Base class for CARLA wheeled vehicles. More...

#include <CarlaWheeledVehicle.h>

Inheritance diagram for ACarlaWheeledVehicle:

Public Member Functions
Constructor and destructor
	ACarlaWheeledVehicle (const FObjectInitializer &ObjectInitializer)

	~ACarlaWheeledVehicle ()

Get functions
UChaosWheeledVehicleMovementComponent *	GetChaosWheeledVehicleMovementComponent () const
	Get chaos wheeled vehicle movement component casted.

const FVehicleControl &	GetVehicleControl () const
	Vehicle control currently applied to this vehicle.

const FVehicleAckermannControl &	GetVehicleAckermannControl () const
	Vehicle Ackermann control currently applied to this vehicle.

FTransform	GetVehicleTransform () const
	Transform of the vehicle.

float	GetVehicleForwardSpeed () const
	Forward speed in cm/s. Might be negative if goes backwards.

FVector	GetVehicleOrientation () const
	Orientation vector of the vehicle, pointing forward.

int32	GetVehicleCurrentGear () const
	Active gear of the vehicle.

FTransform	GetVehicleBoundingBoxTransform () const
	Transform of the vehicle's bounding box relative to the vehicle.

FVector	GetVehicleBoundingBoxExtent () const
	Extent of the vehicle's bounding box.

UBoxComponent *	GetVehicleBoundingBox () const
	Get vehicle's bounding box component.

float	GetMaximumSteerAngle () const
	Get the maximum angle at which the front wheel can steer.

Vehicle input control
void	ApplyVehicleControl (const FVehicleControl &Control, EVehicleInputPriority Priority)

void	ApplyVehicleAckermannControl (const FVehicleAckermannControl &AckermannControl, EVehicleInputPriority Priority)

bool	IsAckermannControlActive () const

void	ActivateVelocityControl (const FVector &Velocity)

void	DeactivateVelocityControl ()

void	ActivateAccelerationControl (const FVector &Acceleration)

void	DeactivateAccelerationControl ()

void	ApplyVehicleAccelerationControl (float LongitudinalAccelerationMps2, float Steer, float SteerSpeed)
	Apply control from Autoware /control/command/control_cmd (acceleration [m/s^2] + steering)

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

AI debug state
FName	RiderMeshComponentName = TEXT("SkeletalMesh")
	Two-wheeled vehicles (bikes/motorcycles) embed their rider as a SkeletalMeshComponent (named RiderMeshComponentName) meant to sit on VehicleMeshSeatSocketName.

FName	VehicleMeshSeatSocketName = TEXT("Seat")

float	RiderSeatSmoothingSpeed = 10.0f
	Chaos suspension has small, real, high-frequency vertical jitter on the vehicle mesh every frame (visible as the rider's torso/hip bouncing, the seat popping the rider up) – physically real, not a bug, but the seat-lock's hard snap transmits it 1:1 to the rider with zero smoothing.

FRotator	RiderSeatRelativeRotationOffset = FRotator(0.0f, -90.0f, 15.0f)
	The rider mesh's rest pose isn't authored to sit flush with the socket's own local axes – its component template ships with this exact relative rotation baked in (no translation), so the seat-lock composes it on top of the socket's world transform instead of using the bare socket transform, which twisted the pose.

float	PedalRotationDegreesPerCm = 0.5f
	Degrees the pedal bone rotates per centimeter of real vehicle travel (see GetPedalRotation).

void	SetAIVehicleState (ECarlaWheeledVehicleState InState)

ECarlaWheeledVehicleState	GetAIVehicleState () const

FVehiclePhysicsControl	GetVehiclePhysicsControl () const

FVehicleTelemetryData	GetVehicleTelemetryData () const
	Returns a snapshot of the vehicle's runtime telemetry: forward speed, last applied control inputs, engine RPM, current gear, and per-wheel lateral slip, longitudinal slip, and angular velocity sourced from the Chaos vehicle physics state.

FVector	GetCenterOfMass (UChaosWheeledVehicleMovementComponent &VehicleMovComponent) const

FAckermannControllerSettings	GetAckermannControllerSettings () const

void	RestoreVehiclePhysicsControl ()

FVehicleLightState	GetVehicleLightState () const

void	ApplyVehiclePhysicsControl (const FVehiclePhysicsControl &PhysicsControl)

void	SetCenterOfMass (UChaosWheeledVehicleMovementComponent &VehicleMovComponent, const FVehiclePhysicsControl &PhysicsControl)

void	ApplyAckermannControllerSettings (const FAckermannControllerSettings &AckermannControllerSettings)

void	SetSimulatePhysics (bool enabled)

void	SetVehicleLightState (const FVehicleLightState &LightState)

void	SetFailureState (const carla::rpc::VehicleFailureState &FailureState)

bool	IsTwoWheeledVehicle ()

virtual bool	IsTwoWheeledVehicle_Implementation ()

FTransform	GetCachedVehicleSocketWorldTransform (FName SocketName) const
	Cached, extrapolated world transform of ANY socket on the vehicle mesh (Seat, HandlerLeftSocket, HandlerRightSocket, LeftPedalSocket, RightPedalSocket, ...), captured from OnRiderBoneTransformsFinalized (which fires late enough in the frame to reliably see this frame's real, physics-updated position – confirmed by logging it against the vehicle's actual movement, always smooth, never stale).

float	GetPedalRotation () const
	Two-wheeled vehicles spin a decorative pedal/crank bone (in the vehicle mesh's own Anim Blueprint, unrelated to the rider) via a looping Timeline whose curve doesn't start and end at the same value – every loop the Timeline restarts, the bone's rotation pops instantly back to the curve's start value instead of continuing smoothly, and the rider's foot IK (which targets a socket on that bone) pops along with it.

void	PrintROS2Message (const char *Message)

Overriden from AActor
struct {

FVehicleControl Control

FVehicleLightState LightState

EVehicleInputPriority Priority = EVehicleInputPriority::INVALID

}	InputControl

float	DetectionSize { 750.0f }

FBox	FoliageBoundingBox

TObjectPtr< UBoxComponent >	VehicleBounds

float	CarSimOriginOffset = 150.f

bool	bIsNWVehicle = false

float	SpeedAnim { 0.0f }

float	RotationAnim { 0.0f }

FPoseSnapshot	WorldTransformedPose

TArray< FName >	ConstraintComponentNames

float	DoorOpenStrength = 100.0f

ECarlaWheeledVehicleState	State = ECarlaWheeledVehicleState::UNKNOWN
	Current state of the vehicle controller (for debugging purposes).

TObjectPtr< UVehicleVelocityControl >	VelocityControl

TObjectPtr< UVehicleAccelerationControl >	AccelerationControl

FVehicleControl	LastAppliedControl

FVehicleAckermannControl	LastAppliedAckermannControl

FVehiclePhysicsControl	LastPhysicsControl

bool	bAckermannControlActive = false

FAckermannController	AckermannController

float	RolloverBehaviorForce = 0.35

int	RolloverBehaviorTracker = 0

float	RolloverFlagTime = 5.0f

carla::rpc::VehicleFailureState	FailureState = carla::rpc::VehicleFailureState::None

bool	bHasSavedVehicleLightDefault = false

float	SavedVehicleLightIntensity = 1.0f

TMap< FString, float >	SavedVehicleLightGroupIntensity

TObjectPtr< USkeletalMeshComponent >	RiderMeshComponent = nullptr

TObjectPtr< USkeletalMeshComponent >	VehicleMeshForRiderSeat = nullptr

bool	bRiderComponentsResolved = false

TMap< FName, FTransform >	CachedVehicleSocketTransforms

FTransform	CachedVehicleMeshTransform

FVector	CachedVehicleWorldVelocity = FVector::ZeroVector

FVector	CachedVehicleWorldAngularVelocityDegrees = FVector::ZeroVector

float	CachedVehicleTransformsTimeSeconds = 0.0f

FTransform	SmoothedVehicleMeshTransform

bool	bSmoothedVehicleMeshTransformInitialized = false

float	PedalRotationAngle = 0.0f

bool	bHasMirroredMotion = false

FVector	MirroredVelocity = FVector::ZeroVector

float	MirroredForwardSpeed = 0.0f

bool	bHasMirroredGear = false

int32	MirroredGear = 0

bool	bMirroredManualGearShift = false

bool	bMirroredSimulatingPhysics = false

bool	bPhysicsEnabled = true

UBaseCarlaMovementComponent *	BaseMovementComponent = nullptr

TArray< UPhysicsConstraintComponent * >	ConstraintsComponents

bool	bWheelAnimationOverridden = false

TArray< FWheelAnimationData >	OverriddenWheelPoses

TArray< float >	PendingSeedSpins
	Degrees, as drawn.

bool	bSeedStepStarted = false

FDelegateHandle	SeedPreTickHandle

FDelegateHandle	SeedPostTickHandle

TMap< UPhysicsConstraintComponent , UPrimitiveComponent >	ConstraintDoor

TMap< UPrimitiveComponent *, FTransform >	DoorComponentsTransform

TMap< UPrimitiveComponent , UPhysicsConstraintComponent >	CollisionDisableConstraints

FTimerHandle	TimerHandler

FBox	GetDetectionBox () const

float	GetDetectionSize () const

void	UpdateDetectionBox ()

const TArray< int32 >	GetFoliageInstancesCloseToVehicle (const UInstancedStaticMeshComponent *Component) const

void	DrawFoliageBoundingBox () const

FBoxSphereBounds	GetBoxSphereBounds () const

bool	IsInVehicleRange (const FVector &Location) const

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.

float	GetWheelSteerAngle (EVehicleWheelLocation WheelLocation)

void	SetWheelPitchAngle (EVehicleWheelLocation WheelLocation, float AngleInDeg)
	Spin angle of a wheel, in degrees. Purely visual, wheel animation override only.

float	GetWheelPitchAngle (EVehicleWheelLocation WheelLocation)

void	SetWheelSuspensionOffset (EVehicleWheelLocation WheelLocation, float OffsetInCm)
	Suspension compression of a wheel, in cm.

float	GetWheelSuspensionOffset (EVehicleWheelLocation WheelLocation)

void	SetWheelAnimationOverride (bool bEnabled)
	While the wheel animation is overridden the wheels show only the values set through the wheel setters, whether or not Chaos simulates the vehicle.

bool	IsWheelAnimationOverridden () const

const TArray< FWheelAnimationData > &	GetOverriddenWheelPoses () const
	Indexed like the movement component's WheelSetups.

bool	IsSimulatedByChaos () const
	Whether the Chaos vehicle simulation is moving this vehicle.

bool	HasWheel (int32 WheelIndex) const

bool	HasCarlaVehicleAnimation () const
	Whether the animation blueprint derives from UCarlaVehicleAnimationInstance, which is what draws the overridden wheel poses.

float	GetWheelRadius (int32 WheelIndex) const
	Radius of the wheel at WheelIndex, in cm, as last applied through the physics control.

