Removing is_steerable param and updating tests

Docs/python_api.md

@@ -235,8 +235,8 @@
 - `tire_friction`
 - `damping_rate`
 - `max_steer_angle`
-- `is_steerable`
 - `radius`
+- `position`
 - `__eq__(other)`
 - `__ne__(other)`
 

LibCarla/source/carla/rpc/WheelPhysicsControl.h

@@ -20,20 +20,17 @@ namespace rpc {
         float in_tire_friction,
         float in_damping_rate,
         float in_max_steer_angle,
-        bool in_is_steerable,
         float in_radius,
         geom::Vector3D in_position)
       : tire_friction(in_tire_friction),
         damping_rate(in_damping_rate),
         max_steer_angle(in_max_steer_angle),
-        is_steerable(in_is_steerable),
         radius(in_radius),
         position(in_position) {}
 
     float tire_friction = 2.0f;
     float damping_rate = 0.25f;
     float max_steer_angle = 70.0f;
-    bool is_steerable = true;
     float radius = 30.0f;
     geom::Vector3D position = {0.0f, 0.0f, 0.0f};
 
@@ -42,7 +39,6 @@ namespace rpc {
         tire_friction != rhs.tire_friction ||
         damping_rate != rhs.damping_rate ||
         max_steer_angle != rhs.max_steer_angle ||
-        is_steerable != rhs.is_steerable ||
         radius != rhs.radius ||
         position != rhs.position;
     }
@@ -56,7 +52,6 @@ namespace rpc {
       : tire_friction(Wheel.TireFriction),
         damping_rate(Wheel.DampingRate),
         max_steer_angle(Wheel.MaxSteerAngle),
-        is_steerable(Wheel.IsSteerable),
         radius(Wheel.Radius),
         position(Wheel.Position.X, Wheel.Position.Y, Wheel.Position.Z) {}
 
@@ -65,7 +60,6 @@ namespace rpc {
       Wheel.TireFriction = tire_friction;
       Wheel.DampingRate = damping_rate;
       Wheel.MaxSteerAngle = max_steer_angle;
-      Wheel.IsSteerable = is_steerable;
       Wheel.Radius = radius;
       Wheel.Position = {position.x, position.y, position.z};
       return Wheel;
@@ -75,7 +69,6 @@ namespace rpc {
     MSGPACK_DEFINE_ARRAY(tire_friction,
         damping_rate,
         max_steer_angle,
-        is_steerable,
         radius,
         position)
   };

PythonAPI/carla/source/libcarla/Control.cpp

@@ -40,8 +40,8 @@ namespace rpc {
     out << "WheelPhysicsControl(tire_friction=" << control.tire_friction
         << ", damping_rate=" << control.damping_rate
         << ", max_steer_angle=" << control.max_steer_angle
-        << ", is_steerable=" << boolalpha(control.is_steerable)
-        << ", radius=" << control.radius << ')';
+        << ", radius=" << control.radius
+        << ", position=" << control.position << ')';
     return out;
   }
 
@@ -207,17 +207,15 @@ void export_control() {
   ;
 
   class_<cr::WheelPhysicsControl>("WheelPhysicsControl")
-    .def(init<float, float, float, bool, float, cg::Vector3D>(
+    .def(init<float, float, float, float, cg::Vector3D>(
         (arg("tire_friction")=2.0f,
          arg("damping_rate")=0.25f,
          arg("max_steer_angle")=70.0f,
-         arg("is_steerable")=false,
          arg("radius")=30.0f,
          arg("position")=cg::Vector3D{0.0f, 0.0f, 0.0f})))
     .def_readwrite("tire_friction", &cr::WheelPhysicsControl::tire_friction)
     .def_readwrite("damping_rate", &cr::WheelPhysicsControl::damping_rate)
     .def_readwrite("max_steer_angle", &cr::WheelPhysicsControl::max_steer_angle)
-    .def_readwrite("is_steerable", &cr::WheelPhysicsControl::is_steerable)
     .def_readwrite("radius", &cr::WheelPhysicsControl::radius)
     .def_readwrite("position", &cr::WheelPhysicsControl::position)
     .def("__eq__", &cr::WheelPhysicsControl::operator==)

PythonAPI/test/unit/test_vehicle.py

@@ -52,10 +52,10 @@ class TestVehiclePhysicsControl(unittest.TestCase):
                           carla.Vector2D(x=63.0868, y=0.703473),
                           carla.Vector2D(x=119.12, y=0.573047)]
 
-        wheels = [carla.WheelPhysicsControl(tire_friction=2, damping_rate=0, max_steer_angle=30, is_steerable=True),
-                  carla.WheelPhysicsControl(tire_friction=2, damping_rate=0, max_steer_angle=30, is_steerable=True),
-                  carla.WheelPhysicsControl(tire_friction=2, damping_rate=0, max_steer_angle=30, is_steerable=True),
-                  carla.WheelPhysicsControl(tire_friction=2, damping_rate=0, max_steer_angle=30, is_steerable=True)]
+        wheels = [carla.WheelPhysicsControl(tire_friction=2, damping_rate=0, max_steer_angle=30, radius=10),
+                  carla.WheelPhysicsControl(tire_friction=3, damping_rate=1, max_steer_angle=40, radius=20),
+                  carla.WheelPhysicsControl(tire_friction=4, damping_rate=2, max_steer_angle=50, radius=30),
+                  carla.WheelPhysicsControl(tire_friction=5, damping_rate=3, max_steer_angle=60, radius=40)]
 
         pc = carla.VehiclePhysicsControl(
             torque_curve=torque_curve,
@@ -106,4 +106,8 @@ class TestVehiclePhysicsControl(unittest.TestCase):
             self.assertTrue(abs(pc.wheels[i].tire_friction - wheels[i].tire_friction) <= error)
             self.assertTrue(abs(pc.wheels[i].damping_rate - wheels[i].damping_rate) <= error)
             self.assertTrue(abs(pc.wheels[i].max_steer_angle - wheels[i].max_steer_angle) <= error)
-            self.assertEqual(pc.wheels[i].is_steerable, wheels[i].is_steerable)
+            self.assertTrue(abs(pc.wheels[i].radius - wheels[i].radius) <= error)
+
+            self.assertTrue(abs(pc.wheels[i].position.x - wheels[i].position.x) <= error)
+            self.assertTrue(abs(pc.wheels[i].position.y - wheels[i].position.y) <= error)
+            self.assertTrue(abs(pc.wheels[i].position.z - wheels[i].position.z) <= error)

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

@@ -322,8 +322,6 @@ void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl(const FVehiclePhysicsContr
   {
     FWheelSetup WheelSetup = Vehicle4W->WheelSetups[i];
 
-    WheelSetup.bDisableSteering = !PhysicsControl.Wheels[i].IsSteerable;
-
     PxVehicleWheelData PWheelData = Vehicle4W->PVehicle->mWheelsSimData.getWheelData(i);
 
     PWheelData.mRadius = PhysicsControl.Wheels[i].Radius;

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

@@ -22,9 +22,6 @@ struct CARLA_API FWheelPhysicsControl
   UPROPERTY(Category = "Wheel Max Steer Angle", EditAnywhere, BlueprintReadWrite)
   float MaxSteerAngle = 70.0f;
 
-  UPROPERTY(Category = "Wheel Is Steerable", EditAnywhere, BlueprintReadWrite)
-  bool IsSteerable = true;
-
   UPROPERTY(Category = "Wheel Shape Radius", EditAnywhere, BlueprintReadWrite)
   float Radius = 30.0f;