#include <CarlaActor.h>

Inheritance diagram for FWalkerActor:

Public Member Functions
virtual ECarlaServerResponse	ApplyControlToWalker (const FWalkerControl &) final

virtual ECarlaServerResponse	BlendPose (float Blend)

	FWalkerActor (IdType ActorId, AActor Actor, TSharedPtr< const FActorInfo > Info, carla::rpc::ActorState InState, UWorld World)

virtual FVector	GetActorVelocity () const final
	Walkers move via UCharacterMovementComponent (kinematic sweeps driven by AddMovementInput), not physics simulation.

virtual ECarlaServerResponse	GetBonesTransform (FWalkerBoneControlOut &) final

virtual ECarlaServerResponse	GetPoseFromAnimation ()

virtual ECarlaServerResponse	GetWalkerControl (FWalkerControl &) final

virtual ECarlaServerResponse	SetActorDead ()

virtual ECarlaServerResponse	SetActorEnableGravity (bool bEnabled) final

virtual ECarlaServerResponse	SetActorSimulatePhysics (bool bSimulatePhysics) final

virtual ECarlaServerResponse	SetBonesTransform (const FWalkerBoneControlIn &) final

virtual ECarlaServerResponse	SetWalkerState (const FTransform &Transform, carla::rpc::WalkerControl WalkerControl) final

Public Member Functions inherited from FCarlaActor
ECarlaServerResponse	AddActorAngularImpulse (const FVector &AngularInpulse)

ECarlaServerResponse	AddActorForce (const FVector &Force)

ECarlaServerResponse	AddActorForceAtLocation (const FVector &Force, const FVector &Location)

ECarlaServerResponse	AddActorImpulse (const FVector &Impulse)

ECarlaServerResponse	AddActorImpulseAtLocation (const FVector &Impulse, const FVector &Location)

ECarlaServerResponse	AddActorTorque (const FVector &Torque)

void	AddChildren (IdType ChildId)

virtual ECarlaServerResponse	ApplyAckermannControllerSettings (const FAckermannControllerSettings &)

virtual ECarlaServerResponse	ApplyAckermannControlToVehicle (const FVehicleAckermannControl &, const EVehicleInputPriority &)

virtual ECarlaServerResponse	ApplyControlToVehicle (const FVehicleControl &, const EVehicleInputPriority &)

virtual ECarlaServerResponse	ApplyPhysicsControl (const FVehiclePhysicsControl &)

void	BuildActorData ()

void	ClearMirroredKinematics ()

virtual ECarlaServerResponse	CloseVehicleDoor (const EVehicleDoor)

virtual ECarlaServerResponse	DisableActorConstantAcceleration ()

virtual ECarlaServerResponse	DisableActorConstantVelocity ()

virtual ECarlaServerResponse	EnableActorConstantAcceleration (const FVector &)

virtual ECarlaServerResponse	EnableActorConstantVelocity (const FVector &)

virtual ECarlaServerResponse	EnableCarSim (const FString &)

virtual ECarlaServerResponse	EnableChronoPhysics (uint64_t, float, const FString &, const FString &, const FString &, const FString &)

	FCarlaActor ()=default

	FCarlaActor (IdType ActorId, AActor Actor, TSharedPtr< const FActorInfo > Info, carla::rpc::ActorState InState, UWorld World)

virtual ECarlaServerResponse	FreezeTrafficLight (bool)

virtual ECarlaServerResponse	GetAckermannControllerSettings (FAckermannControllerSettings &)

AActor *	GetActor ()

const AActor *	GetActor () const

FVector	GetActorAngularVelocity () const

ECarlaServerResponse	GetActorBoneNames (TArray< FString > &Names) const

ECarlaServerResponse	GetActorBoneRelativeTransforms (TArray< FTransform > &Transforms) const

ECarlaServerResponse	GetActorBoneWorldTransforms (TArray< FTransform > &Transforms) const

ECarlaServerResponse	GetActorComponentNames (TArray< FString > &Names) const

ECarlaServerResponse	GetActorComponentRelativeTransform (const FString &ComponentName, FTransform &Transform) const

ECarlaServerResponse	GetActorComponentWorldTransform (const FString &ComponentName, FTransform &Transform) const

