A simulation episode. More...

#include <CarlaEpisode.h>

Inheritance diagram for UCarlaEpisode:

Collaboration diagram for UCarlaEpisode:

Public Member Functions
void	ApplySettings (const FEpisodeSettings &Settings)

void	AttachActors (AActor Child, AActor Parent, EAttachmentType InAttachmentType=EAttachmentType::Rigid)
	Attach Child to Parent. More...

bool	DestroyActor (AActor *Actor)

bool	DestroyActor (carla::rpc::ActorId ActorId)

FCarlaActor *	FindCarlaActor (FCarlaActor::IdType ActorId)
	Find a Carla actor by id. More...

FCarlaActor *	FindCarlaActor (AActor *Actor) const
	Find the actor view of Actor. More...

const TArray< FActorDefinition > &	GetActorDefinitions () const
	Return the list of actor definitions that are available to be spawned this episode. More...

const FActorRegistry &	GetActorRegistry () const

FActorRegistry &	GetActorRegistry ()

FIntVector	GetCurrentMapOrigin () const

double	GetElapsedGameTime () const
	Game seconds since the start of this episode. More...

const carla::geom::GeoLocation &	GetGeoReference () const
	Return the GeoLocation point of the map loaded. More...

auto	GetId () const
	Return the unique id of this episode. More...

const FString &	GetMapName () const
	Return the name of the map loaded in this episode. More...

TArray< FTransform >	GetRecommendedSpawnPoints () const
	Return the list of recommended spawn points for vehicles. More...

ACarlaRecorder *	GetRecorder () const

CarlaReplayer *	GetReplayer () const

const FEpisodeSettings &	GetSettings () const

APawn *	GetSpectatorPawn () const

AWeather *	GetWeather () const

bool	LoadNewEpisode (const FString &MapString, bool ResetSettings=true)
	Load a new map and start a new episode. More...

bool	LoadNewOpendriveEpisode (const FString &OpenDriveString, const carla::rpc::OpendriveGenerationParameters &Params)
	Load a new map generating the mesh from OpenDRIVE data and start a new episode. More...

void	PutActorToSleep (carla::rpc::ActorId ActorId)

AActor *	ReSpawnActorWithInfo (const FTransform &Transform, FActorDescription thisActorDescription)
	Spawns an actor based on ActorDescription at Transform. More...

carla::rpc::Actor	SerializeActor (FCarlaActor *CarlaActor) const
	Create a serializable object describing the actor. More...

carla::rpc::Actor	SerializeActor (AActor *Actor) const
	Create a serializable object describing the actor. More...

void	SetCurrentMapOrigin (const FIntVector &NewOrigin)

void	SetRecorder (ACarlaRecorder *Rec)

AActor *	SpawnActor (const FTransform &Transform, FActorDescription ActorDescription)
	Spawns an actor based on ActorDescription at Transform. More...

TPair< EActorSpawnResultStatus, FCarlaActor * >	SpawnActorWithInfo (const FTransform &Transform, FActorDescription thisActorDescription, FCarlaActor::IdType DesiredId=0)
	Spawns an actor based on ActorDescription at Transform. More...

std::string	StartRecorder (std::string name, bool AdditionalData)

	UCarlaEpisode (const FObjectInitializer &ObjectInitializer)

void	WakeActorUp (carla::rpc::ActorId ActorId)

Private Member Functions
void	EndPlay ()

void	InitializeAtBeginPlay ()

void	RegisterActorFactory (ACarlaActorFactory &ActorFactory)

bool	SetActorSimulatePhysics (FCarlaActor &CarlaActor, bool bEnabled)

void	TickTimers (float DeltaSeconds)

std::pair< int, FCarlaActor & >	TryToCreateReplayerActor (FVector &Location, FVector &Rotation, FActorDescription &ActorDesc, unsigned int desiredId)

Private Attributes
UActorDispatcher *	ActorDispatcher = nullptr

FIntVector	CurrentMapOrigin

double	ElapsedGameTime = 0.0

FEpisodeSettings	EpisodeSettings

const uint64	Id = 0u

carla::geom::GeoLocation	MapGeoReference

FString	MapName

ACarlaRecorder *	Recorder = nullptr

APawn *	Spectator = nullptr

AWeather *	Weather = nullptr

Friends
class	ACarlaGameModeBase

class	FCarlaEngine

Detailed Description

A simulation episode.

