Function to disable simulating physics on an actor

Docs/python_api.md

@@ -87,6 +87,7 @@
 - `get_acceleration()`
 - `set_location(location)`
 - `set_transform(transform)`
+- `set_simulate_physics(enabled=True)`
 - `destroy()`
 
 ## `carla.Vehicle(carla.Actor)`

LibCarla/source/carla/client/Actor.cpp

@@ -36,6 +36,10 @@ namespace client {
     GetEpisode().Lock()->SetActorTransform(*this, transform);
   }
 
+  void Actor::SetSimulatePhysics(const bool enabled) {
+    GetEpisode().Lock()->SetActorSimulatePhysics(*this, enabled);
+  }
+
   void Actor::Destroy() {
     if (_is_alive) {
       // Let the exceptions leave the function, IsAlive() will still be true.

LibCarla/source/carla/client/Actor.h

@@ -39,6 +39,8 @@ namespace client {
 
     void SetTransform(const geom::Transform &transform);
 
+    void SetSimulatePhysics(bool enabled = true);
+
     const auto &Serialize() const {
       return Super::GetActorDescription();
     }

LibCarla/source/carla/client/detail/Client.cpp

@@ -126,6 +126,10 @@ namespace detail {
     _pimpl->AsyncCall("set_actor_transform", actor, transform);
   }
 
+  void Client::SetActorSimulatePhysics(const rpc::Actor &actor, const bool enabled) {
+    _pimpl->AsyncCall("set_actor_simulate_physics", actor, enabled);
+  }
+
   void Client::SetActorAutopilot(const rpc::Actor &vehicle, const bool enabled) {
     _pimpl->AsyncCall("set_actor_autopilot", vehicle, enabled);
   }

LibCarla/source/carla/client/detail/Client.h

@@ -86,6 +86,10 @@ namespace detail {
         const rpc::Actor &actor,
         const geom::Transform &transform);
 
+    void SetActorSimulatePhysics(
+        const rpc::Actor &actor,
+        bool enabled);
+
     void SetActorAutopilot(
         const rpc::Actor &vehicle,
         bool enabled);

LibCarla/source/carla/client/detail/Simulator.h

@@ -177,6 +177,10 @@ namespace detail {
       _client.SetActorTransform(actor.Serialize(), transform);
     }
 
+    void SetActorSimulatePhysics(Actor &actor, bool enabled) {
+      _client.SetActorSimulatePhysics(actor.Serialize(), enabled);
+    }
+
     /// @}
     // =========================================================================
     /// @name Operations with vehicles

PythonAPI/source/libcarla/Actor.cpp

@@ -53,6 +53,7 @@ void export_actor() {
     .def("get_acceleration", &cc::Actor::GetAcceleration)
     .def("set_location", &cc::Actor::SetLocation, (arg("location")))
     .def("set_transform", &cc::Actor::SetTransform, (arg("transform")))
+    .def("set_simulate_physics", &cc::Actor::SetSimulatePhysics, (arg("enabled")=true))
     .def("destroy", CALL_WITHOUT_GIL(cc::Actor, Destroy))
     .def(self_ns::str(self_ns::self))
   ;

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

@@ -316,6 +316,19 @@ void FTheNewCarlaServer::FPimpl::BindActions()
         ETeleportType::TeleportPhysics);
   });
 
+  Server.BindSync("set_actor_simulate_physics", [this](cr::Actor Actor, bool bEnabled) {
+    RequireEpisode();
+    auto ActorView = Episode->GetActorRegistry().Find(Actor.id);
+    if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
+      RespondErrorStr("unable to set actor simulate physics: actor not found");
+    }
+    auto RootComponent = Cast<UPrimitiveComponent>(ActorView.GetActor()->GetRootComponent());
+    if (RootComponent == nullptr) {
+      RespondErrorStr("unable to set actor simulate physics: not supported by actor");
+    }
+    RootComponent->SetSimulatePhysics(bEnabled);
+  });
+
   Server.BindSync("apply_control_to_actor", [this](cr::Actor Actor, cr::VehicleControl Control) {
     RequireEpisode();
     auto ActorView = Episode->GetActorRegistry().Find(Actor.id);