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Review fixes.

This commit is contained in:
Axel 2021-02-16 17:01:35 +01:00 committed by bernat
parent a93376e202
commit d76e9c9c1b
2 changed files with 3 additions and 22 deletions
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23
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.cpp
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@ -107,12 +107,12 @@ void DrawLine(UWorld* World, FVector Start, FVector End, FColor Color, float Thi
double UERayCastTerrain::GetHeight(const ChVector<>& loc) const
{
// DrawPoint(CarlaVehicle->GetWorld(), ChronoToUE4Location(loc), FColor(0,255,0), 5, 0.1);
DrawPoint(CarlaVehicle->GetWorld(), ChronoToUE4Location(loc), FColor(0,255,0), 5, 0.1);
FVector Location = ChronoToUE4Location(loc + ChVector<>(0,0,0.5)); // small offset to detect the ground properly
auto point_pair = GetTerrainProperties(Location);
if (point_pair.first)
{
// DrawPoint(CarlaVehicle->GetWorld(), point_pair.second.Location, FColor(255,0,0), 5, 0.1);
DrawPoint(CarlaVehicle->GetWorld(), point_pair.second.Location, FColor(255,0,0), 5, 0.1);
double Height = CMTOM*static_cast<double>(point_pair.second.Location.Z);
return Height;
}
@ -125,7 +125,7 @@ ChVector<> UERayCastTerrain::GetNormal(const ChVector<>& loc) const
if (point_pair.first)
{
FVector Normal = point_pair.second.Normal;
// DrawLine(CarlaVehicle->GetWorld(), point_pair.second.Location, point_pair.second.Location+Normal*10, FColor(0,0,255), 1, 0.003);
DrawLine(CarlaVehicle->GetWorld(), point_pair.second.Location, point_pair.second.Location+Normal*10, FColor(0,0,255), 1, 0.003);
auto ChronoNormal = UE4DirectionToChrono(Normal);
return ChronoNormal;
}
@ -167,29 +167,20 @@ void UChronoMovementComponent::BeginPlay()
my_hmmwv.SetTireStepSize(MaxSubstepDeltaTime);
my_hmmwv.SetAerodynamicDrag(0.5, 5.0, 1.2);
my_hmmwv.Initialize();
// vehicle = WheeledVehicle(vehicle::GetDataFile(carla::rpc::FromFString(VehicleFilePath)));
// vehicle.Initialize(ChCoordsys<>(ChronoLocation, ChronoRotation));
// vehicle.GetChassis()->SetFixed(false);
// Create the terrain
terrain = chrono_types::make_shared<UERayCastTerrain>(CarlaVehicle, &my_hmmwv.GetVehicle());
// carla::log_warning("ChronoBeginPlay");
}
void UChronoMovementComponent::ProcessControl(FVehicleControl &Control)
{
VehicleControl = Control;
// my_hmmwv.Synchronize(Time, {Throttle, Steering, Brake}, *terrain.get());
// carla::log_warning("ChronoProcessControl");
}
void UChronoMovementComponent::TickComponent(float DeltaTime,
ELevelTick TickType,
FActorComponentTickFunction* ThisTickFunction)
{
// carla::log_warning("DeltaTime:", DeltaTime);
if (DeltaTime > MaxSubstepDeltaTime)
{
uint64_t NumberSubSteps = FGenericPlatformMath::FloorToInt(DeltaTime/MaxSubstepDeltaTime);
@ -204,7 +195,6 @@ void UChronoMovementComponent::TickComponent(float DeltaTime,
{
AdvanceChronoSimulation(RemainingTime);
}
// carla::log_warning("NumberSubSteps:", NumberSubSteps);
}
else
{
@ -213,12 +203,10 @@ void UChronoMovementComponent::TickComponent(float DeltaTime,
{
AdvanceChronoSimulation(SubDelta);
}
// carla::log_warning("MaxSubsteps limit, SubDelta:", SubDelta);
}
}
else
{
// carla::log_warning("Single step");
AdvanceChronoSimulation(DeltaTime);
}
@ -226,9 +214,6 @@ void UChronoMovementComponent::TickComponent(float DeltaTime,
auto VehiclePos = vehicle->GetVehiclePos() - ChVector<>(0,0,0.5);
auto VehicleRot = vehicle->GetVehicleRot();
double Time = my_hmmwv.GetSystem()->GetChTime();
// carla::log_warning("Time:", Time);
// carla::log_warning("vehicle pos (", VehiclePos.x(), VehiclePos.y(), VehiclePos.z(), ")");
// carla::log_warning("vehicle rot (", VehicleRot.e1(), VehicleRot.e2(), VehicleRot.e3(), VehicleRot.e0(), ")");
FVector NewLocation = ChronoToUE4Location(VehiclePos);
FQuat NewRotation = ChronoToUE4Quat(VehicleRot);
if(NewLocation.ContainsNaN() || NewRotation.ContainsNaN())
@ -239,8 +224,6 @@ void UChronoMovementComponent::TickComponent(float DeltaTime,
}
CarlaVehicle->SetActorLocation(NewLocation);
CarlaVehicle->SetActorRotation(NewRotation);
// carla::log_warning("ChronoTick");
}
void UChronoMovementComponent::AdvanceChronoSimulation(float StepSize)

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.h
View File

@ -47,14 +47,12 @@ class CARLA_API UChronoMovementComponent : public UBaseCarlaMovementComponent
#ifdef WITH_CHRONO
chrono::ChSystemNSC sys;
chrono::vehicle::hmmwv::HMMWV_Full my_hmmwv;
// chrono::vehicle::WheeledVehicle Vehicle;
std::shared_ptr<UERayCastTerrain> terrain;
#endif
uint64_t MaxSubsteps = 10;
float MaxSubstepDeltaTime = 0.01;
FVehicleControl VehicleControl;
// FString VehicleFilePath = "/home/axel/Documents/Chrono/build/data/hmmwv/vehicle/HMMWV_Vehicle.json";
public: