immediate stop on reset for cars, microsoft#815

finn-wagner · Mar 2, 2018 · 695d8ac · 695d8ac
1 parent 71550d4
commit 695d8ac
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Showing 4 changed files with 56 additions and 2 deletions.
diff --git a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp
@@ -60,6 +60,46 @@ void UAirBlueprintLib::enableWorldRendering(AActor* context, bool enable)
     }
 }
 
+void UAirBlueprintLib::setSimulatePhysics(AActor* actor, bool simulate_physics)
+{
+    TInlineComponentArray<UPrimitiveComponent*> components;
+    actor->GetComponents(components);
+
+    for (UPrimitiveComponent* component : components)
+    {
+        component->SetSimulatePhysics(simulate_physics);
+    }
+}
+
+std::vector<UPrimitiveComponent*> UAirBlueprintLib::getPhysicsComponents(AActor* actor)
+{
+    std::vector<UPrimitiveComponent*> phys_comps;
+    TInlineComponentArray<UPrimitiveComponent*> components;
+    actor->GetComponents(components);
+
+    for (UPrimitiveComponent* component : components)
+    {
+        if (component->IsSimulatingPhysics())
+            phys_comps.push_back(component);
+    }
+
+    return phys_comps;
+}
+
+void UAirBlueprintLib::resetSimulatePhysics(AActor* actor)
+{
+    TInlineComponentArray<UPrimitiveComponent*> components;
+    actor->GetComponents(components);
+
+    for (UPrimitiveComponent* component : components)
+    {
+        if (component->IsSimulatingPhysics()) {
+            component->SetSimulatePhysics(false);
+            component->SetSimulatePhysics(true);
+        }
+    }
+}
+
 void UAirBlueprintLib::enableViewportRendering(AActor* context, bool enable)
 {
     // Enable/disable primary viewport rendering flag

diff --git a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.h b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.h
@@ -101,6 +101,9 @@ class UAirBlueprintLib : public UBlueprintFunctionLibrary
 
     static void enableWorldRendering(AActor* context, bool enable);
     static void enableViewportRendering(AActor* context, bool enable);
+    static void setSimulatePhysics(AActor* actor, bool simulate_physics);
+    static void resetSimulatePhysics(AActor* actor);
+    static std::vector<UPrimitiveComponent*> getPhysicsComponents(AActor* actor);
 
 private:
     template<typename T>

diff --git a/Unreal/Plugins/AirSim/Source/Car/CarPawnApi.cpp b/Unreal/Plugins/AirSim/Source/Car/CarPawnApi.cpp
@@ -114,14 +114,25 @@ CarApiBase::CarState CarPawnApi::getCarState()
 void CarPawnApi::reset()
 {
     last_controls_ = CarControls();
-    UAirBlueprintLib::RunCommandOnGameThread([this]() {
+    auto phys_comps = UAirBlueprintLib::getPhysicsComponents(pawn_->getPawn());
+    UAirBlueprintLib::RunCommandOnGameThread([this, &phys_comps]() {
         pawn_->reset();
+        for (auto* phys_comp : phys_comps) {
+            phys_comp->SetPhysicsAngularVelocity(FVector::ZeroVector);
+            phys_comp->SetPhysicsLinearVelocity(FVector::ZeroVector);
+            phys_comp->SetSimulatePhysics(false);
+        }
         //movement_->ResetMoveState();
         //movement_->SetActive(false);
         //movement_->SetActive(true, true);
         setCarControls(CarControls());
 
     }, true);
+
+    UAirBlueprintLib::RunCommandOnGameThread([this, &phys_comps]() {
+        for (auto* phys_comp : phys_comps)
+            phys_comp->SetSimulatePhysics(true);
+    }, true);
 }
 
 void CarPawnApi::simSetPose(const msr::airlib::Pose& pose, bool ignore_collision)

diff --git a/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp b/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp
@@ -195,7 +195,7 @@ void VehiclePawnWrapper::reset()
     //}
     pawn_->SetActorLocationAndRotation(state_.start_location, state_.start_rotation, false, nullptr, ETeleportType::TeleportPhysics);
 
-    //TODO: delete below
+    //TODO: refactor below code used for playback
     //std::ifstream sim_log("C:\\temp\\mavlogs\\circle\\sim_cmd_006_orbit 5 1.txt.pos.txt");
     //plot(sim_log, FColor::Purple, Vector3r(0, 0, -3));
     //std::ifstream real_log("C:\\temp\\mavlogs\\circle\\real_cmd_006_orbit 5 1.txt.pos.txt");