p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

UE-side build system progress + disable PhysX preemtively.

This commit is contained in:
Marcel Pi 2023-11-24 17:35:38 +01:00
parent 19680dcc1d
commit fb3d37fc50
18 changed files with 921 additions and 747 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

223
CMakeLists.txt
View File

@ -133,7 +133,7 @@ endif ()
if (BUILD_LIBCARLA_SERVER)
project (libcarla-server)
project (carla-server)
set (LIBCARLA_SERVER_INCLUDE_PATHS
${LIBCARLA_SOURCE_PATH}
@ -141,73 +141,107 @@ if (BUILD_LIBCARLA_SERVER)
${RPCLIB_INCLUDE_PATH}
)
file(GLOB LIBCARLA_SERVER_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/*.h
file (
GLOB
LIBCARLA_SERVER_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/Buffer.cpp
${LIBCARLA_SOURCE_PATH}/carla/Exception.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/SensorHeaderSerializer.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
)
file (
GLOB
LIBCARLA_SERVER_SOURCES_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
)
file (
GLOB
LIBCARLA_SERVER_HEADERS
${LIBCARLA_SOURCE_PATH}/carla/*.h
${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/SensorHeaderSerializer.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
)
file (
GLOB
LIBCARLA_SERVER_HEADERS_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
)
add_library (
libcarla-server STATIC ${LIBCARLA_SERVER_SOURCES}
carla-server STATIC
${LIBCARLA_SERVER_HEADERS}
${LIBCARLA_SERVER_SOURCES}
${LIBCARLA_SERVER_HEADERS_THIRD_PARTY}
${LIBCARLA_SERVER_SOURCES_THIRD_PARTY}
)
target_compile_options (
libcarla-server PRIVATE /EHsc
carla-server PRIVATE
/EHsc
)
target_include_directories (
libcarla-server PRIVATE ${LIBCARLA_SERVER_INCLUDE_PATHS}
carla-server PRIVATE
${LIBCARLA_SERVER_INCLUDE_PATHS}
)
target_compile_definitions (
libcarla-server PRIVATE
carla-server PRIVATE
${CARLA_COMMON_DEFINITIONS}
)
install (TARGETS carla-server DESTINATION lib)
foreach (HEADER ${LIBCARLA_SERVER_HEADERS})
cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
cmake_path (RELATIVE_PATH HEADER_PARENT BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla OUTPUT_VARIABLE HEADER_RELATIVE)
install (FILES ${HEADER} DESTINATION include/carla/${HEADER_RELATIVE})
endforeach ()
endif ()
if (BUILD_LIBCARLA_CLIENT)
project (libcarla-client)
project (carla-client)
set (LIBCARLA_CLIENT_INCLUDE_PATHS
set (
LIBCARLA_CLIENT_INCLUDE_PATHS
${LIBCARLA_SOURCE_PATH}
${BOOST_INCLUDE_PATH}
${RPCLIB_INCLUDE_PATH}
@ -215,80 +249,109 @@ if (BUILD_LIBCARLA_CLIENT)
${LIBPNG_INCLUDE_PATH}
)
file (GLOB LIBCARLA_CLIENT_SOURCES
file (
GLOB
LIBCARLA_CLIENT_HEADERS
${LIBCARLA_SOURCE_PATH}/carla/*.h
${LIBCARLA_SOURCE_PATH}/carla/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/*.h
${LIBCARLA_SOURCE_PATH}/carla/client/*.cpp
${LIBCARLA_SOURCE_PATH}carla/client/detail/*.cpp
${LIBCARLA_SOURCE_PATH}carla/client/detail/*.h
${LIBCARLA_SOURCE_PATH}carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}carla/geom/*.h
${LIBCARLA_SOURCE_PATH}carla/image/*.cpp
${LIBCARLA_SOURCE_PATH}carla/image/*.h
${LIBCARLA_SOURCE_PATH}carla/nav/*.cpp
${LIBCARLA_SOURCE_PATH}carla/nav/*.h
${LIBCARLA_SOURCE_PATH}carla/opendrive/*.cpp
${LIBCARLA_SOURCE_PATH}carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}carla/opendrive/parser/*.cpp
${LIBCARLA_SOURCE_PATH}carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}carla/pointcloud/*.cpp
${LIBCARLA_SOURCE_PATH}carla/pointcloud/*.h
${LIBCARLA_SOURCE_PATH}carla/profiler/*.h
${LIBCARLA_SOURCE_PATH}carla/road/*.cpp
${LIBCARLA_SOURCE_PATH}carla/road/*.h
${LIBCARLA_SOURCE_PATH}carla/road/element/*.cpp
${LIBCARLA_SOURCE_PATH}carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}carla/road/general/*.cpp
${LIBCARLA_SOURCE_PATH}carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}carla/road/object/*.cpp
${LIBCARLA_SOURCE_PATH}carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}carla/road/signal/*.cpp
${LIBCARLA_SOURCE_PATH}carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}carla/rpc/*.cpp
${LIBCARLA_SOURCE_PATH}carla/rpc/*.h
${LIBCARLA_SOURCE_PATH}carla/rss/*.cpp
${LIBCARLA_SOURCE_PATH}carla/rss/*.h
${LIBCARLA_SOURCE_PATH}carla/sensor/*.cpp
${LIBCARLA_SOURCE_PATH}carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}carla/sensor/data/*.cpp
${LIBCARLA_SOURCE_PATH}carla/sensor/data/*.h
${LIBCARLA_SOURCE_PATH}carla/sensor/s11n/*.cpp
${LIBCARLA_SOURCE_PATH}carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}carla/streaming/*.cpp
${LIBCARLA_SOURCE_PATH}carla/streaming/*.h
${LIBCARLA_SOURCE_PATH}carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}carla/streaming/detail/*.h
${LIBCARLA_SOURCE_PATH}carla/streaming/detail/tcp/*.cpp
${LIBCARLA_SOURCE_PATH}carla/streaming/detail/tcp/*.h
${LIBCARLA_SOURCE_PATH}carla/streaming/low_level/*.cpp
${LIBCARLA_SOURCE_PATH}carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}carla/multigpu/*.cpp
${LIBCARLA_SOURCE_PATH}carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}carla/trafficmanager/*.cpp
${LIBCARLA_SOURCE_PATH}carla/trafficmanager/*.h
${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}/carla/image/*.h
${LIBCARLA_SOURCE_PATH}/carla/nav/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.h
${LIBCARLA_SOURCE_PATH}/carla/profiler/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
${LIBCARLA_SOURCE_PATH}/carla/rss/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.h
)
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
file (
GLOB
LIBCARLA_CLIENT_HEADERS_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h
)
file (
GLOB
LIBCARLA_CLIENT_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/image/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/nav/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/rss/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.cpp
)
file (
GLOB
LIBCARLA_CLIENT_SOURCES_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
)
add_library (
libcarla-client STATIC ${LIBCARLA_CLIENT_SOURCES}
carla-client STATIC
${LIBCARLA_CLIENT_HEADERS}
${LIBCARLA_CLIENT_SOURCES}
${LIBCARLA_CLIENT_HEADERS_THIRD_PARTY}
${LIBCARLA_CLIENT_SOURCES_THIRD_PARTY}
)
target_include_directories (
libcarla-client PRIVATE ${LIBCARLA_CLIENT_INCLUDE_PATHS}
carla-client PRIVATE
${LIBCARLA_CLIENT_INCLUDE_PATHS}
)
target_compile_definitions (
libcarla-client PRIVATE
carla-client PRIVATE
${CARLA_COMMON_DEFINITIONS}
)
install (TARGETS carla-client DESTINATION lib)
foreach (HEADER ${LIBCARLA_CLIENT_HEADERS})
cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
cmake_path (RELATIVE_PATH HEADER_PARENT BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla OUTPUT_VARIABLE HEADER_RELATIVE)
install (FILES ${HEADER} DESTINATION include/carla/${HEADER_RELATIVE})
endforeach ()
endif ()