FVector	GetWheelSuspensionAxis (int32 WheelIndex) const
	Unit vector, component space, along which the wheel's suspension drops.

FWheelAnimationData	GetDrawnWheelPose (int32 WheelIndex) const
	Wheel pose the animation instance drew this frame (else GetWheelPose); what secondaries must draw.

void	OpenDoor (const EVehicleDoor DoorIdx)

void	CloseDoor (const EVehicleDoor DoorIdx)

void	OpenDoorPhys (const EVehicleDoor DoorIdx)

void	CloseDoorPhys (const EVehicleDoor DoorIdx)

void	RecordDoorChange (const EVehicleDoor DoorIdx, const bool bIsOpen)

TArray< TPair< int32, FTransform > >	GetOpenDoorPoses () const
	Every door open now (a physics body of its own while open), by door index, with its pose relative to the vehicle.

void	SetMirroredDoorPoses (const TArray< TPair< int32, FTransform > > &OpenDoors)
	Multi-GPU secondary: shows these doors open, at these poses relative to the vehicle, and every other door closed.

virtual FVector	GetVelocity () const override

void	SetMirroredMotion (const FVector &Velocity, float ForwardSpeed)
	Multi-GPU secondary: the primary's motion of the vehicle this one mirrors (world frame, cm/s), which GetVelocity and GetVehicleForwardSpeed report instead of this body's: a mirror never moves on its own.

void	ClearMirroredMotion ()

bool	HasMirroredMotion () const

void	SetMirroredDrivetrain (int32 Gear, bool bManualGearShift, bool bSimulatingPhysics)
	Multi-GPU secondary: the primary's gear, which GetVehicleCurrentGear reports instead of the idle drivetrain's, its manual gear shift, and whether the primary's body simulates physics.

bool	GetMirroredManualGearShift () const

bool	IsMirroredSimulatingPhysics () const

FPoseSnapshot	GetWorldTransformedPose ()

void	SetRolloverFlag ()

carla::rpc::VehicleFailureState	GetFailureState () const

float	GetSpeedAnim () const

void	SetSpeedAnim (float Speed)

float	GetRotationAnim () const

void	SetRotationAnim (float Rotation)

virtual void	BeginPlay () override

virtual void	TickActor (float DeltaTime, enum ELevelTick TickType, FActorTickFunction &ThisTickFunction) override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason)

void	RefreshLightState (const FVehicleLightState &VehicleLightState)

void	AdjustVehicleBounds ()

void	ResetConstraints ()

void	ApplyWheelPhysicsControl ()
	Applies LastPhysicsControl.Wheels to the live Chaos wheels.

void	ApplyVehicleLightDefaultsForCurrentState ()

void	ResolveRiderComponentsIfNeeded ()

void	OnRiderBoneTransformsFinalized ()

FWheelAnimationData *	GetOverriddenWheelPoseOrWarn (EVehicleWheelLocation WheelLocation, const TCHAR *Caller)
	The overridden pose for a setter to write, or nullptr, with a warning, if it cannot be set.

bool	HasWheelOrWarn (int32 WheelIndex, const TCHAR *Caller) const

const UChaosVehicleWheel *	GetSimulatedWheel (int32 WheelIndex) const
	The Chaos wheel, while Chaos simulates the vehicle and has output for it.

FWheelAnimationData	GetWheelPose (int32 WheelIndex) const
	The pose shown for a wheel: the overridden one, otherwise Chaos's, otherwise the one last drawn.

TArray< FWheelAnimationData >	GetWheelPoses () const
	GetWheelPose for every wheel.

void	SeedChaosWheels (const TArray< FWheelAnimationData > &Poses)
	Sets the Chaos wheels to these poses, so that they do not jump when Chaos takes over the wheels again.

void	ArmSeedRewrite (TArray< float > Spins)
	The next physics pre-tick copies in the output of the step before the seed, so the seeded spins are written again when that frame's physics ends.

void	DisarmSeedRewrite ()

void	OnSeedPreTick (FPhysScene_Chaos *Scene, float DeltaSeconds)

void	OnSeedPostTick (FChaosScene *Scene)

const UChaosVehicleWheel *	GetWheelDefaults (int32 WheelIndex) const

void	ApplyRolloverBehavior ()
	Rollovers tend to have too much angular velocity, resulting in the vehicle doing a full 360º flip.

void	CheckRollover (const float roll, const std::pair< float, float > threshold_roll)

void	AddReferenceToManager ()

void	RemoveReferenceToManager ()

void	ActivateVehicleLightComponents ()
	Some vehicle Blueprints (Tesla, Mustang, DodgeCharger, ...) author real Spot/Point light components for their headlights instead of relying on emissive materials alone, but those components are not wrapped in a UCarlaLight – so they never got UE5's bAutoActivate=false activation fix or the UE4-to-UE5 photometric intensity conversion (see CarlaLight.h).

static FRotator	GetPhysicsConstraintAngle (UPhysicsConstraintComponent *Component)

static void	SetPhysicsConstraintAngle (UPhysicsConstraintComponent *Component, const FRotator &NewAngle)

Detailed Description

Base class for CARLA wheeled vehicles.

Definition at line 84 of file CarlaWheeledVehicle.h.

Constructor & Destructor Documentation

◆ ACarlaWheeledVehicle()

ACarlaWheeledVehicle::ACarlaWheeledVehicle ( const FObjectInitializer & ObjectInitializer )

Definition at line 65 of file CarlaWheeledVehicle.cpp.

References AccelerationControl, BaseMovementComponent, GetChaosWheeledVehicleMovementComponent(), VehicleBounds, and VelocityControl.

◆ ~ACarlaWheeledVehicle()

ACarlaWheeledVehicle::~ACarlaWheeledVehicle ( )

Definition at line 85 of file CarlaWheeledVehicle.cpp.

Member Function Documentation

◆ ActivateAccelerationControl()

void ACarlaWheeledVehicle::ActivateAccelerationControl ( const FVector & Acceleration )

Definition at line 1122 of file CarlaWheeledVehicle.cpp.

References AccelerationControl.

◆ ActivateVehicleLightComponents()

void ACarlaWheeledVehicle::ActivateVehicleLightComponents ( )

private

Some vehicle Blueprints (Tesla, Mustang, DodgeCharger, ...) author real Spot/Point light components for their headlights instead of relying on emissive materials alone, but those components are not wrapped in a UCarlaLight – so they never got UE5's bAutoActivate=false activation fix or the UE4-to-UE5 photometric intensity conversion (see CarlaLight.h).

Applies both fixes directly to this actor's light components.

Definition at line 197 of file CarlaWheeledVehicle.cpp.

References ApplyVehicleLightDefaultsForCurrentState(), bHasSavedVehicleLightDefault, CVarCarlaVehicleBeamIntensityScale(), ULightDefaultsJsonUtils::LoadVehicleLightDefault(), SavedVehicleLightGroupIntensity, and SavedVehicleLightIntensity.

Referenced by BeginPlay().

◆ ActivateVelocityControl()

void ACarlaWheeledVehicle::ActivateVelocityControl ( const FVector & Velocity )

Definition at line 1112 of file CarlaWheeledVehicle.cpp.

References VelocityControl.

◆ AddReferenceToManager()

void ACarlaWheeledVehicle::AddReferenceToManager ( )

private

Definition at line 1859 of file CarlaWheeledVehicle.cpp.

References AVegetationManager::AddVehicle(), and IsValid().

Referenced by BeginPlay().

◆ AdjustVehicleBounds()

void ACarlaWheeledVehicle::AdjustVehicleBounds ( )

protected

Definition at line 621 of file CarlaWheeledVehicle.cpp.

References BoundingBox, UBoundingBoxCalculator::GetVehicleBoundingBox(), and VehicleBounds.

◆ ApplyAckermannControllerSettings()

void ACarlaWheeledVehicle::ApplyAckermannControllerSettings ( const FAckermannControllerSettings & AckermannControllerSettings )

inline

Definition at line 211 of file CarlaWheeledVehicle.h.

◆ ApplyRolloverBehavior()

void ACarlaWheeledVehicle::ApplyRolloverBehavior ( )

private

Rollovers tend to have too much angular velocity, resulting in the vehicle doing a full 360º flip.

This function progressively reduces the vehicle's angular velocity so that it ends up upside down instead.

Definition at line 1812 of file CarlaWheeledVehicle.cpp.

References CheckRollover(), FailureState, GetVehicleTransform(), carla::rpc::None, RolloverBehaviorTracker, RolloverFlagTime, SetRolloverFlag(), and TimerHandler.

◆ ApplyVehicleAccelerationControl()

void ACarlaWheeledVehicle::ApplyVehicleAccelerationControl	(	float	LongitudinalAccelerationMps2,
		float	Steer,
		float	SteerSpeed
	)

Apply control from Autoware /control/command/control_cmd (acceleration [m/s^2] + steering)

Definition at line 1132 of file CarlaWheeledVehicle.cpp.

References AccelerationControl, AckermannController, bAckermannControlActive, InputControl, FAckermannController::Reset(), and VelocityControl.

◆ ApplyVehicleAckermannControl()

void ACarlaWheeledVehicle::ApplyVehicleAckermannControl	(	const FVehicleAckermannControl &	AckermannControl,
		EVehicleInputPriority	Priority
	)

Definition at line 1105 of file CarlaWheeledVehicle.cpp.

References AckermannController, bAckermannControlActive, LastAppliedAckermannControl, and FAckermannController::SetTargetPoint().

◆ ApplyVehicleControl()

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

Definition at line 1091 of file CarlaWheeledVehicle.cpp.

References AckermannController, bAckermannControlActive, Control, InputControl, Priority, and FAckermannController::Reset().

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

◆ ApplyVehicleLightDefaultsForCurrentState()

void ACarlaWheeledVehicle::ApplyVehicleLightDefaultsForCurrentState ( )

private

◆ ApplyVehiclePhysicsControl()

void ACarlaWheeledVehicle::ApplyVehiclePhysicsControl ( const FVehiclePhysicsControl & PhysicsControl )

Definition at line 944 of file CarlaWheeledVehicle.cpp.