FActorData *	GetActorData ()

template<typename T >
T *	GetActorData ()

const FActorData *	GetActorData () const

template<typename T >
const T *	GetActorData () const

FVector	GetActorGlobalLocation () const

FTransform	GetActorGlobalTransform () const

IdType	GetActorId () const

const FActorInfo *	GetActorInfo () const

FVector	GetActorLocalLocation () const

FTransform	GetActorLocalTransform () const

ECarlaServerResponse	GetActorRigSnapshot (FActorRigSnapshot &Rig) const

ECarlaServerResponse	GetActorSocketNames (TArray< FString > &Names) const

ECarlaServerResponse	GetActorSocketRelativeTransforms (TArray< FTransform > &Transforms) const

ECarlaServerResponse	GetActorSocketWorldTransforms (TArray< FTransform > &Transforms) const

carla::rpc::ActorState	GetActorState () const

ActorType	GetActorType () const

carla::rpc::AttachmentType	GetAttachmentType () const

const TArray< IdType > &	GetChildren () const

virtual ECarlaServerResponse	GetFailureState (carla::rpc::VehicleFailureState &)

FVector	GetMirroredAngularVelocityInRadians () const

uint64	GetMirroredKinematicsFrame () const

IdType	GetParent () const

virtual ECarlaServerResponse	GetPhysicsControl (FVehiclePhysicsControl &)

IdType	GetPrimaryActorId () const
	The id clients know this actor by: the primary's for a mirror on a Multi-GPU secondary, this actor's own id everywhere else.

virtual UTrafficLightController *	GetTrafficLightController ()

virtual ETrafficLightState	GetTrafficLightState () const

virtual ECarlaServerResponse	GetVehicleAckermannControl (FVehicleAckermannControl &)

virtual ECarlaServerResponse	GetVehicleControl (FVehicleControl &)

virtual ECarlaServerResponse	GetVehicleLightState (FVehicleLightState &)

virtual ECarlaServerResponse	GetVehicleTelemetryData (FVehicleTelemetryData &)

virtual ECarlaServerResponse	GetWheelPitchAngle (const EVehicleWheelLocation &, float &)

virtual ECarlaServerResponse	GetWheelSteerAngle (const EVehicleWheelLocation &, float &)

virtual ECarlaServerResponse	GetWheelSuspensionOffset (const EVehicleWheelLocation &, float &)

bool	HasMirroredKinematics () const

bool	IsActive () const

bool	IsAlive () const

bool	IsDormant () const

bool	IsInValid () const

bool	IsPendingKill () const

virtual ECarlaServerResponse	OpenVehicleDoor (const EVehicleDoor)

void	PutActorToSleep (UCarlaEpisode *CarlaEpisode)

void	RemoveChildren (IdType ChildId)

virtual ECarlaServerResponse	ResetTrafficLightGroup ()

virtual ECarlaServerResponse	SetActorAutopilot (bool, bool bKeepState=false)

virtual ECarlaServerResponse	SetActorCollisions (bool bEnabled)

void	SetActorGlobalLocation (const FVector &Location, ETeleportType Teleport=ETeleportType::TeleportPhysics)

void	SetActorGlobalTransform (const FTransform &Transform, ETeleportType Teleport=ETeleportType::TeleportPhysics)

void	SetActorLocalLocation (const FVector &Location, ETeleportType Teleport=ETeleportType::TeleportPhysics)

void	SetActorLocalTransform (const FTransform &Transform, ETeleportType Teleport=ETeleportType::TeleportPhysics)

void	SetActorState (carla::rpc::ActorState InState)

ECarlaServerResponse	SetActorTargetAngularVelocity (const FVector &AngularVelocity)

ECarlaServerResponse	SetActorTargetVelocity (const FVector &Velocity)

void	SetAttachmentType (carla::rpc::AttachmentType InAttachmentType)

virtual ECarlaServerResponse	SetLightGreenTime (float)

virtual ECarlaServerResponse	SetLightRedTime (float)

virtual ECarlaServerResponse	SetLightYellowTime (float)

void	SetMirroredKinematics (const FVector &Velocity, const FVector &AngularVelocityRadians, uint64 Frame)
	Multi-GPU secondary: the primary's velocities of the actor this one mirrors, in the world frame (cm/s and rad/s), of primary frame Frame.