97
Configure.py
View File

@ -4,6 +4,7 @@ import subprocess, tarfile, zipfile, argparse, requests, psutil, shutil, glob, j
# Constants:
EXE_EXT = '.exe' if os.name == 'nt' else ''
LIB_PREFIX = '' if os.name == 'nt' else 'lib'
LIB_EXT = '.lib' if os.name == 'nt' else '.a'
OBJ_EXT = '.obj' if os.name == 'nt' else '.o'
SHELL_EXT = '.bat' if os.name == 'nt' else ''
@ -153,6 +154,15 @@ AddDirective(
AddDirective(
'chrono',
'Whether to enable Chrono.')
AddDirective(
'carsim',
'Whether to enable CarSim')
AddDirective(
'ros2',
'Whether to enable ROS2')
AddDirective(
'unity-build',
'Whether to enable Unity Build for Unreal Engine projects.')
AddDirective(
'osm2odr',
'Whether to enable OSM2ODR.')
@ -229,7 +239,6 @@ def SyncArgs():
ARGV = SyncArgs()
SEQUENTIAL = ARGV.configure_sequential
ENABLE_CHRONO = ARGV.chrono
ENABLE_OSM2ODR = ARGV.osm2odr or ARGV.python_api
ENABLE_OSM_WORLD_RENDERER = ARGV.osm_world_renderer
ENABLE_PYTHON_API = ARGV.python_api
@ -240,7 +249,14 @@ ENABLE_LIBCARLA = any([
ENABLE_LIBCARLA_CLIENT,
ENABLE_LIBCARLA_SERVER,
])
ENABLE_CARSIM = ARGV.carsim
ENABLE_CHRONO = ARGV.chrono
ENABLE_ROS2 = ARGV.ros2
ENABLE_UNITY_BUILD = ARGV.unity_build
ENABLE_NVIDIA_OMNIVERSE = ARGV.nv_omniverse
ENABLE_RSS = ARGV.rss
UPDATE_DEPENDENCIES = ARGV.update_deps
BUILD_DEPENDENCIES = ARGV.build_deps
PARALLELISM = ARGV.parallelism
@ -249,8 +265,8 @@ CARLA_VERSION_STRING = ARGV.version
BUILD_PATH = Path(ARGV.build_path)
LOG_PATH = BUILD_PATH / 'BuildLogs'
DEPENDENCIES_PATH = BUILD_PATH / 'Dependencies'
LIBCARLA_BUILD_PATH = BUILD_PATH / 'libcarla-build'
LIBCARLA_INSTALL_PATH = BUILD_PATH / 'libcarla-install'
LIBCARLA_BUILD_PATH = BUILD_PATH / 'LibCarla'
LIBCARLA_INSTALL_PATH = WORKSPACE_PATH / 'Install' / 'LibCarla'
# Language options
C_COMPILER = ARGV.c_compiler
CPP_COMPILER = ARGV.cpp_compiler
@ -302,7 +318,7 @@ ZLIB_BUILD_PATH = DEPENDENCIES_PATH / 'zlib-build'
ZLIB_INSTALL_PATH = DEPENDENCIES_PATH / 'zlib-install'
ZLIB_INCLUDE_PATH = ZLIB_INSTALL_PATH / 'include'
ZLIB_LIBRARY_PATH = ZLIB_INSTALL_PATH / 'lib'
ZLIB_LIB_PATH = ZLIB_LIBRARY_PATH / f'zlib{LIB_EXT}'
ZLIB_LIB_PATH = ZLIB_LIBRARY_PATH / f'{LIB_PREFIX}zlib{LIB_EXT}'
# LibPNG
LIBPNG_SOURCE_PATH = DEPENDENCIES_PATH / 'libpng-source'
LIBPNG_BUILD_PATH = DEPENDENCIES_PATH / 'libpng-build'
@ -314,7 +330,7 @@ SQLITE_SOURCE_PATH = DEPENDENCIES_PATH / 'sqlite-source'
SQLITE_BUILD_PATH = DEPENDENCIES_PATH / 'sqlite-build'
SQLITE_LIBRARY_PATH = SQLITE_BUILD_PATH
SQLITE_INCLUDE_PATH = SQLITE_SOURCE_PATH
SQLITE_LIB_PATH = SQLITE_BUILD_PATH / f'sqlite{LIB_EXT}'
SQLITE_LIB_PATH = SQLITE_BUILD_PATH / f'{LIB_PREFIX}sqlite{LIB_EXT}'
SQLITE_EXE_PATH = SQLITE_BUILD_PATH / f'sqlite{EXE_EXT}'
# Proj
PROJ_SOURCE_PATH = DEPENDENCIES_PATH / 'proj-source'
@ -361,7 +377,13 @@ SUMO_LIBRARY_PATH = SUMO_INSTALL_PATH / 'lib'
# Nvidia Omniverse
NV_OMNIVERSE_PLUGIN_PATH = UNREAL_ENGINE_PATH / 'Engine' / 'Plugins' / 'Marketplace' / 'NVIDIA' / 'Omniverse'
NV_OMNIVERSE_PATCH_PATH = PATCHES_PATH / 'omniverse_4.26'
ENABLE_RSS = ARGV.rss
CARLA_UE_OPTIONAL_MODULES = (
f'CarSim {"ON" if ENABLE_CARSIM else "OFF"}\n'
f'Chrono {"ON" if ENABLE_CHRONO else "OFF"}\n'
f'Ros2 {"ON" if ENABLE_ROS2 else "OFF"}\n'
f'Unity {"ON" if ENABLE_UNITY_BUILD else "OFF"}\n'
)
# Basic IO functions:
@ -784,23 +806,6 @@ def BuildLibCarlaMain(task_graph : TaskGraph):
LIBCARLA_BUILD_PATH,
LIBCARLA_INSTALL_PATH))
def BuildCarlaUEMain():
assert UNREAL_ENGINE_PATH.exists()
if os.name == 'nt':
LaunchSubprocessImmediate([
UNREAL_ENGINE_PATH / 'Engine' / 'Build' / 'BatchFiles' / 'Build.bat',
'CarlaUE4', 'Win64', 'Development', '-WaitMutex', '-FromMsBuild',
CARLA_UE_PATH / 'CarlaUE4.uproject'
])
else:
pass
def BuildCarlaUE(task_graph : TaskGraph):
Log('Building Carla Unreal Engine Editor')
if ENABLE_NVIDIA_OMNIVERSE:
task_graph.Add(Task('install-nv-omniverse', [], InstallNVIDIAOmniverse))
task_graph.Add(Task('build-carla-ue', [], BuildCarlaUEMain))
def BuildPythonAPIMain():
content = ''
with open(PYTHON_API_PATH / 'setup.py.in', 'r') as file:
@ -818,7 +823,47 @@ def BuildPythonAPI(task_graph : TaskGraph):
task_graph.Add(Task('build-python-api', [ 'install-libcarla' ], BuildPythonAPIMain))
def SetupUnrealEngine(task_graph : TaskGraph):
Log('Setting up Unreal Engine.')
pass
def BuildCarlaUEMain():
assert UNREAL_ENGINE_PATH.exists()
unreal_build_tool_args = []
if ENABLE_CARSIM:
unreal_build_tool_args.append('-carsim')
if ENABLE_CHRONO:
unreal_build_tool_args.append('-chrono')
if ENABLE_ROS2:
unreal_build_tool_args.append('-ros2')
if ENABLE_UNITY_BUILD:
unreal_build_tool_args.append('-unity-build')
if ENABLE_NVIDIA_OMNIVERSE:
unreal_build_tool_args.append('-nv-omniverse')
if os.name == 'nt':
LaunchSubprocessImmediate([
UNREAL_ENGINE_PATH / 'Engine' / 'Build' / 'BatchFiles' / 'Build.bat',
'CarlaUE4Editor',
'Win64',
'Development',
'-WaitMutex',
'-FromMsBuild',
CARLA_UE_PATH / 'CarlaUE4.uproject',
], log_name = 'build-carla-ue-editor')
LaunchSubprocessImmediate([
UNREAL_ENGINE_PATH / 'Engine' / 'Build' / 'BatchFiles' / 'Build.bat',
'CarlaUE4',
'Win64',
'Development',
'-WaitMutex',
'-FromMsBuild',
CARLA_UE_PATH / 'CarlaUE4.uproject',
], log_name = 'build-carla-ue')
else:
pass
def BuildCarlaUE(task_graph : TaskGraph):
if ENABLE_NVIDIA_OMNIVERSE:
task_graph.Add(Task('install-nv-omniverse', [], InstallNVIDIAOmniverse))
task_graph.Add(Task('build-carla-ue', [ 'build-python-api' ], BuildCarlaUEMain))
def InstallNVIDIAOmniverse():
filename = 'USDCarlaInterface'
@ -967,7 +1012,7 @@ def BuildSQLite():
LaunchSubprocessImmediate(cmd, log_name = 'build-sqlite-lib')
def FindXercesC():
return glob.glob(f'{XERCESC_INSTALL_PATH}/**/xerces-c*{LIB_EXT}', recursive=True)[0]
return glob.glob(f'{XERCESC_INSTALL_PATH}/**/{LIB_PREFIX}xerces-c*{LIB_EXT}', recursive=True)[0]
def ConfigureSUMO():
cmd = Task.CreateCMakeConfigureDefaultCommandLine(
@ -979,7 +1024,7 @@ def ConfigureSUMO():
f'-DZLIB_INCLUDE_DIR={ZLIB_INCLUDE_PATH}',
f'-DZLIB_LIBRARY={ZLIB_LIBRARY_PATH}',
f'-DPROJ_INCLUDE_DIR={PROJ_INSTALL_PATH}/include',
f'-DPROJ_LIBRARY={PROJ_INSTALL_PATH}/lib/proj{LIB_EXT}',
f'-DPROJ_LIBRARY={PROJ_INSTALL_PATH}/lib/{LIB_PREFIX}proj{LIB_EXT}',
f'-DXercesC_INCLUDE_DIR={XERCESC_INSTALL_PATH}/include',
f'-DXercesC_LIBRARY={FindXercesC()}',
'-DSUMO_LIBRARIES=OFF',

