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) if (BUILD_LIBCARLA_SERVER)
project (libcarla-server) project (carla-server)
set (LIBCARLA_SERVER_INCLUDE_PATHS set (LIBCARLA_SERVER_INCLUDE_PATHS
${LIBCARLA_SOURCE_PATH} ${LIBCARLA_SOURCE_PATH}
@ -141,73 +141,107 @@ if (BUILD_LIBCARLA_SERVER)
${RPCLIB_INCLUDE_PATH} ${RPCLIB_INCLUDE_PATH}
) )
file(GLOB LIBCARLA_SERVER_SOURCES file (
${LIBCARLA_SOURCE_PATH}/carla/*.h GLOB
LIBCARLA_SERVER_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/Buffer.cpp ${LIBCARLA_SOURCE_PATH}/carla/Buffer.cpp
${LIBCARLA_SOURCE_PATH}/carla/Exception.cpp ${LIBCARLA_SOURCE_PATH}/carla/Exception.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp ${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/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp ${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/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp ${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/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp ${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/*.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/rpc/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h ${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.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/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h ${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/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.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}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h ${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 ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
) )
add_library ( 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 ( target_compile_options (
libcarla-server PRIVATE /EHsc carla-server PRIVATE
/EHsc
) )
target_include_directories ( target_include_directories (
libcarla-server PRIVATE ${LIBCARLA_SERVER_INCLUDE_PATHS} carla-server PRIVATE
${LIBCARLA_SERVER_INCLUDE_PATHS}
) )
target_compile_definitions ( target_compile_definitions (
libcarla-server PRIVATE carla-server PRIVATE
${CARLA_COMMON_DEFINITIONS} ${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 () endif ()
if (BUILD_LIBCARLA_CLIENT) if (BUILD_LIBCARLA_CLIENT)
project (libcarla-client) project (carla-client)
set (LIBCARLA_CLIENT_INCLUDE_PATHS set (
LIBCARLA_CLIENT_INCLUDE_PATHS
${LIBCARLA_SOURCE_PATH} ${LIBCARLA_SOURCE_PATH}
${BOOST_INCLUDE_PATH} ${BOOST_INCLUDE_PATH}
${RPCLIB_INCLUDE_PATH} ${RPCLIB_INCLUDE_PATH}
@ -215,80 +249,109 @@ if (BUILD_LIBCARLA_CLIENT)
${LIBPNG_INCLUDE_PATH} ${LIBPNG_INCLUDE_PATH}
) )
file (GLOB LIBCARLA_CLIENT_SOURCES file (
GLOB
LIBCARLA_CLIENT_HEADERS
${LIBCARLA_SOURCE_PATH}/carla/*.h ${LIBCARLA_SOURCE_PATH}/carla/*.h
${LIBCARLA_SOURCE_PATH}/carla/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/*.h ${LIBCARLA_SOURCE_PATH}/carla/client/*.h
${LIBCARLA_SOURCE_PATH}/carla/client/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.h
${LIBCARLA_SOURCE_PATH}carla/client/detail/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}carla/client/detail/*.h ${LIBCARLA_SOURCE_PATH}/carla/image/*.h
${LIBCARLA_SOURCE_PATH}carla/geom/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/nav/*.h
${LIBCARLA_SOURCE_PATH}carla/geom/*.h ${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}carla/image/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}carla/image/*.h ${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.h
${LIBCARLA_SOURCE_PATH}carla/nav/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/profiler/*.h
${LIBCARLA_SOURCE_PATH}carla/nav/*.h ${LIBCARLA_SOURCE_PATH}/carla/road/*.h
${LIBCARLA_SOURCE_PATH}carla/opendrive/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}carla/opendrive/*.h ${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}carla/opendrive/parser/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}carla/opendrive/parser/*.h ${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}carla/pointcloud/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
${LIBCARLA_SOURCE_PATH}carla/pointcloud/*.h ${LIBCARLA_SOURCE_PATH}/carla/rss/*.h
${LIBCARLA_SOURCE_PATH}carla/profiler/*.h ${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}carla/road/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.h
${LIBCARLA_SOURCE_PATH}carla/road/*.h ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}carla/road/element/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
${LIBCARLA_SOURCE_PATH}carla/road/element/*.h ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
${LIBCARLA_SOURCE_PATH}carla/road/general/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.h
${LIBCARLA_SOURCE_PATH}carla/road/general/*.h ${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}carla/road/object/*.cpp ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}carla/road/object/*.h ${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.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_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}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.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/*.hpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h ${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 ( 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 ( target_include_directories (
libcarla-client PRIVATE ${LIBCARLA_CLIENT_INCLUDE_PATHS} carla-client PRIVATE
${LIBCARLA_CLIENT_INCLUDE_PATHS}
) )
target_compile_definitions ( target_compile_definitions (
libcarla-client PRIVATE carla-client PRIVATE
${CARLA_COMMON_DEFINITIONS} ${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 () endif ()

