Base class for the CARLA Game Mode. More...

#include <CarlaGameModeBase.h>

Inheritance diagram for ACarlaGameModeBase:

Collaboration diagram for ACarlaGameModeBase:

Public Member Functions
	ACarlaGameModeBase (const FObjectInitializer &ObjectInitializer)

void	ApplyTextureToActor (AActor Actor, UTexture2D Texture, const carla::rpc::MaterialParameter &TextureParam)

void	CheckForEmptyMeshes ()

UTexture2D *	CreateUETexture (const carla::rpc::TextureColor &Texture)

UTexture2D *	CreateUETexture (const carla::rpc::TextureFloatColor &Texture)

void	DebugShowSignals (bool enable)

void	EnableEnvironmentObjects (const TSet< uint64 > &EnvObjectIds, bool Enable)

void	EnableOverlapEvents ()

AActor *	FindActorByName (const FString &ActorName)

TArray< FBoundingBox >	GetAllBBsOfLevel (uint8 TagQueried=0xFF) const

const UCarlaEpisode &	GetCarlaEpisode () const

TArray< FEnvironmentObject >	GetEnvironmentObjects (uint8 QueriedTag=0xFF) const

const FString	GetFullMapPath () const

ALargeMapManager *	GetLMManager () const

const boost::optional< carla::road::Map > &	GetMap () const

TArray< FString >	GetNamesOfAllActors ()

const FString	GetRelativeMapPath () const

const TArray< FTransform > &	GetSpawnPointsTransforms () const

ATrafficLightManager *	GetTrafficLightManager ()

ULevel *	GetULevelFromName (FString LevelName)

void	LoadMapLayer (int32 MapLayers)

void	OnLoadStreamLevel ()

void	OnUnloadStreamLevel ()

void	UnLoadMapLayer (int32 MapLayers)

Protected Member Functions
void	BeginPlay () override

void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

void	InitGame (const FString &MapName, const FString &Options, FString &ErrorMessage) override

void	RestartPlayer (AController *NewPlayer) override

void	Tick (float DeltaSeconds) override

Private Member Functions
void	ConvertMapLayerMaskToMapNames (int32 MapLayer, TArray< FName > &OutLevelNames)

void	GenerateSpawnPoints ()

void	OnEpisodeSettingsChanged (const FEpisodeSettings &Settings)

void	ParseOpenDrive ()

void	RegisterEnvironmentObjects ()

void	SpawnActorFactories ()

void	StoreSpawnPoints ()

Private Attributes
TSet< TSubclassOf< ACarlaActorFactory > >	ActorFactories
	List of actor spawners that will be used to define and spawn the actors available in game. More...

TArray< ACarlaActorFactory * >	ActorFactoryInstances

UCarlaSettingsDelegate *	CarlaSettingsDelegate = nullptr

UCarlaEpisode *	Episode = nullptr

UCarlaGameInstance *	GameInstance = nullptr

int32	LatentInfoUUID = 0

ALargeMapManager *	LMManager = nullptr

boost::optional< carla::road::Map >	Map

UObjectRegister *	ObjectRegister = nullptr

FDelegateHandle	OnEpisodeSettingsChangeHandle

int	PendingLevelsToLoad = 0

int	PendingLevelsToUnLoad = 0

bool	ReadyToRegisterObjects = false

ACarlaRecorder *	Recorder = nullptr

TArray< FTransform >	SpawnPointsTransforms

UTaggerDelegate *	TaggerDelegate = nullptr

ATrafficLightManager *	TrafficLightManager = nullptr

TSubclassOf< AWeather >	WeatherClass
	The class of Weather to spawn. More...

Detailed Description

Base class for the CARLA Game Mode.

Definition at line 35 of file CarlaGameModeBase.h.

Constructor & Destructor Documentation

◆ ACarlaGameModeBase()

ACarlaGameModeBase::ACarlaGameModeBase ( const FObjectInitializer & ObjectInitializer )

Definition at line 40 of file CarlaGameModeBase.cpp.

References CarlaSettingsDelegate, Episode, ObjectRegister, Recorder, and TaggerDelegate.

