CARLA
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ACarlaWheeledVehicle Class Reference

Base class for CARLA wheeled vehicles. More...

#include <CarlaWheeledVehicle.h>

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Public Member Functions

Constructor and destructor
 ACarlaWheeledVehicle (const FObjectInitializer &ObjectInitializer)
 
 ~ACarlaWheeledVehicle ()
 
Get functions
const FVehicleControlGetVehicleControl () const
 Vehicle control currently applied to this vehicle. More...
 
FTransform GetVehicleTransform () const
 Transform of the vehicle. More...
 
float GetVehicleForwardSpeed () const
 Forward speed in cm/s. Might be negative if goes backwards. More...
 
FVector GetVehicleOrientation () const
 Orientation vector of the vehicle, pointing forward. More...
 
int32 GetVehicleCurrentGear () const
 Active gear of the vehicle. More...
 
FTransform GetVehicleBoundingBoxTransform () const
 Transform of the vehicle's bounding box relative to the vehicle. More...
 
FVector GetVehicleBoundingBoxExtent () const
 Extent of the vehicle's bounding box. More...
 
UBoxComponent * GetVehicleBoundingBox () const
 Get vehicle's bounding box component. More...
 
float GetMaximumSteerAngle () const
 Get the maximum angle at which the front wheel can steer. More...
 
AI debug state
void SetAIVehicleState (ECarlaWheeledVehicleState InState)
 
ECarlaWheeledVehicleState GetAIVehicleState () const
 
FVehiclePhysicsControl GetVehiclePhysicsControl () const
 
void RestoreVehiclePhysicsControl ()
 
FVehicleLightState GetVehicleLightState () const
 
void ApplyVehiclePhysicsControl (const FVehiclePhysicsControl &PhysicsControl)
 
void SetSimulatePhysics (bool enabled)
 
void SetWheelCollision (UWheeledVehicleMovementComponent4W *Vehicle4W, const FVehiclePhysicsControl &PhysicsControl)
 
void SetVehicleLightState (const FVehicleLightState &LightState)
 
bool IsTwoWheeledVehicle ()
 
virtual bool IsTwoWheeledVehicle_Implementation ()
 
Vehicle input control
void ApplyVehicleControl (const FVehicleControl &Control, EVehicleInputPriority Priority)
 
void ActivateVelocityControl (const FVector &Velocity)
 
void DeactivateVelocityControl ()
 
void ShowDebugTelemetry (bool Enabled)
 
void FlushVehicleControl ()
 
DEPRECATED Set functions
void SetThrottleInput (float Value)
 
void SetSteeringInput (float Value)
 
void SetBrakeInput (float Value)
 
void SetReverse (bool Value)
 
void ToggleReverse ()
 
void SetHandbrakeInput (bool Value)
 
void HoldHandbrake ()
 
void ReleaseHandbrake ()
 
TArray< float > GetWheelsFrictionScale ()
 
void SetWheelsFrictionScale (TArray< float > &WheelsFrictionScale)
 
void SetCarlaMovementComponent (UBaseCarlaMovementComponent *MoementComponent)
 
template<typename T = UBaseCarlaMovementComponent>
T * GetCarlaMovementComponent () const
 

Overriden from AActor

TArray< FName > ConstraintComponentNames
 
float DoorOpenStrength = 100.0f
 
ECarlaWheeledVehicleState State = ECarlaWheeledVehicleState::UNKNOWN
 Current state of the vehicle controller (for debugging purposes). More...
 
UBoxComponent * VehicleBounds
 
UVehicleVelocityControl * VelocityControl
 
struct {
   FVehicleControl   Control
 
   FVehicleLightState   LightState
 
   EVehicleInputPriority   Priority = EVehicleInputPriority::INVALID
 
InputControl
 
FVehicleControl LastAppliedControl
 
FVehiclePhysicsControl LastPhysicsControl
 
bool bPhysicsEnabled = true
 
UBaseCarlaMovementComponentBaseMovementComponent = nullptr
 
TArray< UPhysicsConstraintComponent * > ConstraintsComponents
 
TMap< UPhysicsConstraintComponent *, UPrimitiveComponent * > ConstraintDoor
 
TMap< UPrimitiveComponent *, FTransform > DoorComponentsTransform
 
TMap< UPrimitiveComponent *, UPhysicsConstraintComponent * > CollisionDisableConstraints
 
float CarSimOriginOffset = 150.f
 
void SetWheelSteerDirection (EVehicleWheelLocation WheelLocation, float AngleInDeg)
 Set the rotation of the car wheels indicated by the user 0 = FL_VehicleWheel, 1 = FR_VehicleWheel, 2 = BL_VehicleWheel, 3 = BR_VehicleWheel NOTE : This is purely aesthetic. More...
 
