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Fixed std issues in chrono implementation in windows.

This commit is contained in:
Axel1092 2021-02-19 17:58:41 +01:00 committed by Axel1092
parent a1704cb3c7
commit bffd3968a4
2 changed files with 31 additions and 11 deletions
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1
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/BaseCarlaMovementComponent.h
View File

@ -20,6 +20,7 @@ class CARLA_API UBaseCarlaMovementComponent : public UMovementComponent
protected:
UPROPERTY()
ACarlaWheeledVehicle* CarlaVehicle;
public:

41
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.cpp
View File

@ -6,16 +6,12 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#include "ChronoMovementComponent.h"
#include "Carla/Util/RayTracer.h"
#include "compiler/disable-ue4-macros.h"
#include "carla/rpc/String.h"
#include <carla/rpc/String.h>
#include "chrono_vehicle/utils/ChUtilsJSON.h"
#include "compiler/enable-ue4-macros.h"
#include "Carla/Util/RayTracer.h"
#ifdef WITH_CHRONO
using namespace chrono;
using namespace chrono::vehicle;
#endif
void UChronoMovementComponent::CreateChronoMovementComponent(
ACarlaWheeledVehicle* Vehicle,
@ -28,7 +24,6 @@ void UChronoMovementComponent::CreateChronoMovementComponent(
{
#ifdef WITH_CHRONO
UChronoMovementComponent* ChronoMovementComponent = NewObject<UChronoMovementComponent>(Vehicle);
carla::log_warning("JSONS:", carla::rpc::FromFString(BaseJSONPath), carla::rpc::FromFString(VehicleJSON), carla::rpc::FromFString(PowertrainJSON), carla::rpc::FromFString(TireJSON));
if (!VehicleJSON.IsEmpty())
{
ChronoMovementComponent->VehicleJSON = VehicleJSON;
@ -56,6 +51,9 @@ void UChronoMovementComponent::CreateChronoMovementComponent(
#ifdef WITH_CHRONO
using namespace chrono;
using namespace chrono::vehicle;
constexpr double CMTOM = 0.01;
ChVector<> UE4LocationToChrono(const FVector& Location)
{
@ -156,21 +154,42 @@ void UChronoMovementComponent::BeginPlay()
// Set base path for vehicle JSON files
vehicle::SetDataPath(carla::rpc::FromFString(BaseJSONPath));
std::string BasePath_string = carla::rpc::FromFString(BaseJSONPath);
// Create full path for json files
// Do NOT use vehicle::GetDataFile() as strings from chrono lib
// messes with unreal's std lib
std::string VehicleJSON_string = carla::rpc::FromFString(VehicleJSON);
std::string VehiclePath_string = BasePath_string + VehicleJSON_string;
FString VehicleJSONPath = carla::rpc::ToFString(VehiclePath_string);
std::string PowerTrainJSON_string = carla::rpc::FromFString(PowertrainJSON);
std::string PowerTrain_string = BasePath_string + PowerTrainJSON_string;
FString PowerTrainJSONPath = carla::rpc::ToFString(PowerTrain_string);
std::string TireJSON_string = carla::rpc::FromFString(TireJSON);
std::string Tire_string = BasePath_string + TireJSON_string;
FString TireJSONPath = carla::rpc::ToFString(Tire_string);
UE_LOG(LogCarla, Log, TEXT("Loading Chrono files: Vehicle: %s, PowerTrain: %s, Tire: %s"),
*VehicleJSONPath,
*PowerTrainJSONPath,
*TireJSONPath);
// Create JSON vehicle
Vehicle = chrono_types::make_shared<WheeledVehicle>(
&Sys,
vehicle::GetDataFile(carla::rpc::FromFString(VehicleJSON)));
VehiclePath_string);
Vehicle->Initialize(ChCoordsys<>(ChronoLocation, ChronoRotation));
Vehicle->GetChassis()->SetFixed(false);
// Create and initialize the powertrain System
auto powertrain = ReadPowertrainJSON(
vehicle::GetDataFile(carla::rpc::FromFString(PowertrainJSON)));
PowerTrain_string);
Vehicle->InitializePowertrain(powertrain);
// Create and initialize the tires
for (auto& axle : Vehicle->GetAxles()) {
for (auto& wheel : axle->GetWheels()) {
auto tire = ReadTireJSON(
vehicle::GetDataFile(carla::rpc::FromFString(TireJSON)));
auto tire = ReadTireJSON(Tire_string);
Vehicle->InitializeTire(tire, wheel, VisualizationType::MESH);
}
}