97
Configure.py
View File

@ -4,6 +4,7 @@ import subprocess, tarfile, zipfile, argparse, requests, psutil, shutil, glob, j
# Constants: # Constants:
EXE_EXT = '.exe' if os.name == 'nt' else '' 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' LIB_EXT = '.lib' if os.name == 'nt' else '.a'
OBJ_EXT = '.obj' if os.name == 'nt' else '.o' OBJ_EXT = '.obj' if os.name == 'nt' else '.o'
SHELL_EXT = '.bat' if os.name == 'nt' else '' SHELL_EXT = '.bat' if os.name == 'nt' else ''
@ -153,6 +154,15 @@ AddDirective(
AddDirective( AddDirective(
'chrono', 'chrono',
'Whether to enable 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( AddDirective(
'osm2odr', 'osm2odr',
'Whether to enable OSM2ODR.') 'Whether to enable OSM2ODR.')
@ -229,7 +239,6 @@ def SyncArgs():
ARGV = SyncArgs() ARGV = SyncArgs()
SEQUENTIAL = ARGV.configure_sequential SEQUENTIAL = ARGV.configure_sequential
ENABLE_CHRONO = ARGV.chrono
ENABLE_OSM2ODR = ARGV.osm2odr or ARGV.python_api ENABLE_OSM2ODR = ARGV.osm2odr or ARGV.python_api
ENABLE_OSM_WORLD_RENDERER = ARGV.osm_world_renderer ENABLE_OSM_WORLD_RENDERER = ARGV.osm_world_renderer
ENABLE_PYTHON_API = ARGV.python_api ENABLE_PYTHON_API = ARGV.python_api
@ -240,7 +249,14 @@ ENABLE_LIBCARLA = any([
ENABLE_LIBCARLA_CLIENT, ENABLE_LIBCARLA_CLIENT,
ENABLE_LIBCARLA_SERVER, 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_NVIDIA_OMNIVERSE = ARGV.nv_omniverse
ENABLE_RSS = ARGV.rss
UPDATE_DEPENDENCIES = ARGV.update_deps UPDATE_DEPENDENCIES = ARGV.update_deps
BUILD_DEPENDENCIES = ARGV.build_deps BUILD_DEPENDENCIES = ARGV.build_deps
PARALLELISM = ARGV.parallelism PARALLELISM = ARGV.parallelism
@ -249,8 +265,8 @@ CARLA_VERSION_STRING = ARGV.version
BUILD_PATH = Path(ARGV.build_path) BUILD_PATH = Path(ARGV.build_path)
LOG_PATH = BUILD_PATH / 'BuildLogs' LOG_PATH = BUILD_PATH / 'BuildLogs'
DEPENDENCIES_PATH = BUILD_PATH / 'Dependencies' DEPENDENCIES_PATH = BUILD_PATH / 'Dependencies'
LIBCARLA_BUILD_PATH = BUILD_PATH / 'libcarla-build' LIBCARLA_BUILD_PATH = BUILD_PATH / 'LibCarla'
LIBCARLA_INSTALL_PATH = BUILD_PATH / 'libcarla-install' LIBCARLA_INSTALL_PATH = WORKSPACE_PATH / 'Install' / 'LibCarla'
# Language options # Language options
C_COMPILER = ARGV.c_compiler C_COMPILER = ARGV.c_compiler
CPP_COMPILER = ARGV.cpp_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_INSTALL_PATH = DEPENDENCIES_PATH / 'zlib-install'
ZLIB_INCLUDE_PATH = ZLIB_INSTALL_PATH / 'include' ZLIB_INCLUDE_PATH = ZLIB_INSTALL_PATH / 'include'
ZLIB_LIBRARY_PATH = ZLIB_INSTALL_PATH / 'lib' 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
LIBPNG_SOURCE_PATH = DEPENDENCIES_PATH / 'libpng-source' LIBPNG_SOURCE_PATH = DEPENDENCIES_PATH / 'libpng-source'
LIBPNG_BUILD_PATH = DEPENDENCIES_PATH / 'libpng-build' 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_BUILD_PATH = DEPENDENCIES_PATH / 'sqlite-build'
SQLITE_LIBRARY_PATH = SQLITE_BUILD_PATH SQLITE_LIBRARY_PATH = SQLITE_BUILD_PATH
SQLITE_INCLUDE_PATH = SQLITE_SOURCE_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}' SQLITE_EXE_PATH = SQLITE_BUILD_PATH / f'sqlite{EXE_EXT}'
# Proj # Proj
PROJ_SOURCE_PATH = DEPENDENCIES_PATH / 'proj-source' PROJ_SOURCE_PATH = DEPENDENCIES_PATH / 'proj-source'
@ -361,7 +377,13 @@ SUMO_LIBRARY_PATH = SUMO_INSTALL_PATH / 'lib'
# Nvidia Omniverse # Nvidia Omniverse
NV_OMNIVERSE_PLUGIN_PATH = UNREAL_ENGINE_PATH / 'Engine' / 'Plugins' / 'Marketplace' / 'NVIDIA' / 'Omniverse' NV_OMNIVERSE_PLUGIN_PATH = UNREAL_ENGINE_PATH / 'Engine' / 'Plugins' / 'Marketplace' / 'NVIDIA' / 'Omniverse'
NV_OMNIVERSE_PATCH_PATH = PATCHES_PATH / 'omniverse_4.26' 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: # Basic IO functions:
@ -784,23 +806,6 @@ def BuildLibCarlaMain(task_graph : TaskGraph):
LIBCARLA_BUILD_PATH, LIBCARLA_BUILD_PATH,
LIBCARLA_INSTALL_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(): def BuildPythonAPIMain():
content = '' content = ''
with open(PYTHON_API_PATH / 'setup.py.in', 'r') as file: 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)) task_graph.Add(Task('build-python-api', [ 'install-libcarla' ], BuildPythonAPIMain))
def SetupUnrealEngine(task_graph : TaskGraph): 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(): def InstallNVIDIAOmniverse():
filename = 'USDCarlaInterface' filename = 'USDCarlaInterface'
@ -967,7 +1012,7 @@ def BuildSQLite():
LaunchSubprocessImmediate(cmd, log_name = 'build-sqlite-lib') LaunchSubprocessImmediate(cmd, log_name = 'build-sqlite-lib')
def FindXercesC(): 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(): def ConfigureSUMO():
cmd = Task.CreateCMakeConfigureDefaultCommandLine( cmd = Task.CreateCMakeConfigureDefaultCommandLine(
@ -979,7 +1024,7 @@ def ConfigureSUMO():
f'-DZLIB_INCLUDE_DIR={ZLIB_INCLUDE_PATH}', f'-DZLIB_INCLUDE_DIR={ZLIB_INCLUDE_PATH}',
f'-DZLIB_LIBRARY={ZLIB_LIBRARY_PATH}', f'-DZLIB_LIBRARY={ZLIB_LIBRARY_PATH}',
f'-DPROJ_INCLUDE_DIR={PROJ_INSTALL_PATH}/include', 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_INCLUDE_DIR={XERCESC_INSTALL_PATH}/include',
f'-DXercesC_LIBRARY={FindXercesC()}', f'-DXercesC_LIBRARY={FindXercesC()}',
'-DSUMO_LIBRARIES=OFF', '-DSUMO_LIBRARIES=OFF',