Each time the level is restarted a new episode is created.

Definition at line 34 of file CarlaEpisode.h.

Constructor & Destructor Documentation

◆ UCarlaEpisode()

UCarlaEpisode::UCarlaEpisode ( const FObjectInitializer & ObjectInitializer )

Definition at line 52 of file CarlaEpisode.cpp.

References ActorDispatcher.

Member Function Documentation

◆ ApplySettings()

void UCarlaEpisode::ApplySettings ( const FEpisodeSettings & Settings )

Definition at line 210 of file CarlaEpisode.cpp.

References FEpisodeSettings::ActorActiveDistance, EpisodeSettings, FCarlaStaticDelegates::OnEpisodeSettingsChange, and FEpisodeSettings::TileStreamingDistance.

Referenced by FCarlaServer::FPimpl::BindActions(), LoadNewEpisode(), and FCarlaEngine::NotifyBeginEpisode().

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◆ AttachActors()

void UCarlaEpisode::AttachActors	(	AActor *	Child,
		AActor *	Parent,
		EAttachmentType	InAttachmentType = `EAttachmentType::Rigid`
	)

Attach Child to Parent.

Precondition: Actors cannot be null.

Definition at line 276 of file CarlaEpisode.cpp.

References ACarlaRecorder::AddEvent(), UActorAttacher::AttachActors(), CurrentMapOrigin, FindCarlaActor(), FCarlaActor::GetActorId(), ACarlaRecorder::IsEnabled(), and Recorder.

Referenced by FCarlaServer::FPimpl::BindActions(), CarlaReplayerHelper::ProcessReplayerEventParent(), and FActorRegistry::WakeActorUp().

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◆ DestroyActor() [1/2]

bool UCarlaEpisode::DestroyActor ( AActor * Actor )

inline

Definition at line 223 of file CarlaEpisode.h.

References FCarlaActor::GetActorId().

Referenced by FCarlaServer::FPimpl::BindActions(), and CarlaReplayerHelper::ProcessReplayerEventDel().

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◆ DestroyActor() [2/2]

bool UCarlaEpisode::DestroyActor ( carla::rpc::ActorId ActorId )

inline

Definition at line 234 of file CarlaEpisode.h.

◆ EndPlay()

void UCarlaEpisode::EndPlay ( void )

private

Definition at line 365 of file CarlaEpisode.cpp.

References ACarlaRecorder::GetReplayer(), CarlaReplayer::IsEnabled(), Recorder, CarlaReplayer::Stop(), and ACarlaRecorder::Stop().

Referenced by ACarlaGameModeBase::EndPlay().

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◆ FindCarlaActor() [1/2]

FCarlaActor* UCarlaEpisode::FindCarlaActor ( FCarlaActor::IdType ActorId )

inline

Find a Carla actor by id.

If the actor is not found or is pending kill, the returned view is invalid.

Definition at line 152 of file CarlaEpisode.h.

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◆ FindCarlaActor() [2/2]

FCarlaActor* UCarlaEpisode::FindCarlaActor ( AActor * Actor ) const

inline

Find the actor view of Actor.

If the actor is not found or is pending kill, the returned view is invalid.

Definition at line 161 of file CarlaEpisode.h.

◆ GetActorDefinitions()

const TArray<FActorDefinition>& UCarlaEpisode::GetActorDefinitions ( ) const

inline

Return the list of actor definitions that are available to be spawned this episode.

Definition at line 103 of file CarlaEpisode.h.

