   TRACE_CPUPROFILER_EVENT_SCOPE(AVegetationManager::RemoveVehicle);
   if (!IsValid(Vehicle))
     return;
-  if (!VehiclesInLevel.Contains(Vehicle))
+  HeroVehicle = nullptr;
-    return;
-  VehiclesInLevel.RemoveSingle(Vehicle);
   UE_LOG(LogCarla, Display, TEXT("Vehicle removed."));
 }
 
@@ -245,6 +268,8 @@ void AVegetationManager::CreateOrUpdateTileCache(ULevel* InLevel)
     TileData.InstancedFoliageActor = InstancedFoliageActor;
     break;
   }
+  if (!IsValid(TileData.InstancedFoliageActor))
+    return;
 
   for (AActor* Actor : InLevel->Actors)
   {
@@ -254,18 +279,17 @@ void AVegetationManager::CreateOrUpdateTileCache(ULevel* InLevel)
     TileData.ProceduralFoliageVolume = ProceduralFoliageVolume;
     break;
   }
+  if (!IsValid(TileData.ProceduralFoliageVolume))
+    return;
+
   const FString TileName = TileData.InstancedFoliageActor->GetLevel()->GetOuter()->GetName();
   FTileData* ExistingTileData = TileCache.Find(TileName);
   if (ExistingTileData)
   {
     ExistingTileData->InstancedFoliageActor = TileData.InstancedFoliageActor;
     ExistingTileData->ProceduralFoliageVolume = TileData.ProceduralFoliageVolume;
-    for (FTileMeshComponent& Element : ExistingTileData->TileMeshesCache)
-    {
-      Element.InstancedStaticMeshComponent = nullptr;
-      Element.IndicesInUse.Empty();
-    }
     ExistingTileData->TileMeshesCache.Empty();
+    ExistingTileData->MaterialInstanceDynamicCache.Empty();
     SetTileDataInternals(*ExistingTileData);
   }
   else
@@ -273,7 +297,6 @@ void AVegetationManager::CreateOrUpdateTileCache(ULevel* InLevel)
     SetTileDataInternals(TileData);
     TileCache.Emplace(TileName, TileData);
   }
-
 }
 
 void AVegetationManager::SetTileDataInternals(FTileData& TileData)
@@ -316,7 +339,8 @@ void AVegetationManager::SetMaterialCache(FTileData& TileData)
   if (TileData.MaterialInstanceDynamicCache.Num() > 0)
     TileData.MaterialInstanceDynamicCache.Empty();
   
-  const float Distance = VehiclesInLevel.Last()->DetectionSize * 2.0f;
+  #define MATERIAL_HIDE_DISTANCE 500.0f
+  const float Distance = MATERIAL_HIDE_DISTANCE;
   for (FTileMeshComponent& Element : TileData.TileMeshesCache)
   {
     UInstancedStaticMeshComponent* Mesh = Element.InstancedStaticMeshComponent;
@@ -368,7 +392,7 @@ void AVegetationManager::UpdateFoliageBlueprintCache(ULevel* InLevel)
       