1
PythonAPI/carla/.gitignore vendored
View File

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

4
Unreal/CarlaUE4/CarlaUE4.uproject
View File

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

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

@ -98,7 +98,7 @@ MaxSubstepDeltaTime=0.010000
MaxSubsteps=10 MaxSubsteps=10
SyncSceneSmoothingFactor=0.000000 SyncSceneSmoothingFactor=0.000000
InitialAverageFrameRate=0.016667 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) 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] [/Script/WindowsTargetPlatform.WindowsTargetSettings]

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

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

282
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
View File

@ -2,80 +2,103 @@
using System; using System;
using System.IO; using System.IO;
using System.Linq;
using UnrealBuildTool; using UnrealBuildTool;
using EpicGames.Core;
using System.Diagnostics;
public class Carla : ModuleRules public class Carla :
ModuleRules
{ {
bool UsingCarSim = false; [CommandLine("-carsim")]
bool UsingChrono = false; bool EnableCarSim = false;
bool UsingPytorch = false;
bool UsingRos2 = false; [CommandLine("-chrono")]
private bool IsWindows(ReadOnlyTargetRules Target) bool EnableChrono = false;
[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)
{ {
return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32); 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) public Carla(ReadOnlyTargetRules Target) :
base(Target)
{ {
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"; PrivatePCHHeaderFile = "Carla.h";
if (IsWindows(Target)) if (EnableCarSim)
{ {
bEnableExceptions = true;
}
// 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"); PublicDefinitions.Add("WITH_CARSIM");
PrivateDefinitions.Add("WITH_CARSIM"); PrivateDefinitions.Add("WITH_CARSIM");
} }
if (line.Contains("Chrono ON"))
if (EnableChrono)
{ {
Console.WriteLine("Enabling chrono");
UsingChrono = true;
PublicDefinitions.Add("WITH_CHRONO"); PublicDefinitions.Add("WITH_CHRONO");
PrivateDefinitions.Add("WITH_CHRONO"); PrivateDefinitions.Add("WITH_CHRONO");
} }
if (line.Contains("Pytorch ON"))
if (EnablePytorch)
{ {
Console.WriteLine("Enabling pytorch");
UsingPytorch = true;
PublicDefinitions.Add("WITH_PYTORCH"); PublicDefinitions.Add("WITH_PYTORCH");
PrivateDefinitions.Add("WITH_PYTORCH"); PrivateDefinitions.Add("WITH_PYTORCH");
} }
if (line.Contains("Ros2 ON")) if (EnableRos2)
{ {
Console.WriteLine("Enabling ros2");
UsingRos2 = true;
PublicDefinitions.Add("WITH_ROS2"); PublicDefinitions.Add("WITH_ROS2");
PrivateDefinitions.Add("WITH_ROS2"); PrivateDefinitions.Add("WITH_ROS2");
} }
}
PublicIncludePaths.AddRange( // PublicIncludePaths.AddRange(new string[] { });
new string[] { // PrivateIncludePaths.AddRange(new string[] { });
// ... add public include paths required here ...
}
);
PrivateIncludePaths.AddRange( PublicDependencyModuleNames.AddRange(new string[]
new string[] {
// ... add other private include paths required here ...
}
);
PublicDependencyModuleNames.AddRange(
new string[]
{ {
"Core", "Core",
"RenderCore", "RenderCore",
@ -83,21 +106,19 @@ public class Carla : ModuleRules
"Renderer", "Renderer",
"ProceduralMeshComponent", "ProceduralMeshComponent",
"MeshDescription" "MeshDescription"
// ... add other public dependencies that you statically link with here ... });
}
); if (EnableCarSim)
if (UsingCarSim)
{ {
PublicDependencyModuleNames.AddRange(new string[] { "CarSim" }); PublicDependencyModuleNames.Add("CarSim");
} }
if (Target.Type == TargetType.Editor) if (Target.Type == TargetType.Editor)
{ {
PublicDependencyModuleNames.AddRange(new string[] { "UnrealEd" }); PublicDependencyModuleNames.Add("UnrealEd");
} }
PrivateDependencyModuleNames.AddRange( PrivateDependencyModuleNames.AddRange(new string[]
new string[]
{ {
"AIModule", "AIModule",
"AssetRegistry", "AssetRegistry",
@ -110,53 +131,120 @@ public class Carla : ModuleRules
"Json", "Json",
"JsonUtilities", "JsonUtilities",
"Landscape", "Landscape",
"PhysX", "Chaos",
"PhysXVehicles", "ChaosVehicles",
"PhysXVehicleLib", "ChaosVehicleLib",
"Slate", "Slate",
"SlateCore", "SlateCore",
"PhysicsCore" "PhysicsCore"
// ... add private dependencies that you statically link with here ... });
}
); if (EnableCarSim)
if (UsingCarSim)
{ {
PrivateDependencyModuleNames.AddRange(new string[] { "CarSim" }); PrivateDependencyModuleNames.Add("CarSim");
PrivateIncludePathModuleNames.AddRange(new string[] { "CarSim" }); PrivateIncludePathModuleNames.Add("CarSim");
} }
// DynamicallyLoadedModuleNames.AddRange(new string[] { });
DynamicallyLoadedModuleNames.AddRange( var LibraryPrefix = IsWindows ? "" : "lib";
new string[] var LibrarySuffix = IsWindows ? ".lib" : ".a";
{