Member Function Documentation

◆ ApplyTextureToActor()

void ACarlaGameModeBase::ApplyTextureToActor	(	AActor *	Actor,
		UTexture2D *	Texture,
		const carla::rpc::MaterialParameter &	TextureParam
	)

Definition at line 323 of file CarlaGameModeBase.cpp.

Referenced by FCarlaServer::FPimpl::BindActions().

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◆ BeginPlay()

void ACarlaGameModeBase::BeginPlay ( )

overrideprotected

Todo:: If semantic segmentation enabled.

Todo:: Recorder should not tick here, FCarlaEngine should do it.

Definition at line 177 of file CarlaGameModeBase.cpp.

References AWeather::ApplyWeather(), CarlaReplayer::CheckPlayAfterMapLoaded(), ALargeMapManager::ConsiderSpectatorAsEgo(), carla::rpc::WeatherParameters::Default, EnableOverlapEvents(), Episode, GameInstance, UCarlaGameInstance::GetCurrentMapLayer(), ACarlaRecorder::GetReplayer(), UCarlaEpisode::GetSettings(), GetTrafficLightManager(), UCarlaEpisode::InitializeAtBeginPlay(), LMManager, LoadMapLayer(), UCarlaGameInstance::NotifyBeginEpisode(), PendingLevelsToLoad, ReadyToRegisterObjects, Recorder, RegisterEnvironmentObjects(), ALargeMapManager::RegisterInitialObjects(), UTaggerDelegate::SetSemanticSegmentationEnabled(), FEpisodeSettings::SpectatorAsEgo, ATagger::TagActorsInLevel(), TaggerDelegate, and UCarlaEpisode::Weather.

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◆ CheckForEmptyMeshes()

void ACarlaGameModeBase::CheckForEmptyMeshes ( )

Definition at line 484 of file CarlaGameModeBase.cpp.

◆ ConvertMapLayerMaskToMapNames()

void ACarlaGameModeBase::ConvertMapLayerMaskToMapNames	(	int32	MapLayer,
		TArray< FName > &	OutLevelNames
	)

private

Definition at line 703 of file CarlaGameModeBase.cpp.

References carla::rpc::All, and carla::rpc::MapLayerToString().

Referenced by LoadMapLayer(), and UnLoadMapLayer().

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◆ CreateUETexture() [1/2]

UTexture2D * ACarlaGameModeBase::CreateUETexture ( const carla::rpc::TextureColor & Texture )

Definition at line 277 of file CarlaGameModeBase.cpp.

References carla::sensor::data::Color::a, carla::rpc::Texture< T >::At(), carla::sensor::data::Color::b, carla::sensor::data::Color::g, carla::rpc::Texture< T >::GetHeight(), carla::rpc::Texture< T >::GetWidth(), and carla::sensor::data::Color::r.

Referenced by FCarlaServer::FPimpl::BindActions().

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◆ CreateUETexture() [2/2]

UTexture2D * ACarlaGameModeBase::CreateUETexture ( const carla::rpc::TextureFloatColor & Texture )

Definition at line 300 of file CarlaGameModeBase.cpp.

References carla::sensor::data::Color::a, carla::rpc::Texture< T >::At(), carla::sensor::data::Color::b, carla::sensor::data::Color::g, carla::rpc::Texture< T >::GetHeight(), carla::rpc::Texture< T >::GetWidth(), and carla::sensor::data::Color::r.

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◆ DebugShowSignals()

void ACarlaGameModeBase::DebugShowSignals ( bool enable )

Definition at line 524 of file CarlaGameModeBase.cpp.

References carla::geom::Math::GenerateRange(), carla::geom::Rotation::GetUpVector(), and Map.

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◆ EnableEnvironmentObjects()

void ACarlaGameModeBase::EnableEnvironmentObjects	(	const TSet< uint64 > &	EnvObjectIds,
		bool	Enable
	)

Definition at line 646 of file CarlaGameModeBase.cpp.

References UObjectRegister::EnableEnvironmentObjects(), and ObjectRegister.

Referenced by FCarlaServer::FPimpl::BindActions().