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

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◆ GetActorRegistry() [1/2]

const FActorRegistry& UCarlaEpisode::GetActorRegistry ( ) const

inline

Definition at line 134 of file CarlaEpisode.h.

Referenced by ACarlaRecorder::AddCollision(), ACarlaRecorder::AddExistingActors(), ACarlaRecorder::AddPhysicsControl(), ACarlaRecorder::AddTrafficLightTime(), ACarlaRecorder::AddTriggerVolume(), FCarlaServer::FPimpl::BindActions(), ARayCastSemanticLidar::ComputeRawDetection(), CarlaReplayerHelper::FindTrafficLightAt(), FWorldObserver_Serialize(), ALargeMapManager::OnActorSpawned(), CarlaReplayerHelper::ProcessReplayerFinish(), ALargeMapManager::RegisterInitialObjects(), ACarlaRecorder::Ticking(), and CarlaReplayerHelper::TryToCreateReplayerActor().

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◆ GetActorRegistry() [2/2]

FActorRegistry& UCarlaEpisode::GetActorRegistry ( )

inline

Definition at line 139 of file CarlaEpisode.h.

◆ GetCurrentMapOrigin()

FIntVector UCarlaEpisode::GetCurrentMapOrigin ( ) const

inline

Definition at line 288 of file CarlaEpisode.h.

Referenced by FWorldObserver_Serialize(), FActorData::GetLocalTransform(), and FActorData::RecordActorData().

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◆ GetElapsedGameTime()

double UCarlaEpisode::GetElapsedGameTime ( ) const

inline

Game seconds since the start of this episode.

Definition at line 95 of file CarlaEpisode.h.

Referenced by FWorldObserver::BroadcastTick().

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◆ GetGeoReference()

const carla::geom::GeoLocation& UCarlaEpisode::GetGeoReference ( ) const

inline

Return the GeoLocation point of the map loaded.

Definition at line 113 of file CarlaEpisode.h.

Referenced by AGnssSensor::BeginPlay().

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◆ GetId()

auto UCarlaEpisode::GetId ( ) const

inline

Return the unique id of this episode.

Definition at line 82 of file CarlaEpisode.h.

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

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◆ GetMapName()

const FString& UCarlaEpisode::GetMapName ( ) const

inline

Return the name of the map loaded in this episode.

Definition at line 89 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), LoadNewEpisode(), FCarlaServer::NotifyBeginEpisode(), and CarlaReplayer::ReplayFile().

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◆ GetRecommendedSpawnPoints()

TArray< FTransform > UCarlaEpisode::GetRecommendedSpawnPoints ( ) const

Return the list of recommended spawn points for vehicles.

Definition at line 221 of file CarlaEpisode.cpp.

References UCarlaStatics::GetGameMode(), and ACarlaGameModeBase::GetSpawnPointsTransforms().

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

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◆ GetRecorder()

ACarlaRecorder* UCarlaEpisode::GetRecorder ( ) const

inline

Definition at line 271 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), ACollisionSensor::OnCollisionEvent(), and FCarlaEngine::OnPostTick().

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◆ GetReplayer()

CarlaReplayer* UCarlaEpisode::GetReplayer ( ) const

inline

Definition at line 281 of file CarlaEpisode.h.

Referenced by ACarlaRecorder::Ticking().

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◆ GetSettings()

const FEpisodeSettings& UCarlaEpisode::GetSettings ( ) const

inline

Definition at line 69 of file CarlaEpisode.h.

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

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◆ GetSpectatorPawn()

APawn* UCarlaEpisode::GetSpectatorPawn ( ) const

inline

Definition at line 123 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), and CarlaReplayerHelper::SetCameraPosition().

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◆ GetWeather()

AWeather* UCarlaEpisode::GetWeather ( ) const

inline

Definition at line 129 of file CarlaEpisode.h.

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

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◆ InitializeAtBeginPlay()

void UCarlaEpisode::InitializeAtBeginPlay ( )

private

Definition at line 297 of file CarlaEpisode.cpp.

References ActorDispatcher, FActorDescription::Class, Float, GetActorDefinitions(), ATrafficSignBase::GetTrafficSignState(), FActorDescription::Id, UActorDispatcher::RegisterActor(), Spectator, String, UCarlaEpisode_GetTrafficSignId(), FActorDescription::UId, and FActorDescription::Variations.

Referenced by ACarlaGameModeBase::BeginPlay().

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◆ LoadNewEpisode()

bool UCarlaEpisode::LoadNewEpisode	(	const FString &	MapString,
		bool	ResetSettings = `true`
	)

Load a new map and start a new episode.

If MapString is empty, the current map is reloaded.

Definition at line 59 of file CarlaEpisode.cpp.

References ApplySettings(), carla::client::detail::Get(), and GetMapName().

Referenced by FCarlaServer::FPimpl::BindActions(), and CarlaReplayer::ReplayFile().

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◆ LoadNewOpendriveEpisode()

bool UCarlaEpisode::LoadNewOpendriveEpisode	(	const FString &	OpenDriveString,
		const carla::rpc::OpendriveGenerationParameters &	Params
	)

Load a new map generating the mesh from OpenDRIVE data and start a new episode.

If MapString is empty, it fails.

Todo:: this can take too long to finish, clients need a method to know if the navigation is available or not.

Definition at line 127 of file CarlaEpisode.cpp.

References BuildRecastBuilderFile(), carla::rpc::OpendriveGenerationParameters::enable_pedestrian_navigation, carla::client::detail::Get(), UCarlaStatics::GetGameInstance(), carla::opendrive::OpenDriveParser::Load(), carla::log_warning(), UCarlaGameInstance::SetOpendriveGenerationParameters(), and carla::rpc::OpendriveGenerationParameters::vertex_distance.

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

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◆ PutActorToSleep()

void UCarlaEpisode::PutActorToSleep ( carla::rpc::ActorId ActorId )

inline

Definition at line 246 of file CarlaEpisode.h.

Referenced by FCarlaServer::FPimpl::BindActions(), ALargeMapManager::ConvertActiveToDormantActors(), and CarlaReplayerHelper::ProcessReplayerEventParent().

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◆ RegisterActorFactory()

void UCarlaEpisode::RegisterActorFactory ( ACarlaActorFactory & ActorFactory )

inlineprivate

Definition at line 301 of file CarlaEpisode.h.

Referenced by ACarlaGameModeBase::SpawnActorFactories().

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◆ ReSpawnActorWithInfo()

AActor* UCarlaEpisode::ReSpawnActorWithInfo	(	const FTransform &	Transform,
		FActorDescription	thisActorDescription
	)

inline

Spawns an actor based on ActorDescription at Transform.

Returns: the actor to be spawned

Definition at line 184 of file CarlaEpisode.h.

Referenced by FActorData::RespawnActor().

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◆ SerializeActor() [1/2]

carla::rpc::Actor UCarlaEpisode::SerializeActor ( FCarlaActor * CarlaActor ) const

Create a serializable object describing the actor.

Definition at line 228 of file CarlaEpisode.cpp.

References FCarlaActor::GetActorInfo(), FCarlaActor::GetParent(), GetRelevantTagAsString(), carla::rpc::Actor::parent_id, and FActorInfo::SerializedData.

Referenced by FCarlaServer::FPimpl::BindActions(), ACollisionSensor::OnCollisionEvent(), AObstacleDetectionSensor::OnObstacleDetectionEvent(), and SerializeActor().

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◆ SerializeActor() [2/2]

carla::rpc::Actor UCarlaEpisode::SerializeActor ( AActor * Actor ) const

Create a serializable object describing the actor.

Can be used to serialized actors that are not in the registry

Definition at line 249 of file CarlaEpisode.cpp.

References carla::rpc::Actor::bounding_box, carla::rpc::Actor::description, FindCarlaActor(), UBoundingBoxCalculator::GetActorBoundingBox(), GetRelevantTagAsString(), ATagger::GetTagsOfTaggedActor(), FActorDescription::Id, carla::rpc::Actor::id, carla::rpc::Actor::semantic_tags, and SerializeActor().

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◆ SetActorSimulatePhysics()

bool UCarlaEpisode::SetActorSimulatePhysics	(	FCarlaActor &	CarlaActor,
		bool	bEnabled
	)

private

◆ SetCurrentMapOrigin()

void UCarlaEpisode::SetCurrentMapOrigin ( const FIntVector & NewOrigin )

inline

Definition at line 290 of file CarlaEpisode.h.

Referenced by ALargeMapManager::PostWorldOriginOffset().

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◆ SetRecorder()

void UCarlaEpisode::SetRecorder ( ACarlaRecorder * Rec )

inline

Definition at line 276 of file CarlaEpisode.h.

Referenced by ACarlaGameModeBase::InitGame(), and FCarlaEngine::NotifyBeginEpisode().

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◆ SpawnActor()

AActor* UCarlaEpisode::SpawnActor	(	const FTransform &	Transform,
		FActorDescription	ActorDescription
	)

inline

Spawns an actor based on ActorDescription at Transform.

To properly despawn an actor created with this function call DestroyActor.

Returns: nullptr on failure.

Note: Special overload for blueprints.

Definition at line 205 of file CarlaEpisode.h.

References Rigid.

Referenced by FTrafficSignData::RespawnActor(), and FTrafficLightData::RespawnActor().

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◆ SpawnActorWithInfo()

TPair< EActorSpawnResultStatus, FCarlaActor * > UCarlaEpisode::SpawnActorWithInfo	(	const FTransform &	Transform,
		FActorDescription	thisActorDescription,
		FCarlaActor::IdType	DesiredId = `0`
	)

Spawns an actor based on ActorDescription at Transform.

To properly despawn an actor created with this function call DestroyActor.

Returns: A pair containing the result of the spawn function and a view over the actor and its properties. If the status is different of Success the view is invalid.

Definition at line 394 of file CarlaEpisode.cpp.

References ActorDispatcher, ACarlaRecorder::CreateRecorderEventAdd(), UCarlaStatics::GetLargeMapManager(), ALargeMapManager::GlobalToLocalTransform(), ACarlaRecorder::IsEnabled(), Recorder, and UActorDispatcher::SpawnActor().

Referenced by FCarlaServer::FPimpl::BindActions(), and CarlaReplayerHelper::TryToCreateReplayerActor().

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◆ StartRecorder()

std::string UCarlaEpisode::StartRecorder	(	std::string	name,
		bool	AdditionalData
	)

Definition at line 378 of file CarlaEpisode.cpp.

References MapName, Recorder, and ACarlaRecorder::Start().

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

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◆ TickTimers()

void UCarlaEpisode::TickTimers ( float DeltaSeconds )

inlineprivate

Definition at line 314 of file CarlaEpisode.h.

Referenced by FCarlaEngine::OnPreTick().

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◆ TryToCreateReplayerActor()

std::pair<int, FCarlaActor&> UCarlaEpisode::TryToCreateReplayerActor	(	FVector &	Location,
		FVector &	Rotation,
		FActorDescription &	ActorDesc,
		unsigned int	desiredId
	)

private

◆ WakeActorUp()

void UCarlaEpisode::WakeActorUp ( carla::rpc::ActorId ActorId )

inline

Definition at line 251 of file CarlaEpisode.h.

Referenced by ALargeMapManager::ConvertDormantToActiveActors().

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Friends And Related Function Documentation

◆ ACarlaGameModeBase

friend class ACarlaGameModeBase

friend

Definition at line 294 of file CarlaEpisode.h.

◆ FCarlaEngine

friend class FCarlaEngine

friend

Definition at line 295 of file CarlaEpisode.h.

