CarlaReplayerHelper.h

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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.

#pragma once

#include "CarlaRecorderEventAdd.h"
#include "CarlaRecorderPosition.h"
#include "CarlaRecorderState.h"
#include "CarlaRecorderAnimBiker.h"
#include "CarlaRecorderAnimWalker.h"
#include "CarlaRecorderAnimVehicle.h"
#include "CarlaRecorderAnimVehicleWheels.h"
#include "CarlaRecorderLightVehicle.h"
#include "CarlaRecorderLightScene.h"
#include "CarlaRecorderWalkerBones.h"

#include <unordered_map>

class UCarlaEpisode;
class FCarlaActor;
struct FActorDescription;

class CarlaReplayerHelper
{

public:

  // set the episode to use
  void SetEpisode(UCarlaEpisode *ThisEpisode)
  {
    Episode = ThisEpisode;
  }

  // replay event for creating actor
  std::pair<int, uint32_t> ProcessReplayerEventAdd(
      FVector Location,
      FVector Rotation,
      CarlaRecorderActorDescription Description,
      uint32_t DesiredId,
      bool bIgnoreHero,
      bool bIgnoreSpectator,
      bool ReplaySensors);

  // replay event for removing actor
  bool ProcessReplayerEventDel(uint32_t DatabaseId);

  // replay event for parenting actors
  bool ProcessReplayerEventParent(uint32_t ChildId, uint32_t ParentId);

  // reposition actors
  bool ProcessReplayerPosition(CarlaRecorderPosition Pos1, CarlaRecorderPosition Pos2, double Per, double DeltaTime);

  // replay event for traffic light state
  bool ProcessReplayerStateTrafficLight(CarlaRecorderStateTrafficLight State);

  // set the animation for Vehicles
  void ProcessReplayerAnimVehicle(CarlaRecorderAnimVehicle Vehicle);

  // set the animation for Vehicles Wheels
  void ProcessReplayerAnimVehicleWheels(CarlaRecorderAnimWheels Vehicle);

  // set the animation for walkers
  void ProcessReplayerAnimWalker(CarlaRecorderAnimWalker Walker);

  // set the animation for bikers
  void ProcessReplayerAnimBiker(CarlaRecorderAnimBiker Biker);

  // set the vehicle light
  void ProcessReplayerLightVehicle(CarlaRecorderLightVehicle LightVehicle);

  // set scene lights
  void ProcessReplayerLightScene(CarlaRecorderLightScene LightScene);

  // set walker bones
  void ProcessReplayerWalkerBones(const CarlaRecorderWalkerBones &Walker);

  // replay finish
  bool ProcessReplayerFinish(bool bApplyAutopilot, bool bIgnoreHero, std::unordered_map<uint32_t, bool> &IsHero);

  // set the camera position to follow an actor
  bool SetCameraPosition(uint32_t Id, FVector Offset, FQuat Rotation);

  // set the velocity of the actor
  void SetActorVelocity(FCarlaActor *CarlaActor, FVector Velocity);

  // set the animation speed for walkers
  void SetWalkerSpeed(uint32_t ActorId, float Speed);

  void RemoveStaticProps();

private:

  UCarlaEpisode *Episode {nullptr};

  std::pair<int, FCarlaActor*>TryToCreateReplayerActor(
    FVector &Location,
    FVector &Rotation,
    FActorDescription &ActorDesc,
    uint32_t DesiredId,
    bool SpawnSensors);

  FCarlaActor* FindTrafficLightAt(FVector Location);

  // enable / disable physics for an actor
  bool SetActorSimulatePhysics(FCarlaActor *CarlaActor, bool bEnabled);
  // enable / disable autopilot for an actor
  bool SetActorAutopilot(FCarlaActor *CarlaActor, bool bEnabled, bool bKeepState = false);
};