       if (!NewFoliageBlueprint.IsValid())
       {
-        UE_LOG(LogCarla, Error, TEXT("Blueprint %s was invalid."), *NewFoliageBlueprint.BPFullClassName);
+        UE_LOG(LogCarla, Warning, TEXT("Blueprint %s was invalid."), *NewFoliageBlueprint.BPFullClassName);
       }
       else
       {
@@ -384,7 +408,7 @@ void AVegetationManager::FreeTileCache(ULevel* InLevel)
 {
   if (!IsValid(InLevel))
     return;
-  FTileData TileData {};
+  AInstancedFoliageActor* TileInstancedFoliageActor = nullptr;
   for (AActor* Actor : InLevel->Actors)
   {
     if (!IsValid(Actor))
@@ -392,12 +416,12 @@ void AVegetationManager::FreeTileCache(ULevel* InLevel)
     AInstancedFoliageActor* InstancedFoliageActor = Cast<AInstancedFoliageActor>(Actor);
     if (!IsValid(InstancedFoliageActor))
       continue;
-    TileData.InstancedFoliageActor = InstancedFoliageActor;
+    TileInstancedFoliageActor = InstancedFoliageActor;
     break;
   }
-  if (TileData.InstancedFoliageActor == nullptr)
+  if (!IsValid(TileInstancedFoliageActor))
     return;
-  const FString TileName = TileData.InstancedFoliageActor->GetLevel()->GetOuter()->GetName();
+  const FString TileName = TileInstancedFoliageActor->GetLevel()->GetOuter()->GetName();
   FTileData* ExistingTileData = TileCache.Find(TileName);
   if (ExistingTileData)
   {
@@ -407,6 +431,9 @@ void AVegetationManager::FreeTileCache(ULevel* InLevel)
       Element.IndicesInUse.Empty();
     }
     ExistingTileData->TileMeshesCache.Empty();
+    ExistingTileData->InstancedFoliageActor = nullptr;
+    ExistingTileData->ProceduralFoliageVolume = nullptr;
+
     TileCache.Remove(TileName);
   }
 }
@@ -414,44 +441,29 @@ void AVegetationManager::FreeTileCache(ULevel* InLevel)
 /********************************************************************************/
 /********** TICK ****************************************************************/
 /********************************************************************************/
-void AVegetationManager::UpdateVehiclesDetectionBoxes()
+void AVegetationManager::UpdateMaterials(FTileData* Tile)
-{
-  TRACE_CPUPROFILER_EVENT_SCOPE(AVegetationManager::UpdateVehiclesDetectionBoxes);
-  for (ACarlaWheeledVehicle* Vehicle : VehiclesInLevel)
-    Vehicle->UpdateDetectionBox();
-}
-
-void AVegetationManager::UpdateMaterials(TArray<FString>& Tiles)
 {
   TRACE_CPUPROFILER_EVENT_SCOPE(AVegetationManager::UpdateMaterials);
-  const FLinearColor Position = VehiclesInLevel.Last()->GetActorLocation();
+  const FTransform GlobalTransform = LargeMap->LocalToGlobalTransform(HeroVehicle->GetActorTransform());
-  for (const FString& TileName : Tiles)
+  const FLinearColor Position = GlobalTransform.GetLocation();
-  {
+  Tile->UpdateMaterialCache(Position, DebugMaterials);
-    FTileData* TileData = TileCache.Find(TileName);
-    if (!TileData)
-      continue;
-    TileData->UpdateMaterialCache(Position, DebugMaterials);
-  }
 }
 
-TArray<TPair<FFoliageBlueprint, TArray<FTransform>>> AVegetationManager::GetElementsToSpawn(const TArray<FString>& Tiles)
+TArray<FElementsToSpawn> AVegetationManager::GetElementsToSpawn(FTileData* Tile)
 {
   TRACE_CPUPROFILER_EVENT_SCOPE(AVegetationManager::GetElementsToSpawn);
-  TArray<TPair<FFoliageBlueprint, TArray<FTransform>>> Results;
+  TArray<FElementsToSpawn> Results;
-  for (const FString& TileKey : Tiles)
+  int32 i = -1;
-  {
-    FTileData* Tile = TileCache.Find(TileKey);
-    if (!Tile)
-      continue;
   for (FTileMeshComponent& Element : Tile->TileMeshesCache)
   {
     TRACE_CPUPROFILER_EVENT_SCOPE(Update Foliage Usage);
+    ++i;
     UInstancedStaticMeshComponent* InstancedStaticMeshComponent = Element.InstancedStaticMeshComponent;
     const FString Path = InstancedStaticMeshComponent->GetStaticMesh()->GetPathName();
     FFoliageBlueprint* BP = FoliageBlueprintCache.Find(Path);
     if (!BP)
       continue;
-      TArray<int32> Indices = VehiclesInLevel.Last()->GetFoliageInstancesCloseToVehicle(InstancedStaticMeshComponent);
+    TArray<int32> Indices = HeroVehicle->GetFoliageInstancesCloseToVehicle(InstancedStaticMeshComponent);
     if (Indices.Num() == 0)
       continue;
 