float GetWheelSteerAngle (EVehicleWheelLocation WheelLocation)
 
void OpenDoor (const EVehicleDoor DoorIdx)
 
void CloseDoor (const EVehicleDoor DoorIdx)
 
void OpenDoorPhys (const EVehicleDoor DoorIdx)
 
void CloseDoorPhys (const EVehicleDoor DoorIdx)
 
virtual FVector GetVelocity () const override
 
virtual void BeginPlay () override
 
virtual void EndPlay (const EEndPlayReason::Type EndPlayReason)
 
void RefreshLightState (const FVehicleLightState &VehicleLightState)
 
void AdjustVehicleBounds ()
 
void ResetConstraints ()
 

Detailed Description

Base class for CARLA wheeled vehicles.

Definition at line 61 of file CarlaWheeledVehicle.h.

Constructor & Destructor Documentation

◆ ACarlaWheeledVehicle()

ACarlaWheeledVehicle::ACarlaWheeledVehicle ( const FObjectInitializer &  ObjectInitializer)

Definition at line 32 of file CarlaWheeledVehicle.cpp.

References BaseMovementComponent, VehicleBounds, and VelocityControl.

◆ ~ACarlaWheeledVehicle()

ACarlaWheeledVehicle::~ACarlaWheeledVehicle ( )

Definition at line 49 of file CarlaWheeledVehicle.cpp.

Member Function Documentation

◆ ActivateVelocityControl()

void ACarlaWheeledVehicle::ActivateVelocityControl ( const FVector &  Velocity)

Definition at line 516 of file CarlaWheeledVehicle.cpp.

References VelocityControl.

◆ AdjustVehicleBounds()

void ACarlaWheeledVehicle::AdjustVehicleBounds ( )
protected

Definition at line 177 of file CarlaWheeledVehicle.cpp.

References BoundingBox, FBoundingBox::Extent, UBoundingBoxCalculator::GetVehicleBoundingBox(), FBoundingBox::Origin, and VehicleBounds.

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◆ ApplyVehicleControl()

void ACarlaWheeledVehicle::ApplyVehicleControl ( const FVehicleControl Control,
EVehicleInputPriority  Priority 
)
inline

Definition at line 179 of file CarlaWheeledVehicle.h.

Referenced by FVehicleData::RestoreActorData(), SetBrakeInput(), SetHandbrakeInput(), SetReverse(), SetSteeringInput(), SetThrottleInput(), and AWheeledVehicleAIController::Tick().

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◆ ApplyVehiclePhysicsControl()

void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl ( const FVehiclePhysicsControl PhysicsControl)

◆ BeginPlay()

void ACarlaWheeledVehicle::BeginPlay ( )
overrideprotectedvirtual

Definition at line 77 of file CarlaWheeledVehicle.cpp.

References CollisionDisableConstraints, ConstraintComponentNames, ConstraintDoor, ConstraintsComponents, UDefaultMovementComponent::CreateDefaultMovementComponent(), DoorComponentsTransform, AFrictionTrigger::Friction, GetVehiclePhysicsControl(), LastPhysicsControl, ResetConstraints(), and SetWheelsFrictionScale().

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◆ CloseDoor()

void ACarlaWheeledVehicle::CloseDoor ( const EVehicleDoor  DoorIdx)

Definition at line 679 of file CarlaWheeledVehicle.cpp.

References All, CloseDoorPhys(), and ConstraintsComponents.

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◆ CloseDoorPhys()

void ACarlaWheeledVehicle::CloseDoorPhys ( const EVehicleDoor  DoorIdx)

Definition at line 727 of file CarlaWheeledVehicle.cpp.