void	SetParent (IdType InParentId)

void	SetPrimaryActorId (IdType InPrimaryActorId)
	Multi-GPU secondary: the id the primary gave the actor this one mirrors.

virtual ECarlaServerResponse	SetTrafficLightState (const ETrafficLightState &)

virtual ECarlaServerResponse	SetVehicleLightState (const FVehicleLightState &)

virtual ECarlaServerResponse	SetWheelAnimationOverride (bool)

virtual ECarlaServerResponse	SetWheelPitchAngle (const EVehicleWheelLocation &, float)

virtual ECarlaServerResponse	SetWheelSteerDirection (const EVehicleWheelLocation &, float)

virtual ECarlaServerResponse	SetWheelSuspensionOffset (const EVehicleWheelLocation &, float)

virtual ECarlaServerResponse	ShowVehicleDebugTelemetry (bool)

ECarlaServerResponse	ToWorld (const TArray< FTransform > &Relative, TArray< FTransform > &Transforms) const

virtual ECarlaServerResponse	UseCarSimRoad (bool)

void	WakeActorUp (UCarlaEpisode *CarlaEpisode)

virtual	~FCarlaActor ()

Additional Inherited Members
Public Types inherited from FCarlaActor
enum class	ActorType : uint8 { Other , Vehicle , Walker , TrafficLight , TrafficSign , Sensor , INVALID }

using	IdType = uint32

Static Public Member Functions inherited from FCarlaActor
static TSharedPtr< FCarlaActor >	ConstructCarlaActor (IdType ActorId, AActor Actor, TSharedPtr< const FActorInfo > Info, ActorType Type, carla::rpc::ActorState InState, UWorld World)

Protected Attributes inherited from FCarlaActor
TSharedPtr< FActorData >	ActorData = nullptr

bool	bHasMirroredKinematics = false

FVector	MirroredAngularVelocity = FVector::ZeroVector

uint64	MirroredKinematicsFrame = 0u

FVector	MirroredVelocity = FVector::ZeroVector

ActorType	Type = ActorType::INVALID

UWorld *	World = nullptr

Detailed Description

Definition at line 744 of file CarlaActor.h.

Constructor & Destructor Documentation

◆ FWalkerActor()

FWalkerActor::FWalkerActor	(	IdType	ActorId,
		AActor *	Actor,
		TSharedPtr< const FActorInfo >	Info,
		carla::rpc::ActorState	InState,
		UWorld *	World
	)

Definition at line 101 of file CarlaActor.cpp.

References FCarlaActor::ActorData, FCarlaActor::Type, and FCarlaActor::Walker.

Member Function Documentation

◆ ApplyControlToWalker()

ECarlaServerResponse FWalkerActor::ApplyControlToWalker ( const FWalkerControl & Control )

finalvirtual

Reimplemented from FCarlaActor.

Definition at line 1727 of file CarlaActor.cpp.

References FCarlaActor::GetActor(), FCarlaActor::IsDormant(), NotAWalker, Success, FWalkerData::WalkerControl, and WalkerIncompatibleController.

◆ BlendPose()

ECarlaServerResponse FWalkerActor::BlendPose ( float Blend )

virtual

Reimplemented from FCarlaActor.

Definition at line 1796 of file CarlaActor.cpp.

References FCarlaActor::GetActor(), FCarlaActor::IsDormant(), NotAWalker, Success, and WalkerIncompatibleController.

◆ GetActorVelocity()

FVector FWalkerActor::GetActorVelocity ( ) const

finalvirtual

Walkers move via UCharacterMovementComponent (kinematic sweeps driven by AddMovementInput), not physics simulation.

AActor::GetVelocity() (via APawn::GetVelocity()) prefers the root component's physics-body velocity whenever the root is simulating physics, which for walker Blueprints configured for ragdoll death is often true even while idle – so the base FCarlaActor::GetActorVelocity() path can report near-zero while the walker is actually moving briskly. Read the movement component's own tracked velocity directly instead.