1
PythonAPI/carla/.gitignore vendored
View File

@ -1,4 +1,5 @@
*.egg-info
setup.py
build
dependencies
dist

6
Unreal/CarlaUE4/CarlaUE4.uproject
View File

@ -1,6 +1,6 @@
{
"FileVersion": 3,
"EngineAssociation": "4.26",
"EngineAssociation": "{503B4C24-4B4B-4C8C-53F3-8AB2AC13D07B}",
"Category": "",
"Description": "",
"Modules": [
@ -10,7 +10,7 @@
"LoadingPhase": "Default",
"AdditionalDependencies": [
"Engine",
"PhysXVehicles",
"ChaosVehicles",
"Carla",
"CoreUObject"
]
@ -126,4 +126,4 @@
"Enabled": true
}
]
}
}

2
Unreal/CarlaUE4/Config/DefaultEngine.ini
View File

@ -98,7 +98,7 @@ MaxSubstepDeltaTime=0.010000
MaxSubsteps=10
SyncSceneSmoothingFactor=0.000000
InitialAverageFrameRate=0.016667
PhysXTreeRebuildRate=10
# PhysXTreeRebuildRate=10
DefaultBroadphaseSettings=(bUseMBPOnClient=False,bUseMBPOnServer=False,MBPBounds=(Min=(X=0.000000,Y=0.000000,Z=0.000000),Max=(X=0.000000,Y=0.000000,Z=0.000000),IsValid=0),MBPNumSubdivs=2)
[/Script/WindowsTargetPlatform.WindowsTargetSettings]

11
Unreal/CarlaUE4/Plugins/Carla/Carla.uplugin
View File

@ -13,19 +13,22 @@
"CanContainContent": true,
"IsBetaVersion": true,
"Installed": true,
"Modules": [
"Modules":
[
{
"Name": "Carla",
"Type": "Runtime",
"LoadingPhase": "PreDefault",
"AdditionalDependencies": [
"AdditionalDependencies":
[
"Engine"
]
}
],
"Plugins": [
"Plugins":
[
{
"Name": "PhysXVehicles",
"Name": "ChaosVehicles",
"Enabled": true
},
{