@@ -462,52 +474,50 @@ TArray<TPair<FFoliageBlueprint, TArray<FTransform>>> AVegetationManager::GetElem
         continue;
       NewIndices.Emplace(Index);
     }
-      Element.IndicesInUse = Indices;
+    
-      TPair<FFoliageBlueprint, TArray<FTransform>> NewElement {};
+    FElementsToSpawn NewElement {};
-      NewElement.Key = *BP;
+    NewElement.TileMeshComponent = &Tile->TileMeshesCache[i];
-      TArray<FTransform> Transforms;
+    NewElement.BP = *BP;
     for (int32 Index : NewIndices)
     {
       FTransform Transform;
       InstancedStaticMeshComponent->GetInstanceTransform(Index, Transform, true);
       FTransform GlobalTransform = LargeMap->LocalToGlobalTransform(Transform);
-        Transforms.Emplace(GlobalTransform);
+      NewElement.TransformIndex.Emplace(TPair<FTransform, int32>(GlobalTransform, Index));
     }
-      if (Transforms.Num() > 0)
+    if (NewElement.TransformIndex.Num() > 0)
-      {
-        NewElement.Value = Transforms;
       Results.Emplace(NewElement);
   }
-    }
-  }
   return Results;
 }
 
-void AVegetationManager::SpawnSkeletalFoliages(TArray<TPair<FFoliageBlueprint, TArray<FTransform>>>& ElementsToSpawn)
+void AVegetationManager::SpawnSkeletalFoliages(TArray<FElementsToSpawn>& ElementsToSpawn)
 {
   TRACE_CPUPROFILER_EVENT_SCOPE(AVegetationManager::SpawnSkeletalFoliages);
-  for (TPair<FFoliageBlueprint, TArray<FTransform>>& Element : ElementsToSpawn)
+  for (FElementsToSpawn& Element : ElementsToSpawn)
   {
-    FFoliageBlueprint BP = Element.Key;
+    TArray<FPooledActor>* Pool = ActorPool.Find(Element.BP.BPFullClassName);
-    TArray<FPooledActor>* Pool = ActorPool.Find(BP.BPFullClassName);
+    if (Pool == nullptr)
-    for (const FTransform& Transform : Element.Value)
+      continue;
+    for (const TPair<FTransform, int32>& TransformIndex : Element.TransformIndex)
     {
-      bool Ok = EnableActorFromPool(Transform, *Pool);
+      const FTransform& Transform = TransformIndex.Key;
+      int32 Index = TransformIndex.Value;
+      if (Element.TileMeshComponent->IndicesInUse.Contains(Index))
+        continue;
+      bool Ok = EnableActorFromPool(Transform, Index, Element.TileMeshComponent, *Pool);
       if (Ok)
       {
-        UE_LOG(LogCarla, Display, TEXT("Pooled actor: %s"), *BP.BPFullClassName);
+        
       }
       else
       {
         FPooledActor NewElement;
-        NewElement.GlobalTransform = Transform;
+        NewElement.Actor = CreateFoliage(Element.BP, {});
-        FTransform LocalTransform = LargeMap->GlobalToLocalTransform(Transform);
-        NewElement.Actor = CreateFoliage(BP, LocalTransform);
         if (IsValid(NewElement.Actor))
         {
-          NewElement.EnableActor();
+          NewElement.EnableActor(Transform, Index, Element.TileMeshComponent);
           Pool->Emplace(NewElement);
-          UE_LOG(LogCarla, Display, TEXT("Created actor: %s"), *BP.BPFullClassName);
         } 
       }
     }
@@ -525,29 +535,25 @@ void AVegetationManager::DestroySkeletalFoliages()
       if (!Actor.InUse)
           continue;
       const FVector Location = Actor.GlobalTransform.GetLocation();
-      if (!VehiclesInLevel.Last()->IsInVehicleRange(Location))
+      if (!HeroVehicle->IsInVehicleRange(Location))
       {
         Actor.DisableActor();
-        UE_LOG(LogCarla, Display, TEXT("Disabled Actor"));
       }
     }
   }
 }
 
