[Unity] Set Wind API implementation

microsoft · Aug 16, 2020 · c4e5331 · c4e5331
1 parent 68d461f
commit c4e5331
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Showing 6 changed files with 22 additions and 0 deletions.
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.cpp
@@ -86,6 +86,13 @@ void SimModeBase::setTimeOfDay(bool is_enabled, const std::string& start_datetim
         //throw std::domain_error("setTimeOfDay is not implemented by SimMode");
 }
 
+void SimModeBase::setWind(const msr::airlib::Vector3r& wind) const
+{
+    // should be overridden by derived class
+    unused(wind);
+    throw std::domain_error("setWind is not implemented by SimMode");
+}
+
 std::unique_ptr<msr::airlib::ApiServerBase> SimModeBase::createApiServer() const
 {
 	//this will be the case when compilation with RPCLIB is disabled or simmode doesn't support APIs

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeBase.h
@@ -46,6 +46,7 @@ class SimModeBase
 	virtual bool isPaused() const;
 	virtual void pause(bool is_paused);
 	virtual void continueForTime(double seconds);
+    virtual void setWind(const msr::airlib::Vector3r& wind) const;
 	void startApiServer();
 	void stopApiServer();
 	bool isApiServerStarted();

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.cpp
@@ -94,6 +94,11 @@ void SimModeWorldBase::continueForTime(double seconds)
 	physics_world_->continueForTime(seconds);
 }
 
+void SimModeWorldBase::setWind(const msr::airlib::Vector3r& wind) const
+{
+    physics_engine_->setWind(wind);
+}
+
 void SimModeWorldBase::updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter)
 {
 	unused(debug_reporter);

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h b/Unity/AirLibWrapper/AirsimWrapper/Source/SimMode/SimModeWorldBase.h
@@ -36,6 +36,8 @@ class SimModeWorldBase : public SimModeBase
 	virtual void pause(bool is_paused) override;
 	virtual void continueForTime(double seconds) override;
 
+    virtual void setWind(const msr::airlib::Vector3r& wind) const override;
+
 private:
 	std::unique_ptr<msr::airlib::PhysicsWorld> physics_world_;
 	PhysicsEngineBase* physics_engine_;

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp
@@ -173,4 +173,9 @@ bool WorldSimApi::isRecording() const
     return false;
 }
 
+void WorldSimApi::setWind(const Vector3r& wind) const
+{
+    simmode_->setWind(wind);
+};
+
 #pragma endregion
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h
@@ -59,6 +59,8 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     virtual void stopRecording() override;
     virtual bool isRecording() const override;
 
+    virtual void setWind(const Vector3r& wind) const override;
+
 private:
 	SimModeBase * simmode_;
 	std::string vehicle_name_;