730
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
View File

@ -2,353 +2,425 @@
using System;
using System.IO;
using System.Linq;
using UnrealBuildTool;
using EpicGames.Core;
using System.Diagnostics;
public class Carla : ModuleRules
public class Carla :
ModuleRules
{
bool UsingCarSim = false;
bool UsingChrono = false;
bool UsingPytorch = false;
bool UsingRos2 = false;
private bool IsWindows(ReadOnlyTargetRules Target)
{
return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
}
[CommandLine("-carsim")]
bool EnableCarSim = false;
public Carla(ReadOnlyTargetRules Target) : base(Target)
{
PrivatePCHHeaderFile = "Carla.h";
[CommandLine("-chrono")]
bool EnableChrono = false;
if (IsWindows(Target))
[CommandLine("-pytorch")]
bool EnablePytorch = false;
[CommandLine("-ros2")]
bool EnableRos2 = false;
[CommandLine("-carla-install-path")]
string CarlaInstallPath = null;
[CommandLine("-carla-dependencies-path")]
string CarlaDependenciesPath = null;
public static string FindLibrary(string SearchPath, params string[] Patterns)
{
foreach (var Pattern in Patterns)
{
var Candidates = Directory.GetFiles(SearchPath, Pattern);
if (Candidates.Length == 0)
continue;
Array.Sort(Candidates);
return Candidates[0];
}
return null;
}
public Carla(ReadOnlyTargetRules Target) :
base(Target)
{
bEnableExceptions = true;
var DirectoryInfo = new DirectoryInfo(ModuleDirectory);
for (int i = 0; i != 6; ++i)
DirectoryInfo = DirectoryInfo.Parent;
var WorkspacePath = DirectoryInfo.ToString();
Debug.Assert(Directory.Exists(WorkspacePath));
if (CarlaInstallPath == null)
{
Console.WriteLine("-carla-install-path was not specified, inferring...");
CarlaInstallPath = Path.Combine(WorkspacePath, "Install", "libcarla");
Debug.Assert(Directory.Exists(CarlaInstallPath), "Could not infer CARLA install directory.");
}
if (CarlaDependenciesPath == null)
{
Console.WriteLine("-carla-dependencies-path was not specified, inferring...");
CarlaDependenciesPath = Path.Combine(WorkspacePath, "Build", "Dependencies");
Debug.Assert(Directory.Exists(CarlaDependenciesPath), "Could not infer CARLA dependencies directory.");
}
bool IsWindows = Target.Platform == UnrealTargetPlatform.Win64;
bEnableExceptions = bEnableExceptions || IsWindows;
PrivatePCHHeaderFile = "Carla.h";
if (EnableCarSim)
{
PublicDefinitions.Add("WITH_CARSIM");
PrivateDefinitions.Add("WITH_CARSIM");
}
if (EnableChrono)
{
PublicDefinitions.Add("WITH_CHRONO");
PrivateDefinitions.Add("WITH_CHRONO");
}
if (EnablePytorch)
{
PublicDefinitions.Add("WITH_PYTORCH");
PrivateDefinitions.Add("WITH_PYTORCH");
}
if (EnableRos2)
{
PublicDefinitions.Add("WITH_ROS2");
PrivateDefinitions.Add("WITH_ROS2");
}
// PublicIncludePaths.AddRange(new string[] { });
// PrivateIncludePaths.AddRange(new string[] { });
PublicDependencyModuleNames.AddRange(new string[]
{
"Core",
"RenderCore",
"RHI",
"Renderer",
"ProceduralMeshComponent",
"MeshDescription"
});
if (EnableCarSim)
{
PublicDependencyModuleNames.Add("CarSim");
}
if (Target.Type == TargetType.Editor)
{
PublicDependencyModuleNames.Add("UnrealEd");
}
PrivateDependencyModuleNames.AddRange(new string[]
{
"AIModule",
"AssetRegistry",
"CoreUObject",
"Engine",
"Foliage",
"HTTP",
"StaticMeshDescription",
"ImageWriteQueue",
"Json",
"JsonUtilities",
"Landscape",
"Chaos",
"ChaosVehicles",
"ChaosVehicleLib",
"Slate",
"SlateCore",
"PhysicsCore"
});
if (EnableCarSim)
{
PrivateDependencyModuleNames.Add("CarSim");
PrivateIncludePathModuleNames.Add("CarSim");
}
// DynamicallyLoadedModuleNames.AddRange(new string[] { });
var LibraryPrefix = IsWindows ? "" : "lib";
var LibrarySuffix = IsWindows ? ".lib" : ".a";
Func<string, string> GetLibraryName = name =>
{
return LibraryPrefix + name + LibrarySuffix;
};
var LibCarlaInstallPath = CarlaInstallPath;
var DependenciesInstallPath = CarlaDependenciesPath;
// LibCarla
var LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
var LibCarlaLibPath = Path.Combine(LibCarlaInstallPath, "lib");
var LibCarlaServerPath = Path.Combine(LibCarlaLibPath, GetLibraryName("carla-server"));
var LibCarlaClientPath = Path.Combine(LibCarlaLibPath, GetLibraryName("carla-client"));
// Boost
var BoostInstallPath = Path.Combine(DependenciesInstallPath, "boost-install");
var BoostLibPath = Path.Combine(BoostInstallPath, "lib");
var BoostLibraryPatterns = new string[]
{
GetLibraryName("*boost_asio*"),
GetLibraryName("*boost_python*"),
};
var BoostLibraries =
from Pattern in BoostLibraryPatterns
select FindLibrary(BoostLibPath, Pattern);
// Chrono
var ChronoInstallPath = Path.Combine(DependenciesInstallPath, "chrono-install");
var ChronoLibPath = Path.Combine(ChronoInstallPath, "lib");
var ChronoLibraryNames = new string[]
{
"ChronoEngine",
"ChronoEngine_vehicle",
"ChronoModels_vehicle",
"ChronoModels_robot",
};
var ChronoLibraries =
from Name in ChronoLibraryNames
select FindLibrary(Name);
// SQLite
var SQLiteBuildPath = Path.Combine(DependenciesInstallPath, "sqlite-build");
var SQLiteLibrary = FindLibrary(SQLiteBuildPath, GetLibraryName("sqlite*"));
// RPCLib
var RPCLibInstallPath = Path.Combine(DependenciesInstallPath, "rpclib-install");
var RPCLibPath = Path.Combine(RPCLibInstallPath, "lib");
var RPCLibraryPath = FindLibrary(RPCLibPath, "rpc");
// Xerces-C
var XercesCInstallPath = Path.Combine(DependenciesInstallPath, "xercesc-install");
var XercesCLibPath = Path.Combine(XercesCInstallPath, "lib");
var XercesCLibrary = FindLibrary(XercesCLibPath, "xercesc*");
// Proj
var ProjInstallPath = Path.Combine(DependenciesInstallPath, "proj-install");
var ProjLibPath = Path.Combine(ProjInstallPath, "lib");
var ProjLibrary = FindLibrary(ProjLibPath, "proj*");
// SUMO (OSM2ODR)
var SUMOInstallPath = Path.Combine(DependenciesInstallPath, "sumo-install");
var SUMOLibPath = Path.Combine(SUMOInstallPath, "lib");
var SUMOLibrary = FindLibrary(SUMOLibPath, "sumo*");
// ZLib
var ZLibInstallPath = Path.Combine(DependenciesInstallPath, "zlib-install");
var ZLibLibPath = Path.Combine(ZLibInstallPath, "lib");
var ZLibLibrary = FindLibrary(ZLibLibPath, "zlib*");
PublicAdditionalLibraries.AddRange(BoostLibraries);
PublicAdditionalLibraries.AddRange(ChronoLibraries);
PublicAdditionalLibraries.AddRange(new string[]
{
SQLiteLibrary,
RPCLibraryPath,
XercesCLibrary,
ProjLibrary,
SUMOLibrary,
ZLibLibrary,
});
PublicIncludePaths.Add(LibCarlaIncludePath);
PrivateIncludePaths.Add(LibCarlaIncludePath);
PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");
if (!bEnableExceptions)
{
PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
}
}
// Read config about carsim
string CarlaPluginPath = Path.GetFullPath( ModuleDirectory );
string ConfigDir = Path.GetFullPath(Path.Combine(CarlaPluginPath, "../../../../Config/"));
string OptionalModulesFile = Path.Combine(ConfigDir, "OptionalModules.ini");
string[] text = System.IO.File.ReadAllLines(OptionalModulesFile);
foreach (string line in text)
{
if (line.Contains("CarSim ON"))
{
Console.WriteLine("Enabling carsim");
UsingCarSim = true;
PublicDefinitions.Add("WITH_CARSIM");
PrivateDefinitions.Add("WITH_CARSIM");
}
if (line.Contains("Chrono ON"))
{
Console.WriteLine("Enabling chrono");
UsingChrono = true;
PublicDefinitions.Add("WITH_CHRONO");
PrivateDefinitions.Add("WITH_CHRONO");
}
if (line.Contains("Pytorch ON"))
{
Console.WriteLine("Enabling pytorch");
UsingPytorch = true;
PublicDefinitions.Add("WITH_PYTORCH");
PrivateDefinitions.Add("WITH_PYTORCH");
}
#if false
private void AddDynamicLibrary(string library)
{
PublicAdditionalLibraries.Add(library);
RuntimeDependencies.Add(library);
PublicDelayLoadDLLs.Add(library);
}
if (line.Contains("Ros2 ON"))
{
Console.WriteLine("Enabling ros2");
UsingRos2 = true;
PublicDefinitions.Add("WITH_ROS2");
PrivateDefinitions.Add("WITH_ROS2");
}
}
private void AddDllDependency(string PathToFolder, string DllName)
{
string Source = Path.Combine(PathToFolder, DllName);
string Destination = Path.Combine("$(BinaryOutputDir)", DllName);
RuntimeDependencies.Add(Destination, Source);
}
PublicIncludePaths.AddRange(
new string[] {
// ... add public include paths required here ...
}
);
private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
{
string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../CarlaDependencies"));
PrivateIncludePaths.AddRange(
new string[] {
// ... add other private include paths required here ...
}
);
// Link dependencies.
if (IsWindows)
{
foreach (string file in Directory.GetFiles(Path.Combine(LibCarlaInstallPath, "lib"), "*boost*.lib"))
PublicAdditionalLibraries.Add(file);
PublicDependencyModuleNames.AddRange(
new string[]
{
"Core",
"RenderCore",
"RHI",
"Renderer",
"ProceduralMeshComponent",
"MeshDescription"
// ... add other public dependencies that you statically link with here ...
}
);
if (UsingCarSim)
{
PublicDependencyModuleNames.AddRange(new string[] { "CarSim" });
}
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
if (Target.Type == TargetType.Editor)
{
PublicDependencyModuleNames.AddRange(new string[] { "UnrealEd" });
}
if (UseDebugLibs(Target))
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
if (EnableChrono)
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine_vehicle")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoModels_vehicle")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoModels_robot")));
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoEngine.dll");
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoEngine_vehicle.dll");
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoModels_vehicle.dll");
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoModels_robot.dll");
bUseRTTI = true;
}
PrivateDependencyModuleNames.AddRange(
new string[]
{
"AIModule",
"AssetRegistry",
"CoreUObject",
"Engine",
"Foliage",
"HTTP",
"StaticMeshDescription",
"ImageWriteQueue",
"Json",
"JsonUtilities",
"Landscape",
"PhysX",
"PhysXVehicles",
"PhysXVehicleLib",
"Slate",
"SlateCore",
"PhysicsCore"
// ... add private dependencies that you statically link with here ...
}
);
if (UsingCarSim)
{
PrivateDependencyModuleNames.AddRange(new string[] { "CarSim" });
PrivateIncludePathModuleNames.AddRange(new string[] { "CarSim" });
}
//OsmToODR
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "sqlite3.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "xerces-c_3.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "proj.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "osm2odr.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "zlibstatic.lib"));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
if (UseDebugLibs(Target))
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
if (EnableChrono)
{
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine.so"));
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine_vehicle.so"));
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_vehicle.so"));
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_robot.so"));
bUseRTTI = true;
}
if (EnablePytorch)
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_pytorch")));
string LibTorchPath = LibCarlaInstallPath;
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libonnx_proto.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfbgemm.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgloo.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libXNNPACK.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotobuf-lite.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotobuf.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libasmjit.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcpuinfo_internals.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libclog.a"));
// PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbreakpad_common.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbenchmark.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libpytorch_qnnpack.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe_cuda.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libnnpack_reference_layers.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgmock.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libdnnl.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libpthreadpool.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcpuinfo.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libqnnpack.a"));
// PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbreakpad.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libkineto.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotoc.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgtest.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgmock_main.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgtest_main.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbenchmark_main.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfmt.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe_uv.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfoxi_loader.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgloo_cuda.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libnnpack.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcaffe2_protos.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libonnx.a"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libnnapi_backend.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libbackend_with_compiler.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libcaffe2_nvrtc.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda_cpp.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libc10_cuda.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchbind_test.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libjitbackend_test.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libc10.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_global_deps.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cpu.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libshm.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda_cu.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchscatter.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchcluster.so"));
// AddDynamicLibrary("/usr/local/cuda/lib64/stubs/libcuda.so");
// AddDynamicLibrary("/usr/local/cuda/lib64/libnvrtc.so");
// AddDynamicLibrary("/usr/local/cuda/lib64/libnvToolsExt.so");
// AddDynamicLibrary("/usr/local/cuda/lib64/libcudart.so");
// AddDynamicLibrary("/usr/lib/llvm-10/lib/libgomp.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/stubs/libcuda.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libnvrtc.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libnvToolsExt.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libcudart.so");
PublicAdditionalLibraries.Add("/usr/lib/llvm-10/lib/libgomp.so");
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libcudart-a7b20f20.so.11.0"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libgomp-a34b3233.so.1"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvrtc-builtins-4730a239.so.11.3"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvrtc-1ea278b5.so.11.2"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvToolsExt-24de1d56.so.1"));
PublicAdditionalLibraries.Add("stdc++");
PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libpython3.9.so");
}
if (EnableRos2)
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_fastdds")));
string LibFastDDSPath = LibCarlaInstallPath;
AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfoonathan_memory-0.7.3.so"));
AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfastcdr.so"));
AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfastrtps.so"));
PublicAdditionalLibraries.Add("stdc++");
}
DynamicallyLoadedModuleNames.AddRange(
new string[]
{
// ... add any modules that your module loads dynamically here ...
}
);
//OsmToODR
PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libc.so");
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libsqlite3.so"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libxerces-c.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libproj.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libosm2odr.a"));
AddCarlaServerDependency(Target);
}
}
bEnableExceptions = true;
private bool UseDebugLibs(ReadOnlyTargetRules Target)
{
if (IsWindows(Target))
{
// In Windows, Unreal uses the Release C++ Runtime (CRT) even in debug
// mode, so unless we recompile the engine we cannot link the debug
// libraries.
return false;
}
else
{
return false;
}
}
// Include path.
string LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
private void AddDynamicLibrary(string library)
{
PublicAdditionalLibraries.Add(library);
RuntimeDependencies.Add(library);
PublicDelayLoadDLLs.Add(library);
}
private void AddDllDependency(string PathToFolder, string DllName)
{
string Source = Path.Combine(PathToFolder, DllName);
string Destination = Path.Combine("$(BinaryOutputDir)", DllName);
RuntimeDependencies.Add(Destination, Source);
}
PublicIncludePaths.Add(LibCarlaIncludePath);
PrivateIncludePaths.Add(LibCarlaIncludePath);
delegate string ADelegate(string s);
private void AddBoostLibs(string LibPath)
{
string [] files = Directory.GetFiles(LibPath, "*boost*.lib");
foreach (string file in files) PublicAdditionalLibraries.Add(file);
}
private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
{
string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../CarlaDependencies"));
ADelegate GetLibName = (string BaseName) => {
if (IsWindows(Target))
{
return BaseName + ".lib";
}
else
{
return "lib" + BaseName + ".a";
}
};
// Link dependencies.
if (IsWindows(Target))
{
AddBoostLibs(Path.Combine(LibCarlaInstallPath, "lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
if (UseDebugLibs(Target))
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
if (UsingChrono)
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine_vehicle")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoModels_vehicle")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoModels_robot")));
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoEngine.dll");
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoEngine_vehicle.dll");
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoModels_vehicle.dll");
AddDllDependency(Path.Combine(LibCarlaInstallPath, "dll"), "ChronoModels_robot.dll");
bUseRTTI = true;
}
//OsmToODR
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "sqlite3.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "xerces-c_3.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "proj.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "osm2odr.lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "zlibstatic.lib"));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
if (UseDebugLibs(Target))
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
if (UsingChrono)
{
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine.so"));
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine_vehicle.so"));
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_vehicle.so"));
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_robot.so"));
bUseRTTI = true;
}
if (UsingPytorch)
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_pytorch")));
string LibTorchPath = LibCarlaInstallPath;
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libonnx_proto.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfbgemm.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgloo.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libXNNPACK.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotobuf-lite.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotobuf.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libasmjit.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcpuinfo_internals.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libclog.a"));
// PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbreakpad_common.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbenchmark.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libpytorch_qnnpack.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe_cuda.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libnnpack_reference_layers.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgmock.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libdnnl.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libpthreadpool.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcpuinfo.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libqnnpack.a"));
// PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbreakpad.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libkineto.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libprotoc.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgtest.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgmock_main.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgtest_main.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libbenchmark_main.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfmt.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libtensorpipe_uv.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libfoxi_loader.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libgloo_cuda.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libnnpack.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libcaffe2_protos.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibTorchPath, "lib", "libonnx.a"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libnnapi_backend.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libbackend_with_compiler.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libcaffe2_nvrtc.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda_cpp.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libc10_cuda.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchbind_test.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libjitbackend_test.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libc10.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_global_deps.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cpu.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libshm.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorch_cuda_cu.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchscatter.so"));
AddDynamicLibrary(Path.Combine(LibTorchPath, "lib", "libtorchcluster.so"));
// AddDynamicLibrary("/usr/local/cuda/lib64/stubs/libcuda.so");
// AddDynamicLibrary("/usr/local/cuda/lib64/libnvrtc.so");
// AddDynamicLibrary("/usr/local/cuda/lib64/libnvToolsExt.so");
// AddDynamicLibrary("/usr/local/cuda/lib64/libcudart.so");
// AddDynamicLibrary("/usr/lib/llvm-10/lib/libgomp.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/stubs/libcuda.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libnvrtc.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libnvToolsExt.so");
PublicAdditionalLibraries.Add("/usr/local/cuda/lib64/libcudart.so");
PublicAdditionalLibraries.Add("/usr/lib/llvm-10/lib/libgomp.so");
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libcudart-a7b20f20.so.11.0"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libgomp-a34b3233.so.1"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvrtc-builtins-4730a239.so.11.3"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvrtc-1ea278b5.so.11.2"));
RuntimeDependencies.Add(Path.Combine(LibTorchPath, "lib", "libnvToolsExt-24de1d56.so.1"));
PublicAdditionalLibraries.Add("stdc++");
PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libpython3.9.so");
}
if (UsingRos2)
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_fastdds")));
string LibFastDDSPath = LibCarlaInstallPath;
AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfoonathan_memory-0.7.3.so"));
AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfastcdr.so"));
AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfastrtps.so"));
PublicAdditionalLibraries.Add("stdc++");
}
//OsmToODR
PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libc.so");
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libsqlite3.so"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libxerces-c.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libproj.a"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libosm2odr.a"));
}
bEnableExceptions = true;
// Include path.
string LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
PublicIncludePaths.Add(LibCarlaIncludePath);
PrivateIncludePaths.Add(LibCarlaIncludePath);
PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");
}
PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");
}
#endif
}

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
View File

@ -13,8 +13,7 @@
#include "DrawDebugHelpers.h"
#include "Kismet/KismetSystemLibrary.h"
#include "PhysXPublic.h"
#include "PhysXVehicleManager.h"
#if 0 // @CARLAUE5
#include "TireConfig.h"
#include "VehicleWheel.h"
@ -1134,3 +1133,4 @@ void ACarlaWheeledVehicle::SetPhysicsConstraintAngle(
{
Component->ConstraintInstance.AngularRotationOffset = NewAngle;
}
#endif

38
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleMovementComponentNW.cpp
View File

@ -6,14 +6,12 @@
#include "WheeledVehicleMovementComponentNW.h"
#include "PhysicsPublic.h"
#include "PhysXPublic.h"
#include "PhysXVehicleManager.h"
#include "Components/PrimitiveComponent.h"
#include "Logging/MessageLog.h"
UWheeledVehicleMovementComponentNW::UWheeledVehicleMovementComponentNW(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
{
// grab default values from physx
#if 0 // @CARLAUE5
PxVehicleEngineData DefEngineData;
EngineSetup.MOI = DefEngineData.mMOI;
EngineSetup.MaxRPM = OmegaToRPM(DefEngineData.mMaxOmega);
@ -65,11 +63,13 @@ UWheeledVehicleMovementComponentNW::UWheeledVehicleMovementComponentNW(const FOb
DifferentialSetup.SetNum(NbrWheels);
IdleBrakeInput = 10;
#endif
}
#if WITH_EDITOR
void UWheeledVehicleMovementComponentNW::PostEditChangeProperty(struct FPropertyChangedEvent& PropertyChangedEvent)
{
#if 0 // @CARLAUE5
Super::PostEditChangeProperty(PropertyChangedEvent);
const FName PropertyName = PropertyChangedEvent.Property ? PropertyChangedEvent.Property->GetFName() : NAME_None;
@ -99,9 +99,11 @@ void UWheeledVehicleMovementComponentNW::PostEditChangeProperty(struct FProperty
SteeringCurve.GetRichCurve()->UpdateOrAddKey(SteerKeys[KeyIdx].Time, NewValue);
}
}
#endif
}
#endif
#if 0 // @CARLAUE5
static void GetVehicleDifferentialNWSetup(const TArray<FVehicleNWWheelDifferentialData>& Setup, PxVehicleDifferentialNWData& PxSetup)
{
for (int32 i = 0; i < Setup.Num(); ++i)
@ -109,9 +111,11 @@ static void GetVehicleDifferentialNWSetup(const TArray<FVehicleNWWheelDifferenti
PxSetup.setDrivenWheel(i, Setup[i].bDriven);
}
}
#endif
float FVehicleNWEngineData::FindPeakTorque() const
{
#if 0 // @CARLAUE5
// Find max torque
float PeakTorque = 0.0f;
TArray<FRichCurveKey> TorqueKeys = TorqueCurve.GetRichCurveConst()->GetCopyOfKeys();
@ -121,8 +125,10 @@ float FVehicleNWEngineData::FindPeakTorque() const
PeakTorque = FMath::Max(PeakTorque, Key.Value);
}
return PeakTorque;
#endif
}
#if 0 // @CARLAUE5
static void GetVehicleEngineSetup(const FVehicleNWEngineData& Setup, PxVehicleEngineData& PxSetup)
{
PxSetup.mMOI = M2ToCm2(Setup.MOI);
@ -169,12 +175,18 @@ static void GetVehicleAutoBoxSetup(const FVehicleNWTransmissionData& Setup, PxVe
PxSetup.setLatency(Setup.GearAutoBoxLatency);
}
#endif
int32 UWheeledVehicleMovementComponentNW::GetCustomGearBoxNumForwardGears() const
{
#if 0 // @CARLAUE5
return TransmissionSetup.ForwardGears.Num();
#else
return 0;
#endif
}
#if 0 // @CARLAUE5
void SetupDriveHelper(const UWheeledVehicleMovementComponentNW* VehicleData, const PxVehicleWheelsSimData* PWheelsSimData, PxVehicleDriveSimDataNW& DriveData)
{
PxVehicleDifferentialNWData DifferentialSetup;
@ -198,9 +210,11 @@ void SetupDriveHelper(const UWheeledVehicleMovementComponentNW* VehicleData, con
GetVehicleAutoBoxSetup(VehicleData->TransmissionSetup, AutoBoxSetup);
DriveData.setAutoBoxData(AutoBoxSetup);
}
#endif
void UWheeledVehicleMovementComponentNW::SetupVehicle()
{
#if 0 // @CARLAUE5
if (!UpdatedPrimitive)
{
return;
@ -267,11 +281,12 @@ void UWheeledVehicleMovementComponentNW::SetupVehicle()
PVehicleDrive = PVehicleDriveNW;
SetUseAutoGears(TransmissionSetup.bUseGearAutoBox);
#endif
}
void UWheeledVehicleMovementComponentNW::UpdateSimulation(float DeltaTime)
{
#if 0 // @CARLAUE5
if (PVehicleDrive == nullptr)
return;
@ -309,10 +324,12 @@ void UWheeledVehicleMovementComponentNW::UpdateSimulation(float DeltaTime)
PxVehicleDriveNW* PVehicleDriveNW = (PxVehicleDriveNW*)PVehicleDrive;
PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs(SmoothData, SpeedSteerLookup, RawInputData, DeltaTime, false, *PVehicleDriveNW);
});
#endif
}
void UWheeledVehicleMovementComponentNW::UpdateEngineSetup(const FVehicleNWEngineData& NewEngineSetup)
{
#if 0 // @CARLAUE5
if (PVehicleDrive)
{
PxVehicleEngineData EngineData;
@ -321,10 +338,12 @@ void UWheeledVehicleMovementComponentNW::UpdateEngineSetup(const FVehicleNWEngin
PxVehicleDriveNW* PVehicleDriveNW = (PxVehicleDriveNW*)PVehicleDrive;
PVehicleDriveNW->mDriveSimData.setEngineData(EngineData);
}
#endif
}
void UWheeledVehicleMovementComponentNW::UpdateDifferentialSetup(const TArray<FVehicleNWWheelDifferentialData>& NewDifferentialSetup)
{
#if 0 // @CARLAUE5
if (PVehicleDrive)
{
PxVehicleDifferentialNWData DifferentialData;
@ -333,10 +352,12 @@ void UWheeledVehicleMovementComponentNW::UpdateDifferentialSetup(const TArray<FV
PxVehicleDriveNW* PVehicleDriveNW = (PxVehicleDriveNW*)PVehicleDrive;
PVehicleDriveNW->mDriveSimData.setDiffData(DifferentialData);
}
#endif
}
void UWheeledVehicleMovementComponentNW::UpdateTransmissionSetup(const FVehicleNWTransmissionData& NewTransmissionSetup)
{
#if 0 // @CARLAUE5
if (PVehicleDrive)
{
PxVehicleGearsData GearData;
@ -349,8 +370,10 @@ void UWheeledVehicleMovementComponentNW::UpdateTransmissionSetup(const FVehicleN
PVehicleDriveNW->mDriveSimData.setGearsData(GearData);
PVehicleDriveNW->mDriveSimData.setAutoBoxData(AutoBoxData);
}
#endif
}
#if 0 // @CARLAUE5
void BackwardsConvertCm2ToM2NW(float& val, float defaultValue)
{
if (val != defaultValue)
@ -358,9 +381,11 @@ void BackwardsConvertCm2ToM2NW(float& val, float defaultValue)
val = Cm2ToM2(val);
}
}
#endif
void UWheeledVehicleMovementComponentNW::Serialize(FArchive& Ar)
{
#if 0 // @CARLAUE5
Super::Serialize(Ar);
if (Ar.IsLoading() && Ar.UE4Ver() < VER_UE4_VEHICLES_UNIT_CHANGE)
{
@ -383,14 +408,18 @@ void UWheeledVehicleMovementComponentNW::Serialize(FArchive& Ar)
BackwardsConvertCm2ToM2NW(EngineSetup.MOI, DefEngineData.mMOI);
BackwardsConvertCm2ToM2NW(TransmissionSetup.ClutchStrength, DefClutchData.mStrength);
}
#endif
}
void UWheeledVehicleMovementComponentNW::ComputeConstants()
{
Super::ComputeConstants();
#if 0 // @CARLAUE5
MaxEngineRPM = EngineSetup.MaxRPM;
#endif
}
#if 0 // @CARLAUE5
const void* UWheeledVehicleMovementComponentNW::GetTireData(physx::PxVehicleWheels* InWheels, UVehicleWheel* InWheel)
{
const void* realShaderData = &InWheels->mWheelsSimData.getTireData((PxU32)InWheel->WheelIndex);
@ -408,3 +437,4 @@ const physx::PxVehicleWheelData UWheeledVehicleMovementComponentNW::GetWheelData
const physx::PxVehicleWheelData WheelData = InWheels->mWheelsSimData.getWheelData((physx::PxU32)InWheel);
return WheelData;
}
#endif

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleMovementComponentNW.h
View File

@ -9,11 +9,6 @@
#include "Curves/CurveFloat.h"
#include "WheeledVehicleMovementComponentNW.generated.h"
namespace physx
{
class PxVehicleWheelData;
}
USTRUCT()
struct FVehicleNWWheelDifferentialData
{
@ -145,9 +140,11 @@ class CARLA_API UWheeledVehicleMovementComponentNW : public UWheeledVehicleMovem
protected:
#if 0 // @CARLAUE5
virtual const void* GetTireData(physx::PxVehicleWheels* Wheels, UVehicleWheel* Wheel);
virtual const int32 GetWheelShapeMapping(physx::PxVehicleWheels* Wheels, uint32 Wheel);
virtual const physx::PxVehicleWheelData GetWheelData(physx::PxVehicleWheels* Wheels, uint32 Wheel);
#endif
/** Allocate and setup the PhysX vehicle */
virtual void SetupVehicle() override;

75
Unreal/CarlaUE4/Plugins/CarlaExporter/Source/CarlaExporter/CarlaExporter.Build.cs
View File

@ -6,58 +6,37 @@
using UnrealBuildTool;
public class CarlaExporter : ModuleRules
public class CarlaExporter :
ModuleRules
{
public CarlaExporter(ReadOnlyTargetRules Target) : base(Target)
{
PCHUsage = ModuleRules.PCHUsageMode.UseExplicitOrSharedPCHs;
public CarlaExporter(ReadOnlyTargetRules Target) :
base(Target)
{
PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
PublicIncludePaths.AddRange(
new string[] {
// ... add public include paths required here ...
}
);
// PublicIncludePaths.AddRange(new string[] { });
// PrivateIncludePaths.AddRange(new string[] { });
PrivateIncludePaths.AddRange(
new string[] {
// ... add other private include paths required here ...
}
);
PublicDependencyModuleNames.AddRange(new string[]
{
"Core",
});
PrivateDependencyModuleNames.AddRange(new string[]
{
"Projects",
"InputCore",
"UnrealEd",
"LevelEditor",
"CoreUObject",
"Engine",
"Slate",
"SlateCore",
"Chaos",
"EditorStyle",
});
PublicDependencyModuleNames.AddRange(
new string[]
{
"Core",
// ... add other public dependencies that you statically link with here ...
}
);
PrivateDependencyModuleNames.AddRange(
new string[]
{
"Projects",
"InputCore",
"UnrealEd",
"LevelEditor",
"CoreUObject",
"Engine",
"Slate",
"SlateCore",
"Physx",
"EditorStyle"
// ... add private dependencies that you statically link with here ...
}
);
DynamicallyLoadedModuleNames.AddRange(
new string[]
{
// ... add any modules that your module loads dynamically here ...
}
);
}
// DynamicallyLoadedModuleNames.AddRange(new string[] { });
}
}

