Fixing friction bug + refactor

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp

@@ -236,7 +236,7 @@ static void AddVariationsForTrigger(FActorDefinition &Def)
   FActorVariation Friction;
   Friction.Id = FString("friction");
   Friction.Type = EActorAttributeType::Float;
-  Friction.RecommendedValues = { TEXT("0.0f") };
+  Friction.RecommendedValues = { TEXT("3.5f") };
   Friction.bRestrictToRecommended = false;
   Def.Variations.Emplace(Friction);
 
@@ -250,7 +250,7 @@ static void AddVariationsForTrigger(FActorDefinition &Def)
 
     ExtentCoordinate.Id = JoinStrings(TEXT("_"), Extent, Coordinate);
     ExtentCoordinate.Type = EActorAttributeType::Float;
-    ExtentCoordinate.RecommendedValues = { TEXT("0.0f") };
+    ExtentCoordinate.RecommendedValues = { TEXT("1.0f") };
     ExtentCoordinate.bRestrictToRecommended = false;
 
     Def.Variations.Emplace(ExtentCoordinate);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Trigger/FrictionTrigger.cpp

@@ -80,12 +80,17 @@ void AFrictionTrigger::BeginPlay()
 
 void AFrictionTrigger::EndPlay(const EEndPlayReason::Type EndPlayReason)
 {
-  // Deregister the delegate
+  // Deregister delegates
   if (TriggerVolume->OnComponentBeginOverlap.IsAlreadyBound(this, &AFrictionTrigger::OnTriggerBeginOverlap))
   {
     TriggerVolume->OnComponentBeginOverlap.RemoveDynamic(this, &AFrictionTrigger::OnTriggerBeginOverlap);
   }
 
+  if (TriggerVolume->OnComponentEndOverlap.IsAlreadyBound(this, &AFrictionTrigger::OnTriggerEndOverlap))
+  {
+    TriggerVolume->OnComponentEndOverlap.RemoveDynamic(this, &AFrictionTrigger::OnTriggerEndOverlap);
+  }
+
   Super::EndPlay(EndPlayReason);
 }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Trigger/FrictionTrigger.h

@@ -61,6 +61,8 @@ protected:
 
   virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
 
+  virtual void Tick(float DeltaTime) override;
+
 public:
 
   UPROPERTY(EditAnywhere)
@@ -69,7 +71,5 @@ public:
   UPROPERTY(EditAnywhere)
   UBoxComponent *TriggerVolume;
 
-  virtual void Tick(float DeltaTime) override;
-
   const UCarlaEpisode *Episode = nullptr;
 };

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Trigger/TriggerFactory.cpp

@@ -11,8 +11,6 @@
 #include "Carla/Game/CarlaStatics.h"
 #include "Carla/Trigger/FrictionTrigger.h"
 
-#include "Carla/Game/CarlaGameInstance.h"
-
 // =============================================================================
 // -- ASensorFactory -----------------------------------------------------------
 // =============================================================================
@@ -48,7 +46,6 @@ FActorSpawnResult ATriggerFactory::SpawnActor(
     return {};
   }
 
-  UE_LOG(LogCarla, Log, TEXT("%s"), *Description.Class->GetName());
   auto *Trigger = World->SpawnActorDeferred<AFrictionTrigger>(
       Description.Class,
       Transform,
@@ -70,7 +67,7 @@ FActorSpawnResult ATriggerFactory::SpawnActor(
     // Retrieve Friction
     float Friction = UActorBlueprintFunctionLibrary::RetrieveActorAttributeToFloat("friction",
         Description.Variations,
-        0.0f);
+        3.5f);
     Trigger->SetFriction(Friction);
 
     // Retrieve Extent

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

@@ -32,9 +32,23 @@ ACarlaWheeledVehicle::~ACarlaWheeledVehicle() {}
 void ACarlaWheeledVehicle::BeginPlay()
 {
   Super::BeginPlay();
+
+  // Check if it overlaps with a Friction trigger
+  float FrictionScale = 3.5f;
+  TArray<AActor *> OverlapActors;
+  GetOverlappingActors(OverlapActors, AFrictionTrigger::StaticClass());
+  for (auto &Actor : OverlapActors)
+  {
+    AFrictionTrigger* FrictionTrigger = Cast<AFrictionTrigger>(Actor);
+    if (FrictionTrigger) {
+      FrictionScale = FrictionTrigger->Friction;
+    }
+  }
+
   // Setup Tire Configs
-  UWheeledVehicleMovementComponent4W *Vehicle4W = CastChecked<UWheeledVehicleMovementComponent4W>(
+  UWheeledVehicleMovementComponent4W *Vehicle4W = Cast<UWheeledVehicleMovementComponent4W>(
       GetVehicleMovementComponent());
+  check (Vehicle4W != nullptr);
 
   // Wheels Setup
   TArray<FWheelSetup> NewWheelSetups = Vehicle4W->WheelSetups;
@@ -44,15 +58,14 @@ void ACarlaWheeledVehicle::BeginPlay()
     UVehicleWheel *Wheel = NewWheelSetups[i].WheelClass.GetDefaultObject();
 
     // Assigning new tire config
-    float Friction = Wheel->TireConfig->GetFrictionScale();
     Wheel->TireConfig = NewObject<UTireConfig>();
 