References AckermannController, ApplyWheelPhysicsControl(), GetChaosWheeledVehicleMovementComponent(), UCarlaStatics::GetRecorder(), LastPhysicsControl, PhysicsControl, ResetConstraints(), SetCenterOfMass(), and FAckermannController::UpdateVehiclePhysics().

Referenced by RestoreVehiclePhysicsControl().

◆ ApplyWheelPhysicsControl()

void ACarlaWheeledVehicle::ApplyWheelPhysicsControl ( )

private

Applies LastPhysicsControl.Wheels to the live Chaos wheels.

Call it after every RecreatePhysicsState(), which resets them to the class defaults.

Definition at line 999 of file CarlaWheeledVehicle.cpp.

Referenced by ApplyVehiclePhysicsControl(), and SetSimulatePhysics().

◆ ArmSeedRewrite()

void ACarlaWheeledVehicle::ArmSeedRewrite ( TArray< float > Spins )

private

The next physics pre-tick copies in the output of the step before the seed, so the seeded spins are written again when that frame's physics ends.

Definition at line 1441 of file CarlaWheeledVehicle.cpp.

References bSeedStepStarted, DisarmSeedRewrite(), OnSeedPostTick(), OnSeedPreTick(), PendingSeedSpins, SeedPostTickHandle, and SeedPreTickHandle.

Referenced by SeedChaosWheels().

◆ BeginPlay()

void ACarlaWheeledVehicle::BeginPlay ( )

overrideprotectedvirtual

Definition at line 87 of file CarlaWheeledVehicle.cpp.

References AckermannController, ActivateVehicleLightComponents(), AddReferenceToManager(), CollisionDisableConstraints, ConstraintComponentNames, ConstraintDoor, ConstraintsComponents, UDefaultMovementComponent::CreateDefaultMovementComponent(), DoorComponentsTransform, GetChaosWheeledVehicleMovementComponent(), GetVehiclePhysicsControl(), LastPhysicsControl, ResetConstraints(), and FAckermannController::UpdateVehiclePhysics().

◆ CheckRollover()

void ACarlaWheeledVehicle::CheckRollover	(	const float	roll,
		const std::pair< float, float >	threshold_roll
	)

private

Definition at line 1839 of file CarlaWheeledVehicle.cpp.

References RolloverBehaviorForce, and RolloverBehaviorTracker.

Referenced by ApplyRolloverBehavior().

◆ ClearMirroredMotion()

void ACarlaWheeledVehicle::ClearMirroredMotion ( )

Definition at line 1650 of file CarlaWheeledVehicle.cpp.

References bHasMirroredMotion, MirroredForwardSpeed, and MirroredVelocity.

◆ CloseDoor()

void ACarlaWheeledVehicle::CloseDoor ( const EVehicleDoor DoorIdx )

Definition at line 1682 of file CarlaWheeledVehicle.cpp.

References All, CloseDoorPhys(), and ConstraintsComponents.

◆ CloseDoorPhys()

void ACarlaWheeledVehicle::CloseDoorPhys ( const EVehicleDoor DoorIdx )

Definition at line 1732 of file CarlaWheeledVehicle.cpp.

References CollisionDisableConstraints, ConstraintDoor, ConstraintsComponents, DoorComponentsTransform, and RecordDoorChange().

Referenced by CloseDoor(), and ResetConstraints().

◆ DeactivateAccelerationControl()

void ACarlaWheeledVehicle::DeactivateAccelerationControl ( )

Definition at line 1127 of file CarlaWheeledVehicle.cpp.

References AccelerationControl.

◆ DeactivateVelocityControl()

void ACarlaWheeledVehicle::DeactivateVelocityControl ( )

Definition at line 1117 of file CarlaWheeledVehicle.cpp.

References VelocityControl.

◆ DisarmSeedRewrite()

void ACarlaWheeledVehicle::DisarmSeedRewrite ( )

private

Definition at line 1455 of file CarlaWheeledVehicle.cpp.

References PendingSeedSpins, SeedPostTickHandle, and SeedPreTickHandle.

Referenced by ArmSeedRewrite(), EndPlay(), and OnSeedPostTick().

◆ DrawFoliageBoundingBox()

void ACarlaWheeledVehicle::DrawFoliageBoundingBox ( ) const

Definition at line 602 of file CarlaWheeledVehicle.cpp.

References FoliageBoundingBox.

◆ EndPlay()

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

protectedvirtual

Definition at line 1657 of file CarlaWheeledVehicle.cpp.

References DisarmSeedRewrite(), and RemoveReferenceToManager().

◆ FlushVehicleControl()

void ACarlaWheeledVehicle::FlushVehicleControl ( )

Todo:: This function should be private to AWheeledVehicleAIController.

Definition at line 716 of file CarlaWheeledVehicle.cpp.

References AckermannController, bAckermannControlActive, BaseMovementComponent, bHasMirroredGear, InputControl, INVALID, LastAppliedControl, UBaseCarlaMovementComponent::ProcessControl(), FAckermannController::RunLoop(), and FAckermannController::UpdateVehicleState().

Referenced by AWheeledVehicleAIController::Tick(), and TickActor().

◆ GetAckermannControllerSettings()

FAckermannControllerSettings ACarlaWheeledVehicle::GetAckermannControllerSettings ( ) const

inline

Definition at line 197 of file CarlaWheeledVehicle.h.

◆ GetAIVehicleState()

ECarlaWheeledVehicleState ACarlaWheeledVehicle::GetAIVehicleState ( ) const

inline

Definition at line 179 of file CarlaWheeledVehicle.h.

References State.

◆ GetBoxSphereBounds()

FBoxSphereBounds ACarlaWheeledVehicle::GetBoxSphereBounds ( ) const

Definition at line 610 of file CarlaWheeledVehicle.cpp.

References UCarlaStatics::GetLargeMapManager(), ALargeMapManager::LocalToGlobalTransform(), and VehicleBounds.

◆ GetCachedVehicleSocketWorldTransform()

FTransform ACarlaWheeledVehicle::GetCachedVehicleSocketWorldTransform ( FName SocketName ) const

inline

Cached, extrapolated world transform of ANY socket on the vehicle mesh (Seat, HandlerLeftSocket, HandlerRightSocket, LeftPedalSocket, RightPedalSocket, ...), captured from OnRiderBoneTransformsFinalized (which fires late enough in the frame to reliably see this frame's real, physics-updated position – confirmed by logging it against the vehicle's actual movement, always smooth, never stale).

The rider's Anim Blueprint should read this instead of querying the vehicle mesh's sockets itself (directly, or via a vehicle-side variable computed that way) for EVERY seat/handler/pedal target used in its Data Gather: that independent read, from the Blueprint's own Event BlueprintUpdateAnimation, intermittently races ahead of the physics update and returns last frame's transform instead – confirmed first on the seat (fixed the torso pop) and then on the same pattern showing up on the handler/pedal sockets driving the arm/leg IK (hands/feet still popping to a stale pose after the torso fix). This trades that flickering race for a lag that's constant instead of intermittent, then extrapolates it away using the linear velocity it was cached with – all vehicle-mesh sockets share that velocity, moving rigidly together, so one shared velocity/timestamp covers every socket looked up here.

Definition at line 296 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized().

◆ GetCarlaMovementComponent()

template<typename T = UBaseCarlaMovementComponent>

T * ACarlaWheeledVehicle::GetCarlaMovementComponent ( ) const

inline

Definition at line 523 of file CarlaWheeledVehicle.h.

◆ GetCenterOfMass()

FVector ACarlaWheeledVehicle::GetCenterOfMass ( UChaosWheeledVehicleMovementComponent & VehicleMovComponent ) const

Definition at line 920 of file CarlaWheeledVehicle.cpp.

Referenced by GetVehiclePhysicsControl().

◆ GetChaosWheeledVehicleMovementComponent()

UChaosWheeledVehicleMovementComponent * ACarlaWheeledVehicle::GetChaosWheeledVehicleMovementComponent ( ) const

inline

Get chaos wheeled vehicle movement component casted.

Definition at line 107 of file CarlaWheeledVehicle.h.

Referenced by ACarlaWheeledVehicle(), FFrameData::AddVehicleParts(), ACarlaRecorder::AddVehicleWheelsAnimation(), ApplyVehiclePhysicsControl(), ApplyWheelPhysicsControl(), BeginPlay(), GetMaximumSteerAngle(), GetSimulatedWheel(), GetVehiclePhysicsControl(), GetVehicleTelemetryData(), GetWheelDefaults(), GetWheelsFrictionScale(), HasWheel(), OnSeedPostTick(), UDefaultMovementComponent::ProcessControl(), SeedChaosWheels(), SetSimulatePhysics(), SetWheelsFrictionScale(), ShowDebugTelemetry(), and TickActor().

◆ GetDetectionBox()

FBox ACarlaWheeledVehicle::GetDetectionBox ( ) const

Definition at line 591 of file CarlaWheeledVehicle.cpp.

References FoliageBoundingBox, and GetDetectionBox().

Referenced by GetDetectionBox().

◆ GetDetectionSize()

float ACarlaWheeledVehicle::GetDetectionSize ( ) const

Definition at line 597 of file CarlaWheeledVehicle.cpp.

References DetectionSize.

Referenced by AVegetationManager::DestroySkeletalFoliages(), and AVegetationManager::SpawnSkeletalFoliages().

◆ GetDrawnWheelPose()

FWheelAnimationData ACarlaWheeledVehicle::GetDrawnWheelPose ( int32 WheelIndex ) const

Wheel pose the animation instance drew this frame (else GetWheelPose); what secondaries must draw.

Definition at line 1385 of file CarlaWheeledVehicle.cpp.

References GetWheelPose().

Referenced by FFrameData::AddVehicleParts().

◆ GetFailureState()

carla::rpc::VehicleFailureState ACarlaWheeledVehicle::GetFailureState ( ) const

Definition at line 1855 of file CarlaWheeledVehicle.cpp.

References FailureState.

◆ GetFoliageInstancesCloseToVehicle()

const TArray< int32 > ACarlaWheeledVehicle::GetFoliageInstancesCloseToVehicle ( const UInstancedStaticMeshComponent * Component ) const

Definition at line 585 of file CarlaWheeledVehicle.cpp.

References FoliageBoundingBox, and GetFoliageInstancesCloseToVehicle().

Referenced by AVegetationManager::GetElementsToSpawn(), and GetFoliageInstancesCloseToVehicle().

◆ GetMaximumSteerAngle()

float ACarlaWheeledVehicle::GetMaximumSteerAngle ( ) const

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

Definition at line 686 of file CarlaWheeledVehicle.cpp.