Reimplemented from FCarlaActor.

Definition at line 1612 of file CarlaActor.cpp.

References FCarlaActor::bHasMirroredKinematics, Character, FCarlaActor::GetActor(), FCarlaActor::GetActorData(), FCarlaActor::IsDormant(), FCarlaActor::MirroredVelocity, and FActorData::Velocity.

◆ GetBonesTransform()

ECarlaServerResponse FWalkerActor::GetBonesTransform ( FWalkerBoneControlOut & Bones )

finalvirtual

Reimplemented from FCarlaActor.

Definition at line 1752 of file CarlaActor.cpp.

References FCarlaActor::GetActor(), FCarlaActor::IsDormant(), NotAWalker, Success, and WalkerIncompatibleController.

◆ GetPoseFromAnimation()

ECarlaServerResponse FWalkerActor::GetPoseFromAnimation ( )

virtual

Reimplemented from FCarlaActor.

Definition at line 1818 of file CarlaActor.cpp.

References FCarlaActor::GetActor(), FCarlaActor::IsDormant(), NotAWalker, Success, and WalkerIncompatibleController.

◆ GetWalkerControl()

ECarlaServerResponse FWalkerActor::GetWalkerControl ( FWalkerControl & Control )

finalvirtual

Reimplemented from FCarlaActor.

Definition at line 1642 of file CarlaActor.cpp.

References ActorTypeMismatch, FCarlaActor::GetActor(), FCarlaActor::IsDormant(), Success, FCarlaActor::Walker, FWalkerData::WalkerControl, WalkerDead, and WalkerIncompatibleController.

◆ SetActorDead()

ECarlaServerResponse FWalkerActor::SetActorDead ( )

virtual

Reimplemented from FCarlaActor.

Definition at line 1840 of file CarlaActor.cpp.

References FCarlaActor::GetActor(), FCarlaActor::IsDormant(), NotAWalker, Success, and FCarlaActor::Walker.

◆ SetActorEnableGravity()

ECarlaServerResponse FWalkerActor::SetActorEnableGravity ( bool bEnabled )

finalvirtual

Reimplemented from FCarlaActor.

Definition at line 1700 of file CarlaActor.cpp.

References Character, FCarlaActor::GetActor(), FCarlaActor::IsDormant(), NotAWalker, and Success.

◆ SetActorSimulatePhysics()

ECarlaServerResponse FWalkerActor::SetActorSimulatePhysics ( bool bSimulatePhysics )

finalvirtual

Reimplemented from FCarlaActor.

Definition at line 1674 of file CarlaActor.cpp.

References FCarlaActor::ActorData, Character, FCarlaActor::GetActor(), FCarlaActor::IsDormant(), NotAWalker, and Success.

◆ SetBonesTransform()

ECarlaServerResponse FWalkerActor::SetBonesTransform ( const FWalkerBoneControlIn & Bones )

finalvirtual

Reimplemented from FCarlaActor.

Definition at line 1774 of file CarlaActor.cpp.

References FCarlaActor::GetActor(), FCarlaActor::IsDormant(), NotAWalker, Success, and WalkerIncompatibleController.

◆ SetWalkerState()

ECarlaServerResponse FWalkerActor::SetWalkerState	(	const FTransform &	Transform,
		carla::rpc::WalkerControl	WalkerControl
	)

finalvirtual

Reimplemented from FCarlaActor.

Definition at line 1563 of file CarlaActor.cpp.

References ActorTypeMismatch, FCarlaActor::GetActor(), FCarlaActor::GetActorGlobalLocation(), FCarlaActor::IsDormant(), FCarlaActor::SetActorGlobalTransform(), Success, FCarlaActor::Walker, FWalkerData::WalkerControl, WalkerDead, and WalkerIncompatibleController.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FWalkerActor()

Member Function Documentation

◆ ApplyControlToWalker()

◆ BlendPose()

◆ GetActorVelocity()

◆ GetBonesTransform()

◆ GetPoseFromAnimation()

◆ GetWalkerControl()

◆ SetActorDead()

◆ SetActorEnableGravity()

◆ SetActorSimulatePhysics()

◆ SetBonesTransform()

◆ SetWalkerState()