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Fixed VehiclePhysicsControl (#8354)

This commit is contained in:
glopezdiest 2024-11-11 13:20:37 +01:00 committed by GitHub
parent ed13b406b2
commit ed6896ed50
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GPG Key ID: B5690EEEBB952194
3 changed files with 60 additions and 32 deletions
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50
PythonAPI/carla/src/Control.cpp
View File

@ -455,35 +455,35 @@ void export_control() {
.def("__init__", raw_function(VehiclePhysicsControl_init))
.def(init<>())
.add_property("torque_curve", &GetTorqueCurve, &SetTorqueCurve)
.add_property("max_torque", &cr::VehiclePhysicsControl::max_torque)
.add_property("max_rpm", &cr::VehiclePhysicsControl::max_rpm)
.add_property("idle_rpm", &cr::VehiclePhysicsControl::idle_rpm)
.add_property("brake_effect", &cr::VehiclePhysicsControl::brake_effect)
.add_property("rev_up_moi", &cr::VehiclePhysicsControl::rev_up_moi)
.add_property("rev_down_rate", &cr::VehiclePhysicsControl::rev_down_rate)
.add_property("differential_type", &cr::VehiclePhysicsControl::differential_type)
.add_property("front_rear_split", &cr::VehiclePhysicsControl::front_rear_split)
.add_property("use_automatic_gears", &cr::VehiclePhysicsControl::use_automatic_gears)
.add_property("gear_change_time", &cr::VehiclePhysicsControl::gear_change_time)
.add_property("final_ratio", &cr::VehiclePhysicsControl::final_ratio)
.def_readwrite("max_torque", &cr::VehiclePhysicsControl::max_torque)
.def_readwrite("max_rpm", &cr::VehiclePhysicsControl::max_rpm)
.def_readwrite("idle_rpm", &cr::VehiclePhysicsControl::idle_rpm)
.def_readwrite("brake_effect", &cr::VehiclePhysicsControl::brake_effect)
.def_readwrite("rev_up_moi", &cr::VehiclePhysicsControl::rev_up_moi)
.def_readwrite("rev_down_rate", &cr::VehiclePhysicsControl::rev_down_rate)
.def_readwrite("differential_type", &cr::VehiclePhysicsControl::differential_type)
.def_readwrite("front_rear_split", &cr::VehiclePhysicsControl::front_rear_split)
.def_readwrite("use_automatic_gears", &cr::VehiclePhysicsControl::use_automatic_gears)
.def_readwrite("gear_change_time", &cr::VehiclePhysicsControl::gear_change_time)
.def_readwrite("final_ratio", &cr::VehiclePhysicsControl::final_ratio)
.add_property("forward_gear_ratios", &GetForwardGearRatios, &SetForwardGearRatios)
.add_property("reverse_gear_ratios", &GetReverseGearRatios, &SetReverseGearRatios)
.add_property("change_up_rpm", &cr::VehiclePhysicsControl::change_up_rpm)
.add_property("change_down_rpm", &cr::VehiclePhysicsControl::change_down_rpm)
.add_property("transmission_efficiency", &cr::VehiclePhysicsControl::transmission_efficiency)
.add_property("mass", &cr::VehiclePhysicsControl::mass)
.add_property("drag_coefficient", &cr::VehiclePhysicsControl::drag_coefficient)
.add_property("center_of_mass", &cr::VehiclePhysicsControl::center_of_mass)
.add_property("chassis_width", &cr::VehiclePhysicsControl::chassis_width)
.add_property("chassis_height", &cr::VehiclePhysicsControl::chassis_height)
.add_property("downforce_coefficient", &cr::VehiclePhysicsControl::downforce_coefficient)
.add_property("drag_area", &cr::VehiclePhysicsControl::drag_area)
.add_property("inertia_tensor_scale", &cr::VehiclePhysicsControl::inertia_tensor_scale)
.add_property("sleep_threshold", &cr::VehiclePhysicsControl::sleep_threshold)
.add_property("sleep_slope_limit", &cr::VehiclePhysicsControl::sleep_slope_limit)
.def_readwrite("change_up_rpm", &cr::VehiclePhysicsControl::change_up_rpm)
.def_readwrite("change_down_rpm", &cr::VehiclePhysicsControl::change_down_rpm)
.def_readwrite("transmission_efficiency", &cr::VehiclePhysicsControl::transmission_efficiency)
.def_readwrite("mass", &cr::VehiclePhysicsControl::mass)
.def_readwrite("drag_coefficient", &cr::VehiclePhysicsControl::drag_coefficient)
.def_readwrite("center_of_mass", &cr::VehiclePhysicsControl::center_of_mass)
.def_readwrite("chassis_width", &cr::VehiclePhysicsControl::chassis_width)
.def_readwrite("chassis_height", &cr::VehiclePhysicsControl::chassis_height)
.def_readwrite("downforce_coefficient", &cr::VehiclePhysicsControl::downforce_coefficient)
.def_readwrite("drag_area", &cr::VehiclePhysicsControl::drag_area)
.def_readwrite("inertia_tensor_scale", &cr::VehiclePhysicsControl::inertia_tensor_scale)
.def_readwrite("sleep_threshold", &cr::VehiclePhysicsControl::sleep_threshold)
.def_readwrite("sleep_slope_limit", &cr::VehiclePhysicsControl::sleep_slope_limit)
.add_property("steering_curve", &GetSteeringCurve, &SetSteeringCurve)
.add_property("wheels", &GetWheels, &SetWheels)
.add_property("use_sweep_wheel_collision", &cr::VehiclePhysicsControl::use_sweep_wheel_collision)
.def_readwrite("use_sweep_wheel_collision", &cr::VehiclePhysicsControl::use_sweep_wheel_collision)
.def("__eq__", &cr::VehiclePhysicsControl::operator==)
.def("__ne__", &cr::VehiclePhysicsControl::operator!=)
.def(self_ns::str(self_ns::self))