References GetChaosWheeledVehicleMovementComponent().

Referenced by AWheeledVehicleAIController::OnPossess().

◆ GetMirroredManualGearShift()

bool ACarlaWheeledVehicle::GetMirroredManualGearShift ( ) const

inline

Definition at line 781 of file CarlaWheeledVehicle.h.

◆ GetOpenDoorPoses()

TArray< TPair< int32, FTransform > > ACarlaWheeledVehicle::GetOpenDoorPoses ( ) const

Every door open now (a physics body of its own while open), by door index, with its pose relative to the vehicle.

Definition at line 1753 of file CarlaWheeledVehicle.cpp.

References ConstraintDoor, and ConstraintsComponents.

Referenced by FFrameData::AddVehicleParts().

◆ GetOverriddenWheelPoseOrWarn()

FWheelAnimationData * ACarlaWheeledVehicle::GetOverriddenWheelPoseOrWarn	(	EVehicleWheelLocation	WheelLocation,
		const TCHAR *	Caller
	)

private

The overridden pose for a setter to write, or nullptr, with a warning, if it cannot be set.

Definition at line 1350 of file CarlaWheeledVehicle.cpp.

References bWheelAnimationOverridden, HasWheelOrWarn(), and OverriddenWheelPoses.

Referenced by SetWheelPitchAngle(), SetWheelSteerDirection(), and SetWheelSuspensionOffset().

◆ GetOverriddenWheelPoses()

const TArray< FWheelAnimationData > & ACarlaWheeledVehicle::GetOverriddenWheelPoses ( ) const

inline

Indexed like the movement component's WheelSetups.

Empty while the wheel animation is not overridden.

Definition at line 711 of file CarlaWheeledVehicle.h.

◆ GetPedalRotation()

float ACarlaWheeledVehicle::GetPedalRotation ( ) const

inline

Two-wheeled vehicles spin a decorative pedal/crank bone (in the vehicle mesh's own Anim Blueprint, unrelated to the rider) via a looping Timeline whose curve doesn't start and end at the same value – every loop the Timeline restarts, the bone's rotation pops instantly back to the curve's start value instead of continuing smoothly, and the rider's foot IK (which targets a socket on that bone) pops along with it.

Play Rate scales with vehicle speed, so the pops get more frequent the faster the vehicle goes, and their size is capped at the curve's fixed peak value – both are the exact symptoms reported ("teleports", "there's a cap"). GetPedalRotation() replaces that Timeline: an angle continuously accumulated from real vehicle speed and wrapped with Fmod, which never pops (359.9 degrees to 0.1 degrees is the same rotation, not a discontinuity) the way a Timeline restarting to an unrelated value does. Bind it directly to whatever currently reads the Timeline's output (Engine Speed -> Pedal Y) in the vehicle Blueprint's Anim Blueprint instead.

Definition at line 424 of file CarlaWheeledVehicle.h.

◆ GetPhysicsConstraintAngle()

FRotator ACarlaWheeledVehicle::GetPhysicsConstraintAngle ( UPhysicsConstraintComponent * Component )

static

Definition at line 1889 of file CarlaWheeledVehicle.cpp.

◆ GetRotationAnim()

float ACarlaWheeledVehicle::GetRotationAnim ( ) const

inline

Definition at line 925 of file CarlaWheeledVehicle.h.

◆ GetSimulatedWheel()

const UChaosVehicleWheel * ACarlaWheeledVehicle::GetSimulatedWheel ( int32 WheelIndex ) const

private

The Chaos wheel, while Chaos simulates the vehicle and has output for it.

Definition at line 1520 of file CarlaWheeledVehicle.cpp.

References GetChaosWheeledVehicleMovementComponent(), and IsSimulatedByChaos().

Referenced by GetWheelPose().

◆ GetSpeedAnim()

float ACarlaWheeledVehicle::GetSpeedAnim ( ) const

inline

Definition at line 919 of file CarlaWheeledVehicle.h.

◆ GetVehicleAckermannControl()

const FVehicleAckermannControl & ACarlaWheeledVehicle::GetVehicleAckermannControl ( ) const

inline

Vehicle Ackermann control currently applied to this vehicle.

Definition at line 121 of file CarlaWheeledVehicle.h.

◆ GetVehicleBoundingBox()

UBoxComponent * ACarlaWheeledVehicle::GetVehicleBoundingBox ( ) const

inline

Get vehicle's bounding box component.

Definition at line 156 of file CarlaWheeledVehicle.h.

◆ GetVehicleBoundingBoxExtent()

FVector ACarlaWheeledVehicle::GetVehicleBoundingBoxExtent ( ) const

Extent of the vehicle's bounding box.

Definition at line 681 of file CarlaWheeledVehicle.cpp.

References VehicleBounds.

◆ GetVehicleBoundingBoxTransform()

FTransform ACarlaWheeledVehicle::GetVehicleBoundingBoxTransform ( ) const

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

Definition at line 676 of file CarlaWheeledVehicle.cpp.

References VehicleBounds.

◆ GetVehicleControl()

const FVehicleControl & ACarlaWheeledVehicle::GetVehicleControl ( ) const

inline

Vehicle control currently applied to this vehicle.

Definition at line 114 of file CarlaWheeledVehicle.h.

Referenced by FFrameData::AddVehicleParts(), and UDefaultMovementComponent::ProcessControl().

◆ GetVehicleCurrentGear()

int32 ACarlaWheeledVehicle::GetVehicleCurrentGear ( ) const

Active gear of the vehicle.

Definition at line 660 of file CarlaWheeledVehicle.cpp.

References AccelerationControl, BaseMovementComponent, bHasMirroredGear, UBaseCarlaMovementComponent::GetVehicleCurrentGear(), and MirroredGear.

Referenced by FFrameData::AddVehicleParts(), and GetVehicleTelemetryData().

◆ GetVehicleForwardSpeed()

float ACarlaWheeledVehicle::GetVehicleForwardSpeed ( ) const

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

Definition at line 646 of file CarlaWheeledVehicle.cpp.

References BaseMovementComponent, bHasMirroredMotion, UBaseCarlaMovementComponent::GetVehicleForwardSpeed(), and MirroredForwardSpeed.

Referenced by CaService::AddBasicVehicleContainerHighFrequency(), CaService::CheckSpeedDelta(), CaService::ComputeSpeed(), GetVehicleTelemetryData(), and TickActor().

◆ GetVehicleLightState()

FVehicleLightState ACarlaWheeledVehicle::GetVehicleLightState ( ) const

Definition at line 934 of file CarlaWheeledVehicle.cpp.

References InputControl.

Referenced by CaService::AddLowFrequencyContainer().

◆ GetVehicleOrientation()

FVector ACarlaWheeledVehicle::GetVehicleOrientation ( ) const

Orientation vector of the vehicle, pointing forward.

Definition at line 655 of file CarlaWheeledVehicle.cpp.

References GetVehicleTransform().

Referenced by CaService::CheckHeadingDelta().

◆ GetVehiclePhysicsControl()

FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl ( ) const

Definition at line 807 of file CarlaWheeledVehicle.cpp.

References GetCenterOfMass(), GetChaosWheeledVehicleMovementComponent(), and PhysicsControl.

Referenced by BeginPlay().

◆ GetVehicleTelemetryData()

FVehicleTelemetryData ACarlaWheeledVehicle::GetVehicleTelemetryData ( ) const

Returns a snapshot of the vehicle's runtime telemetry: forward speed, last applied control inputs, engine RPM, current gear, and per-wheel lateral slip, longitudinal slip, and angular velocity sourced from the Chaos vehicle physics state.

Definition at line 1149 of file CarlaWheeledVehicle.cpp.

References FVehicleControl::Brake, GetChaosWheeledVehicleMovementComponent(), GetVehicleCurrentGear(), GetVehicleForwardSpeed(), LastAppliedControl, FWheelTelemetryData::LatSlip, FVehicleControl::Steer, and FVehicleControl::Throttle.

◆ 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 129 of file CarlaWheeledVehicle.h.

Referenced by ApplyRolloverBehavior(), and GetVehicleOrientation().

◆ GetVelocity()

FVector ACarlaWheeledVehicle::GetVelocity ( ) const

overridevirtual

Definition at line 1634 of file CarlaWheeledVehicle.cpp.

References BaseMovementComponent, bHasMirroredMotion, UBaseCarlaMovementComponent::GetVelocity(), and MirroredVelocity.

◆ GetWheelDefaults()

const UChaosVehicleWheel * ACarlaWheeledVehicle::GetWheelDefaults ( int32 WheelIndex ) const

private

Definition at line 1567 of file CarlaWheeledVehicle.cpp.

References GetChaosWheeledVehicleMovementComponent().

Referenced by GetWheelRadius(), and GetWheelSuspensionAxis().

◆ GetWheelPitchAngle()

float ACarlaWheeledVehicle::GetWheelPitchAngle ( EVehicleWheelLocation WheelLocation )

Definition at line 1300 of file CarlaWheeledVehicle.cpp.

References GetWheelPose(), and HasWheelOrWarn().

Referenced by ACarlaRecorder::AddVehicleWheelsAnimation().

◆ GetWheelPose()

FWheelAnimationData ACarlaWheeledVehicle::GetWheelPose ( int32 WheelIndex ) const

private

The pose shown for a wheel: the overridden one, otherwise Chaos's, otherwise the one last drawn.

Definition at line 1369 of file CarlaWheeledVehicle.cpp.

References bWheelAnimationOverridden, GetShownWheelPose(), GetSimulatedWheel(), GetWheelSuspensionAxis(), and OverriddenWheelPoses.

Referenced by GetDrawnWheelPose(), GetWheelPitchAngle(), GetWheelPoses(), GetWheelSteerAngle(), and GetWheelSuspensionOffset().

◆ GetWheelPoses()

TArray< FWheelAnimationData > ACarlaWheeledVehicle::GetWheelPoses ( ) const

private

GetWheelPose for every wheel.

Definition at line 1395 of file CarlaWheeledVehicle.cpp.

References GetWheelPose(), and HasWheel().

Referenced by SetSimulatePhysics(), and SetWheelAnimationOverride().

◆ GetWheelRadius()

float ACarlaWheeledVehicle::GetWheelRadius ( int32 WheelIndex ) const

Radius of the wheel at WheelIndex, in cm, as last applied through the physics control.

Does not need the Chaos wheel instances to exist.

Definition at line 1547 of file CarlaWheeledVehicle.cpp.

References GetWheelDefaults(), LastPhysicsControl, and FVehiclePhysicsControl::Wheels.