5
Unreal/CarlaUE4/Plugins/CarlaExporter/Source/CarlaExporter/Private/CarlaExporter.cpp
View File

@ -15,14 +15,9 @@
#include "Components/InstancedStaticMeshComponent.h"
#include "PhysicsEngine/BodySetup.h"
#include "PhysicsEngine/ConvexElem.h"
#include "PxTriangleMesh.h"
#include "PxVec3.h"
#include "LevelEditor.h"
#include "EngineUtils.h"
#include "PhysXPublic.h"
#include "PhysicsPublic.h"
#include "PhysXIncludes.h"
#include "PxSimpleTypes.h"
#include <fstream>
#include <sstream>

2
Unreal/CarlaUE4/Plugins/CarlaTools/CarlaTools.uplugin
View File

@ -31,7 +31,7 @@
"Enabled": true
},
{
"Name": "PhysXVehicles",
"Name": "ChaosVehicles",
"Enabled": true
},
{

375
Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
View File

@ -3,209 +3,208 @@
using System;
using System.IO;
using UnrealBuildTool;
using EpicGames.Core;
using System.Linq;
using System.Diagnostics;
public class CarlaTools : ModuleRules
public class CarlaTools :
ModuleRules
{
bool UsingHoudini = true;
bool bUsingOmniverseConnector = false;
private bool IsWindows(ReadOnlyTargetRules Target)
{
return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32);
}
[CommandLine("-houdini")]
bool EnableHoudini = false;
public CarlaTools(ReadOnlyTargetRules Target) : base(Target)
{
PCHUsage = ModuleRules.PCHUsageMode.UseExplicitOrSharedPCHs;
[CommandLine("-nv-omniverse")]
bool EnableNVIDIAOmniverse = false;
// PrivatePCHHeaderFile = "Carla.h";
[CommandLine("-carla-install-path")]
string CarlaInstallPath = null;
if (IsWindows(Target))
[CommandLine("-carla-dependencies-install-path")]
string CarlaDependenciesPath = null;
public static string FindLibrary(string SearchPath, params string[] Patterns)
{
bEnableExceptions = true;
}
string CarlaPluginPath = Path.GetFullPath( ModuleDirectory );
string ConfigDir = Path.GetFullPath(Path.Combine(CarlaPluginPath, "../../../../Config/"));
string OptionalModulesFile = Path.Combine(ConfigDir, "OptionalModules.ini");
string[] text = System.IO.File.ReadAllLines(OptionalModulesFile);
foreach (string line in text)
{
if (line.Contains("Omniverse ON"))
{
Console.WriteLine("Enabling OmniverseConnector");
bUsingOmniverseConnector = true;
PublicDefinitions.Add("WITH_OMNIVERSE");
PrivateDefinitions.Add("WITH_OMNIVERSE");
}
}
PublicIncludePaths.AddRange(
new string[] {
// ... add public include paths required here ...
}
);
PrivateIncludePaths.AddRange(
new string[] {
// ... add other private include paths required here ...
}
);
PublicDependencyModuleNames.AddRange(
new string[]
{
"Core",
"ProceduralMeshComponent",
"MeshDescription",
"RawMesh",
"AssetTools"
// ... add other public dependencies that you statically link with here ...
}
);
PrivateDependencyModuleNames.AddRange(
new string[]
{
"CoreUObject",
"Engine",
"Slate",
"SlateCore",
"UnrealEd",
"Blutility",
"UMG",
"EditorScriptingUtilities",
"Landscape",
"Foliage",
"FoliageEdit",
"MeshMergeUtilities",
"Carla",
"StaticMeshDescription",
"PhysXVehicles",
"Json",
"JsonUtilities",
"Networking",
"Sockets",
"HTTP",
"RHI",
"RenderCore",
"MeshMergeUtilities",
"StreetMapImporting",
"StreetMapRuntime"
// ... add private dependencies that you statically link with here ...
}
);
if(UsingHoudini)
{
PrivateDependencyModuleNames.AddRange(
new string[]
foreach (var Pattern in Patterns)
{
"HoudiniEngine",
"HoudiniEngineEditor",
"HoudiniEngineRuntime"
});
var Candidates = Directory.GetFiles(SearchPath, Pattern);
if (Candidates.Length == 0)
continue;
Array.Sort(Candidates);
return Candidates[0];
}
return null;
}
if(bUsingOmniverseConnector)
public CarlaTools(ReadOnlyTargetRules Target) :
base(Target)
{
PrivateDependencyModuleNames.AddRange(
new string[]
bool IsWindows = Target.Platform == UnrealTargetPlatform.Win64;
var DirectoryInfo = new DirectoryInfo(ModuleDirectory);
for (int i = 0; i != 6; ++i)
DirectoryInfo = DirectoryInfo.Parent;
var WorkspacePath = DirectoryInfo.ToString();
Debug.Assert(Directory.Exists(WorkspacePath));
if (CarlaInstallPath == null)
{
"OmniverseUSD",
"OmniverseRuntime"
});
}
Console.WriteLine("-carla-install-path was not specified, inferring...");
CarlaInstallPath = Path.Combine(WorkspacePath, "Install", "libcarla");
Debug.Assert(Directory.Exists(CarlaInstallPath), "Could not infer CARLA install directory.");
}
DynamicallyLoadedModuleNames.AddRange(
new string[]
if (CarlaDependenciesPath == null)
{
Console.WriteLine("-carla-dependencies-path was not specified, inferring...");
CarlaDependenciesPath = Path.Combine(WorkspacePath, "Build", "Dependencies");
Debug.Assert(Directory.Exists(CarlaDependenciesPath), "Could not infer CARLA dependencies directory.");
}
bEnableExceptions = bEnableExceptions || IsWindows;
PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
// PrivatePCHHeaderFile = "Carla.h";
// PublicIncludePaths.AddRange(new string[] { });
// PrivateIncludePaths.AddRange(new string[] { });
PublicDependencyModuleNames.AddRange(new string[]
{
"Core",
"ProceduralMeshComponent",
"MeshDescription",
"RawMesh",
"AssetTools"
});
PrivateDependencyModuleNames.AddRange(new string[]
{
"CoreUObject",
"Engine",
"Slate",
"SlateCore",
"UnrealEd",
"Blutility",
"UMG",
"EditorScriptingUtilities",
"Landscape",
"Foliage",
"FoliageEdit",
"MeshMergeUtilities",
"Carla",
"StaticMeshDescription",
"ChaosVehicles",
"Json",
"JsonUtilities",
"Networking",
"Sockets",
"HTTP",
"RHI",
"RenderCore",
"MeshMergeUtilities",
"StreetMapImporting",
"StreetMapRuntime"
});
if (EnableHoudini)
{
PrivateDependencyModuleNames.AddRange(new string[]
{
// ... add any modules that your module loads dynamically here ...
}
);
AddCarlaServerDependency(Target);
}
"HoudiniEngine",
"HoudiniEngineEditor",
"HoudiniEngineRuntime"
});
}
private bool UseDebugLibs(ReadOnlyTargetRules Target)
{
if (IsWindows(Target))
{
// In Windows, Unreal uses the Release C++ Runtime (CRT) even in debug
// mode, so unless we recompile the engine we cannot link the debug
// libraries.
return false;
}
else
{
return false;
}
}
delegate string ADelegate(string s);
private void AddBoostLibs(string LibPath)
{
string [] files = Directory.GetFiles(LibPath, "*boost*.lib");
foreach (string file in files)
{
PublicAdditionalLibraries.Add(file);
}
}
private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
{
string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../../Carla/CarlaDependencies"));
ADelegate GetLibName = (string BaseName) => {
if (IsWindows(Target))
if (EnableNVIDIAOmniverse)
{
PrivateDependencyModuleNames.AddRange(new string[]
{
return BaseName + ".lib";
}
else
{
return "lib" + BaseName + ".a";
}
};
"OmniverseUSD",
"OmniverseRuntime"
});
}
// Link dependencies.
if (IsWindows(Target))
{
AddBoostLibs(Path.Combine(LibCarlaInstallPath, "lib"));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
// DynamicallyLoadedModuleNames.AddRange(new string[] { });
if (UseDebugLibs(Target))
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
var LibraryPrefix = IsWindows ? "" : "lib";
var LibrarySuffix = IsWindows ? ".lib" : ".a";
Func<string, string> GetLibraryName = name =>
{
return LibraryPrefix + name + LibrarySuffix;
};
var LibCarlaInstallPath = CarlaInstallPath;
var DependenciesInstallPath = CarlaDependenciesPath;
// LibCarla
var LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
var LibCarlaLibPath = Path.Combine(LibCarlaInstallPath, "lib");
var LibCarlaServerPath = Path.Combine(LibCarlaLibPath, GetLibraryName("carla-server"));
var LibCarlaClientPath = Path.Combine(LibCarlaLibPath, GetLibraryName("carla-client"));
// Boost
var BoostInstallPath = Path.Combine(DependenciesInstallPath, "boost-install");
var BoostLibPath = Path.Combine(BoostInstallPath, "lib");
var BoostLibraryPatterns = new string[]
{
GetLibraryName("*boost_asio*"),
GetLibraryName("*boost_python*"),
};
var BoostLibraries =
from Pattern in BoostLibraryPatterns
select FindLibrary(BoostLibPath, Pattern);
// Chrono
var ChronoInstallPath = Path.Combine(DependenciesInstallPath, "chrono-install");
var ChronoLibPath = Path.Combine(ChronoInstallPath, "lib");
var ChronoLibraryNames = new string[]
{
"ChronoEngine",
"ChronoEngine_vehicle",
"ChronoModels_vehicle",
"ChronoModels_robot",
};
var ChronoLibraries =
from Name in ChronoLibraryNames
select FindLibrary(Name);
// SQLite
var SQLiteBuildPath = Path.Combine(DependenciesInstallPath, "sqlite-build");
var SQLiteLibrary = FindLibrary(SQLiteBuildPath, GetLibraryName("sqlite*"));
// RPCLib
var RPCLibInstallPath = Path.Combine(DependenciesInstallPath, "rpclib-install");
var RPCLibPath = Path.Combine(RPCLibInstallPath, "lib");
var RPCLibraryPath = FindLibrary(RPCLibPath, "rpc");
// Xerces-C
var XercesCInstallPath = Path.Combine(DependenciesInstallPath, "xercesc-install");
var XercesCLibPath = Path.Combine(XercesCInstallPath, "lib");
var XercesCLibrary = FindLibrary(XercesCLibPath, "xercesc*");
// Proj
var ProjInstallPath = Path.Combine(DependenciesInstallPath, "proj-install");
var ProjLibPath = Path.Combine(ProjInstallPath, "lib");
var ProjLibrary = FindLibrary(ProjLibPath, "proj*");
// SUMO (OSM2ODR)
var SUMOInstallPath = Path.Combine(DependenciesInstallPath, "sumo-install");
var SUMOLibPath = Path.Combine(SUMOInstallPath, "lib");
var SUMOLibrary = FindLibrary(SUMOLibPath, "sumo*");
// ZLib
var ZLibInstallPath = Path.Combine(DependenciesInstallPath, "zlib-install");
var ZLibLibPath = Path.Combine(ZLibInstallPath, "lib");
var ZLibLibrary = FindLibrary(ZLibLibPath, "zlib*");
PublicAdditionalLibraries.Add(LibCarlaServerPath);
PublicAdditionalLibraries.Add(LibCarlaClientPath);
PublicAdditionalLibraries.Add(RPCLibraryPath);
PublicAdditionalLibraries.AddRange(BoostLibraries);
PublicIncludePaths.Add(LibCarlaIncludePath);
PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");
if (!bEnableExceptions)
{
PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
}
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
if (UseDebugLibs(Target))
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug")));
}
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
}
// Include path.
string LibCarlaIncludePath = Path.Combine(LibCarlaInstallPath, "include");
PublicIncludePaths.Add(LibCarlaIncludePath);
PrivateIncludePaths.Add(LibCarlaIncludePath);
PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
// PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");
}
}