// ... add any modules that your module loads dynamically here ...
}
);
AddCarlaServerDependency(Target); Func<string, string> GetLibraryName = name =>
} {
return LibraryPrefix + name + LibrarySuffix;
};
private bool UseDebugLibs(ReadOnlyTargetRules Target) 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[]
{ {
if (IsWindows(Target)) 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[]
{ {
// In Windows, Unreal uses the Release C++ Runtime (CRT) even in debug "ChronoEngine",
// mode, so unless we recompile the engine we cannot link the debug "ChronoEngine_vehicle",
// libraries. "ChronoModels_vehicle",
return false; "ChronoModels_robot",
} };
else 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[]
{ {
return false; 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");
} }
} }
#if false
private void AddDynamicLibrary(string library) private void AddDynamicLibrary(string library)
{ {
PublicAdditionalLibraries.Add(library); PublicAdditionalLibraries.Add(library);
RuntimeDependencies.Add(library); RuntimeDependencies.Add(library);
PublicDelayLoadDLLs.Add(library); PublicDelayLoadDLLs.Add(library);
} }
private void AddDllDependency(string PathToFolder, string DllName) private void AddDllDependency(string PathToFolder, string DllName)
{ {
string Source = Path.Combine(PathToFolder, DllName); string Source = Path.Combine(PathToFolder, DllName);
@ -164,33 +252,16 @@ public class Carla : ModuleRules
RuntimeDependencies.Add(Destination, Source); RuntimeDependencies.Add(Destination, Source);
} }
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) private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
{ {
string LibCarlaInstallPath = Path.GetFullPath(Path.Combine(ModuleDirectory, "../../CarlaDependencies")); 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. // Link dependencies.
if (IsWindows(Target)) if (IsWindows)
{ {
AddBoostLibs(Path.Combine(LibCarlaInstallPath, "lib")); foreach (string file in Directory.GetFiles(Path.Combine(LibCarlaInstallPath, "lib"), "*boost*.lib"))
PublicAdditionalLibraries.Add(file);
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc"))); PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc")));
if (UseDebugLibs(Target)) if (UseDebugLibs(Target))
@ -201,7 +272,7 @@ public class Carla : ModuleRules
{ {
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server"))); PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
} }
if (UsingChrono) if (EnableChrono)
{ {
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine"))); PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine")));
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine_vehicle"))); PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("ChronoEngine_vehicle")));
@ -232,7 +303,7 @@ public class Carla : ModuleRules
{ {
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server"))); PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
} }
if (UsingChrono) if (EnableChrono)
{ {
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine.so")); AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine.so"));
AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine_vehicle.so")); AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine_vehicle.so"));
@ -242,7 +313,7 @@ public class Carla : ModuleRules
bUseRTTI = true; bUseRTTI = true;
} }
if (UsingPytorch) if (EnablePytorch)
{ {
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_pytorch"))); PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_pytorch")));
@ -316,7 +387,7 @@ public class Carla : ModuleRules
PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libpython3.9.so"); PublicAdditionalLibraries.Add("/usr/lib/x86_64-linux-gnu/libpython3.9.so");
} }
if (UsingRos2) if (EnableRos2)
{ {
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_fastdds"))); PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_fastdds")));
@ -351,4 +422,5 @@ public class Carla : ModuleRules
PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS"); PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY"); 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 "DrawDebugHelpers.h"
#include "Kismet/KismetSystemLibrary.h" #include "Kismet/KismetSystemLibrary.h"
#include "PhysXPublic.h" #if 0 // @CARLAUE5
#include "PhysXVehicleManager.h"
#include "TireConfig.h" #include "TireConfig.h"
#include "VehicleWheel.h" #include "VehicleWheel.h"
@ -1134,3 +1133,4 @@ void ACarlaWheeledVehicle::SetPhysicsConstraintAngle(
{ {
Component->ConstraintInstance.AngularRotationOffset = NewAngle; 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 "WheeledVehicleMovementComponentNW.h"
#include "PhysicsPublic.h" #include "PhysicsPublic.h"
#include "PhysXPublic.h"
#include "PhysXVehicleManager.h"
#include "Components/PrimitiveComponent.h" #include "Components/PrimitiveComponent.h"
