CarlaVehicleAnimationInstance.h

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// 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 <util/ue-header-guard-begin.h>
#include "VehicleAnimationInstance.h"
#include <util/ue-header-guard-end.h>
 
#include "CarlaVehicleAnimationInstance.generated.h"
 
class ACarlaWheeledVehicle;
 
/// Parent class of the vehicle animation blueprints. Draws the vehicle's
/// overridden wheel poses, and otherwise, while Chaos is not simulating the
/// vehicle, which is when the engine leaves the wheels frozen, rolls them by
/// the distance they travel.
UCLASS(transient)
class CARLA_API UCarlaVehicleAnimationInstance : public UVehicleAnimationInstance
{
  GENERATED_BODY()
 
public:
 
  virtual void NativeUpdateAnimation(float DeltaSeconds) override;
 
  /// The pose last written for a wheel, or nullptr if there is no such wheel.
  const FWheelAnimationData *GetWheelPose(int32 WheelIndex) const;
 
private:
 
  /// cm/s. A wheel moving faster than this was teleported, and is not turned.
  UPROPERTY(EditDefaultsOnly, Category = "CARLA Wheeled Vehicle")
  float MaxTravelSpeed = 15000.0f;
 
  struct FWheel
  {
    /// Reference pose, component space.
    FVector RestLocation = FVector::ZeroVector;
 
    /// World space, previous update.
    FVector LastLocation = FVector::ZeroVector;
 
    /// Degrees.
    float SpinAngle = 0.0f;
  };
 
  bool ShouldRollWheels(const ACarlaWheeledVehicle &Vehicle) const;
 
  void InitWheels();
 
  /// World locations of the wheels, kept while not rolling.
  void TrackWheelLocations();
 
  void BeginRolling();
 
  void RollWheels(const ACarlaWheeledVehicle &Vehicle, float DeltaSeconds);
 
  void UpdateWheelAnimationOverride(const ACarlaWheeledVehicle &Vehicle);
 
  TArray<FWheelAnimationData> &GetWheelPoses();
 
  TArray<FWheel> Wheels;
 
  bool bRollingWheels = false;
 
  bool bWasWheelAnimationOverridden = false;
};