From de7e9bf030850e9f68414f0113d4dc49a68c769b Mon Sep 17 00:00:00 2001
From: LuisPoveda <lpoveda@cvc.uab.cat>
Date: Sun, 29 Jan 2023 21:31:34 +0100
Subject: [PATCH] Add general method for recording all vehicle types

---
 .../Source/Carla/Recorder/CarlaRecorder.cpp   | 38 ++++++-------------
 .../Carla/Vehicle/CarlaWheeledVehicle.h       | 18 +++++----
 2 files changed, 21 insertions(+), 35 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp
index ae4b77ba9..c0d1f4d1a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Recorder/CarlaRecorder.cpp
@@ -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(),
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
index 9e6454b3a..f9317d20d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
@@ -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();