Changed rotation and position offsets for chrono. Disabled overlap ev…

…ents for some meshes
NunWang · Nov 22, 2022 · 4d92f93 · 4d92f93
1 parent 1e6472a
commit 4d92f93
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Showing 2 changed files with 15 additions and 3 deletions.
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@@ -503,7 +503,14 @@ void ACarlaGameModeBase::EnableOverlapEvents()
     AStaticMeshActor *MeshActor = CastChecked<AStaticMeshActor>(Actor);
     if(MeshActor->GetStaticMeshComponent()->GetStaticMesh() != NULL)
     {
-      if (MeshActor->GetStaticMeshComponent()->GetGenerateOverlapEvents() == false)
+      auto MeshTag = ATagger::GetTagOfTaggedComponent(*MeshActor->GetStaticMeshComponent());
+      namespace crp = carla::rpc;
+      if (MeshTag != crp::CityObjectLabel::Roads && 
+          MeshTag != crp::CityObjectLabel::Sidewalks && 
+          MeshTag != crp::CityObjectLabel::RoadLines && 
+          MeshTag != crp::CityObjectLabel::Ground &&
+          MeshTag != crp::CityObjectLabel::Terrain &&
+          MeshActor->GetStaticMeshComponent()->GetGenerateOverlapEvents() == false)
       {
         MeshActor->GetStaticMeshComponent()->SetGenerateOverlapEvents(true);
       }

diff --git a/...arlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.cpp b/...arlaUE4/Plugins/Carla/Source/Carla/Vehicle/MovementComponents/ChronoMovementComponent.cpp
@@ -267,7 +267,8 @@ void UChronoMovementComponent::TickComponent(float DeltaTime,
     AdvanceChronoSimulation(DeltaTime);
   }
 
-  auto VehiclePos = Vehicle->GetVehiclePos() - ChVector<>(0,0,0.5);
+  const auto ChronoPositionOffset = ChVector<>(0,0,-0.25f);
+  auto VehiclePos = Vehicle->GetVehiclePos() + ChronoPositionOffset;
   auto VehicleRot = Vehicle->GetVehicleRot();
   double Time = Vehicle->GetSystem()->GetChTime();
 
@@ -281,7 +282,11 @@ void UChronoMovementComponent::TickComponent(float DeltaTime,
     return;
   }
   CarlaVehicle->SetActorLocation(NewLocation);
-  CarlaVehicle->SetActorRotation(NewRotation);
+  FRotator NewRotator = NewRotation.Rotator();
+  // adding small rotation to compensate chrono offset
+  const float ChronoPitchOffset = 2.5f;
+  NewRotator.Add(ChronoPitchOffset, 0.f, 0.f); 
+  CarlaVehicle->SetActorRotation(NewRotator);
 }
 
 void UChronoMovementComponent::AdvanceChronoSimulation(float StepSize)