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carla
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Added release compile mode for chrono library.

This commit is contained in:
Axel 2021-02-02 13:35:25 +01:00 committed by bernat
parent f45e0d7c08
commit bf8e160622
6 changed files with 76 additions and 26 deletions
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2
PythonAPI/carla/source/libcarla/Actor.cpp
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@ -143,7 +143,7 @@ void export_actor() {
.def("get_traffic_light", &cc::Vehicle::GetTrafficLight)
.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")=10, arg("max_substep_delta_time")=0.01))
.def("enable_chrono_physics", &cc::Vehicle::EnableChronoPhysics, (arg("max_substeps")=30, arg("max_substep_delta_time")=0.002))
.def(self_ns::str(self_ns::self))
;

10
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
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@ -42,9 +42,9 @@ public class Carla : ModuleRules
UsingChrono = true;
PublicDefinitions.Add("WITH_CHRONO");
PrivateDefinitions.Add("WITH_CHRONO");
}
}
}
PublicIncludePaths.AddRange(
new string[] {
// ... add public include paths required here ...
@ -167,16 +167,18 @@ public class Carla : ModuleRules
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
if (UsingChrono)
{
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine_vehicle")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoModels_vehicle")));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "dll", "ChronoEngine.dll"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "dll", "ChronoEngine_vehicle.dll"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "dll", "ChronoModels_vehicle.dll"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "dll", "ChronoModels_robot.dll"));
PublicDelayLoadDLLs.Add(Path.Combine(LibCarlaInstallPath, "dll", "ChronoEngine.dll"));
PublicDelayLoadDLLs.Add(Path.Combine(LibCarlaInstallPath, "dll", "ChronoEngine_vehicle.dll"));
PublicDelayLoadDLLs.Add(Path.Combine(LibCarlaInstallPath, "dll", "ChronoModels_vehicle.dll"));
PublicDelayLoadDLLs.Add(Path.Combine(LibCarlaInstallPath, "dll", "ChronoModels_robot.dll"));
}
}
else
@ -195,9 +197,11 @@ public class Carla : ModuleRules
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine.so"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine_vehicle.so"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoModels_vehicle.so"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoModels_robot.so"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine.so"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoEngine_vehicle.so"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoModels_vehicle.so"));
RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib/libChronoModels_robot.so"));
bUseRTTI = true;
}
}

6
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.cpp
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@ -25,6 +25,7 @@ void FCarlaModule::LoadChronoDll()
FString ChronoEngineDll = FPaths::Combine(*PluginDir, TEXT("ChronoEngine.dll"));
FString ChronoVehicleDll = FPaths::Combine(*PluginDir, TEXT("ChronoEngine_vehicle.dll"));
FString ChronoModelsDll = FPaths::Combine(*PluginDir, TEXT("ChronoModels_vehicle.dll"));
FString ChronoRobotDll = FPaths::Combine(*PluginDir, TEXT("ChronoModels_robot.dll"));
auto ChronoEngineHandle = FPlatformProcess::GetDllHandle(*ChronoEngineDll);
if (ChronoEngineHandle)
{
@ -40,6 +41,11 @@ void FCarlaModule::LoadChronoDll()
{
UE_LOG(LogCarla, Warning, TEXT("Error: ChronoModels_vehicle.dll could not be loaded"));
}
auto ChronoRobotHandle = FPlatformProcess::GetDllHandle(*ChronoRobotDll);
if (ChronoRobotHandle)
{
UE_LOG(LogCarla, Warning, TEXT("Error: ChronoModels_robot.dll could not be loaded"));
}
#endif
}

