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Add general method for recording all vehicle types

This commit is contained in:
LuisPoveda 2023-01-29 21:31:34 +01:00 committed by bernat
parent 3b86f58e68
commit de7e9bf030
2 changed files with 21 additions and 35 deletions
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38
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp
View File

@ -218,39 +218,23 @@ void ACarlaRecorder::AddVehicleWheelsAnimation(FCarlaActor *CarlaActor)
CarlaRecorderAnimWheels Record;
Record.DatabaseId = CarlaActor->GetActorId();
Record.WheelValues.reserve(WheeledVehicleMovementComponent->Wheels.Num());
WheelInfo FL;
FL.Location = EVehicleWheelLocation::FL_Wheel;
FL.SteeringAngle = CarlaVehicle->GetWheelSteerAngle(FL.Location);
FL.TireRotation = WheeledVehicleMovementComponent->Wheels[static_cast<uint8>(FL.Location)]->GetRotationAngle();
WheelInfo FR;
FR.Location = EVehicleWheelLocation::FR_Wheel;
FR.SteeringAngle = CarlaVehicle->GetWheelSteerAngle(FR.Location);
FR.TireRotation = WheeledVehicleMovementComponent->Wheels[static_cast<uint8>(FR.Location)]->GetRotationAngle();
WheelInfo BL;
BL.Location = EVehicleWheelLocation::BL_Wheel;
BL.SteeringAngle = CarlaVehicle->GetWheelSteerAngle(BL.Location);
BL.TireRotation = WheeledVehicleMovementComponent->Wheels[static_cast<uint8>(BL.Location)]->GetRotationAngle();
WheelInfo BR;
BR.Location = EVehicleWheelLocation::BR_Wheel;
BR.SteeringAngle = CarlaVehicle->GetWheelSteerAngle(BR.Location);
BR.TireRotation = WheeledVehicleMovementComponent->Wheels[static_cast<uint8>(BR.Location)]->GetRotationAngle();
Record.WheelValues.reserve(4);
Record.WheelValues.push_back(FL);
Record.WheelValues.push_back(FR);
Record.WheelValues.push_back(BL);
Record.WheelValues.push_back(BR);
uint8 i = 0;
for (auto Wheel : WheeledVehicleMovementComponent->Wheels)
{
WheelInfo Info;
Info.Location = static_cast<EVehicleWheelLocation>(i);
Info.SteeringAngle = CarlaVehicle->GetWheelSteerAngle(Info.Location);
Info.TireRotation = Wheel->GetRotationAngle();
Record.WheelValues.push_back(Info);
++i;
}
AddAnimVehicleWheels(Record);
if (CarlaVehicle->IsTwoWheeledVehicle())
{
AddAnimBiker(CarlaRecorderAnimBiker
{
CarlaActor->GetActorId(),

18
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
View File

@ -22,7 +22,7 @@
#include "VehicleAnimInstance.h"
#include "PhysicsEngine/PhysicsConstraintComponent.h"
#include "MovementComponents/BaseCarlaMovementComponent.h"
#include "FoliageInstancedStaticMeshComponent.h"
#include "CoreMinimal.h"
@ -47,6 +47,8 @@ enum class EVehicleWheelLocation : uint8 {
FR_Wheel = 1,
BL_Wheel = 2,
BR_Wheel = 3,
ML_Wheel = 4,
MR_Wheel = 5,
//Use for bikes and bicycles
Front_Wheel = 0,
Back_Wheel = 1,
@ -326,7 +328,7 @@ private:
/// Current state of the vehicle controller (for debugging purposes).
UPROPERTY(Category = "AI Controller", VisibleAnywhere)
ECarlaWheeledVehicleState State = ECarlaWheeledVehicleState::UNKNOWN;
ECarlaWheeledVehicleState State = ECarlaWheeledVehicleState::UNKNOWN;
UPROPERTY(Category = "CARLA Wheeled Vehicle", EditAnywhere)
UVehicleVelocityControl* VelocityControl;
@ -355,12 +357,12 @@ private:
public:
UPROPERTY(Category = "CARLA Wheeled Vehicle", EditDefaultsOnly)
float DetectionSize { 750.0f };
UPROPERTY(Category = "CARLA Wheeled Vehicle", VisibleAnywhere, BlueprintReadOnly)
FBox FoliageBoundingBox;
UPROPERTY(Category = "CARLA Wheeled Vehicle", EditAnywhere)
UBoxComponent *VehicleBounds;
UBoxComponent *VehicleBounds;
UFUNCTION()
FBox GetDetectionBox() const;
@ -372,14 +374,14 @@ public:
void UpdateDetectionBox();
UFUNCTION()
const TArray<int32> GetFoliageInstancesCloseToVehicle(const UInstancedStaticMeshComponent* Component) const;
const TArray<int32> GetFoliageInstancesCloseToVehicle(const UInstancedStaticMeshComponent* Component) const;
UFUNCTION(BlueprintCallable)
void DrawFoliageBoundingBox() const;
UFUNCTION()
FBoxSphereBounds GetBoxSphereBounds() const;
UFUNCTION()
bool IsInVehicleRange(const FVector& Location) const;
@ -412,7 +414,7 @@ public:
//-------------------------------------------
UPROPERTY(Category="CARLA Wheeled Vehicle", VisibleAnywhere)
bool bIsNWVehicle = false;
bool bIsNWVehicle = false;
void SetRolloverFlag();