ActorData.h

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// 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>.
 
#pragma once
 
#include "Carla/Vehicle/AckermannControllerSettings.h"
#include "Carla/Vehicle/VehicleAckermannControl.h"
#include "Carla/Vehicle/VehicleControl.h"
#include "Carla/Vehicle/VehicleLightState.h"
#include "Carla/Vehicle/VehicleInputPriority.h"
#include "Carla/Vehicle/VehiclePhysicsControl.h"
#include "Carla/Sensor/DataStream.h"
#include "Carla/Traffic/TrafficLightState.h"
#include "Carla/Actor/ActorInfo.h"
#include "Carla/Math/DVector.h"
 
#include <util/disable-ue4-macros.h>
#include <carla/rpc/WalkerControl.h>
#include <util/enable-ue4-macros.h>
 
class UCarlaEpisode;
class UTrafficLightController;
class FCarlaActor;
 
// Names and actor-relative transforms of an actor's scene components, bones and
// authored sockets, so a dormant actor answers the same queries as a live one.
struct FActorRigSnapshot
{
  TArray<FString> ComponentNames;
  TArray<FTransform> ComponentTransforms;
  TArray<FString> BoneNames;
  TArray<FTransform> BoneTransforms;
  TArray<FString> SocketNames;
  TArray<FTransform> SocketTransforms;
 
  // Reads the rig off a live actor. Every transform is relative to the actor,
  // so composing it with the actor transform gives world space either way.
  static FActorRigSnapshot FromActor(const AActor *Actor);
};
 
class FActorData
{
public:
 
  FDVector Location;
 
  // Recorded when the actor goes dormant, read while it has no AActor.
  FActorRigSnapshot Rig;
 
  FQuat Rotation;
 
  FVector Scale;
 
  FVector Velocity;
 
  FVector AngularVelocity = FVector(0,0,0);
 
  bool bSimulatePhysics = false;
 
  virtual void RecordActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode);
 
  virtual void RestoreActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode);
 
  virtual AActor* RespawnActor(UCarlaEpisode* CarlaEpisode, const FActorInfo& Info);
 
  FTransform GetLocalTransform(UCarlaEpisode* CarlaEpisode) const;
 
  virtual ~FActorData(){};
};
 
class FVehicleData : public FActorData
{
public:
 
  FVehiclePhysicsControl PhysicsControl;
 
  FVehicleControl Control;
 
  FVehicleAckermannControl AckermannControl;
 
  bool bAckermannControlActive = false;
 
  FAckermannControllerSettings AckermannControllerSettings;
 
  FVehicleLightState LightState;
 
  float SpeedLimit = 30;
 
  carla::rpc::VehicleFailureState FailureState;
 
  virtual void RecordActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
 
  virtual void RestoreActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
};
 
class FWalkerData : public FActorData
{
public:
 
  carla::rpc::WalkerControl WalkerControl;
 
  bool bAlive = true;
 
  virtual void RecordActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
 
  virtual void RestoreActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
};
 
class FTrafficSignData : public FActorData
{
public:
  FString SignId;
 
  TSubclassOf<AActor> Model;
 
  TSubclassOf<UObject> SignModel;
 
  virtual AActor* RespawnActor(UCarlaEpisode* CarlaEpisode, const FActorInfo& Info) override;
 
  virtual void RecordActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
 
  virtual void RestoreActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
};
 
class FTrafficLightData : public FActorData
{
public:
 
  UTrafficLightController* Controller;
 
  ETrafficLightState LightState;
 
  FString SignId;
 
  TSubclassOf<AActor> Model;
 
  int PoleIndex;
 
  virtual AActor* RespawnActor(UCarlaEpisode* CarlaEpisode, const FActorInfo& Info) override;
 
  virtual void RecordActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
 
  virtual void RestoreActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
 
};
 
class FActorSensorData : public FActorData
{
public:
 
  FDataStream Stream;
 
  virtual void RecordActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
 
  virtual void RestoreActorData(FCarlaActor* CarlaActor, UCarlaEpisode* CarlaEpisode) override;
};