CarlaReplayerHelper.h

Go to the documentation of this file.

// Copyright (c) 2026 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 "CarlaRecorderDoorVehicle.h"
#include "CarlaRecorderWalkerBones.h"
#include "CarlaRecorderWeather.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, interpolating like the positions;
  // Travel is how far the vehicle moves forward from Wheels1 to Wheels2, in cm
  void ProcessReplayerAnimVehicleWheels(
      const CarlaRecorderAnimWheels &Wheels1,
      const CarlaRecorderAnimWheels &Wheels2,
      double Per,
      float Travel);
 
  // set the animation for walkers
  void ProcessReplayerAnimWalker(CarlaRecorderAnimWalker Walker);
 
  // set the openings and closing of vehicle doors
  void ProcessReplayerDoorVehicle(CarlaRecorderDoorVehicle DoorVehicle);
 
  // 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);
 
  // set weather
  void ProcessReplayerWeather(const CarlaRecorderWeather &Weather);
  
  // 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* FindTrafficSignAt(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);
};