     // Setting a new value to friction
-    Wheel->TireConfig->SetFrictionScale(Friction);
+    Wheel->TireConfig->SetFrictionScale(FrictionScale);
   }
 
   Vehicle4W->WheelSetups = NewWheelSetups;
-  Vehicle4W->VehicleSetupTag++;
+  Vehicle4W->RecreatePhysicsState();
 }
 
 // =============================================================================
@@ -160,8 +173,9 @@ void ACarlaWheeledVehicle::SetHandbrakeInput(const bool Value)
 
 TArray<float> ACarlaWheeledVehicle::GetWheelsFrictionScale()
 {
-  UWheeledVehicleMovementComponent4W *Vehicle4W = CastChecked<UWheeledVehicleMovementComponent4W>(
+  UWheeledVehicleMovementComponent4W *Vehicle4W = Cast<UWheeledVehicleMovementComponent4W>(
       GetVehicleMovement());
+  check (Vehicle4W != nullptr);
 
   TArray<float> WheelsFrictionScale;
   for (auto &Wheel : Vehicle4W->Wheels)
@@ -173,8 +187,10 @@ TArray<float> ACarlaWheeledVehicle::GetWheelsFrictionScale()
 
 void ACarlaWheeledVehicle::SetWheelsFrictionScale(TArray<float> &WheelsFrictionScale)
 {
-  UWheeledVehicleMovementComponent4W *Vehicle4W = CastChecked<UWheeledVehicleMovementComponent4W>(
+  UWheeledVehicleMovementComponent4W *Vehicle4W = Cast<UWheeledVehicleMovementComponent4W>(
       GetVehicleMovement());
+  check (Vehicle4W != nullptr);
+
   for (int32 i = 0; i < Vehicle4W->Wheels.Num(); ++i)
   {
     Vehicle4W->Wheels[i]->TireConfig->SetFrictionScale(WheelsFrictionScale[i]);
@@ -183,8 +199,9 @@ void ACarlaWheeledVehicle::SetWheelsFrictionScale(TArray<float> &WheelsFrictionS
 
 FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl()
 {
-  UWheeledVehicleMovementComponent4W *Vehicle4W = CastChecked<UWheeledVehicleMovementComponent4W>(
+  UWheeledVehicleMovementComponent4W *Vehicle4W = Cast<UWheeledVehicleMovementComponent4W>(
       GetVehicleMovement());
+  check(Vehicle4W != nullptr);
 
   FVehiclePhysicsControl PhysicsControl;
 
@@ -210,6 +227,8 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl()
   // Center of mass offset (Center of mass is always zero vector in local
   // position)
   UPrimitiveComponent *UpdatedPrimitive = Cast<UPrimitiveComponent>(Vehicle4W->UpdatedComponent);
+  check(UpdatedPrimitive != nullptr);
+
   PhysicsControl.CenterOfMass = UpdatedPrimitive->BodyInstance.COMNudge;
 
   // Transmission Setup
@@ -239,8 +258,9 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl()
 
 void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsControl &PhysicsControl)
 {
-  UWheeledVehicleMovementComponent4W *Vehicle4W = CastChecked<UWheeledVehicleMovementComponent4W>(
+  UWheeledVehicleMovementComponent4W *Vehicle4W = Cast<UWheeledVehicleMovementComponent4W>(
       GetVehicleMovement());
+  check(Vehicle4W != nullptr);
 
   // Engine Setup
   Vehicle4W->EngineSetup.TorqueCurve.EditorCurveData = PhysicsControl.TorqueCurve;
@@ -271,8 +291,9 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
   Vehicle4W->SteeringCurve.EditorCurveData = PhysicsControl.SteeringCurve;
 
   // Wheels Setup
-  TArray<FWheelSetup> NewWheelSetups;
+  check(Vehicle4W->WheelSetups.Num() == PhysicsControl.Wheels.Num());
 
+  TArray<FWheelSetup> NewWheelSetups;
   for (int32 i = 0; i < Vehicle4W->WheelSetups.Num(); ++i)
   {
     FWheelSetup WheelSetup = Vehicle4W->WheelSetups[i];
@@ -284,9 +305,9 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
 
     WheelSetup.bDisableSteering = !PhysicsControl.Wheels[i].IsSteerable;
 
-    NewWheelSetups.Add(WheelSetup);
+    NewWheelSetups.Add(std::move(WheelSetup));
   }
 
   Vehicle4W->WheelSetups = NewWheelSetups;
-  Vehicle4W->VehicleSetupTag++;
-}
+  Vehicle4W->RecreatePhysicsState();
+}

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

@@ -14,13 +14,13 @@ struct CARLA_API FWheelPhysicsControl
   GENERATED_BODY()
 
   UPROPERTY(Category = "Wheel Tire Friction", EditAnywhere, BlueprintReadWrite)
-  float TireFriction = 0.0f;
+  float TireFriction = 3.5f;
 
   UPROPERTY(Category = "Wheel Damping Rate", EditAnywhere, BlueprintReadWrite)
-  float DampingRate = 0.0f;
+  float DampingRate = 1.0f;
 
   UPROPERTY(Category = "Wheel Max Steer Angle", EditAnywhere, BlueprintReadWrite)
-  float MaxSteerAngle = 0.0f;
+  float MaxSteerAngle = 70.0f;
 
   UPROPERTY(Category = "Wheel Is Steerable", EditAnywhere, BlueprintReadWrite)
   bool IsSteerable = true;