Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Vehicle/VehiclePhysicsControl.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
// Copyright (c) 2019 Intel Corporation
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "Vehicle/WheelPhysicsControl.h"
 
#include <util/ue-header-guard-begin.h>
#include "Curves/RichCurve.h"
#include <util/ue-header-guard-end.h>
 
#include "VehiclePhysicsControl.generated.h"
 
 
USTRUCT(BlueprintType)
struct CARLA_API FVehiclePhysicsControl
{
  GENERATED_BODY()
 
  // MECHANICAL SETUP
 
  // Engine Setup
  FRichCurve TorqueCurve;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float MaxTorque = 300.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float MaxRPM = 5000.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float IdleRPM = 1.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float BrakeEffect = 1.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float RevUpMOI = 1.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float RevDownRate = 600.0f;
 
  // Differential Setup
  // ToDo: Convert to an enum, see EVehicleDifferential.
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  uint8 DifferentialType = 0;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float FrontRearSplit = 0.5f;
 
  // Transmission Setup
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  bool bUseAutomaticGears = true;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float GearChangeTime = 0.5f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float FinalRatio = 4.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  TArray<float> ForwardGearRatios = { 2.85, 2.02, 1.35, 1.0, 2.85, 2.02, 1.35, 1.0 };
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  TArray<float> ReverseGearRatios = { 2.86, 2.86 };
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float ChangeUpRPM = 4500.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float ChangeDownRPM = 2000.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float TransmissionEfficiency = 0.9f;
 
  // Vehicle Setup
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float Mass = 1000.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float DragCoefficient = 0.3f;
 
  // Steering Setup
  FRichCurve SteeringCurve;
 
  // Center Of Mass
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  FVector CenterOfMass = FVector::ZeroVector;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float ChassisWidth = 180.f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float ChassisHeight = 140.f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float DownforceCoefficient = 0.3f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float DragArea = 0.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  FVector InertiaTensorScale = FVector(1.0f, 1.0f, 1.0f);
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float SleepThreshold = 10.0f;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  float SleepSlopeLimit = 0.866f;   // 30º
 
  /*
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  TArray<FVehicleAerofoilConfig> Aerofoils;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  TArray<FVehicleThrustConfig> Thrusters;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  FVehicleTorqueControlConfig TorqueControl;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  FVehicleTargetRotationControlConfig TargetRotationControl;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  FVehicleStabilizeControlConfig StabilizeControl;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  uint32 VehicleSetupTag;
 
  */
 
  // Wheels Setup
  TArray<FWheelPhysicsControl> Wheels;
 
  UPROPERTY(Category = "Vehicle Engine Physics Control", EditAnywhere, BlueprintReadWrite)
  bool UseSweepWheelCollision = false;
};