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◆ EnableOverlapEvents()

void ACarlaGameModeBase::EnableOverlapEvents ( )

Definition at line 499 of file CarlaGameModeBase.cpp.

References ATagger::GetTagOfTaggedComponent().

Referenced by BeginPlay().

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◆ EndPlay()

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

overrideprotected

Definition at line 384 of file CarlaGameModeBase.cpp.

References CarlaSettingsDelegate, UCarlaEpisode::EndPlay(), Episode, GameInstance, UCarlaGameInstance::NotifyEndEpisode(), FCarlaStaticDelegates::OnEpisodeSettingsChange, OnEpisodeSettingsChangeHandle, and UCarlaSettingsDelegate::Reset().

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◆ FindActorByName()

AActor * ACarlaGameModeBase::FindActorByName ( const FString & ActorName )

Definition at line 262 of file CarlaGameModeBase.cpp.

Referenced by FCarlaServer::FPimpl::BindActions().

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◆ GenerateSpawnPoints()

void ACarlaGameModeBase::GenerateSpawnPoints ( )

private

Definition at line 437 of file CarlaGameModeBase.cpp.

References Map, and SpawnPointsTransforms.

Referenced by StoreSpawnPoints().

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◆ GetAllBBsOfLevel()

TArray< FBoundingBox > ACarlaGameModeBase::GetAllBBsOfLevel ( uint8 TagQueried = 0xFF ) const

Definition at line 624 of file CarlaGameModeBase.cpp.

References UBoundingBoxCalculator::GetBoundingBoxOfActors().

Referenced by FCarlaServer::FPimpl::BindActions().

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◆ GetCarlaEpisode()

const UCarlaEpisode& ACarlaGameModeBase::GetCarlaEpisode ( ) const

inline

Definition at line 43 of file CarlaGameModeBase.h.

◆ GetEnvironmentObjects()

TArray<FEnvironmentObject> ACarlaGameModeBase::GetEnvironmentObjects ( uint8 QueriedTag = 0xFF ) const

inline

Definition at line 73 of file CarlaGameModeBase.h.

Referenced by FCarlaServer::FPimpl::BindActions().

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◆ GetFullMapPath()

const FString ACarlaGameModeBase::GetFullMapPath ( ) const

Definition at line 69 of file CarlaGameModeBase.cpp.

References GetRelativeMapPath().

Referenced by FCarlaServer::FPimpl::BindActions(), and UOpenDrive::GetXODR().

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◆ GetLMManager()

ALargeMapManager* ACarlaGameModeBase::GetLMManager ( ) const

inline

Definition at line 99 of file CarlaGameModeBase.h.

Referenced by FCarlaServer::FPimpl::BindActions(), URayTracer::CastRay(), UCarlaStatics::GetLargeMapManager(), and URayTracer::ProjectPoint().

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◆ GetMap()

const boost::optional<carla::road::Map>& ACarlaGameModeBase::GetMap ( ) const

inline

Definition at line 49 of file CarlaGameModeBase.h.

Referenced by AOpenDriveGenerator::GenerateRoadMesh(), AOpenDriveGenerator::GenerateSpawnPoints(), ATrafficLightManager::GetMap(), AOpenDriveGenerator::IsOpenDriveValid(), FTrafficSignData::RestoreActorData(), and FTrafficLightData::RestoreActorData().

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◆ GetNamesOfAllActors()

TArray< FString > ACarlaGameModeBase::GetNamesOfAllActors ( )

Definition at line 245 of file CarlaGameModeBase.cpp.

Referenced by FCarlaServer::FPimpl::BindActions().

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◆ GetRelativeMapPath()

const FString ACarlaGameModeBase::GetRelativeMapPath ( ) const

Definition at line 60 of file CarlaGameModeBase.cpp.

Referenced by GetFullMapPath().

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◆ GetSpawnPointsTransforms()

const TArray<FTransform>& ACarlaGameModeBase::GetSpawnPointsTransforms ( ) const

inline

Definition at line 65 of file CarlaGameModeBase.h.

Referenced by UCarlaEpisode::GetRecommendedSpawnPoints().

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◆ GetTrafficLightManager()

ATrafficLightManager * ACarlaGameModeBase::GetTrafficLightManager ( )

Definition at line 464 of file CarlaGameModeBase.cpp.

References GetULevelFromName(), and TrafficLightManager.

Referenced by BeginPlay().

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◆ GetULevelFromName()

ULevel * ACarlaGameModeBase::GetULevelFromName ( FString LevelName )

Definition at line 745 of file CarlaGameModeBase.cpp.

Referenced by GetTrafficLightManager(), ATrafficLightManager::RegisterLightComponentFromOpenDRIVE(), ATrafficLightManager::SpawnSignals(), and ATrafficLightManager::SpawnTrafficLights().

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◆ InitGame()

void ACarlaGameModeBase::InitGame	(	const FString &	MapName,
		const FString &	Options,
		FString &	ErrorMessage
	)

overrideprotected

Definition at line 75 of file CarlaGameModeBase.cpp.

References UCarlaSettingsDelegate::ApplyQualityLevelPostRestart(), CarlaSettingsDelegate, Episode, GameInstance, ALargeMapManager::GenerateLargeMap(), ALargeMapManager::GetNumTiles(), ALargeMapManager::LargeMapName, LMManager, Map, UCarlaEpisode::MapName, UCarlaGameInstance::NotifyInitGame(), FCarlaStaticDelegates::OnEpisodeSettingsChange, OnEpisodeSettingsChanged(), OnEpisodeSettingsChangeHandle, ParseOpenDrive(), Recorder, UTaggerDelegate::RegisterSpawnHandler(), UCarlaSettingsDelegate::RegisterSpawnHandler(), ACarlaRecorder::SetEpisode(), UCarlaEpisode::SetRecorder(), SpawnActorFactories(), StoreSpawnPoints(), TaggerDelegate, UCarlaEpisode::Weather, and WeatherClass.

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◆ LoadMapLayer()

void ACarlaGameModeBase::LoadMapLayer ( int32 MapLayers )

Definition at line 653 of file CarlaGameModeBase.cpp.

References ConvertMapLayerMaskToMapNames(), LatentInfoUUID, and PendingLevelsToLoad.

Referenced by BeginPlay(), and FCarlaServer::FPimpl::BindActions().

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◆ OnEpisodeSettingsChanged()

void ACarlaGameModeBase::OnEpisodeSettingsChanged ( const FEpisodeSettings & Settings )

private

Definition at line 790 of file CarlaGameModeBase.cpp.

References CarlaSettingsDelegate, FEpisodeSettings::MaxCullingDistance, and UCarlaSettingsDelegate::SetAllActorsDrawDistance().

Referenced by InitGame().

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◆ OnLoadStreamLevel()

void ACarlaGameModeBase::OnLoadStreamLevel ( )

Definition at line 768 of file CarlaGameModeBase.cpp.

References PendingLevelsToLoad, ReadyToRegisterObjects, RegisterEnvironmentObjects(), and ATagger::TagActorsInLevel().

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◆ OnUnloadStreamLevel()

void ACarlaGameModeBase::OnUnloadStreamLevel ( )

Definition at line 780 of file CarlaGameModeBase.cpp.

References PendingLevelsToUnLoad, ReadyToRegisterObjects, and RegisterEnvironmentObjects().

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◆ ParseOpenDrive()

void ACarlaGameModeBase::ParseOpenDrive ( )

private

Definition at line 451 of file CarlaGameModeBase.cpp.

References Episode, UOpenDrive::GetXODR(), carla::opendrive::OpenDriveParser::Load(), Map, and UCarlaEpisode::MapGeoReference.

Referenced by InitGame().

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◆ RegisterEnvironmentObjects()

void ACarlaGameModeBase::RegisterEnvironmentObjects ( )

private

Definition at line 638 of file CarlaGameModeBase.cpp.

References ObjectRegister, and UObjectRegister::RegisterObjects().

Referenced by BeginPlay(), OnLoadStreamLevel(), and OnUnloadStreamLevel().

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◆ RestartPlayer()

void ACarlaGameModeBase::RestartPlayer ( AController * NewPlayer )

overrideprotected

Definition at line 167 of file CarlaGameModeBase.cpp.

References UCarlaSettingsDelegate::ApplyQualityLevelPreRestart(), and CarlaSettingsDelegate.

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◆ SpawnActorFactories()

void ACarlaGameModeBase::SpawnActorFactories ( )

private

Definition at line 399 of file CarlaGameModeBase.cpp.

References ActorFactories, ActorFactoryInstances, Episode, and UCarlaEpisode::RegisterActorFactory().

Referenced by InitGame().

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◆ StoreSpawnPoints()

void ACarlaGameModeBase::StoreSpawnPoints ( )

private

Definition at line 422 of file CarlaGameModeBase.cpp.

References GenerateSpawnPoints(), and SpawnPointsTransforms.

Referenced by InitGame().

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◆ Tick()

void ACarlaGameModeBase::Tick ( float DeltaSeconds )

overrideprotected

Todo:: Recorder should not tick here, FCarlaEngine should do it.

Definition at line 373 of file CarlaGameModeBase.cpp.

References Recorder.

◆ UnLoadMapLayer()

void ACarlaGameModeBase::UnLoadMapLayer ( int32 MapLayers )

Definition at line 678 of file CarlaGameModeBase.cpp.

References ConvertMapLayerMaskToMapNames(), LatentInfoUUID, and PendingLevelsToUnLoad.

Referenced by FCarlaServer::FPimpl::BindActions().

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Member Data Documentation

◆ ActorFactories

TSet<TSubclassOf<ACarlaActorFactory> > ACarlaGameModeBase::ActorFactories

private

List of actor spawners that will be used to define and spawn the actors available in game.

Definition at line 168 of file CarlaGameModeBase.h.

Referenced by SpawnActorFactories().

◆ ActorFactoryInstances

TArray<ACarlaActorFactory *> ACarlaGameModeBase::ActorFactoryInstances

private

Definition at line 174 of file CarlaGameModeBase.h.

Referenced by SpawnActorFactories().

◆ CarlaSettingsDelegate

UCarlaSettingsDelegate* ACarlaGameModeBase::CarlaSettingsDelegate = nullptr

private

Definition at line 150 of file CarlaGameModeBase.h.

Referenced by ACarlaGameModeBase(), EndPlay(), InitGame(), OnEpisodeSettingsChanged(), and RestartPlayer().

◆ Episode

UCarlaEpisode* ACarlaGameModeBase::Episode = nullptr

private

Definition at line 153 of file CarlaGameModeBase.h.

Referenced by ACarlaGameModeBase(), BeginPlay(), EndPlay(), InitGame(), ParseOpenDrive(), and SpawnActorFactories().

◆ GameInstance

UCarlaGameInstance* ACarlaGameModeBase::GameInstance = nullptr

private

Definition at line 144 of file CarlaGameModeBase.h.

Referenced by BeginPlay(), EndPlay(), and InitGame().

◆ LatentInfoUUID

int32 ACarlaGameModeBase::LatentInfoUUID = 0

private

Definition at line 192 of file CarlaGameModeBase.h.

Referenced by LoadMapLayer(), and UnLoadMapLayer().

◆ LMManager

ALargeMapManager* ACarlaGameModeBase::LMManager = nullptr

private

Definition at line 179 of file CarlaGameModeBase.h.

Referenced by BeginPlay(), and InitGame().

◆ Map

boost::optional<carla::road::Map> ACarlaGameModeBase::Map

private

Definition at line 183 of file CarlaGameModeBase.h.

Referenced by DebugShowSignals(), GenerateSpawnPoints(), InitGame(), and ParseOpenDrive().

◆ ObjectRegister

UObjectRegister* ACarlaGameModeBase::ObjectRegister = nullptr

private

Definition at line 159 of file CarlaGameModeBase.h.

Referenced by ACarlaGameModeBase(), EnableEnvironmentObjects(), and RegisterEnvironmentObjects().

◆ OnEpisodeSettingsChangeHandle

FDelegateHandle ACarlaGameModeBase::OnEpisodeSettingsChangeHandle

private

Definition at line 181 of file CarlaGameModeBase.h.

Referenced by EndPlay(), and InitGame().

◆ PendingLevelsToLoad

int ACarlaGameModeBase::PendingLevelsToLoad = 0

private

Definition at line 185 of file CarlaGameModeBase.h.

Referenced by BeginPlay(), LoadMapLayer(), and OnLoadStreamLevel().

◆ PendingLevelsToUnLoad

int ACarlaGameModeBase::PendingLevelsToUnLoad = 0

private

Definition at line 186 of file CarlaGameModeBase.h.

Referenced by OnUnloadStreamLevel(), and UnLoadMapLayer().

◆ ReadyToRegisterObjects

bool ACarlaGameModeBase::ReadyToRegisterObjects = false

private

Definition at line 188 of file CarlaGameModeBase.h.

Referenced by BeginPlay(), OnLoadStreamLevel(), and OnUnloadStreamLevel().

◆ Recorder

ACarlaRecorder* ACarlaGameModeBase::Recorder = nullptr

private

Definition at line 156 of file CarlaGameModeBase.h.

Referenced by ACarlaGameModeBase(), BeginPlay(), InitGame(), and Tick().

◆ SpawnPointsTransforms

TArray<FTransform> ACarlaGameModeBase::SpawnPointsTransforms

private

Definition at line 171 of file CarlaGameModeBase.h.

Referenced by GenerateSpawnPoints(), and StoreSpawnPoints().

◆ TaggerDelegate

UTaggerDelegate* ACarlaGameModeBase::TaggerDelegate = nullptr

private

Definition at line 147 of file CarlaGameModeBase.h.

Referenced by ACarlaGameModeBase(), BeginPlay(), and InitGame().

◆ TrafficLightManager

ATrafficLightManager* ACarlaGameModeBase::TrafficLightManager = nullptr

private

Definition at line 177 of file CarlaGameModeBase.h.

Referenced by GetTrafficLightManager().

◆ WeatherClass

TSubclassOf<AWeather> ACarlaGameModeBase::WeatherClass

private

The class of Weather to spawn.

Definition at line 163 of file CarlaGameModeBase.h.

Referenced by InitGame().

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ACarlaGameModeBase()

Member Function Documentation

◆ ApplyTextureToActor()

◆ BeginPlay()

◆ CheckForEmptyMeshes()

◆ ConvertMapLayerMaskToMapNames()

◆ CreateUETexture() [1/2]

◆ CreateUETexture() [2/2]

◆ DebugShowSignals()

◆ EnableEnvironmentObjects()

◆ EnableOverlapEvents()

◆ EndPlay()

◆ FindActorByName()

◆ GenerateSpawnPoints()

◆ GetAllBBsOfLevel()

◆ GetCarlaEpisode()

◆ GetEnvironmentObjects()

◆ GetFullMapPath()

◆ GetLMManager()

◆ GetMap()

◆ GetNamesOfAllActors()

◆ GetRelativeMapPath()

◆ GetSpawnPointsTransforms()

◆ GetTrafficLightManager()

◆ GetULevelFromName()

◆ InitGame()

◆ LoadMapLayer()

◆ OnEpisodeSettingsChanged()

◆ OnLoadStreamLevel()

◆ OnUnloadStreamLevel()

◆ ParseOpenDrive()

◆ RegisterEnvironmentObjects()

◆ RestartPlayer()

◆ SpawnActorFactories()

◆ StoreSpawnPoints()

◆ Tick()

◆ UnLoadMapLayer()

Member Data Documentation

◆ ActorFactories

◆ ActorFactoryInstances

◆ CarlaSettingsDelegate

◆ Episode

◆ GameInstance

◆ LatentInfoUUID

◆ LMManager

◆ Map

◆ ObjectRegister

◆ OnEpisodeSettingsChangeHandle

◆ PendingLevelsToLoad

◆ PendingLevelsToUnLoad

◆ ReadyToRegisterObjects

◆ Recorder

◆ SpawnPointsTransforms

◆ TaggerDelegate

◆ TrafficLightManager

◆ WeatherClass