Referenced by CarlaReplayerHelper::ProcessReplayerAnimVehicleWheels(), and SeedChaosWheels().

◆ GetWheelsFrictionScale()

TArray< float > ACarlaWheeledVehicle::GetWheelsFrictionScale ( )

Definition at line 770 of file CarlaWheeledVehicle.cpp.

References GetChaosWheeledVehicleMovementComponent().

◆ GetWheelSteerAngle()

float ACarlaWheeledVehicle::GetWheelSteerAngle ( EVehicleWheelLocation WheelLocation )

Definition at line 1283 of file CarlaWheeledVehicle.cpp.

References GetWheelPose(), and HasWheelOrWarn().

Referenced by ACarlaRecorder::AddVehicleWheelsAnimation().

◆ GetWheelSuspensionAxis()

FVector ACarlaWheeledVehicle::GetWheelSuspensionAxis ( int32 WheelIndex ) const

Unit vector, component space, along which the wheel's suspension drops.

Definition at line 1557 of file CarlaWheeledVehicle.cpp.

References GetWheelDefaults(), LastPhysicsControl, and FVehiclePhysicsControl::Wheels.

Referenced by FFrameData::AddVehicleParts(), GetWheelPose(), GetWheelSuspensionOffset(), SeedChaosWheels(), and SetWheelSuspensionOffset().

◆ GetWheelSuspensionOffset()

float ACarlaWheeledVehicle::GetWheelSuspensionOffset ( EVehicleWheelLocation WheelLocation )

Definition at line 1315 of file CarlaWheeledVehicle.cpp.

References GetWheelPose(), GetWheelSuspensionAxis(), and HasWheelOrWarn().

◆ GetWorldTransformedPose()

FPoseSnapshot ACarlaWheeledVehicle::GetWorldTransformedPose ( )

Definition at line 1901 of file CarlaWheeledVehicle.cpp.

References MakePoseWorldSpace(), and WorldTransformedPose.

◆ HasCarlaVehicleAnimation()

bool ACarlaWheeledVehicle::HasCarlaVehicleAnimation ( ) const

Whether the animation blueprint derives from UCarlaVehicleAnimationInstance, which is what draws the overridden wheel poses.

Definition at line 1515 of file CarlaWheeledVehicle.cpp.

Referenced by CarlaReplayerHelper::ProcessReplayerAnimVehicleWheels(), and SetWheelAnimationOverride().

◆ HasMirroredMotion()

bool ACarlaWheeledVehicle::HasMirroredMotion ( ) const

inline

Definition at line 765 of file CarlaWheeledVehicle.h.

◆ HasWheel()

bool ACarlaWheeledVehicle::HasWheel ( int32 WheelIndex ) const

Definition at line 1509 of file CarlaWheeledVehicle.cpp.

References GetChaosWheeledVehicleMovementComponent().

Referenced by FFrameData::AddVehicleParts(), ACarlaRecorder::AddVehicleWheelsAnimation(), GetWheelPoses(), HasWheelOrWarn(), and CarlaReplayerHelper::ProcessReplayerAnimVehicleWheels().

◆ HasWheelOrWarn()

bool ACarlaWheeledVehicle::HasWheelOrWarn	(	int32	WheelIndex,
		const TCHAR *	Caller
	)		const

private

Definition at line 1495 of file CarlaWheeledVehicle.cpp.

References HasWheel().

Referenced by GetOverriddenWheelPoseOrWarn(), GetWheelPitchAngle(), GetWheelSteerAngle(), and GetWheelSuspensionOffset().

◆ HoldHandbrake()

void ACarlaWheeledVehicle::HoldHandbrake ( )

inline

Definition at line 505 of file CarlaWheeledVehicle.h.

◆ IsAckermannControlActive()

bool ACarlaWheeledVehicle::IsAckermannControlActive ( ) const

inline

Definition at line 450 of file CarlaWheeledVehicle.h.

◆ IsInVehicleRange()

bool ACarlaWheeledVehicle::IsInVehicleRange ( const FVector & Location ) const

Definition at line 569 of file CarlaWheeledVehicle.cpp.

References FoliageBoundingBox, and IsInVehicleRange().

Referenced by IsInVehicleRange().

◆ IsMirroredSimulatingPhysics()

bool ACarlaWheeledVehicle::IsMirroredSimulatingPhysics ( ) const

inline

Definition at line 786 of file CarlaWheeledVehicle.h.

◆ IsSimulatedByChaos()

bool ACarlaWheeledVehicle::IsSimulatedByChaos ( ) const

Whether the Chaos vehicle simulation is moving this vehicle.

Definition at line 1541 of file CarlaWheeledVehicle.cpp.

References BaseMovementComponent, and bPhysicsEnabled.

Referenced by GetSimulatedWheel(), and SetWheelAnimationOverride().

◆ IsTwoWheeledVehicle()

bool ACarlaWheeledVehicle::IsTwoWheeledVehicle ( )

Referenced by FFrameData::AddVehicleParts(), ACarlaRecorder::AddVehicleWheelsAnimation(), ResolveRiderComponentsIfNeeded(), and TickActor().

◆ IsTwoWheeledVehicle_Implementation()

virtual bool ACarlaWheeledVehicle::IsTwoWheeledVehicle_Implementation ( )

inlinevirtual

Definition at line 224 of file CarlaWheeledVehicle.h.

◆ IsWheelAnimationOverridden()

bool ACarlaWheeledVehicle::IsWheelAnimationOverridden ( ) const

inline

Definition at line 707 of file CarlaWheeledVehicle.h.

◆ OnRiderBoneTransformsFinalized()

void ACarlaWheeledVehicle::OnRiderBoneTransformsFinalized ( )

private

Definition at line 390 of file CarlaWheeledVehicle.cpp.

References bHasMirroredMotion, bSmoothedVehicleMeshTransformInitialized, CachedVehicleMeshTransform, CachedVehicleSocketTransforms, CachedVehicleTransformsTimeSeconds, CachedVehicleWorldAngularVelocityDegrees, CachedVehicleWorldVelocity, CarlaGetActorAngularVelocityInRadians(), GetCachedVehicleSocketWorldTransform(), RiderMeshComponent, RiderSeatRelativeRotationOffset, RiderSeatSmoothingSpeed, SmoothedVehicleMeshTransform, VehicleMeshForRiderSeat, and VehicleMeshSeatSocketName.

Referenced by ResolveRiderComponentsIfNeeded().

◆ OnSeedPostTick()

void ACarlaWheeledVehicle::OnSeedPostTick ( FChaosScene * Scene )

private

Definition at line 1474 of file CarlaWheeledVehicle.cpp.

References bSeedStepStarted, DisarmSeedRewrite(), GetChaosWheeledVehicleMovementComponent(), and PendingSeedSpins.

Referenced by ArmSeedRewrite().

◆ OnSeedPreTick()

void ACarlaWheeledVehicle::OnSeedPreTick	(	FPhysScene_Chaos *	Scene,
		float	DeltaSeconds
	)

private

Definition at line 1468 of file CarlaWheeledVehicle.cpp.

References bSeedStepStarted.

Referenced by ArmSeedRewrite().

◆ OpenDoor()

void ACarlaWheeledVehicle::OpenDoor ( const EVehicleDoor DoorIdx )

Definition at line 1665 of file CarlaWheeledVehicle.cpp.

References All, ConstraintsComponents, and OpenDoorPhys().

◆ OpenDoorPhys()

void ACarlaWheeledVehicle::OpenDoorPhys ( const EVehicleDoor DoorIdx )

Definition at line 1699 of file CarlaWheeledVehicle.cpp.

References CollisionDisableConstraints, ConstraintDoor, ConstraintsComponents, DoorComponentsTransform, DoorOpenStrength, and RecordDoorChange().

Referenced by OpenDoor(), and ResetConstraints().

◆ PrintROS2Message()

void ACarlaWheeledVehicle::PrintROS2Message ( const char * Message )

Definition at line 59 of file CarlaWheeledVehicle.cpp.

◆ RecordDoorChange()

void ACarlaWheeledVehicle::RecordDoorChange	(	const EVehicleDoor	DoorIdx,
		const bool	bIsOpen
	)

Definition at line 1803 of file CarlaWheeledVehicle.cpp.

References UCarlaStatics::GetRecorder().

Referenced by CloseDoorPhys(), and OpenDoorPhys().

◆ RefreshLightState()

void ACarlaWheeledVehicle::RefreshLightState ( const FVehicleLightState & VehicleLightState )

protected

Referenced by SetVehicleLightState().

◆ ReleaseHandbrake()

void ACarlaWheeledVehicle::ReleaseHandbrake ( )

inline

Definition at line 511 of file CarlaWheeledVehicle.h.

◆ RemoveReferenceToManager()

void ACarlaWheeledVehicle::RemoveReferenceToManager ( )

private

Definition at line 1874 of file CarlaWheeledVehicle.cpp.

References IsValid(), and AVegetationManager::RemoveVehicle().

Referenced by EndPlay().

◆ ResetConstraints()

void ACarlaWheeledVehicle::ResetConstraints ( )

protected

Definition at line 1622 of file CarlaWheeledVehicle.cpp.

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

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

◆ ResolveRiderComponentsIfNeeded()

void ACarlaWheeledVehicle::ResolveRiderComponentsIfNeeded ( )

private

Definition at line 324 of file CarlaWheeledVehicle.cpp.

References bRiderComponentsResolved, IsTwoWheeledVehicle(), OnRiderBoneTransformsFinalized(), RiderMeshComponent, RiderMeshComponentName, VehicleMeshForRiderSeat, and VehicleMeshSeatSocketName.

Referenced by TickActor().

◆ RestoreVehiclePhysicsControl()

void ACarlaWheeledVehicle::RestoreVehiclePhysicsControl ( )

Definition at line 939 of file CarlaWheeledVehicle.cpp.

References ApplyVehiclePhysicsControl(), and LastPhysicsControl.

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

◆ SeedChaosWheels()

void ACarlaWheeledVehicle::SeedChaosWheels ( const TArray< FWheelAnimationData > & Poses )

private

Sets the Chaos wheels to these poses, so that they do not jump when Chaos takes over the wheels again.

Definition at line 1405 of file CarlaWheeledVehicle.cpp.

References ArmSeedRewrite(), GetChaosWheeledVehicleMovementComponent(), GetWheelRadius(), and GetWheelSuspensionAxis().

Referenced by SetSimulatePhysics(), and SetWheelAnimationOverride().