Member Data Documentation

◆ ActorDispatcher

UActorDispatcher* UCarlaEpisode::ActorDispatcher = nullptr

private

Definition at line 330 of file CarlaEpisode.h.

Referenced by InitializeAtBeginPlay(), SpawnActorWithInfo(), and UCarlaEpisode().

◆ CurrentMapOrigin

FIntVector UCarlaEpisode::CurrentMapOrigin

private

Definition at line 342 of file CarlaEpisode.h.

Referenced by AttachActors().

◆ ElapsedGameTime

double UCarlaEpisode::ElapsedGameTime = 0.0

private

Definition at line 321 of file CarlaEpisode.h.

◆ EpisodeSettings

FEpisodeSettings UCarlaEpisode::EpisodeSettings

private

Definition at line 327 of file CarlaEpisode.h.

Referenced by ApplySettings(), and FCarlaEngine::NotifyBeginEpisode().

◆ Id

const uint64 UCarlaEpisode::Id = 0u

private

Definition at line 319 of file CarlaEpisode.h.

◆ MapGeoReference

carla::geom::GeoLocation UCarlaEpisode::MapGeoReference

private

Definition at line 340 of file CarlaEpisode.h.

Referenced by ACarlaGameModeBase::ParseOpenDrive().

◆ MapName

FString UCarlaEpisode::MapName

private

Definition at line 324 of file CarlaEpisode.h.

Referenced by UOpenDrive::FindPathToXODRFile(), UOpenDrive::GetXODR(), UOpenDrive::GetXODRByPath(), ACarlaGameModeBase::InitGame(), and StartRecorder().

◆ Recorder

ACarlaRecorder* UCarlaEpisode::Recorder = nullptr

private

Definition at line 338 of file CarlaEpisode.h.

Referenced by AttachActors(), EndPlay(), SpawnActorWithInfo(), and StartRecorder().

◆ Spectator

APawn* UCarlaEpisode::Spectator = nullptr

private

Definition at line 333 of file CarlaEpisode.h.

Referenced by InitializeAtBeginPlay().

◆ Weather

AWeather* UCarlaEpisode::Weather = nullptr

private

Definition at line 336 of file CarlaEpisode.h.

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

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

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ UCarlaEpisode()

Member Function Documentation

◆ ApplySettings()

◆ AttachActors()

◆ DestroyActor() [1/2]

◆ DestroyActor() [2/2]

◆ EndPlay()

◆ FindCarlaActor() [1/2]

◆ FindCarlaActor() [2/2]

◆ GetActorDefinitions()

◆ GetActorRegistry() [1/2]

◆ GetActorRegistry() [2/2]

◆ GetCurrentMapOrigin()

◆ GetElapsedGameTime()

◆ GetGeoReference()

◆ GetId()

◆ GetMapName()

◆ GetRecommendedSpawnPoints()

◆ GetRecorder()

◆ GetReplayer()

◆ GetSettings()

◆ GetSpectatorPawn()

◆ GetWeather()

◆ InitializeAtBeginPlay()

◆ LoadNewEpisode()

◆ LoadNewOpendriveEpisode()

◆ PutActorToSleep()

◆ RegisterActorFactory()

◆ ReSpawnActorWithInfo()

◆ SerializeActor() [1/2]

◆ SerializeActor() [2/2]

◆ SetActorSimulatePhysics()

◆ SetCurrentMapOrigin()

◆ SetRecorder()

◆ SpawnActor()

◆ SpawnActorWithInfo()

◆ StartRecorder()

◆ TickTimers()

◆ TryToCreateReplayerActor()

◆ WakeActorUp()

Friends And Related Function Documentation

◆ ACarlaGameModeBase

◆ FCarlaEngine

Member Data Documentation

◆ ActorDispatcher

◆ CurrentMapOrigin

◆ ElapsedGameTime

◆ EpisodeSettings

◆ Id

◆ MapGeoReference

◆ MapName

◆ Recorder

◆ Spectator

◆ Weather