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Consolidate vehicle creation code in SimModeBase
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@rajat2004
rajat2004 committed Mar 5, 2021
1 parent 208c3cb commit 1e3451b
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Showing 2 changed files with 48 additions and 61 deletions.
107 changes: 46 additions & 61 deletions Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -556,68 +556,83 @@ FRotator ASimModeBase::toFRotator(const msr::airlib::AirSimSettings::Rotation& r
return frotator;
}

// TODO factor out commonalities with this and setupVehiclesAndCamera, below
bool ASimModeBase::createVehicleAtRuntime(const AirSimSettings::VehicleSetting &vehicle_setting)
APawn* ASimModeBase::createVehiclePawn(const AirSimSettings::VehicleSetting& vehicle_setting)
{
if (!isVehicleTypeSupported(vehicle_setting.vehicle_type)) {
Utils::log(Utils::stringf("Vehicle type %s is not supported in this game mode", vehicle_setting.vehicle_type.c_str()), Utils::kLogLevelWarn);
return false;
}

// Retroactively adjust AirSimSettings, so it's like we knew about this vehicle all along
// (Other places in the code use this for reference)
AirSimSettings::singleton().addVehicleSetting(vehicle_setting);

//get UU origin of global NED frame
const FTransform uu_origin = getGlobalNedTransform().getGlobalTransform();

//compute initial pose
// compute initial pose
FVector spawn_position = uu_origin.GetLocation();
msr::airlib::Vector3r settings_position = vehicle_setting.position;
if (!msr::airlib::VectorMath::hasNan(settings_position))
Vector3r settings_position = vehicle_setting.position;
if (!VectorMath::hasNan(settings_position))
spawn_position = getGlobalNedTransform().fromGlobalNed(settings_position);

FRotator spawn_rotation = toFRotator(vehicle_setting.rotation, uu_origin.Rotator());

//spawn vehicle pawn
FActorSpawnParameters pawn_spawn_params;

std::string vehicle_name = vehicle_setting.vehicle_name;

//spawn vehicle pawn
FActorSpawnParameters pawn_spawn_params;
pawn_spawn_params.Name = FName(vehicle_name.c_str());
pawn_spawn_params.SpawnCollisionHandlingOverride =
ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;

auto vehicle_bp_class = UAirBlueprintLib::LoadClass(
getSettings().pawn_paths.at(getVehiclePawnPathName(vehicle_setting)).pawn_bp);
APawn* spawned_pawn = static_cast<APawn*>(this->GetWorld()->SpawnActor(
vehicle_bp_class, &spawn_position, &spawn_rotation, pawn_spawn_params));

spawned_actors_.Add(spawned_pawn);

initializeVehiclePawn(spawned_pawn);
return spawned_pawn;
}

std::unique_ptr<PawnSimApi> ASimModeBase::createVehicleApi(APawn* vehicle_pawn)
{
initializeVehiclePawn(vehicle_pawn);

//create vehicle sim api
const auto& ned_transform = getGlobalNedTransform();
const auto& pawn_ned_pos = ned_transform.toLocalNed(spawned_pawn->GetActorLocation());
const auto& home_geopoint = msr::airlib::EarthUtils::nedToGeodetic(pawn_ned_pos, getSettings().origin_geopoint);
const auto& pawn_ned_pos = ned_transform.toLocalNed(vehicle_pawn->GetActorLocation());
const auto& home_geopoint= msr::airlib::EarthUtils::nedToGeodetic(pawn_ned_pos, getSettings().origin_geopoint);
const std::string vehicle_name = std::string(TCHAR_TO_UTF8(*(vehicle_pawn->GetName())));

PawnSimApi::Params pawn_sim_api_params(spawned_pawn, &getGlobalNedTransform(),
getVehiclePawnEvents(spawned_pawn), getVehiclePawnCameras(spawned_pawn), pip_camera_class,
PawnSimApi::Params pawn_sim_api_params(vehicle_pawn, &getGlobalNedTransform(),
getVehiclePawnEvents(vehicle_pawn), getVehiclePawnCameras(vehicle_pawn), pip_camera_class,
collision_display_template, home_geopoint, vehicle_name);

auto vehicle_sim_api = createVehicleSimApi(pawn_sim_api_params);
auto vehicle_sim_api_p = vehicle_sim_api.get();
auto vehicle_Api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p);
getApiProvider()->insert_or_assign(vehicle_name, vehicle_Api, vehicle_sim_api_p);
auto vehicle_api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p);
getApiProvider()->insert_or_assign(vehicle_name, vehicle_api, vehicle_sim_api_p);

return vehicle_sim_api;
}

bool ASimModeBase::createVehicleAtRuntime(const AirSimSettings::VehicleSetting &vehicle_setting)
{
if (!isVehicleTypeSupported(vehicle_setting.vehicle_type)) {
Utils::log(Utils::stringf("Vehicle type %s is not supported in this game mode", vehicle_setting.vehicle_type.c_str()), Utils::kLogLevelWarn);
return false;
}