◆ SetAIVehicleState()

void ACarlaWheeledVehicle::SetAIVehicleState ( ECarlaWheeledVehicleState InState )

inline

Todo:: This function should be private to AWheeledVehicleAIController.

Definition at line 173 of file CarlaWheeledVehicle.h.

References State.

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

◆ SetBrakeInput()

void ACarlaWheeledVehicle::SetBrakeInput ( float Value )

Definition at line 749 of file CarlaWheeledVehicle.cpp.

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

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

◆ SetCarlaMovementComponent()

void ACarlaWheeledVehicle::SetCarlaMovementComponent ( UBaseCarlaMovementComponent * MoementComponent )

Definition at line 1257 of file CarlaWheeledVehicle.cpp.

References BaseMovementComponent.

◆ SetCenterOfMass()

void ACarlaWheeledVehicle::SetCenterOfMass	(	UChaosWheeledVehicleMovementComponent &	VehicleMovComponent,
		const FVehiclePhysicsControl &	PhysicsControl
	)

Definition at line 1077 of file CarlaWheeledVehicle.cpp.

References PhysicsControl.

Referenced by ApplyVehiclePhysicsControl().

◆ SetFailureState()

void ACarlaWheeledVehicle::SetFailureState ( const carla::rpc::VehicleFailureState & FailureState )

Definition at line 1252 of file CarlaWheeledVehicle.cpp.

References FailureState.

◆ SetHandbrakeInput()

void ACarlaWheeledVehicle::SetHandbrakeInput ( bool Value )

Definition at line 763 of file CarlaWheeledVehicle.cpp.

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

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

◆ SetMirroredDoorPoses()

void ACarlaWheeledVehicle::SetMirroredDoorPoses ( const TArray< TPair< int32, FTransform > > & OpenDoors )

Multi-GPU secondary: shows these doors open, at these poses relative to the vehicle, and every other door closed.

A mirror's doors are posed, never simulated.

Definition at line 1769 of file CarlaWheeledVehicle.cpp.

References ConstraintDoor, ConstraintsComponents, and DoorComponentsTransform.

◆ SetMirroredDrivetrain()

void ACarlaWheeledVehicle::SetMirroredDrivetrain	(	int32	Gear,
		bool	bManualGearShift,
		bool	bSimulatingPhysics
	)

inline

Multi-GPU secondary: the primary's gear, which GetVehicleCurrentGear reports instead of the idle drivetrain's, its manual gear shift, and whether the primary's body simulates physics.

Definition at line 773 of file CarlaWheeledVehicle.h.

◆ SetMirroredMotion()

void ACarlaWheeledVehicle::SetMirroredMotion	(	const FVector &	Velocity,
		float	ForwardSpeed
	)

Multi-GPU secondary: the primary's motion of the vehicle this one mirrors (world frame, cm/s), which GetVelocity and GetVehicleForwardSpeed report instead of this body's: a mirror never moves on its own.

Definition at line 1643 of file CarlaWheeledVehicle.cpp.

References bHasMirroredMotion, MirroredForwardSpeed, and MirroredVelocity.

◆ SetPhysicsConstraintAngle()

void ACarlaWheeledVehicle::SetPhysicsConstraintAngle	(	UPhysicsConstraintComponent *	Component,
		const FRotator &	NewAngle
	)

static

Definition at line 1895 of file CarlaWheeledVehicle.cpp.

◆ SetReverse()

void ACarlaWheeledVehicle::SetReverse ( bool Value )

Definition at line 756 of file CarlaWheeledVehicle.cpp.

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

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

◆ SetRolloverFlag()

void ACarlaWheeledVehicle::SetRolloverFlag ( )

Definition at line 1848 of file CarlaWheeledVehicle.cpp.

References FailureState, carla::rpc::Rollover, and RolloverBehaviorTracker.

Referenced by ApplyRolloverBehavior().

◆ SetRotationAnim()

void ACarlaWheeledVehicle::SetRotationAnim ( float Rotation )

inline

Definition at line 928 of file CarlaWheeledVehicle.h.

Referenced by FFrameData::ProcessReplayerAnimBiker(), and CarlaReplayerHelper::ProcessReplayerAnimBiker().

◆ SetSimulatePhysics()

void ACarlaWheeledVehicle::SetSimulatePhysics ( bool enabled )

Definition at line 1578 of file CarlaWheeledVehicle.cpp.

References ApplyWheelPhysicsControl(), bPhysicsEnabled, GetChaosWheeledVehicleMovementComponent(), GetWheelPoses(), ResetConstraints(), and SeedChaosWheels().

◆ SetSpeedAnim()

void ACarlaWheeledVehicle::SetSpeedAnim ( float Speed )

inline

Definition at line 922 of file CarlaWheeledVehicle.h.

Referenced by FFrameData::ProcessReplayerAnimBiker(), and CarlaReplayerHelper::ProcessReplayerAnimBiker().

◆ SetSteeringInput()

void ACarlaWheeledVehicle::SetSteeringInput ( float Value )

Definition at line 742 of file CarlaWheeledVehicle.cpp.

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

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

◆ SetThrottleInput()

void ACarlaWheeledVehicle::SetThrottleInput ( float Value )

Definition at line 735 of file CarlaWheeledVehicle.cpp.

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

Referenced by AWheeledVehicleAIController::ConfigureAutopilot().

◆ SetVehicleLightState()

void ACarlaWheeledVehicle::SetVehicleLightState ( const FVehicleLightState & LightState )

Definition at line 1225 of file CarlaWheeledVehicle.cpp.

References ApplyVehicleLightDefaultsForCurrentState(), FVehicleLightState::Brake, FVehicleLightState::Fog, FVehicleLightState::HighBeam, InputControl, FVehicleLightState::Interior, FVehicleLightState::LeftBlinker, LightState, FVehicleLightState::LowBeam, FVehicleLightState::Position, RefreshLightState(), FVehicleLightState::Reverse, FVehicleLightState::RightBlinker, FVehicleLightState::Special1, and FVehicleLightState::Special2.

◆ SetWheelAnimationOverride()

void ACarlaWheeledVehicle::SetWheelAnimationOverride ( bool bEnabled )

While the wheel animation is overridden the wheels show only the values set through the wheel setters, whether or not Chaos simulates the vehicle.

Definition at line 1325 of file CarlaWheeledVehicle.cpp.

References bWheelAnimationOverridden, GetWheelPoses(), HasCarlaVehicleAnimation(), IsSimulatedByChaos(), OverriddenWheelPoses, and SeedChaosWheels().

Referenced by CarlaReplayerHelper::ProcessReplayerAnimVehicleWheels().

◆ SetWheelPitchAngle()

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

Spin angle of a wheel, in degrees. Purely visual, wheel animation override only.

Definition at line 1292 of file CarlaWheeledVehicle.cpp.

References GetOverriddenWheelPoseOrWarn().

Referenced by CarlaReplayerHelper::ProcessReplayerAnimVehicleWheels().

◆ SetWheelsFrictionScale()

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

Definition at line 787 of file CarlaWheeledVehicle.cpp.

References GetChaosWheeledVehicleMovementComponent(), LastPhysicsControl, and FVehiclePhysicsControl::Wheels.

◆ 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 1275 of file CarlaWheeledVehicle.cpp.

References GetOverriddenWheelPoseOrWarn().

Referenced by CarlaReplayerHelper::ProcessReplayerAnimVehicleWheels().

◆ SetWheelSuspensionOffset()

void ACarlaWheeledVehicle::SetWheelSuspensionOffset	(	EVehicleWheelLocation	WheelLocation,
		float	OffsetInCm
	)

Suspension compression of a wheel, in cm.

Purely visual, wheel animation override only.

Definition at line 1306 of file CarlaWheeledVehicle.cpp.

References GetOverriddenWheelPoseOrWarn(), and GetWheelSuspensionAxis().

◆ ShowDebugTelemetry()

void ACarlaWheeledVehicle::ShowDebugTelemetry ( bool Enabled )

Definition at line 1200 of file CarlaWheeledVehicle.cpp.

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

◆ TickActor()

void ACarlaWheeledVehicle::TickActor	(	float	DeltaTime,
		enum ELevelTick	TickType,
		FActorTickFunction &	ThisTickFunction
	)

overrideprotectedvirtual

Definition at line 510 of file CarlaWheeledVehicle.cpp.

References AccelerationControl, FlushVehicleControl(), GetChaosWheeledVehicleMovementComponent(), GetVehicleForwardSpeed(), IsTwoWheeledVehicle(), MakePoseWorldSpace(), PedalRotationAngle, PedalRotationDegreesPerCm, ResolveRiderComponentsIfNeeded(), VelocityControl, and WorldTransformedPose.

◆ ToggleReverse()

void ACarlaWheeledVehicle::ToggleReverse ( )

inline

Definition at line 496 of file CarlaWheeledVehicle.h.

◆ UpdateDetectionBox()

void ACarlaWheeledVehicle::UpdateDetectionBox ( )

Definition at line 576 of file CarlaWheeledVehicle.cpp.

References DetectionSize, and FoliageBoundingBox.

Referenced by AVegetationManager::Tick().

Member Data Documentation

◆ AccelerationControl

TObjectPtr<UVehicleAccelerationControl> ACarlaWheeledVehicle::AccelerationControl

private

Definition at line 574 of file CarlaWheeledVehicle.h.

Referenced by ACarlaWheeledVehicle(), ActivateAccelerationControl(), ApplyVehicleAccelerationControl(), DeactivateAccelerationControl(), GetVehicleCurrentGear(), and TickActor().

◆ AckermannController

FAckermannController ACarlaWheeledVehicle::AckermannController

private

Definition at line 586 of file CarlaWheeledVehicle.h.

Referenced by ApplyVehicleAccelerationControl(), ApplyVehicleAckermannControl(), ApplyVehicleControl(), ApplyVehiclePhysicsControl(), BeginPlay(), and FlushVehicleControl().

◆ bAckermannControlActive

bool ACarlaWheeledVehicle::bAckermannControlActive = false

private

Definition at line 585 of file CarlaWheeledVehicle.h.

Referenced by ApplyVehicleAccelerationControl(), ApplyVehicleAckermannControl(), ApplyVehicleControl(), and FlushVehicleControl().

◆ BaseMovementComponent

UBaseCarlaMovementComponent* ACarlaWheeledVehicle::BaseMovementComponent = nullptr

private

Definition at line 833 of file CarlaWheeledVehicle.h.

Referenced by ACarlaWheeledVehicle(), FlushVehicleControl(), GetVehicleCurrentGear(), GetVehicleForwardSpeed(), GetVelocity(), IsSimulatedByChaos(), and SetCarlaMovementComponent().

◆ bHasMirroredGear

bool ACarlaWheeledVehicle::bHasMirroredGear = false

private

Definition at line 820 of file CarlaWheeledVehicle.h.

Referenced by FlushVehicleControl(), and GetVehicleCurrentGear().

◆ bHasMirroredMotion

bool ACarlaWheeledVehicle::bHasMirroredMotion = false

private

Definition at line 814 of file CarlaWheeledVehicle.h.

Referenced by ClearMirroredMotion(), GetVehicleForwardSpeed(), GetVelocity(), OnRiderBoneTransformsFinalized(), and SetMirroredMotion().

◆ bHasSavedVehicleLightDefault

bool ACarlaWheeledVehicle::bHasSavedVehicleLightDefault = false

private

Definition at line 598 of file CarlaWheeledVehicle.h.

Referenced by ActivateVehicleLightComponents(), and ApplyVehicleLightDefaultsForCurrentState().

◆ bIsNWVehicle

bool ACarlaWheeledVehicle::bIsNWVehicle = false

Definition at line 800 of file CarlaWheeledVehicle.h.

Referenced by ACarlaWheeledVehicleNW::ACarlaWheeledVehicleNW().

◆ bMirroredManualGearShift

bool ACarlaWheeledVehicle::bMirroredManualGearShift = false

private

Definition at line 824 of file CarlaWheeledVehicle.h.

◆ bMirroredSimulatingPhysics

bool ACarlaWheeledVehicle::bMirroredSimulatingPhysics = false

private

Definition at line 826 of file CarlaWheeledVehicle.h.

◆ bPhysicsEnabled

bool ACarlaWheeledVehicle::bPhysicsEnabled = true

private

Definition at line 829 of file CarlaWheeledVehicle.h.

Referenced by IsSimulatedByChaos(), and SetSimulatePhysics().

◆ bRiderComponentsResolved

bool ACarlaWheeledVehicle::bRiderComponentsResolved = false

private

Definition at line 614 of file CarlaWheeledVehicle.h.

Referenced by ResolveRiderComponentsIfNeeded().

◆ bSeedStepStarted

bool ACarlaWheeledVehicle::bSeedStepStarted = false

private

Definition at line 875 of file CarlaWheeledVehicle.h.

Referenced by ArmSeedRewrite(), OnSeedPostTick(), and OnSeedPreTick().

◆ bSmoothedVehicleMeshTransformInitialized

bool ACarlaWheeledVehicle::bSmoothedVehicleMeshTransformInitialized = false

private

Definition at line 640 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized().

◆ bWheelAnimationOverridden

bool ACarlaWheeledVehicle::bWheelAnimationOverridden = false

private

Definition at line 838 of file CarlaWheeledVehicle.h.

Referenced by GetOverriddenWheelPoseOrWarn(), GetWheelPose(), and SetWheelAnimationOverride().

◆ CachedVehicleMeshTransform

FTransform ACarlaWheeledVehicle::CachedVehicleMeshTransform

private

Definition at line 631 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized().

◆ CachedVehicleSocketTransforms

TMap<FName, FTransform> ACarlaWheeledVehicle::CachedVehicleSocketTransforms

private

Definition at line 630 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized().

◆ CachedVehicleTransformsTimeSeconds

float ACarlaWheeledVehicle::CachedVehicleTransformsTimeSeconds = 0.0f

private

Definition at line 634 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized().

◆ CachedVehicleWorldAngularVelocityDegrees

FVector ACarlaWheeledVehicle::CachedVehicleWorldAngularVelocityDegrees = FVector::ZeroVector

private

Definition at line 633 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized().

◆ CachedVehicleWorldVelocity

FVector ACarlaWheeledVehicle::CachedVehicleWorldVelocity = FVector::ZeroVector

private

Definition at line 632 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized().

◆ CarSimOriginOffset

float ACarlaWheeledVehicle::CarSimOriginOffset = 150.f

Definition at line 796 of file CarlaWheeledVehicle.h.

Referenced by UCarSimManagerComponent::BeginPlay().

◆ CollisionDisableConstraints

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

private

Definition at line 891 of file CarlaWheeledVehicle.h.

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

◆ ConstraintComponentNames

TArray<FName> ACarlaWheeledVehicle::ConstraintComponentNames

protected

Definition at line 547 of file CarlaWheeledVehicle.h.

Referenced by BeginPlay().

◆ ConstraintDoor

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

private

Definition at line 884 of file CarlaWheeledVehicle.h.

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

◆ ConstraintsComponents

TArray<UPhysicsConstraintComponent*> ACarlaWheeledVehicle::ConstraintsComponents

private

Definition at line 836 of file CarlaWheeledVehicle.h.

Referenced by BeginPlay(), CloseDoor(), CloseDoorPhys(), GetOpenDoorPoses(), OpenDoor(), OpenDoorPhys(), ResetConstraints(), and SetMirroredDoorPoses().

◆ Control

FVehicleControl ACarlaWheeledVehicle::Control

Definition at line 559 of file CarlaWheeledVehicle.h.

Referenced by ApplyVehicleControl(), SetBrakeInput(), SetHandbrakeInput(), SetReverse(), SetSteeringInput(), and SetThrottleInput().

◆ DetectionSize

float ACarlaWheeledVehicle::DetectionSize { 750.0f }

Definition at line 649 of file CarlaWheeledVehicle.h.

Referenced by GetDetectionSize(), and UpdateDetectionBox().

◆ DoorComponentsTransform

TMap<UPrimitiveComponent*, FTransform> ACarlaWheeledVehicle::DoorComponentsTransform

private

Definition at line 888 of file CarlaWheeledVehicle.h.

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

◆ DoorOpenStrength

float ACarlaWheeledVehicle::DoorOpenStrength = 100.0f

protected

Definition at line 550 of file CarlaWheeledVehicle.h.

Referenced by OpenDoorPhys().

◆ FailureState

carla::rpc::VehicleFailureState ACarlaWheeledVehicle::FailureState = carla::rpc::VehicleFailureState::None

private

Definition at line 592 of file CarlaWheeledVehicle.h.

Referenced by ApplyRolloverBehavior(), GetFailureState(), SetFailureState(), and SetRolloverFlag().

◆ FoliageBoundingBox

FBox ACarlaWheeledVehicle::FoliageBoundingBox

Definition at line 652 of file CarlaWheeledVehicle.h.

Referenced by DrawFoliageBoundingBox(), GetDetectionBox(), GetFoliageInstancesCloseToVehicle(), IsInVehicleRange(), and UpdateDetectionBox().

◆ [struct]

struct { ... } ACarlaWheeledVehicle::InputControl

Referenced by ApplyVehicleAccelerationControl(), ApplyVehicleControl(), ApplyVehicleLightDefaultsForCurrentState(), FlushVehicleControl(), GetVehicleLightState(), SetBrakeInput(), SetHandbrakeInput(), SetReverse(), SetSteeringInput(), SetThrottleInput(), and SetVehicleLightState().

◆ LastAppliedAckermannControl

FVehicleAckermannControl ACarlaWheeledVehicle::LastAppliedAckermannControl

private

Definition at line 578 of file CarlaWheeledVehicle.h.

Referenced by ApplyVehicleAckermannControl().

◆ LastAppliedControl

FVehicleControl ACarlaWheeledVehicle::LastAppliedControl

private

Definition at line 577 of file CarlaWheeledVehicle.h.

Referenced by FlushVehicleControl(), and GetVehicleTelemetryData().

◆ LastPhysicsControl

FVehiclePhysicsControl ACarlaWheeledVehicle::LastPhysicsControl

private

Definition at line 579 of file CarlaWheeledVehicle.h.

Referenced by ApplyVehiclePhysicsControl(), ApplyWheelPhysicsControl(), BeginPlay(), GetWheelRadius(), GetWheelSuspensionAxis(), RestoreVehiclePhysicsControl(), and SetWheelsFrictionScale().

◆ LightState

FVehicleLightState ACarlaWheeledVehicle::LightState

Definition at line 560 of file CarlaWheeledVehicle.h.

Referenced by ApplyVehicleLightDefaultsForCurrentState(), and SetVehicleLightState().

◆ MirroredForwardSpeed

float ACarlaWheeledVehicle::MirroredForwardSpeed = 0.0f

private

Definition at line 818 of file CarlaWheeledVehicle.h.

Referenced by ClearMirroredMotion(), GetVehicleForwardSpeed(), and SetMirroredMotion().

◆ MirroredGear

int32 ACarlaWheeledVehicle::MirroredGear = 0

private

Definition at line 822 of file CarlaWheeledVehicle.h.

Referenced by GetVehicleCurrentGear().

◆ MirroredVelocity

FVector ACarlaWheeledVehicle::MirroredVelocity = FVector::ZeroVector

private

Definition at line 816 of file CarlaWheeledVehicle.h.

Referenced by ClearMirroredMotion(), GetVelocity(), and SetMirroredMotion().

◆ OverriddenWheelPoses

TArray<FWheelAnimationData> ACarlaWheeledVehicle::OverriddenWheelPoses

private

Definition at line 840 of file CarlaWheeledVehicle.h.

Referenced by GetOverriddenWheelPoseOrWarn(), GetWheelPose(), and SetWheelAnimationOverride().

◆ PedalRotationAngle

float ACarlaWheeledVehicle::PedalRotationAngle = 0.0f

private

Definition at line 645 of file CarlaWheeledVehicle.h.

Referenced by TickActor().

◆ PedalRotationDegreesPerCm

float ACarlaWheeledVehicle::PedalRotationDegreesPerCm = 0.5f

Degrees the pedal bone rotates per centimeter of real vehicle travel (see GetPedalRotation).

Tune in-editor to match the desired pedaling cadence – no recompile needed.

Definition at line 433 of file CarlaWheeledVehicle.h.

Referenced by TickActor().

◆ PendingSeedSpins

TArray<float> ACarlaWheeledVehicle::PendingSeedSpins

private

Degrees, as drawn.

Definition at line 873 of file CarlaWheeledVehicle.h.

Referenced by ArmSeedRewrite(), DisarmSeedRewrite(), and OnSeedPostTick().

◆ Priority

EVehicleInputPriority ACarlaWheeledVehicle::Priority = EVehicleInputPriority::INVALID

Definition at line 558 of file CarlaWheeledVehicle.h.

Referenced by ApplyVehicleControl().