-bool AVegetationManager::EnableActorFromPool(const FTransform& Transform, TArray<FPooledActor>& Pool)
+bool AVegetationManager::EnableActorFromPool(const FTransform& Transform, int32 Index, FTileMeshComponent* TileMeshComponent, TArray<FPooledActor>& Pool)
 {
   TRACE_CPUPROFILER_EVENT_SCOPE(AVegetationManager::EnableActorFromPool);
   for (FPooledActor& PooledActor : Pool)
   {
     if (PooledActor.InUse)
       continue;
-    PooledActor.GlobalTransform = Transform;
+    PooledActor.EnableActor(Transform, Index, TileMeshComponent);
-    FTransform LocalTransform = Transform;
+    PooledActor.Actor->SetActorLocationAndRotation(Transform.GetLocation(), Transform.Rotator(), true, nullptr, ETeleportType::ResetPhysics);
-    LocalTransform = LargeMap->GlobalToLocalTransform(Transform);
-    PooledActor.EnableActor();
-    PooledActor.Actor->SetActorLocationAndRotation(LocalTransform.GetLocation(), LocalTransform.Rotator(), true, nullptr, ETeleportType::ResetPhysics);
     if (SpawnScale <= 1.01f && SpawnScale >= 0.99f)
-      PooledActor.Actor->SetActorScale3D(LocalTransform.GetScale3D());
+      PooledActor.Actor->SetActorScale3D(Transform.GetScale3D());
     else
       PooledActor.Actor->SetActorScale3D({SpawnScale, SpawnScale, SpawnScale});
     return true;
@@ -611,12 +617,6 @@ void AVegetationManager::OnLevelRemovedFromWorld(ULevel* InLevel, UWorld* InWorl
   FreeTileCache(InLevel);
 }
 
-bool AVegetationManager::CheckIfAnyVehicleInLevel() const
-{
-  TRACE_CPUPROFILER_EVENT_SCOPE(AVegetationManager::CheckIfAnyVehicleInLevel);
-  return VehiclesInLevel.Num() > 0;
-}
-
 bool AVegetationManager::IsFoliageTypeEnabled(const FString& Path) const
 {
   TRACE_CPUPROFILER_EVENT_SCOPE(AVegetationManager::IsFoliageTypeEnabled);
@@ -676,17 +676,11 @@ TArray<FString> AVegetationManager::GetTilesInUse()
     const FBox Box = Procedural->ProceduralComponent->GetBounds();
     if (!Box.IsValid)
       continue; 
-    
+    if (Box.IsInside(HeroVehicle->GetActorLocation()))
-    for (ACarlaWheeledVehicle* Vehicle : VehiclesInLevel)
-    {
-      if (!IsValid(Vehicle))
-        continue;   
-      if (Box.IsInside(Vehicle->GetActorLocation()))
       {
         Results.Emplace(Element.Key);
         break;
       }
   }
-  }
   return Results;
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vegetation/VegetationManager.h

@@ -60,11 +60,22 @@ struct FPooledActor
   bool InUse { false };
   AActor* Actor { nullptr };
   FTransform GlobalTransform {FTransform()};
+  int32 Index {-1};
+  FTileMeshComponent* TileMeshComponent {nullptr};
 
-  void EnableActor();
+  void EnableActor(const FTransform& Transform, int32 NewIndex, FTileMeshComponent* NewTileMeshComponent);
   void DisableActor();
 };
 
+USTRUCT()
+struct FElementsToSpawn
+{
+  GENERATED_BODY()
+  FTileMeshComponent* TileMeshComponent;
+  FFoliageBlueprint BP;
+  TArray<TPair<FTransform, int32>> TransformIndex;
+};
+
 UCLASS()
 class CARLA_API AVegetationManager : public AActor
 {
@@ -107,17 +118,15 @@ protected:
 
 private:
   bool IsFoliageTypeEnabled(const FString& Path) const;
-  bool CheckIfAnyVehicleInLevel() const;
   bool CheckForNewTiles() const;
 
   TArray<FString> GetTilesInUse();
 
