A sensor to register collisions. More...

#include <CollisionSensor.h>

Inheritance diagram for ACollisionSensor:

Public Member Functions
	ACollisionSensor (const FObjectInitializer &ObjectInitializer)

void	SetOwner (AActor *NewOwner) override

Public Member Functions inherited from ASensor
bool	AreClientsListening ()

	ASensor (const FObjectInitializer &ObjectInitializer)

virtual void	BeginPlay ()

void	ClearReadyToTick ()

std::optional< FActorAttribute >	GetAttribute (const FString Name)

const UCarlaEpisode &	GetEpisode () const

virtual void	GetMirrorState (carla::multigpu::SensorState &State) const
	Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).

URandomEngine *	GetRandomEngine ()

float	GetReadyToTickDeltaSeconds () const

int32	GetSeed () const

auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream.

bool	IsReadyToTick () const

bool	IsStreamReady ()

FDataStream	MoveDataStream ()

virtual void	OnFirstClientConnected ()

virtual void	OnLastClientDisconnected ()

virtual void	PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaSeconds)

void	PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)

virtual void	PrePhysTick (float DeltaSeconds)

virtual void	Set (const FActorDescription &Description)

void	SetDataStream (FDataStream InStream)
	Replace the FDataStream associated with this sensor.

void	SetEpisode (const UCarlaEpisode &InEpisode)

virtual void	SetMirrorState (const carla::multigpu::SensorState &State)

void	SetPrimaryTick (float DeltaSeconds)
	Multi-GPU secondary: tick in this engine frame, with the primary's delta.

void	SetSavingDataToDisk (bool bSavingData)

void	SetSeed (int32 InSeed)

void	Tick (const float DeltaTime) final

Static Public Member Functions
static FActorDefinition	GetSensorDefinition ()

Static Public Member Functions inherited from ASensor
static FSensorCaptureContext	MakeCaptureContext (const ASensor &Sensor)
	Call on the game thread right after CaptureScene().

Private Member Functions
void	OnCollisionEvent (AActor Actor, AActor OtherActor, FVector NormalImpulse, const FHitResult &Hit)

Private Attributes
std::vector< std::tuple< uint64_t, AActor , AActor > >	CollisionRegistry
	Registry that saves all collisions.

Additional Inherited Members
Protected Member Functions inherited from ASensor
void	EndPlay (EEndPlayReason::Type EndPlayReason) override

template<typename SensorType >
FAsyncDataStream	GetDataStream (SensorType &&Self)
	Return the FDataStream associated with this sensor.

void	PostActorCreated () override

Static Protected Member Functions inherited from ASensor
template<typename SensorType , typename ElementType >
static void	SendDataToClient (SensorType &&Sensor, TArrayView< ElementType > SensorData, const FSensorCaptureContext &CaptureContext)

Protected Attributes inherited from ASensor
bool	bIsActive = false

bool	bSavingDataToDisk = false

URandomEngine *	RandomEngine = nullptr
	Random Engine used to provide noise for sensor output.

int32	Seed = 123456789
	Seed of the pseudo-random engine.

Detailed Description

A sensor to register collisions.

Definition at line 19 of file CollisionSensor.h.

Constructor & Destructor Documentation

◆ ACollisionSensor()

ACollisionSensor::ACollisionSensor ( const FObjectInitializer & ObjectInitializer )

Definition at line 16 of file CollisionSensor.cpp.

Member Function Documentation

◆ GetSensorDefinition()

FActorDefinition ACollisionSensor::GetSensorDefinition ( )

static

Definition at line 22 of file CollisionSensor.cpp.

References UActorBlueprintFunctionLibrary::MakeGenericSensorDefinition().

◆ OnCollisionEvent()

void ACollisionSensor::OnCollisionEvent	(	AActor *	Actor,
		AActor *	OtherActor,
		FVector	NormalImpulse,
		const FHitResult &	Hit
	)

private

Definition at line 41 of file CollisionSensor.cpp.

References Collision, CollisionRegistry, carla::streaming::detail::token_type::get_stream_id(), ASensor::GetDataStream(), ASensor::GetEpisode(), FCarlaEngine::GetFrameCounter(), carla::ros2::ROS2::GetInstance(), ASensor::GetToken(), and FAsyncDataStreamTmpl< T >::SerializeAndSend().

Referenced by SetOwner().

◆ SetOwner()

void ACollisionSensor::SetOwner ( AActor * NewOwner )

override

Todo:: Deregister previous owner if there was one.

Definition at line 29 of file CollisionSensor.cpp.

References OnCollisionEvent().

Member Data Documentation

◆ CollisionRegistry

std::vector<std::tuple<uint64_t, AActor*, AActor*> > ACollisionSensor::CollisionRegistry

private

Registry that saves all collisions.

Used to avoid sending the same collision more than once per frame, as the collision sensor uses the PhysX substepping tick. Helps with sensor usage and stream overload.

Definition at line 42 of file CollisionSensor.h.

Referenced by OnCollisionEvent().

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members