38
Unreal/CarlaUE4/Source/CarlaUE4.Target.cs
View File

@ -4,32 +4,24 @@ using UnrealBuildTool;
using System.Collections.Generic;
using System;
using System.IO;
using EpicGames.Core;
public class CarlaUE4Target : TargetRules
public class CarlaUE4Target :
TargetRules
{
public CarlaUE4Target(TargetInfo Target) : base(Target)
{
Type = TargetType.Game;
ExtraModuleNames.Add("CarlaUE4");
[CommandLine("-unity-build")]
bool EnableUnityBuild = false;
string ConfigDir = Path.GetDirectoryName(ProjectFile.ToString()) + "/Config/";
string OptionalModulesFile = Path.Combine(ConfigDir, "OptionalModules.ini");
string[] text = System.IO.File.ReadAllLines(OptionalModulesFile);
public CarlaUE4Target(TargetInfo Target) :
base(Target)
{
Type = TargetType.Game;
ExtraModuleNames.Add("CarlaUE4");
bool UnityOn = true;
foreach (string line in text) {
if (line.Contains("Unity OFF"))
{
UnityOn = false;
}
Console.WriteLine("Unity build is disabled.");
bUseUnityBuild = EnableUnityBuild;
bForceUnityBuild = EnableUnityBuild;
bUseAdaptiveUnityBuild = EnableUnityBuild;
}
if (!UnityOn) {
Console.WriteLine("Disabling unity");
bUseUnityBuild = false;
bForceUnityBuild = false;
bUseAdaptiveUnityBuild = false;
}
}
}

14
Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs
View File

@ -6,14 +6,18 @@ public class CarlaUE4 : ModuleRules
{
public CarlaUE4(ReadOnlyTargetRules Target) : base(Target)
{
PrivatePCHHeaderFile = "CarlaUE4.h";
PrivatePCHHeaderFile = "CarlaUE4.h";
PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore" });
PublicDependencyModuleNames.AddRange(new string[]
{
"Core",
"CoreUObject",
"Engine",
"InputCore"
});
if (Target.Type == TargetType.Editor)
{
PublicDependencyModuleNames.AddRange(new string[] { "UnrealEd" });
}
PublicDependencyModuleNames.Add("UnrealEd");
PrivateDependencyModuleNames.AddRange(new string[] { });

38
Unreal/CarlaUE4/Source/CarlaUE4Editor.Target.cs
View File

@ -4,32 +4,24 @@ using UnrealBuildTool;
using System.Collections.Generic;
using System;
using System.IO;
using EpicGames.Core;
public class CarlaUE4EditorTarget : TargetRules
public class CarlaUE4EditorTarget :
TargetRules
{
public CarlaUE4EditorTarget(TargetInfo Target) : base(Target)
{
Type = TargetType.Editor;
ExtraModuleNames.Add("CarlaUE4");
[CommandLine("-unity-build")]
bool EnableUnityBuild = false;
string ConfigDir = Path.GetDirectoryName(ProjectFile.ToString()) + "/Config/";
string OptionalModulesFile = Path.Combine(ConfigDir, "OptionalModules.ini");
string[] text = System.IO.File.ReadAllLines(OptionalModulesFile);
public CarlaUE4EditorTarget(TargetInfo Target) :
base(Target)
{
Type = TargetType.Editor;
bool UnityOn = true;
ExtraModuleNames.Add("CarlaUE4");
foreach (string line in text) {
if (line.Contains("Unity OFF"))
{
UnityOn = false;
}
}
if (!UnityOn) {
Console.WriteLine("Disabling unity");
bUseUnityBuild = false;
bForceUnityBuild = false;
bUseAdaptiveUnityBuild = false;
}
}
Console.WriteLine("Unity build is disabled.");
bUseUnityBuild = EnableUnityBuild;
bForceUnityBuild = EnableUnityBuild;
bUseAdaptiveUnityBuild = EnableUnityBuild;
}
}

2
Util/Patches/omniverse_4.26/USDCARLAInterface.cpp
View File

@ -53,6 +53,7 @@ TArray<FUSDCARLALight> UUSDCARLAInterface::GetUSDLights(const FString& Path)
TArray<FUSDCARLAWheelData> UUSDCARLAInterface::GetUSDWheelData(const FString& Path)
{
#if 0 // @CARLAUE5
pxr::UsdStageRefPtr Stage =
FOmniverseUSDHelper::LoadUSDStageFromPath(Path);
@ -171,4 +172,5 @@ TArray<FUSDCARLAWheelData> UUSDCARLAInterface::GetUSDWheelData(const FString& Pa
ParseWheelData("wheel_3", Wheel3);
return {Wheel0, Wheel1, Wheel2, Wheel3};
#endif
}