◆ RiderMeshComponent

TObjectPtr<USkeletalMeshComponent> ACarlaWheeledVehicle::RiderMeshComponent = nullptr

private

Definition at line 609 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized(), and ResolveRiderComponentsIfNeeded().

◆ RiderMeshComponentName

FName ACarlaWheeledVehicle::RiderMeshComponentName = TEXT("SkeletalMesh")

Two-wheeled vehicles (bikes/motorcycles) embed their rider as a SkeletalMeshComponent (named RiderMeshComponentName) meant to sit on VehicleMeshSeatSocketName.

That positioning is still driven by Blueprint graph logic left over from the UE4-to-UE5 port, and it drifts the rider backward off the seat while the vehicle is moving. Rather than rewrite that graph, OnRiderBoneTransformsFinalized (see below) snaps the rider back onto the seat socket every frame, after this component's animation has finished evaluating for that frame – nothing runs afterwards that could undo it before render, regardless of what the Blueprint graph or its animation does. Only takes effect when IsTwoWheeledVehicle() is true and both component names resolve to real components on this actor.

This does not fully fix the drift by itself – the rider's own Anim Blueprint separately queries this same seat socket in its own Event BlueprintUpdateAnimation, and that read intermittently races ahead of the vehicle mesh's physics update for the frame (confirmed by logging both reads: on the frames it happens, the Blueprint's read exactly matches the PREVIOUS frame's real seat transform – a one-frame-stale read on some frames but not others, which looks like a pop, not a continuous drift). See GetCachedVehicleSocketWorldTransform() below, which the Blueprint should read instead of querying the socket itself – for this one and every other vehicle-mesh socket its Data Gather reads.

Definition at line 253 of file CarlaWheeledVehicle.h.

Referenced by ResolveRiderComponentsIfNeeded().

◆ RiderSeatRelativeRotationOffset

FRotator ACarlaWheeledVehicle::RiderSeatRelativeRotationOffset = FRotator(0.0f, -90.0f, 15.0f)

The rider mesh's rest pose isn't authored to sit flush with the socket's own local axes – its component template ships with this exact relative rotation baked in (no translation), so the seat-lock composes it on top of the socket's world transform instead of using the bare socket transform, which twisted the pose.

Definition at line 404 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized().

◆ RiderSeatSmoothingSpeed

float ACarlaWheeledVehicle::RiderSeatSmoothingSpeed = 10.0f

Chaos suspension has small, real, high-frequency vertical jitter on the vehicle mesh every frame (visible as the rider's torso/hip bouncing, the seat popping the rider up) – physically real, not a bug, but the seat-lock's hard snap transmits it 1:1 to the rider with zero smoothing.

This is the speed (see FMath::FInterpTo) used to low-pass just the VERTICAL (Z) component of the cached base transform that GetCachedVehicleSocketWorldTransform() extrapolates from – purely cosmetic, applied only to what the rider reads, never to the vehicle's actual physics transform. X/Y and rotation are never smoothed (see OnRiderBoneTransformsFinalized's comment – smoothing those trails a moving target by more the faster the vehicle goes, which looked exactly like the original slide bug). Higher = snappier (less smoothing); lower = smoother but more vertical lag.

Definition at line 272 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized().

◆ RolloverBehaviorForce

float ACarlaWheeledVehicle::RolloverBehaviorForce = 0.35

private

Definition at line 588 of file CarlaWheeledVehicle.h.

Referenced by CheckRollover().

◆ RolloverBehaviorTracker

int ACarlaWheeledVehicle::RolloverBehaviorTracker = 0

private

Definition at line 589 of file CarlaWheeledVehicle.h.

Referenced by ApplyRolloverBehavior(), CheckRollover(), and SetRolloverFlag().

◆ RolloverFlagTime

float ACarlaWheeledVehicle::RolloverFlagTime = 5.0f

private

Definition at line 590 of file CarlaWheeledVehicle.h.

Referenced by ApplyRolloverBehavior().

◆ RotationAnim

float ACarlaWheeledVehicle::RotationAnim { 0.0f }

Definition at line 915 of file CarlaWheeledVehicle.h.

◆ SavedVehicleLightGroupIntensity

TMap<FString, float> ACarlaWheeledVehicle::SavedVehicleLightGroupIntensity

private

Definition at line 600 of file CarlaWheeledVehicle.h.

Referenced by ActivateVehicleLightComponents(), and ApplyVehicleLightDefaultsForCurrentState().

◆ SavedVehicleLightIntensity

float ACarlaWheeledVehicle::SavedVehicleLightIntensity = 1.0f

private

Definition at line 599 of file CarlaWheeledVehicle.h.

Referenced by ActivateVehicleLightComponents(), and ApplyVehicleLightDefaultsForCurrentState().

◆ SeedPostTickHandle

FDelegateHandle ACarlaWheeledVehicle::SeedPostTickHandle

private

Definition at line 879 of file CarlaWheeledVehicle.h.

Referenced by ArmSeedRewrite(), and DisarmSeedRewrite().

◆ SeedPreTickHandle

FDelegateHandle ACarlaWheeledVehicle::SeedPreTickHandle

private

Definition at line 877 of file CarlaWheeledVehicle.h.

Referenced by ArmSeedRewrite(), and DisarmSeedRewrite().

◆ SmoothedVehicleMeshTransform

FTransform ACarlaWheeledVehicle::SmoothedVehicleMeshTransform

private

Definition at line 639 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized().

◆ SpeedAnim

float ACarlaWheeledVehicle::SpeedAnim { 0.0f }

Definition at line 914 of file CarlaWheeledVehicle.h.

◆ State

ECarlaWheeledVehicleState ACarlaWheeledVehicle::State = ECarlaWheeledVehicleState::UNKNOWN

private

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

Definition at line 568 of file CarlaWheeledVehicle.h.

◆ TimerHandler

FTimerHandle ACarlaWheeledVehicle::TimerHandler

private

Definition at line 912 of file CarlaWheeledVehicle.h.

Referenced by ApplyRolloverBehavior().

◆ VehicleBounds

TObjectPtr<UBoxComponent> ACarlaWheeledVehicle::VehicleBounds

Definition at line 655 of file CarlaWheeledVehicle.h.

Referenced by ACarlaWheeledVehicle(), AdjustVehicleBounds(), GetBoxSphereBounds(), GetVehicleBoundingBoxExtent(), and GetVehicleBoundingBoxTransform().

◆ VehicleMeshForRiderSeat

TObjectPtr<USkeletalMeshComponent> ACarlaWheeledVehicle::VehicleMeshForRiderSeat = nullptr

private

Definition at line 612 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized(), and ResolveRiderComponentsIfNeeded().

◆ VehicleMeshSeatSocketName

FName ACarlaWheeledVehicle::VehicleMeshSeatSocketName = TEXT("Seat")

Definition at line 256 of file CarlaWheeledVehicle.h.

Referenced by OnRiderBoneTransformsFinalized(), and ResolveRiderComponentsIfNeeded().

◆ VelocityControl

TObjectPtr<UVehicleVelocityControl> ACarlaWheeledVehicle::VelocityControl

private

Definition at line 571 of file CarlaWheeledVehicle.h.

Referenced by ACarlaWheeledVehicle(), ActivateVelocityControl(), ApplyVehicleAccelerationControl(), DeactivateVelocityControl(), and TickActor().

◆ WorldTransformedPose

FPoseSnapshot ACarlaWheeledVehicle::WorldTransformedPose

Definition at line 916 of file CarlaWheeledVehicle.h.

Referenced by GetWorldTransformedPose(), and TickActor().

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

Public Member Functions

AI debug state

Overriden from AActor

Detailed Description

Constructor & Destructor Documentation

◆ ACarlaWheeledVehicle()

◆ ~ACarlaWheeledVehicle()

Member Function Documentation

◆ ActivateAccelerationControl()

◆ ActivateVehicleLightComponents()

◆ ActivateVelocityControl()

◆ AddReferenceToManager()

◆ AdjustVehicleBounds()

◆ ApplyAckermannControllerSettings()

◆ ApplyRolloverBehavior()

◆ ApplyVehicleAccelerationControl()

◆ ApplyVehicleAckermannControl()

◆ ApplyVehicleControl()

◆ ApplyVehicleLightDefaultsForCurrentState()

◆ ApplyVehiclePhysicsControl()

◆ ApplyWheelPhysicsControl()

◆ ArmSeedRewrite()

◆ BeginPlay()

◆ CheckRollover()

◆ ClearMirroredMotion()

◆ CloseDoor()

◆ CloseDoorPhys()

◆ DeactivateAccelerationControl()

◆ DeactivateVelocityControl()

◆ DisarmSeedRewrite()

◆ DrawFoliageBoundingBox()

◆ EndPlay()

◆ FlushVehicleControl()

◆ GetAckermannControllerSettings()

◆ GetAIVehicleState()

◆ GetBoxSphereBounds()

◆ GetCachedVehicleSocketWorldTransform()

◆ GetCarlaMovementComponent()

◆ GetCenterOfMass()

◆ GetChaosWheeledVehicleMovementComponent()

◆ GetDetectionBox()

◆ GetDetectionSize()

◆ GetDrawnWheelPose()

◆ GetFailureState()

◆ GetFoliageInstancesCloseToVehicle()

◆ GetMaximumSteerAngle()

◆ GetMirroredManualGearShift()

◆ GetOpenDoorPoses()

◆ GetOverriddenWheelPoseOrWarn()

◆ GetOverriddenWheelPoses()

◆ GetPedalRotation()

◆ GetPhysicsConstraintAngle()

◆ GetRotationAnim()

◆ GetSimulatedWheel()

◆ GetSpeedAnim()

◆ GetVehicleAckermannControl()

◆ GetVehicleBoundingBox()

◆ GetVehicleBoundingBoxExtent()

◆ GetVehicleBoundingBoxTransform()

◆ GetVehicleControl()

◆ GetVehicleCurrentGear()

◆ GetVehicleForwardSpeed()

◆ GetVehicleLightState()

◆ GetVehicleOrientation()

◆ GetVehiclePhysicsControl()

◆ GetVehicleTelemetryData()

◆ GetVehicleTransform()

◆ GetVelocity()

◆ GetWheelDefaults()

◆ GetWheelPitchAngle()

◆ GetWheelPose()

◆ GetWheelPoses()

◆ GetWheelRadius()

◆ GetWheelsFrictionScale()

◆ GetWheelSteerAngle()

◆ GetWheelSuspensionAxis()

◆ GetWheelSuspensionOffset()

◆ GetWorldTransformedPose()

◆ HasCarlaVehicleAnimation()

◆ HasMirroredMotion()