#include "Logging/MessageLog.h" #include "Logging/MessageLog.h"
UWheeledVehicleMovementComponentNW::UWheeledVehicleMovementComponentNW(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer) UWheeledVehicleMovementComponentNW::UWheeledVehicleMovementComponentNW(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
{ {
// grab default values from physx #if 0 // @CARLAUE5
PxVehicleEngineData DefEngineData; PxVehicleEngineData DefEngineData;
EngineSetup.MOI = DefEngineData.mMOI; EngineSetup.MOI = DefEngineData.mMOI;
EngineSetup.MaxRPM = OmegaToRPM(DefEngineData.mMaxOmega); EngineSetup.MaxRPM = OmegaToRPM(DefEngineData.mMaxOmega);
@ -65,11 +63,13 @@ UWheeledVehicleMovementComponentNW::UWheeledVehicleMovementComponentNW(const FOb
DifferentialSetup.SetNum(NbrWheels); DifferentialSetup.SetNum(NbrWheels);
IdleBrakeInput = 10; IdleBrakeInput = 10;
#endif
} }
#if WITH_EDITOR #if WITH_EDITOR
void UWheeledVehicleMovementComponentNW::PostEditChangeProperty(struct FPropertyChangedEvent& PropertyChangedEvent) void UWheeledVehicleMovementComponentNW::PostEditChangeProperty(struct FPropertyChangedEvent& PropertyChangedEvent)
{ {
#if 0 // @CARLAUE5
Super::PostEditChangeProperty(PropertyChangedEvent); Super::PostEditChangeProperty(PropertyChangedEvent);
const FName PropertyName = PropertyChangedEvent.Property ? PropertyChangedEvent.Property->GetFName() : NAME_None; 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); SteeringCurve.GetRichCurve()->UpdateOrAddKey(SteerKeys[KeyIdx].Time, NewValue);
} }
} }
#endif
} }
#endif #endif
#if 0 // @CARLAUE5
static void GetVehicleDifferentialNWSetup(const TArray<FVehicleNWWheelDifferentialData>& Setup, PxVehicleDifferentialNWData& PxSetup) static void GetVehicleDifferentialNWSetup(const TArray<FVehicleNWWheelDifferentialData>& Setup, PxVehicleDifferentialNWData& PxSetup)
{ {
for (int32 i = 0; i < Setup.Num(); ++i) for (int32 i = 0; i < Setup.Num(); ++i)
@ -109,9 +111,11 @@ static void GetVehicleDifferentialNWSetup(const TArray<FVehicleNWWheelDifferenti
PxSetup.setDrivenWheel(i, Setup[i].bDriven); PxSetup.setDrivenWheel(i, Setup[i].bDriven);
} }
} }
#endif
float FVehicleNWEngineData::FindPeakTorque() const float FVehicleNWEngineData::FindPeakTorque() const
{ {
#if 0 // @CARLAUE5
// Find max torque // Find max torque
float PeakTorque = 0.0f; float PeakTorque = 0.0f;
TArray<FRichCurveKey> TorqueKeys = TorqueCurve.GetRichCurveConst()->GetCopyOfKeys(); TArray<FRichCurveKey> TorqueKeys = TorqueCurve.GetRichCurveConst()->GetCopyOfKeys();
@ -121,8 +125,10 @@ float FVehicleNWEngineData::FindPeakTorque() const
PeakTorque = FMath::Max(PeakTorque, Key.Value); PeakTorque = FMath::Max(PeakTorque, Key.Value);
} }
return PeakTorque; return PeakTorque;
#endif
} }
#if 0 // @CARLAUE5
static void GetVehicleEngineSetup(const FVehicleNWEngineData& Setup, PxVehicleEngineData& PxSetup) static void GetVehicleEngineSetup(const FVehicleNWEngineData& Setup, PxVehicleEngineData& PxSetup)
{ {
PxSetup.mMOI = M2ToCm2(Setup.MOI); PxSetup.mMOI = M2ToCm2(Setup.MOI);
@ -169,12 +175,18 @@ static void GetVehicleAutoBoxSetup(const FVehicleNWTransmissionData& Setup, PxVe
PxSetup.setLatency(Setup.GearAutoBoxLatency); PxSetup.setLatency(Setup.GearAutoBoxLatency);
} }
#endif
int32 UWheeledVehicleMovementComponentNW::GetCustomGearBoxNumForwardGears() const int32 UWheeledVehicleMovementComponentNW::GetCustomGearBoxNumForwardGears() const
{ {
#if 0 // @CARLAUE5
return TransmissionSetup.ForwardGears.Num(); return TransmissionSetup.ForwardGears.Num();
#else
return 0;
#endif
} }
#if 0 // @CARLAUE5
void SetupDriveHelper(const UWheeledVehicleMovementComponentNW* VehicleData, const PxVehicleWheelsSimData* PWheelsSimData, PxVehicleDriveSimDataNW& DriveData) void SetupDriveHelper(const UWheeledVehicleMovementComponentNW* VehicleData, const PxVehicleWheelsSimData* PWheelsSimData, PxVehicleDriveSimDataNW& DriveData)
{ {
PxVehicleDifferentialNWData DifferentialSetup; PxVehicleDifferentialNWData DifferentialSetup;
@ -198,9 +210,11 @@ void SetupDriveHelper(const UWheeledVehicleMovementComponentNW* VehicleData, con
GetVehicleAutoBoxSetup(VehicleData->TransmissionSetup, AutoBoxSetup); GetVehicleAutoBoxSetup(VehicleData->TransmissionSetup, AutoBoxSetup);
DriveData.setAutoBoxData(AutoBoxSetup); DriveData.setAutoBoxData(AutoBoxSetup);
} }
#endif
void UWheeledVehicleMovementComponentNW::SetupVehicle() void UWheeledVehicleMovementComponentNW::SetupVehicle()
{ {
#if 0 // @CARLAUE5
if (!UpdatedPrimitive) if (!UpdatedPrimitive)
{ {
return; return;
@ -267,11 +281,12 @@ void UWheeledVehicleMovementComponentNW::SetupVehicle()
PVehicleDrive = PVehicleDriveNW; PVehicleDrive = PVehicleDriveNW;
SetUseAutoGears(TransmissionSetup.bUseGearAutoBox); SetUseAutoGears(TransmissionSetup.bUseGearAutoBox);
#endif
} }
void UWheeledVehicleMovementComponentNW::UpdateSimulation(float DeltaTime) void UWheeledVehicleMovementComponentNW::UpdateSimulation(float DeltaTime)
{ {
#if 0 // @CARLAUE5
if (PVehicleDrive == nullptr) if (PVehicleDrive == nullptr)
return; return;
@ -309,10 +324,12 @@ void UWheeledVehicleMovementComponentNW::UpdateSimulation(float DeltaTime)
PxVehicleDriveNW* PVehicleDriveNW = (PxVehicleDriveNW*)PVehicleDrive; PxVehicleDriveNW* PVehicleDriveNW = (PxVehicleDriveNW*)PVehicleDrive;
PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs(SmoothData, SpeedSteerLookup, RawInputData, DeltaTime, false, *PVehicleDriveNW); PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs(SmoothData, SpeedSteerLookup, RawInputData, DeltaTime, false, *PVehicleDriveNW);
}); });
#endif
} }
void UWheeledVehicleMovementComponentNW::UpdateEngineSetup(const FVehicleNWEngineData& NewEngineSetup) void UWheeledVehicleMovementComponentNW::UpdateEngineSetup(const FVehicleNWEngineData& NewEngineSetup)
{ {
#if 0 // @CARLAUE5
if (PVehicleDrive) if (PVehicleDrive)
{ {
PxVehicleEngineData EngineData; PxVehicleEngineData EngineData;
@ -321,10 +338,12 @@ void UWheeledVehicleMovementComponentNW::UpdateEngineSetup(const FVehicleNWEngin
PxVehicleDriveNW* PVehicleDriveNW = (PxVehicleDriveNW*)PVehicleDrive; PxVehicleDriveNW* PVehicleDriveNW = (PxVehicleDriveNW*)PVehicleDrive;
PVehicleDriveNW->mDriveSimData.setEngineData(EngineData); PVehicleDriveNW->mDriveSimData.setEngineData(EngineData);
} }
#endif
} }
void UWheeledVehicleMovementComponentNW::UpdateDifferentialSetup(const TArray<FVehicleNWWheelDifferentialData>& NewDifferentialSetup) void UWheeledVehicleMovementComponentNW::UpdateDifferentialSetup(const TArray<FVehicleNWWheelDifferentialData>& NewDifferentialSetup)
{ {
#if 0 // @CARLAUE5
if (PVehicleDrive) if (PVehicleDrive)
{ {
PxVehicleDifferentialNWData DifferentialData; PxVehicleDifferentialNWData DifferentialData;
@ -333,10 +352,12 @@ void UWheeledVehicleMovementComponentNW::UpdateDifferentialSetup(const TArray<FV
PxVehicleDriveNW* PVehicleDriveNW = (PxVehicleDriveNW*)PVehicleDrive; PxVehicleDriveNW* PVehicleDriveNW = (PxVehicleDriveNW*)PVehicleDrive;
PVehicleDriveNW->mDriveSimData.setDiffData(DifferentialData); PVehicleDriveNW->mDriveSimData.setDiffData(DifferentialData);
} }
#endif
} }
void UWheeledVehicleMovementComponentNW::UpdateTransmissionSetup(const FVehicleNWTransmissionData& NewTransmissionSetup) void UWheeledVehicleMovementComponentNW::UpdateTransmissionSetup(const FVehicleNWTransmissionData& NewTransmissionSetup)
{ {
#if 0 // @CARLAUE5
if (PVehicleDrive) if (PVehicleDrive)
{ {
PxVehicleGearsData GearData; PxVehicleGearsData GearData;
@ -349,8 +370,10 @@ void UWheeledVehicleMovementComponentNW::UpdateTransmissionSetup(const FVehicleN
PVehicleDriveNW->mDriveSimData.setGearsData(GearData); PVehicleDriveNW->mDriveSimData.setGearsData(GearData);
PVehicleDriveNW->mDriveSimData.setAutoBoxData(AutoBoxData); PVehicleDriveNW->mDriveSimData.setAutoBoxData(AutoBoxData);
} }
#endif
} }
#if 0 // @CARLAUE5
void BackwardsConvertCm2ToM2NW(float& val, float defaultValue) void BackwardsConvertCm2ToM2NW(float& val, float defaultValue)
{ {
if (val != defaultValue) if (val != defaultValue)
@ -358,9 +381,11 @@ void BackwardsConvertCm2ToM2NW(float& val, float defaultValue)
val = Cm2ToM2(val); val = Cm2ToM2(val);
} }
} }
#endif
void UWheeledVehicleMovementComponentNW::Serialize(FArchive& Ar) void UWheeledVehicleMovementComponentNW::Serialize(FArchive& Ar)
{ {
#if 0 // @CARLAUE5
Super::Serialize(Ar); Super::Serialize(Ar);
if (Ar.IsLoading() && Ar.UE4Ver() < VER_UE4_VEHICLES_UNIT_CHANGE) 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(EngineSetup.MOI, DefEngineData.mMOI);
BackwardsConvertCm2ToM2NW(TransmissionSetup.ClutchStrength, DefClutchData.mStrength); BackwardsConvertCm2ToM2NW(TransmissionSetup.ClutchStrength, DefClutchData.mStrength);
} }
#endif
} }
void UWheeledVehicleMovementComponentNW::ComputeConstants() void UWheeledVehicleMovementComponentNW::ComputeConstants()
{ {
Super::ComputeConstants(); Super::ComputeConstants();
#if 0 // @CARLAUE5
MaxEngineRPM = EngineSetup.MaxRPM; MaxEngineRPM = EngineSetup.MaxRPM;
#endif
} }
#if 0 // @CARLAUE5
const void* UWheeledVehicleMovementComponentNW::GetTireData(physx::PxVehicleWheels* InWheels, UVehicleWheel* InWheel) const void* UWheeledVehicleMovementComponentNW::GetTireData(physx::PxVehicleWheels* InWheels, UVehicleWheel* InWheel)
{ {
const void* realShaderData = &InWheels->mWheelsSimData.getTireData((PxU32)InWheel->WheelIndex); 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); const physx::PxVehicleWheelData WheelData = InWheels->mWheelsSimData.getWheelData((physx::PxU32)InWheel);
return WheelData; return WheelData;
} }
#endif

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

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

49
Unreal/CarlaUE4/Plugins/CarlaExporter/Source/CarlaExporter/CarlaExporter.Build.cs
View File

@ -6,37 +6,24 @@
using UnrealBuildTool; using UnrealBuildTool;
public class CarlaExporter : ModuleRules public class CarlaExporter :
ModuleRules
{ {
public CarlaExporter(ReadOnlyTargetRules Target) : base(Target) public CarlaExporter(ReadOnlyTargetRules Target) :
base(Target)
{ {
PCHUsage = ModuleRules.PCHUsageMode.UseExplicitOrSharedPCHs; PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
PublicIncludePaths.AddRange( // PublicIncludePaths.AddRange(new string[] { });
new string[] {
// ... add public include paths required here ...
}
);
// PrivateIncludePaths.AddRange(new string[] { });
PrivateIncludePaths.AddRange( PublicDependencyModuleNames.AddRange(new string[]
new string[] {
// ... add other private include paths required here ...
}
);
PublicDependencyModuleNames.AddRange(
new string[]
{ {
"Core", "Core",
// ... add other public dependencies that you statically link with here ... });
}
);
PrivateDependencyModuleNames.AddRange(new string[]
PrivateDependencyModuleNames.AddRange(
new string[]
{ {
"Projects", "Projects",
"InputCore", "InputCore",
@ -46,18 +33,10 @@ public class CarlaExporter : ModuleRules
"Engine", "Engine",
"Slate", "Slate",
"SlateCore", "SlateCore",
"Physx", "Chaos",
"EditorStyle" "EditorStyle",
// ... add private dependencies that you statically link with here ... });
}
);
// DynamicallyLoadedModuleNames.AddRange(new string[] { });
DynamicallyLoadedModuleNames.AddRange(
new string[]
{
// ... add any modules that your module loads dynamically here ...
}
);
} }
} }

