Vehicle usd collisions (#6459)

* Added collision shape generation for vehicles

* Fixed wrong physics asset assignment to skeletal mesh

* Fixed long line

* Fixed crash with missing optional data from USD

---------

Co-authored-by: Antonio Peris Sanchez <perissanchezantonio@gmail.com>
Co-authored-by: Blyron <53337103+Blyron@users.noreply.github.com>

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/USDImporterWidget.cpp

@@ -30,6 +30,7 @@
 #include "Kismet2/BlueprintEditorUtils.h"
 #include "BlueprintEditor.h"
 #include "Carla/Vehicle/CarlaWheeledVehicle.h"
+#include "EditorStaticMeshLibrary.h"
 
 
 void UUSDImporterWidget::ImportUSDProp(
@@ -71,7 +72,7 @@ void UUSDImporterWidget::ImportUSDVehicle(
       -> TSubclassOf<UVehicleWheel>
   {
     // Get a reference to the editor subsystem
-    constexpr float MToCM = 0.01f;
+    constexpr float MToCM = 100.f;
     constexpr float RadToDeg = 360.f/3.14159265359f;
     FString BlueprintName =  FPaths::GetBaseFilename(PackagePathName);
     FString BlueprintPath = FPaths::GetPath(PackagePathName);
@@ -430,6 +431,7 @@ AActor* UUSDImporterWidget::GenerateNewVehicleBlueprint(
     UWorld* World,
     UClass* BaseClass,
     USkeletalMesh* NewSkeletalMesh,
+    UPhysicsAsset* NewPhysicsAsset,
     const FString &DestPath, 
     const FMergedVehicleMeshParts& VehicleMeshes,
     const FWheelTemplates& WheelTemplates)
@@ -538,6 +540,16 @@ AActor* UUSDImporterWidget::GenerateNewVehicleBlueprint(
     TemplateActor->AddInstanceComponent(LightComponent);
     UE_LOG(LogCarlaTools, Log, TEXT("Spawn Light %s, %s, %s"), *Light.Name, *Light.Location.ToString(), *Light.Color.ToString());
   }
+  // set the wheel radius
+  UVehicleWheel* WheelDefault;
+  WheelDefault = WheelTemplates.WheelFL->GetDefaultObject<UVehicleWheel>();
+  WheelDefault->ShapeRadius = VehicleMeshes.WheelFL->GetBounds().SphereRadius;
+  WheelDefault = WheelTemplates.WheelFR->GetDefaultObject<UVehicleWheel>();
+  WheelDefault->ShapeRadius = VehicleMeshes.WheelFR->GetBounds().SphereRadius;
+  WheelDefault = WheelTemplates.WheelRL->GetDefaultObject<UVehicleWheel>();
+  WheelDefault->ShapeRadius = VehicleMeshes.WheelRL->GetBounds().SphereRadius;
+  WheelDefault = WheelTemplates.WheelRR->GetDefaultObject<UVehicleWheel>();
+  WheelDefault->ShapeRadius = VehicleMeshes.WheelRR->GetBounds().SphereRadius;
   // assign generated wheel types
   TArray<FWheelSetup> WheelSetups;
   FWheelSetup Setup;
@@ -566,7 +578,12 @@ AActor* UUSDImporterWidget::GenerateNewVehicleBlueprint(
   {
     UE_LOG(LogCarlaTools, Error, TEXT("Null CarlaVehicle"));
   }
-
+  // Set the vehicle collision in the new physicsasset object
+  UEditorStaticMeshLibrary::AddSimpleCollisions(
+      VehicleMeshes.Body, EScriptingCollisionShapeType::NDOP26);
+  CopyCollisionToPhysicsAsset(NewPhysicsAsset, VehicleMeshes.Body);
+  // assign the physics asset to the skeletal mesh
+  NewSkeletalMesh->PhysicsAsset = NewPhysicsAsset;
   // Create the new blueprint vehicle
   FKismetEditorUtilities::FCreateBlueprintFromActorParams Params;
   Params.bReplaceActor = false;
@@ -612,3 +629,15 @@ bool UUSDImporterWidget::EditSkeletalMeshBones(
       EObjectFlags::RF_Public | EObjectFlags::RF_Standalone,
       *(Package->GetName()), GError, nullptr, true, true, SAVE_NoError);
 }
+
+void UUSDImporterWidget::CopyCollisionToPhysicsAsset(
+    UPhysicsAsset* PhysicsAssetToEdit, UStaticMesh* StaticMesh)
+{
+  UE_LOG(LogCarlaTools, Log, TEXT("Num bodysetups %d"), PhysicsAssetToEdit->SkeletalBodySetups.Num());
+  UBodySetup* BodySetupPhysicsAsset = 
+      PhysicsAssetToEdit->SkeletalBodySetups[
+          PhysicsAssetToEdit->FindBodyIndex(FName("Vehicle_Base"))];
+  UBodySetup* BodySetupStaticMesh = StaticMesh->BodySetup;
+  BodySetupPhysicsAsset->AggGeom = BodySetupStaticMesh->AggGeom;
+
+}

Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/USDImporterWidget.h

@@ -7,6 +7,7 @@
 #include "Animation/Skeleton.h"
 #include "VehicleWheel.h"
 #include "Materials/MaterialInterface.h"
+#include "PhysicsEngine/PhysicsAsset.h"
 
 #include "USDImporterWidget.generated.h"
 
@@ -165,6 +166,7 @@ public:
       UWorld* World,
       UClass* BaseClass,
       USkeletalMesh* NewSkeletalMesh,
+      UPhysicsAsset* NewPhysicsAsset,
       const FString &DestPath,
       const FMergedVehicleMeshParts& VehicleMeshes,
       const FWheelTemplates& WheelTemplates);
@@ -172,5 +174,8 @@ public:
   static bool EditSkeletalMeshBones(
       USkeletalMesh* Skeleton,
       const TMap<FString, FTransform> &NewBoneTransforms);
+  UFUNCTION(BlueprintCallable, Category="USD Importer")
+  static void CopyCollisionToPhysicsAsset(
+      UPhysicsAsset* PhysicsAssetToEdit, UStaticMesh* StaticMesh);
 
 };

Util/Patches/omniverse_4.26/USDCARLAInterface.cpp

@@ -91,6 +91,7 @@ TArray<FUSDCARLAWheelData> UUSDCARLAInterface::GetUSDWheelData(const FString& Pa
     if(!WheelPrim)
     {
       UE_LOG(LogOmniverseUsd, Warning, TEXT("Wheel prim fail"));
+      return false;
     }
     pxr::UsdRelationship WheelRelationship;
     pxr::UsdRelationship TireRelationship;
@@ -155,7 +156,15 @@ TArray<FUSDCARLAWheelData> UUSDCARLAInterface::GetUSDWheelData(const FString& Pa
 
     return true;
   };
-  FUSDCARLAWheelData Wheel0, Wheel1, Wheel2, Wheel3;
+  // default wheel values, overriden by ParseWheelData if physx data is present
+  FUSDCARLAWheelData Wheel0 = 
+      {8.f, 16.f, 0.61f, 0.f, 0.f, 0.1f, 0.f, 20.f, 3000.f}; // front left
+  FUSDCARLAWheelData Wheel1 = 
+      {8.f, 16.f, 0.61f, 0.f, 0.f, 0.1f, 0.f, 20.f, 3000.f}; // front right
+  FUSDCARLAWheelData Wheel2 = 
+      {8.f, 16.f, 0.f,   0.f, 5.f, 0.1f, 0.f, 20.f, 3000.f}; // rear left
+  FUSDCARLAWheelData Wheel3 = 
+      {8.f, 16.f, 0.f,   0.f, 5.f, 0.1f, 0.f, 20.f, 3000.f}; // rear right
   ParseWheelData("wheel_0", Wheel0);
   ParseWheelData("wheel_1", Wheel1);
   ParseWheelData("wheel_2", Wheel2);