-  void UpdateVehiclesDetectionBoxes();
+  void UpdateMaterials(FTileData* Tile);
-  void UpdateMaterials(TArray<FString>& Tiles);
+  TArray<FElementsToSpawn> GetElementsToSpawn(FTileData* Tile);
-  TArray<TPair<FFoliageBlueprint, TArray<FTransform>>> GetElementsToSpawn(const TArray<FString>& Tiles);
+  void SpawnSkeletalFoliages(TArray<FElementsToSpawn>& ElementsToSpawn);
-  void SpawnSkeletalFoliages(TArray<TPair<FFoliageBlueprint, TArray<FTransform>>>& ElementsToSpawn);
   void DestroySkeletalFoliages();
-  bool EnableActorFromPool(const FTransform& Transform, TArray<FPooledActor>& Pool);
+  bool EnableActorFromPool(const FTransform& Transform, int32 Index, FTileMeshComponent* TileMeshComponent, TArray<FPooledActor>& Pool);
 
   void CreateOrUpdateTileCache(ULevel* InLevel);
   void UpdateFoliageBlueprintCache(ULevel* InLevel);
@@ -138,7 +147,7 @@ private:
 private:
   //Actors
   ALargeMapManager* LargeMap {nullptr};
-  TArray<ACarlaWheeledVehicle*> VehiclesInLevel {};
+  ACarlaWheeledVehicle* HeroVehicle {nullptr};
   //Caches
   TMap<FString, FFoliageBlueprint> FoliageBlueprintCache {};
   TMap<FString, FTileData> TileCache {};

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

@@ -206,25 +206,18 @@ bool ACarlaWheeledVehicle::IsInVehicleRange(const FVector& Location) const
 {
   TRACE_CPUPROFILER_EVENT_SCOPE(ACarlaWheeledVehicle::IsInVehicleRange);
 
-  float Distance = 0.0f;
+  return FoliageBoundingBox.IsInside(Location);
-  ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(GetWorld());
-  if (LargeMap)
-  {
-    FTransform GlobalTransform = LargeMap->LocalToGlobalTransform(GetActorTransform());
-    Distance = FVector::Distance(Location, GlobalTransform.GetLocation());
-  }
-  else
-  {
-    Distance = FVector::Distance(Location, GetActorTransform().GetLocation());
-  }
-  return Distance < DetectionSize * 10.0f;
 }
 
 void ACarlaWheeledVehicle::UpdateDetectionBox()
 {
+  ALargeMapManager* LargeMap = UCarlaStatics::GetLargeMapManager(GetWorld());
+  if (!IsValid(LargeMap))
+    return;
+  FTransform GlobalTransform = LargeMap->LocalToGlobalTransform(GetActorTransform());
   const FVector Vec { DetectionSize, DetectionSize, DetectionSize};
   FBox Box = FBox(-Vec, Vec);
-  FoliageBoundingBox = Box.TransformBy(GetActorTransform());
+  FoliageBoundingBox = Box.TransformBy(GlobalTransform);
 }
 
 const TArray<int32> ACarlaWheeledVehicle::GetFoliageInstancesCloseToVehicle(const UInstancedStaticMeshComponent* Component) const
@@ -937,8 +930,8 @@ FVector ACarlaWheeledVehicle::GetVelocity() const
 void ACarlaWheeledVehicle::EndPlay(const EEndPlayReason::Type EndPlayReason)
 {
   ShowDebugTelemetry(false);
-  RemoveReferenceToManager();
   Super::EndPlay(EndPlayReason);
+  RemoveReferenceToManager();
 }
 
 void ACarlaWheeledVehicle::OpenDoor(const EVehicleDoor DoorIdx) {

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

@@ -354,7 +354,7 @@ private:
 
 public:
   UPROPERTY(Category = "CARLA Wheeled Vehicle", EditDefaultsOnly)
-  float DetectionSize { 200.0f };
+  float DetectionSize { 500.0f };
   
   UPROPERTY(Category = "CARLA Wheeled Vehicle", VisibleAnywhere, BlueprintReadOnly)
   FBox FoliageBoundingBox;