References ConstraintDoor, ConstraintsComponents, and DoorComponentsTransform.

Referenced by CloseDoor(), and ResetConstraints().

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◆ DeactivateVelocityControl()

void ACarlaWheeledVehicle::DeactivateVelocityControl ( )

Definition at line 521 of file CarlaWheeledVehicle.cpp.

References VelocityControl.

◆ EndPlay()

void ACarlaWheeledVehicle::EndPlay ( const EEndPlayReason::Type  EndPlayReason)
protectedvirtual

Definition at line 657 of file CarlaWheeledVehicle.cpp.

References ShowDebugTelemetry().

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◆ FlushVehicleControl()

void ACarlaWheeledVehicle::FlushVehicleControl ( )
Todo:
This function should be private to AWheeledVehicleAIController.

Definition at line 240 of file CarlaWheeledVehicle.cpp.

References BaseMovementComponent, InputControl, INVALID, LastAppliedControl, and UBaseCarlaMovementComponent::ProcessControl().

Referenced by AWheeledVehicleAIController::Tick().

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◆ GetAIVehicleState()

ECarlaWheeledVehicleState ACarlaWheeledVehicle::GetAIVehicleState ( ) const
inline

Definition at line 142 of file CarlaWheeledVehicle.h.

References PhysicsControl, and State.

◆ GetCarlaMovementComponent()

template<typename T = UBaseCarlaMovementComponent>
T* ACarlaWheeledVehicle::GetCarlaMovementComponent ( ) const
inline

Definition at line 247 of file CarlaWheeledVehicle.h.

◆ GetMaximumSteerAngle()

float ACarlaWheeledVehicle::GetMaximumSteerAngle ( ) const

Get the maximum angle at which the front wheel can steer.

Definition at line 227 of file CarlaWheeledVehicle.cpp.

Referenced by AWheeledVehicleAIController::OnPossess().

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◆ GetVehicleBoundingBox()

UBoxComponent* ACarlaWheeledVehicle::GetVehicleBoundingBox ( ) const
inline

Get vehicle's bounding box component.

Definition at line 119 of file CarlaWheeledVehicle.h.

◆ GetVehicleBoundingBoxExtent()

FVector ACarlaWheeledVehicle::GetVehicleBoundingBoxExtent ( ) const

Extent of the vehicle's bounding box.

Definition at line 222 of file CarlaWheeledVehicle.cpp.

References VehicleBounds.

Referenced by IsThereAnObstacleAhead().

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◆ GetVehicleBoundingBoxTransform()

FTransform ACarlaWheeledVehicle::GetVehicleBoundingBoxTransform ( ) const

Transform of the vehicle's bounding box relative to the vehicle.

Definition at line 217 of file CarlaWheeledVehicle.cpp.

References VehicleBounds.

◆ GetVehicleControl()

const FVehicleControl& ACarlaWheeledVehicle::GetVehicleControl ( ) const
inline

Vehicle control currently applied to this vehicle.

Definition at line 84 of file CarlaWheeledVehicle.h.

Referenced by UDefaultMovementComponent::ProcessControl(), and FVehicleData::RecordActorData().

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◆ GetVehicleCurrentGear()

int32 ACarlaWheeledVehicle::GetVehicleCurrentGear ( ) const

Active gear of the vehicle.

Definition at line 212 of file CarlaWheeledVehicle.cpp.

References BaseMovementComponent, and UBaseCarlaMovementComponent::GetVehicleCurrentGear().

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◆ GetVehicleForwardSpeed()

float ACarlaWheeledVehicle::GetVehicleForwardSpeed ( ) const

Forward speed in cm/s. Might be negative if goes backwards.

Definition at line 202 of file CarlaWheeledVehicle.cpp.

References BaseMovementComponent, and UBaseCarlaMovementComponent::GetVehicleForwardSpeed().

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◆ GetVehicleLightState()

FVehicleLightState ACarlaWheeledVehicle::GetVehicleLightState ( ) const

Definition at line 393 of file CarlaWheeledVehicle.cpp.

References InputControl.