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

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

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

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

271
Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
View File

@ -3,71 +3,81 @@
using System; using System;
using System.IO; using System.IO;
using UnrealBuildTool; using UnrealBuildTool;
using EpicGames.Core;
using System.Linq;
using System.Diagnostics;
public class CarlaTools : ModuleRules public class CarlaTools :
ModuleRules
{ {
bool UsingHoudini = true; [CommandLine("-houdini")]
bool bUsingOmniverseConnector = false; bool EnableHoudini = false;
private bool IsWindows(ReadOnlyTargetRules Target)
[CommandLine("-nv-omniverse")]
bool EnableNVIDIAOmniverse = false;
[CommandLine("-carla-install-path")]
string CarlaInstallPath = null;
[CommandLine("-carla-dependencies-install-path")]
string CarlaDependenciesPath = null;
public static string FindLibrary(string SearchPath, params string[] Patterns)
{ {
return (Target.Platform == UnrealTargetPlatform.Win64) || (Target.Platform == UnrealTargetPlatform.Win32); 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 CarlaTools(ReadOnlyTargetRules Target) : base(Target) public CarlaTools(ReadOnlyTargetRules Target) :
base(Target)
{ {
PCHUsage = ModuleRules.PCHUsageMode.UseExplicitOrSharedPCHs; 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)
{
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.");
}
bEnableExceptions = bEnableExceptions || IsWindows;
PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
// PrivatePCHHeaderFile = "Carla.h"; // PrivatePCHHeaderFile = "Carla.h";
if (IsWindows(Target)) // PublicIncludePaths.AddRange(new string[] { });
{ // PrivateIncludePaths.AddRange(new string[] { });
bEnableExceptions = true;
}
string CarlaPluginPath = Path.GetFullPath( ModuleDirectory ); PublicDependencyModuleNames.AddRange(new string[]
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", "Core",
"ProceduralMeshComponent", "ProceduralMeshComponent",
"MeshDescription", "MeshDescription",
"RawMesh", "RawMesh",
"AssetTools" "AssetTools"
// ... add other public dependencies that you statically link with here ... });
}
);
PrivateDependencyModuleNames.AddRange(new string[]
PrivateDependencyModuleNames.AddRange(
new string[]
{ {
"CoreUObject", "CoreUObject",
"Engine", "Engine",
@ -83,7 +93,7 @@ public class CarlaTools : ModuleRules
"MeshMergeUtilities", "MeshMergeUtilities",
"Carla", "Carla",
"StaticMeshDescription", "StaticMeshDescription",
"PhysXVehicles", "ChaosVehicles",
"Json", "Json",
"JsonUtilities", "JsonUtilities",
"Networking", "Networking",
@ -94,118 +104,107 @@ public class CarlaTools : ModuleRules
"MeshMergeUtilities", "MeshMergeUtilities",
"StreetMapImporting", "StreetMapImporting",
"StreetMapRuntime" "StreetMapRuntime"
// ... add private dependencies that you statically link with here ... });
}
); if (EnableHoudini)
if(UsingHoudini)
{ {
PrivateDependencyModuleNames.AddRange( PrivateDependencyModuleNames.AddRange(new string[]
new string[]
{ {
"HoudiniEngine", "HoudiniEngine",
"HoudiniEngineEditor", "HoudiniEngineEditor",
"HoudiniEngineRuntime" "HoudiniEngineRuntime"
}); });
} }
if(bUsingOmniverseConnector)
if (EnableNVIDIAOmniverse)
{ {
PrivateDependencyModuleNames.AddRange( PrivateDependencyModuleNames.AddRange(new string[]
new string[]
{ {
"OmniverseUSD", "OmniverseUSD",
"OmniverseRuntime" "OmniverseRuntime"
}); });
} }
DynamicallyLoadedModuleNames.AddRange( // DynamicallyLoadedModuleNames.AddRange(new string[] { });
new string[]
{
// ... add any modules that your module loads dynamically here ...
}
);
AddCarlaServerDependency(Target);
}
private bool UseDebugLibs(ReadOnlyTargetRules Target) var LibraryPrefix = IsWindows ? "" : "lib";
{ var LibrarySuffix = IsWindows ? ".lib" : ".a";
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); Func<string, string> GetLibraryName = name =>
private void AddBoostLibs(string LibPath)
{ {
string [] files = Directory.GetFiles(LibPath, "*boost*.lib"); return LibraryPrefix + name + LibrarySuffix;
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))
{
return BaseName + ".lib";
}
else
{
return "lib" + BaseName + ".a";
}
}; };
// Link dependencies. var LibCarlaInstallPath = CarlaInstallPath;
if (IsWindows(Target)) 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[]
{ {
AddBoostLibs(Path.Combine(LibCarlaInstallPath, "lib")); GetLibraryName("*boost_asio*"),
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("rpc"))); 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*");
if (UseDebugLibs(Target)) PublicAdditionalLibraries.Add(LibCarlaServerPath);
{ PublicAdditionalLibraries.Add(LibCarlaClientPath);
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server_debug"))); PublicAdditionalLibraries.Add(RPCLibraryPath);
} PublicAdditionalLibraries.AddRange(BoostLibraries);
else
{
PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_server")));
}
}
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); 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_DISABLE_ABI_HEADERS");
PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY"); 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");
}
} }
} }

34
Unreal/CarlaUE4/Source/CarlaUE4.Target.cs
View File

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

12
Unreal/CarlaUE4/Source/CarlaUE4/CarlaUE4.Build.cs
View File

@ -8,12 +8,16 @@ public class CarlaUE4 : ModuleRules
{ {
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) if (Target.Type == TargetType.Editor)
{ PublicDependencyModuleNames.Add("UnrealEd");
PublicDependencyModuleNames.AddRange(new string[] { "UnrealEd" });
}
PrivateDependencyModuleNames.AddRange(new string[] { }); PrivateDependencyModuleNames.AddRange(new string[] { });

34
Unreal/CarlaUE4/Source/CarlaUE4Editor.Target.cs
View File

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

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