38
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
View File

@ -387,9 +387,7 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl() const
PhysicsControl.TransmissionEfficiency = TransmissionSetup.TransmissionEfficiency;
PhysicsControl.Mass = VehicleMovComponent.Mass;
PhysicsControl.DragCoefficient = VehicleMovComponent.DragCoefficient;
auto PrimitiveComponentPtr = Cast<UPrimitiveComponent>(VehicleMovComponent.UpdatedComponent);
check(PrimitiveComponentPtr != nullptr);
PhysicsControl.CenterOfMass = PrimitiveComponentPtr->GetCenterOfMass();
PhysicsControl.CenterOfMass = GetCenterOfMass(VehicleMovComponent);
PhysicsControl.ChassisWidth = VehicleMovComponent.ChassisWidth;
PhysicsControl.ChassisHeight = VehicleMovComponent.ChassisHeight;
PhysicsControl.DownforceCoefficient = VehicleMovComponent.DownforceCoefficient;
@ -455,6 +453,20 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl() const
return PhysicsControl;
}
FVector ACarlaWheeledVehicle::GetCenterOfMass(UChaosWheeledVehicleMovementComponent& VehicleMovComponent) const
{
if (VehicleMovComponent.bEnableCenterOfMassOverride)
{
return VehicleMovComponent.CenterOfMassOverride;
}
else {
auto PrimitiveComponentPtr = Cast<UPrimitiveComponent>(VehicleMovComponent.UpdatedComponent);
check(PrimitiveComponentPtr != nullptr);
auto& PrimitiveComponent = *PrimitiveComponentPtr;
return PrimitiveComponent.BodyInstance.COMNudge;
}
}
FVehicleLightState ACarlaWheeledVehicle::GetVehicleLightState() const
{
return InputControl.LightState;
@ -494,10 +506,7 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(
TransmissionSetup.TransmissionEfficiency = PhysicsControl.TransmissionEfficiency;
VehicleMovComponent.Mass = PhysicsControl.Mass;
VehicleMovComponent.DragCoefficient = PhysicsControl.DragCoefficient;
auto PrimitiveComponentPtr = Cast<UPrimitiveComponent>(VehicleMovComponent.UpdatedComponent);
check(PrimitiveComponentPtr != nullptr);
auto& PrimitiveComponent = *PrimitiveComponentPtr;
PrimitiveComponent.SetCenterOfMass(PhysicsControl.CenterOfMass);
SetCenterOfMass(VehicleMovComponent, PhysicsControl);
VehicleMovComponent.ChassisWidth = PhysicsControl.ChassisWidth;
VehicleMovComponent.ChassisHeight = PhysicsControl.ChassisHeight;
VehicleMovComponent.DownforceCoefficient = PhysicsControl.DownforceCoefficient;
@ -573,6 +582,7 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(
ESweepShape::Raycast;
}
VehicleMovComponent.RecreatePhysicsState();
ResetConstraints();
auto* Recorder = UCarlaStatics::GetRecorder(GetWorld());
@ -585,6 +595,20 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(
AckermannController.UpdateVehiclePhysics(this);
}
void ACarlaWheeledVehicle::SetCenterOfMass(UChaosWheeledVehicleMovementComponent& VehicleMovComponent, const FVehiclePhysicsControl& PhysicsControl)
{
if (VehicleMovComponent.bEnableCenterOfMassOverride)
{
VehicleMovComponent.CenterOfMassOverride = PhysicsControl.CenterOfMass;
}
else {
auto PrimitiveComponentPtr = Cast<UPrimitiveComponent>(VehicleMovComponent.UpdatedComponent);
check(PrimitiveComponentPtr != nullptr);
auto& PrimitiveComponent = *PrimitiveComponentPtr;
PrimitiveComponent.BodyInstance.COMNudge = PhysicsControl.CenterOfMass;
}
}
void ACarlaWheeledVehicle::ApplyVehicleControl(const FVehicleControl& Control, EVehicleInputPriority Priority)
{
if (bAckermannControlActive) {

4
Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
View File

@ -177,6 +177,8 @@ public:
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
FVehiclePhysicsControl GetVehiclePhysicsControl() const;
FVector GetCenterOfMass(UChaosWheeledVehicleMovementComponent &VehicleMovComponent) const;
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
FAckermannControllerSettings GetAckermannControllerSettings() const {
return AckermannController.GetSettings();
@ -190,6 +192,8 @@ public:
void ApplyVehiclePhysicsControl(const FVehiclePhysicsControl &PhysicsControl);
void SetCenterOfMass(UChaosWheeledVehicleMovementComponent &VehicleMovComponent, const FVehiclePhysicsControl &PhysicsControl);
void ApplyAckermannControllerSettings(const FAckermannControllerSettings &AckermannControllerSettings) {
return AckermannController.ApplySettings(AckermannControllerSettings);
}