Referenced by FCarlaServer::FPimpl::BindActions(), and FVehicleData::RecordActorData().

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◆ GetVehicleOrientation()

FVector ACarlaWheeledVehicle::GetVehicleOrientation ( ) const

Orientation vector of the vehicle, pointing forward.

Definition at line 207 of file CarlaWheeledVehicle.cpp.

References GetVehicleTransform().

Referenced by IsThereAnObstacleAhead().

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◆ GetVehiclePhysicsControl()

FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl ( ) const

◆ GetVehicleTransform()

FTransform ACarlaWheeledVehicle::GetVehicleTransform ( ) const
inline

Transform of the vehicle.

Location is shifted so it matches center of the vehicle bounds rather than the actor's location.

Definition at line 92 of file CarlaWheeledVehicle.h.

Referenced by GetVehicleOrientation().

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◆ GetVelocity()

FVector ACarlaWheeledVehicle::GetVelocity ( ) const
overridevirtual

Definition at line 652 of file CarlaWheeledVehicle.cpp.

References BaseMovementComponent, and UBaseCarlaMovementComponent::GetVelocity().

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◆ GetWheelsFrictionScale()

TArray< float > ACarlaWheeledVehicle::GetWheelsFrictionScale ( )

Definition at line 283 of file CarlaWheeledVehicle.cpp.

Referenced by AFrictionTrigger::OnTriggerBeginOverlap(), and AFrictionTrigger::OnTriggerEndOverlap().

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◆ GetWheelSteerAngle()

float ACarlaWheeledVehicle::GetWheelSteerAngle ( EVehicleWheelLocation  WheelLocation)

Definition at line 582 of file CarlaWheeledVehicle.cpp.

References bPhysicsEnabled.

◆ HoldHandbrake()

void ACarlaWheeledVehicle::HoldHandbrake ( )
inline

Definition at line 229 of file CarlaWheeledVehicle.h.

◆ IsTwoWheeledVehicle()

bool ACarlaWheeledVehicle::IsTwoWheeledVehicle ( )

Referenced by SetWheelCollision().

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◆ IsTwoWheeledVehicle_Implementation()

virtual bool ACarlaWheeledVehicle::IsTwoWheeledVehicle_Implementation ( )
inlinevirtual

Definition at line 167 of file CarlaWheeledVehicle.h.

◆ OpenDoor()

void ACarlaWheeledVehicle::OpenDoor ( const EVehicleDoor  DoorIdx)

Definition at line 662 of file CarlaWheeledVehicle.cpp.

References All, ConstraintsComponents, and OpenDoorPhys().

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◆ OpenDoorPhys()

void ACarlaWheeledVehicle::OpenDoorPhys ( const EVehicleDoor  DoorIdx)

Definition at line 696 of file CarlaWheeledVehicle.cpp.

References CollisionDisableConstraints, ConstraintDoor, ConstraintsComponents, DoorComponentsTransform, and DoorOpenStrength.

Referenced by OpenDoor(), and ResetConstraints().

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◆ RefreshLightState()

void ACarlaWheeledVehicle::RefreshLightState ( const FVehicleLightState VehicleLightState)
protected

Referenced by SetVehicleLightState().

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◆ ReleaseHandbrake()

void ACarlaWheeledVehicle::ReleaseHandbrake ( )
inline

Definition at line 235 of file CarlaWheeledVehicle.h.

◆ ResetConstraints()

void ACarlaWheeledVehicle::ResetConstraints ( )
protected

Definition at line 640 of file CarlaWheeledVehicle.cpp.

References CloseDoorPhys(), ConstraintsComponents, and OpenDoorPhys().

Referenced by ApplyVehiclePhysicsControl(), BeginPlay(), and SetSimulatePhysics().

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◆ RestoreVehiclePhysicsControl()

void ACarlaWheeledVehicle::RestoreVehiclePhysicsControl ( )

Definition at line 398 of file CarlaWheeledVehicle.cpp.

References ApplyVehiclePhysicsControl(), and LastPhysicsControl.

Referenced by UBaseCarlaMovementComponent::EnableUE4VehiclePhysics(), UCarSimManagerComponent::OnCarSimHit(), and UCarSimManagerComponent::OnCarSimOverlap().

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◆ SetAIVehicleState()

void ACarlaWheeledVehicle::SetAIVehicleState ( ECarlaWheeledVehicleState  InState)
inline
Todo:
This function should be private to AWheeledVehicleAIController.

Definition at line 136 of file CarlaWheeledVehicle.h.

References State.

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

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◆ SetBrakeInput()

void ACarlaWheeledVehicle::SetBrakeInput ( float  Value)

Definition at line 262 of file CarlaWheeledVehicle.cpp.

References ApplyVehicleControl(), FVehicleControl::Brake, Control, and InputControl.

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

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◆ SetCarlaMovementComponent()

void ACarlaWheeledVehicle::SetCarlaMovementComponent ( UBaseCarlaMovementComponent MoementComponent)

Definition at line 557 of file CarlaWheeledVehicle.cpp.

References BaseMovementComponent.

Referenced by UCarSimManagerComponent::CreateCarsimComponent(), UChronoMovementComponent::CreateChronoMovementComponent(), and UDefaultMovementComponent::CreateDefaultMovementComponent().

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◆ SetHandbrakeInput()

void ACarlaWheeledVehicle::SetHandbrakeInput ( bool  Value)

Definition at line 276 of file CarlaWheeledVehicle.cpp.

References ApplyVehicleControl(), FVehicleControl::bHandBrake, Control, and InputControl.

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

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◆ SetReverse()

void ACarlaWheeledVehicle::SetReverse ( bool  Value)

Definition at line 269 of file CarlaWheeledVehicle.cpp.

References ApplyVehicleControl(), FVehicleControl::bReverse, Control, and InputControl.

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

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◆ SetSimulatePhysics()

void ACarlaWheeledVehicle::SetSimulatePhysics ( bool  enabled)

Definition at line 600 of file CarlaWheeledVehicle.cpp.

References bPhysicsEnabled, and ResetConstraints().

Referenced by FVehicleData::RestoreActorData().

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◆ SetSteeringInput()

void ACarlaWheeledVehicle::SetSteeringInput ( float  Value)

Definition at line 255 of file CarlaWheeledVehicle.cpp.

References ApplyVehicleControl(), Control, InputControl, and FVehicleControl::Steer.

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

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◆ SetThrottleInput()

void ACarlaWheeledVehicle::SetThrottleInput ( float  Value)

Definition at line 248 of file CarlaWheeledVehicle.cpp.

References ApplyVehicleControl(), Control, InputControl, and FVehicleControl::Throttle.

Referenced by AWheeledVehicleAIController::ConfigureAutopilot(), and UDefaultMovementComponent::ProcessControl().

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◆ SetVehicleLightState()

void ACarlaWheeledVehicle::SetVehicleLightState ( const FVehicleLightState LightState)

Definition at line 551 of file CarlaWheeledVehicle.cpp.

References InputControl, LightState, and RefreshLightState().

Referenced by FVehicleData::RestoreActorData().

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◆ SetWheelCollision()

void ACarlaWheeledVehicle::SetWheelCollision ( UWheeledVehicleMovementComponent4W *  Vehicle4W,
const FVehiclePhysicsControl PhysicsControl 
)

Definition at line 51 of file CarlaWheeledVehicle.cpp.

References IsTwoWheeledVehicle(), and FVehiclePhysicsControl::UseSweepWheelCollision.

Referenced by ApplyVehiclePhysicsControl().

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◆ SetWheelsFrictionScale()

void ACarlaWheeledVehicle::SetWheelsFrictionScale ( TArray< float > &  WheelsFrictionScale)

Definition at line 297 of file CarlaWheeledVehicle.cpp.

Referenced by BeginPlay(), and AFrictionTrigger::UpdateWheelsFriction().

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◆ SetWheelSteerDirection()

void ACarlaWheeledVehicle::SetWheelSteerDirection ( EVehicleWheelLocation  WheelLocation,
float  AngleInDeg 
)

Set the rotation of the car wheels indicated by the user 0 = FL_VehicleWheel, 1 = FR_VehicleWheel, 2 = BL_VehicleWheel, 3 = BR_VehicleWheel NOTE : This is purely aesthetic.

It will not modify the physics of the car in any way

Definition at line 566 of file CarlaWheeledVehicle.cpp.

References bPhysicsEnabled.

◆ ShowDebugTelemetry()

void ACarlaWheeledVehicle::ShowDebugTelemetry ( bool  Enabled)

Definition at line 526 of file CarlaWheeledVehicle.cpp.

References ACarlaHUD::AddDebugVehicleForTelemetry(), and ACarlaHUD::DebugVehicle.

Referenced by EndPlay().

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◆ ToggleReverse()

void ACarlaWheeledVehicle::ToggleReverse ( )
inline

Definition at line 220 of file CarlaWheeledVehicle.h.

Member Data Documentation

◆ BaseMovementComponent

UBaseCarlaMovementComponent* ACarlaWheeledVehicle::BaseMovementComponent = nullptr
private

◆ bPhysicsEnabled

bool ACarlaWheeledVehicle::bPhysicsEnabled = true
private

◆ CarSimOriginOffset

float ACarlaWheeledVehicle::CarSimOriginOffset = 150.f

Definition at line 328 of file CarlaWheeledVehicle.h.

Referenced by UCarSimManagerComponent::BeginPlay().

◆ CollisionDisableConstraints

TMap<UPrimitiveComponent*, UPhysicsConstraintComponent*> ACarlaWheeledVehicle::CollisionDisableConstraints
private

Definition at line 351 of file CarlaWheeledVehicle.h.

Referenced by BeginPlay(), and OpenDoorPhys().

◆ ConstraintComponentNames

TArray<FName> ACarlaWheeledVehicle::ConstraintComponentNames
protected

Definition at line 270 of file CarlaWheeledVehicle.h.

Referenced by BeginPlay().

◆ ConstraintDoor

TMap<UPhysicsConstraintComponent*, UPrimitiveComponent*> ACarlaWheeledVehicle::ConstraintDoor
private

Definition at line 344 of file CarlaWheeledVehicle.h.

Referenced by BeginPlay(), CloseDoorPhys(), and OpenDoorPhys().

◆ ConstraintsComponents

TArray<UPhysicsConstraintComponent*> ACarlaWheeledVehicle::ConstraintsComponents
private

◆ Control

FVehicleControl ACarlaWheeledVehicle::Control

◆ DoorComponentsTransform

TMap<UPrimitiveComponent*, FTransform> ACarlaWheeledVehicle::DoorComponentsTransform
private

Definition at line 348 of file CarlaWheeledVehicle.h.

Referenced by BeginPlay(), CloseDoorPhys(), and OpenDoorPhys().

◆ DoorOpenStrength

float ACarlaWheeledVehicle::DoorOpenStrength = 100.0f
protected

Definition at line 273 of file CarlaWheeledVehicle.h.

Referenced by OpenDoorPhys().

◆ InputControl

struct { ... } ACarlaWheeledVehicle::InputControl

◆ LastAppliedControl

FVehicleControl ACarlaWheeledVehicle::LastAppliedControl
private

Definition at line 298 of file CarlaWheeledVehicle.h.

Referenced by FlushVehicleControl().

◆ LastPhysicsControl

FVehiclePhysicsControl ACarlaWheeledVehicle::LastPhysicsControl
private

◆ LightState

FVehicleLightState ACarlaWheeledVehicle::LightState

Definition at line 294 of file CarlaWheeledVehicle.h.

Referenced by SetVehicleLightState().

◆ Priority

EVehicleInputPriority ACarlaWheeledVehicle::Priority = EVehicleInputPriority::INVALID

Definition at line 292 of file CarlaWheeledVehicle.h.

◆ State

ECarlaWheeledVehicleState ACarlaWheeledVehicle::State = ECarlaWheeledVehicleState::UNKNOWN
private

Current state of the vehicle controller (for debugging purposes).

Definition at line 282 of file CarlaWheeledVehicle.h.

◆ VehicleBounds

UBoxComponent* ACarlaWheeledVehicle::VehicleBounds
private

◆ VelocityControl

UVehicleVelocityControl* ACarlaWheeledVehicle::VelocityControl
private

The documentation for this class was generated from the following files: