SoilTypeManager.cpp

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// Copyright (c) 2017 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 "Kismet/GameplayStatics.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)
{
#if WITH_EDITOR // Only for debugging purposes. Requires to activate tick in contructor
  if((int)DeltaTime % 2000 == 0)
  {
    ALargeMapManager* LargeMapManager = (ALargeMapManager*) UGameplayStatics::GetActorOfClass(GetWorld(), ALargeMapManager::StaticClass());
    AActor* Car = UGameplayStatics::GetActorOfClass(GetWorld(), CarClass);

    if(Car != nullptr)
    {
      FVector CarPos = Car->GetActorLocation();

      FVector GlobalCarPos = LargeMapManager->LocalToGlobalLocation(CarPos);
      FIntVector TileVector = LargeMapManager->GetTileVectorID(GlobalCarPos);
      uint64 TileIndex = LargeMapManager->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());
}