BaseVegetationActor.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 "SpringBasedVegetationComponent.h"
 
#include <util/ue-header-guard-begin.h>
#include "GameFramework/Actor.h"
#include <util/ue-header-guard-end.h>
 
#include "BaseVegetationActor.generated.h"
 
USTRUCT(BlueprintType)
struct FSpringBasedVegetationParameters
{
  GENERATED_BODY()
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float Beta = 0.5f;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float Alpha = 0.f;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  FVector Gravity = FVector(0,0,-1);
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float BaseSpringStrength = 10000.f;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float MinSpringStrength = 2000.f;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float HorizontalFallof = 0.1f;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float VerticalFallof = 0.1f;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float RestFactor = 0.5f;
  
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float DeltaTimeOverride = -1.f;
  
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float CollisionForceParameter = 10.f;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float CollisionForceMinVel = 1.f;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float ForceDistanceFalloffExponent = 1.f;
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float ForceMaxDistance = 180.f;
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float MinForceFactor = 0.01;
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float LineTraceMaxDistance = 180.f;
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float CapsuleRadius = 6.0f;
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float MinBoneLength = 10.f;
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  FVector SpringStrengthMulFactor = FVector(1,1,1);
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  float VehicleCenterZOffset = 120.f;
  
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  FSkeletonHierarchy Skeleton;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation Component")
  bool bAutoComputeStrength = true;
 
};
 
UCLASS()
class CARLA_API ABaseVegetationActor : public AActor
{
  GENERATED_BODY()
 
public:
 
  virtual void BeginPlay() override;
 
  UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Spring Based Vegetation") 
  FSpringBasedVegetationParameters SpringParameters;
 
  UFUNCTION(BlueprintCallable, CallInEditor, Category = "Spring Based Vegetation")
  void GetParametersFromComponent();
 
  UFUNCTION(BlueprintCallable, CallInEditor, Category = "Spring Based Vegetation")
  void SetParametersToComponent();
 
  UFUNCTION(BlueprintCallable, CallInEditor, Category = "Spring Based Vegetation")
  void UpdateSkeletonAndParameters();
 
};