// Retroactively adjust AirSimSettings, so it's like we knew about this vehicle all along
// (Other places in the code use this for reference)
AirSimSettings::singleton().addVehicleSetting(vehicle_setting);

auto spawned_pawn = createVehiclePawn(vehicle_setting);

auto vehicle_sim_api = createVehicleApi(spawned_pawn);
auto vehicle_sim_api_p = vehicle_sim_api.get();
std::string vehicle_name = vehicle_sim_api->getVehicleName();

// Usually physics registration happens at init, in ASimModeWorldBase::initializeForPlay(), but not in this case
vehicle_sim_api_p->reset();
registerPhysicsBody(vehicle_sim_api_p);

// Can't be done before the vehicle apis have been created
if ((vehicle_setting.is_fpv_vehicle || !getApiProvider()->hasDefaultVehicle()) && vehicle_name != "")
{
getApiProvider()->makeDefaultVehicle(vehicle_name);
}

vehicle_sim_apis_.push_back(std::move(vehicle_sim_api));

Expand Down Expand Up @@ -648,31 +663,14 @@ void ASimModeBase::setupVehiclesAndCamera()
fpv_pawn = static_cast<APawn*>(pawns[0]);
} else {
//add vehicles from settings
for (auto const& vehicle_setting_pair : getSettings().vehicles)
for (const auto& vehicle_setting_pair : getSettings().vehicles)
{
//if vehicle is of type for derived SimMode and auto creatable
const auto& vehicle_setting = *vehicle_setting_pair.second;
if (vehicle_setting.auto_create &&
isVehicleTypeSupported(vehicle_setting.vehicle_type)) {

//compute initial pose
FVector spawn_position = uu_origin.GetLocation();
Vector3r settings_position = vehicle_setting.position;
if (!VectorMath::hasNan(settings_position))
spawn_position = getGlobalNedTransform().fromGlobalNed(settings_position);
FRotator spawn_rotation = toFRotator(vehicle_setting.rotation, uu_origin.Rotator());

//spawn vehicle pawn
FActorSpawnParameters pawn_spawn_params;
pawn_spawn_params.Name = FName(vehicle_setting.vehicle_name.c_str());
pawn_spawn_params.SpawnCollisionHandlingOverride =
ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;
auto vehicle_bp_class = UAirBlueprintLib::LoadClass(
getSettings().pawn_paths.at(getVehiclePawnPathName(vehicle_setting)).pawn_bp);
APawn* spawned_pawn = static_cast<APawn*>(this->GetWorld()->SpawnActor(
vehicle_bp_class, &spawn_position, &spawn_rotation, pawn_spawn_params));

spawned_actors_.Add(spawned_pawn);
auto spawned_pawn = createVehiclePawn(vehicle_setting);
pawns.Add(spawned_pawn);

if (vehicle_setting.is_fpv_vehicle)
Expand All @@ -683,24 +681,11 @@ void ASimModeBase::setupVehiclesAndCamera()
//create API objects for each pawn we have
for (AActor* pawn : pawns)
{
APawn* vehicle_pawn = static_cast<APawn*>(pawn);

initializeVehiclePawn(vehicle_pawn);
auto vehicle_pawn = static_cast<APawn*>(pawn);

//create vehicle sim api
const auto& ned_transform = getGlobalNedTransform();
const auto& pawn_ned_pos = ned_transform.toLocalNed(vehicle_pawn->GetActorLocation());
const auto& home_geopoint= msr::airlib::EarthUtils::nedToGeodetic(pawn_ned_pos, getSettings().origin_geopoint);
const std::string vehicle_name = std::string(TCHAR_TO_UTF8(*(vehicle_pawn->GetName())));

PawnSimApi::Params pawn_sim_api_params(vehicle_pawn, &getGlobalNedTransform(),
getVehiclePawnEvents(vehicle_pawn), getVehiclePawnCameras(vehicle_pawn), pip_camera_class,
collision_display_template, home_geopoint, vehicle_name);
auto vehicle_sim_api = createVehicleApi(vehicle_pawn);
std::string vehicle_name = vehicle_sim_api->getVehicleName();

auto vehicle_sim_api = createVehicleSimApi(pawn_sim_api_params);
auto vehicle_sim_api_p = vehicle_sim_api.get();
auto vehicle_Api = getVehicleApi(pawn_sim_api_params, vehicle_sim_api_p);
getApiProvider()->insert_or_assign(vehicle_name, vehicle_Api, vehicle_sim_api_p);
if ((fpv_pawn == vehicle_pawn || !getApiProvider()->hasDefaultVehicle()) && vehicle_name != "")
getApiProvider()->makeDefaultVehicle(vehicle_name);

Expand Down
2 changes: 2 additions & 0 deletions Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h
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Original file line number Diff line number Diff line change
Expand Up @@ -111,6 +111,8 @@ class AIRSIM_API ASimModeBase : public AActor
const PawnSimApi* sim_api) const;

protected: //optional overrides
virtual APawn* createVehiclePawn(const AirSimSettings::VehicleSetting& vehicle_setting);
virtual std::unique_ptr<PawnSimApi> createVehicleApi(APawn* vehicle_pawn);
virtual void setupVehiclesAndCamera();
virtual void setupInputBindings();
//called when SimMode should handle clock speed setting
Expand Down

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