69
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.cpp
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@ -6,6 +6,7 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#include "ChronoMovementComponent.h"
#include "Carla/Util/RayTracer.h"
#ifdef WITH_CHRONO
using namespace chrono;
@ -32,29 +33,65 @@ void UChronoMovementComponent::CreateChronoMovementComponent(
constexpr double CMTOM = 0.01;
ChVector<> UE4LocationToChrono(const FVector& Location)
{
return CMTOM*ChVector<>(Location.Y, Location.Z, -Location.X);
return CMTOM*ChVector<>(Location.Y, Location.X, Location.Z);
}
constexpr double MTOCM = 100;
FVector ChronoToUE4Location(const ChVector<>& position)
{
return MTOCM*FVector(-position.z(), position.x(), position.y());
return MTOCM*FVector(position.y(), position.x(), position.z());
}
UERayCastTerrain::UERayCastTerrain(UWorld* World, ChVehicle* Vehicle)
: UEWorld(World), ChronoVehicle(Vehicle) {}
UERayCastTerrain::UERayCastTerrain(
ACarlaWheeledVehicle* UEVehicle,
chrono::vehicle::ChVehicle* ChrVehicle)
: CarlaVehicle(UEVehicle), ChronoVehicle(ChrVehicle) {}
double UERayCastTerrain::GetHeight(double x, double y) const
std::pair<bool, FHitResult>
UERayCastTerrain::GetTerrainProperties(const FVector &Location) const
{
double z = ChronoVehicle->GetVehiclePos().z();
FVector Location = ChronoToUE4Location({x, y, z});
carla::log_warning("GetHeight:", x, y, z);
return 0;
const double MaxDistance = 1000000;
FVector StartLocation = Location;
FVector EndLocation = Location + FVector(0,0,-1)*MaxDistance; // search downwards
FHitResult Hit;
FCollisionQueryParams CollisionQueryParams;
CollisionQueryParams.AddIgnoredActor(CarlaVehicle);
bool bDidHit = CarlaVehicle->GetWorld()->LineTraceSingleByChannel(
Hit,
StartLocation,
EndLocation,
ECC_GameTraceChannel2, // camera (any collision)
CollisionQueryParams,
FCollisionResponseParams()
);
return std::make_pair(bDidHit, Hit);
}
ChVector<> UERayCastTerrain::GetNormal(double x, double y) const
double UERayCastTerrain::GetHeight(const ChVector<>& loc) const
{
return ChVector<>(0,1,0);
FVector Location = ChronoToUE4Location(loc);
carla::log_warning("Get Height at", Location.X, Location.Y, Location.Z);
auto point_pair = GetTerrainProperties(Location);
if (point_pair.first)
{
double Height = CMTOM*point_pair.second.Location.Z;
carla::log_warning("(",loc.x(),loc.y(),loc.z(),") Height:",Height);
return Height;
}
return -1000000.0;
}
float UERayCastTerrain::GetCoefficientFriction(double x, double y) const
ChVector<> UERayCastTerrain::GetNormal(const ChVector<>& loc) const
{
FVector Location = ChronoToUE4Location(loc);
auto point_pair = GetTerrainProperties(Location);
if (point_pair.first)
{
FVector Normal = point_pair.second.Normal;
carla::log_warning("(",loc.x(),loc.y(),loc.z(),") Normal:",Normal.X,Normal.Y, Normal.Z);
return UE4LocationToChrono(Normal);
}
return UE4LocationToChrono(FVector(0,1,0));
}
float UERayCastTerrain::GetCoefficientFriction(const ChVector<>& loc) const
{
return 1;
}
@ -66,7 +103,7 @@ void UChronoMovementComponent::BeginPlay()
DisableUE4VehiclePhysics();
// // // Chrono system
sys.Set_G_acc(ChVector<>(0, -9.8, 0));
// sys.Set_G_acc(ChVector<>(0, 0, -9.81));
sys.SetSolverType(ChSolver::Type::BARZILAIBORWEIN);
sys.SetSolverMaxIterations(150);
sys.SetMaxPenetrationRecoverySpeed(4.0);
@ -74,7 +111,7 @@ void UChronoMovementComponent::BeginPlay()
// // Create the HMMWV vehicle, set parameters, and initialize.
// // Typical aerodynamic drag for HMMWV: Cd = 0.5 and area ~5 m2
my_hmmwv = HMMWV_Full(&sys);
my_hmmwv.SetContactMethod(ChMaterialSurface::NSC);
my_hmmwv.SetContactMethod(ChContactMethod::NSC);
my_hmmwv.SetChassisFixed(false);
// Missing axis transformations to UE coordinate system
FVector VehicleLocation = CarlaVehicle->GetActorLocation();
@ -82,12 +119,12 @@ void UChronoMovementComponent::BeginPlay()
my_hmmwv.SetPowertrainType(PowertrainModelType::SHAFTS);
my_hmmwv.SetDriveType(DrivelineType::FWD);
my_hmmwv.SetTireType(TireModelType::PAC02);
my_hmmwv.SetTireStepSize(0.001);
my_hmmwv.SetTireStepSize(MaxSubstepDeltaTime);
my_hmmwv.SetAerodynamicDrag(0.5, 5.0, 1.2);
my_hmmwv.Initialize();
// Create the terrain
terrain = chrono_types::make_shared<UERayCastTerrain>(GetWorld(), &my_hmmwv.GetVehicle());
terrain = chrono_types::make_shared<UERayCastTerrain>(CarlaVehicle, &my_hmmwv.GetVehicle());
carla::log_warning("ChronoBeginPlay");
}

11
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.h
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@ -27,14 +27,15 @@
#ifdef WITH_CHRONO
class UERayCastTerrain : public chrono::vehicle::ChTerrain
{
UWorld* UEWorld;
ACarlaWheeledVehicle* CarlaVehicle;
chrono::vehicle::ChVehicle* ChronoVehicle;
public:
UERayCastTerrain(UWorld* World, chrono::vehicle::ChVehicle* Vehicle);
UERayCastTerrain(ACarlaWheeledVehicle* UEVehicle, chrono::vehicle::ChVehicle* ChrVehicle);
double GetHeight(double x, double y) const override;
chrono::ChVector<> GetNormal(double x, double y) const override;
float GetCoefficientFriction(double x, double y) const;
std::pair<bool, FHitResult> GetTerrainProperties(const FVector &Location) const;
double GetHeight(const chrono::ChVector<>& loc) const override;
chrono::ChVector<> GetNormal(const chrono::ChVector<>& loc) const override;
float GetCoefficientFriction(const chrono::ChVector<>& loc) const;
};
#endif

4
Util/BuildTools/Setup.sh
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@ -504,7 +504,8 @@ if ${USE_CHRONO} ; then
# -- Get Chrono and compile it with libc++ -------------------------------------
# ==============================================================================
CHRONO_TAG=5.0.1
# CHRONO_TAG=5.0.1
CHRONO_TAG=develop
CHRONO_REPO=https://github.com/projectchrono/chrono.git
CHRONO_SRC_DIR=chrono-source
@ -524,6 +525,7 @@ if ${USE_CHRONO} ; then
-DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH} -Wno-unused-command-line-argument" \
-DEIGEN3_INCLUDE_DIR="../../${EIGEN_INCLUDE}" \
-DCMAKE_INSTALL_PREFIX="../../${CHRONO_INSTALL_DIR}" \
-DCMAKE_BUILD_TYPE=Release \
-DENABLE_MODULE_VEHICLE=ON \
..
ninja