SoilTypeManager.cpp

Go to the documentation of this file.

// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB). This work is licensed under the terms of the MIT license. For a copy, see <https://opensource.org/licenses/MIT>.
 
#include "MapGen/SoilTypeManager.h"
 
#include <util/ue-header-guard-begin.h>
#include "Kismet/GameplayStatics.h"
#include <util/ue-header-guard-end.h>
 
// Sets default values
ASoilTypeManager::ASoilTypeManager()
{
   // Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
  PrimaryActorTick.bCanEverTick = false;
}
 
// Called when the game starts or when spawned
void ASoilTypeManager::BeginPlay()
{
  Super::BeginPlay();
  
}
 
void ASoilTypeManager::Tick(float DeltaTime)
{
  TRACE_CPUPROFILER_EVENT_SCOPE(ASoilTypeManager::Tick);
  Super::Tick(DeltaTime);
#if WITH_EDITOR // Only for debugging purposes. Requires to activate tick in contructor
  if((int)DeltaTime % 2000 == 0)
  {
    ALargeMapManager* LMManager = (ALargeMapManager*) UGameplayStatics::GetActorOfClass(GetWorld(), ALargeMapManager::StaticClass());
    AActor* Car = UGameplayStatics::GetActorOfClass(GetWorld(), CarClass);
 
    if(Car != nullptr)
    {
      FVector CarPos = Car->GetActorLocation();
 
      FVector GlobalCarPos = LMManager->LocalToGlobalLocation(CarPos);
      FIntVector TileVector = LMManager->GetTileVectorID(GlobalCarPos);
      uint64 TileIndex = LMManager->GetTileID(GlobalCarPos);
 
      FString TypeStr = GetTerrainPropertiesAtGlobalLocation(GlobalCarPos).ToString();
      
      UE_LOG(LogCarla, Log, TEXT("Current Tile Index %d ----> (%d, %d, %d) with position L[%f, %f, %f] G[%f, %f, %f] Terrain Type: %s"),
        TileIndex, TileVector.X, TileVector.Y, TileVector.Z, CarPos.X, CarPos.Y, CarPos.Z, GlobalCarPos.X, GlobalCarPos.Y, GlobalCarPos.Z,
        *TypeStr);
    }
  }
#endif
}
 
FSoilTerramechanicsProperties ASoilTypeManager::GetGeneralTerrainProperties()
{
  return GeneralTerrainProperties;
}
 
FSoilTerramechanicsProperties ASoilTypeManager::GetTerrainPropertiesAtGlobalLocation(FVector VehicleLocation)
{
  // Get Indexes from location
  FIntVector TileVectorID = LargeMapManager->GetTileVectorID(VehicleLocation);
 
  // Query the map, if not in map, return general
  if(TilesTerrainProperties.Contains(TileVectorID))
    return TilesTerrainProperties[TileVectorID];  // Tile properties
  else
    return GeneralTerrainProperties;    // General properties
}
 
FSoilTerramechanicsProperties ASoilTypeManager::GetTerrainPropertiesAtLocalLocation(FVector VehicleLocation)
{
  FVector GlobalVehiclePosition = LargeMapManager->LocalToGlobalLocation(VehicleLocation);
  return GetTerrainPropertiesAtGlobalLocation(GlobalVehiclePosition);
}
 
void ASoilTypeManager::SetGeneralTerrainProperties(FSoilTerramechanicsProperties TerrainProperties)
{
  const FString TerrainPropertiesStr = TerrainProperties.ToString();
  UE_LOG(LogCarla, Log, TEXT("Setting General Terrain Settings %s"), *TerrainPropertiesStr);
  GeneralTerrainProperties = TerrainProperties;
}
 
void ASoilTypeManager::AddTerrainPropertiesToTile(int TileX, int TileY, FSoilTerramechanicsProperties TerrainProperties)
{
  // Compute ID from X,Y coords
  check(LargeMapManager != nullptr)
 
  FIntVector TileVectorID(TileX, TileY, 0);
 
  // Add to map
  if(TerrainProperties.TerrainType == ESoilTerramechanicsType::NONE_SOIL)
    TilesTerrainProperties.Add(TileVectorID, GeneralTerrainProperties);
  else
    TilesTerrainProperties.Add(TileVectorID, TerrainProperties);
}
 
void ASoilTypeManager::ClearTerrainPropertiesMap()
{
  TilesTerrainProperties.Empty(TilesTerrainProperties.Num());
}