load vehicle BPs from json settings

AirLib/include/common/AirSimSettings.hpp

@@ -48,12 +48,17 @@ struct AirSimSettings {
         }
     };
 
-    struct CarMeshPaths {
-        std::string skeletal = "/AirSim/VehicleAdv/Vehicle/Vehicle_SkelMesh.Vehicle_SkelMesh";
-        std::string bp = "/AirSim/VehicleAdv/Vehicle/VehicleAnimationBlueprint";
-        std::string slippery_mat = "/AirSim/VehicleAdv/PhysicsMaterials/Slippery.Slippery";
-        std::string non_slippery_mat = "/AirSim/VehicleAdv/PhysicsMaterials/NonSlippery.NonSlippery";
-
+    struct PawnPath {
+        std::string pawn_bp;
+        std::string slippery_mat;
+        std::string non_slippery_mat;
+
+        PawnPath(const std::string& pawn_bp_val = "",
+            const std::string& slippery_mat_val = "/AirSim/VehicleAdv/PhysicsMaterials/Slippery.Slippery",
+            const std::string& non_slippery_mat_val = "/AirSim/VehicleAdv/PhysicsMaterials/NonSlippery.NonSlippery") 
+            : pawn_bp(pawn_bp_val), slippery_mat(slippery_mat_val), non_slippery_mat(non_slippery_mat_val)
+        {
+        }
     };
 
     struct VehicleSettings {
@@ -196,7 +201,7 @@ struct AirSimSettings {
     bool engine_sound;
     bool log_messages_visible;
     HomeGeoPoint origin_geopoint;
-    CarMeshPaths car_mesh_paths;
+    std::map<std::string, PawnPath> pawn_paths;
 
 public: //methods
     static AirSimSettings& singleton() 
@@ -227,6 +232,7 @@ struct AirSimSettings {
         loadCaptureSettings(settings);
         loadCameraNoiseSettings(settings);
         loadSegmentationSettings(settings);
+        loadPawnPaths(settings);
         loadOtherSettings(settings);
 
         return static_cast<unsigned int>(warning_messages.size());
@@ -371,7 +377,7 @@ struct AirSimSettings {
         else if (view_mode_string == "NoDisplay")
             initial_view_mode = 7; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_NODISPLAY;
         else if (view_mode_string == "Front")
-			initial_view_mode = 8; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_FRONT;
+            initial_view_mode = 8; // ECameraDirectorMode::CAMREA_DIRECTOR_MODE_FRONT;
         else
             warning_messages.push_back("ViewMode setting is not recognized: " + view_mode_string);
     }
@@ -435,6 +441,47 @@ struct AirSimSettings {
         }
     }
 
+    void loadPawnPaths(const Settings& settings)
+    {
+        pawn_paths.clear();
+        pawn_paths.emplace("BareboneCar",
+            PawnPath("/AirSim/VehicleAdv/Vehicle/VehicleAdvPawn"));
+        pawn_paths.emplace("DefaultCar",
+            PawnPath("/AirSim/VehicleAdv/SUV/SuvCarPawn"));
+        pawn_paths.emplace("DefaultQuadrotor",
+            PawnPath("/AirSim/Blueprints/BP_FlyingPawn"));
+
+
+        msr::airlib::Settings pawn_paths_child;
+        if (settings.getChild("PawnPaths", pawn_paths_child)) {
+            std::vector<std::string> keys;
+            pawn_paths_child.getChildNames(keys);
+
+            for (const auto& key : keys) {
+                msr::airlib::Settings child;
+                pawn_paths_child.getChild(key, child);
+
+                pawn_paths.emplace(key,
+                    createPathPawn(child));
+            }
+        }
+    }
+
+    PawnPath createPathPawn(const Settings& settings)
+    {
+        auto paths = PawnPath();
+        paths.pawn_bp = settings.getString("PawnBP", "");
+        auto slippery_mat = settings.getString("SlipperyMat", "");
+        auto non_slippery_mat = settings.getString("NonSlipperyMat", "");
+
+        if (slippery_mat != "")
+            paths.slippery_mat = slippery_mat;
+        if (non_slippery_mat != "")
+            paths.non_slippery_mat = non_slippery_mat;
+
+        return paths;
+    }
+
     void loadSegmentationSettings(const Settings& settings)
     {
         Settings json_parent;

AirLib/include/common/Settings.hpp

@@ -128,6 +128,14 @@ class Settings {
         return doc_.size();
     }
 
+    template<typename Container>
+    void getChildNames(Container& c) const
+    {
+        for (auto it = doc_.begin(); it != doc_.end(); ++it) {
+            c.push_back(it.key());
+        }
+    }
+
     bool getChild(size_t index, Settings& child) const
     {
         if (doc_.size() > index && 

Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp

@@ -163,19 +163,19 @@ void UAirBlueprintLib::LogMessage(const FString &prefix, const FString &suffix,
     switch (level) {
     case LogDebugLevel::Informational: 
         color = FColor(147, 231, 237); 
-        UE_LOG(LogAirSim, Log, TEXT("%s%s"), *prefix, *suffix);
+        //UE_LOG(LogAirSim, Log, TEXT("%s%s"), *prefix, *suffix);
         break;
     case LogDebugLevel::Success: 
         color = FColor(156, 237, 147); 
-        UE_LOG(LogAirSim, Log, TEXT("%s%s"), *prefix, *suffix);
+        //UE_LOG(LogAirSim, Log, TEXT("%s%s"), *prefix, *suffix);
         break;
     case LogDebugLevel::Failure: 
         color = FColor(237, 147, 168);
-        UE_LOG(LogAirSim, Error, TEXT("%s%s"), *prefix, *suffix); 
+        //UE_LOG(LogAirSim, Error, TEXT("%s%s"), *prefix, *suffix); 
         break;
     case LogDebugLevel::Unimportant: 
         color = FColor(237, 228, 147);
-        UE_LOG(LogAirSim, Verbose, TEXT("%s%s"), *prefix, *suffix); 
+        //UE_LOG(LogAirSim, Verbose, TEXT("%s%s"), *prefix, *suffix); 
         break;
     default: color = FColor::Black; break;
     }

Unreal/Plugins/AirSim/Source/AirBlueprintLib.h

@@ -13,7 +13,6 @@
 #include "Kismet/KismetMathLibrary.h"
 #include "Components/MeshComponent.h"
 #include "LandscapeProxy.h"
-#include "AirSim.h"
 #include "common/AirSimSettings.hpp"
 #include "AirBlueprintLib.generated.h"
 

Unreal/Plugins/AirSim/Source/CameraDirector.cpp

@@ -78,7 +78,7 @@ void ACameraDirector::setCameras(APIPCamera* external_camera, VehiclePawnWrapper
     external_camera_ = external_camera;
     follow_actor_ = vehicle_pawn_wrapper->getPawn();
     fpv_camera_ = vehicle_pawn_wrapper->getCameraCount() > fpv_camera_index_ ? vehicle_pawn_wrapper->getCamera(fpv_camera_index_) : nullptr;
-	front_camera_ = vehicle_pawn_wrapper->getCameraCount() > front_camera_index_ ? vehicle_pawn_wrapper->getCamera(front_camera_index_) : nullptr;
+    front_camera_ = vehicle_pawn_wrapper->getCameraCount() > front_camera_index_ ? vehicle_pawn_wrapper->getCamera(front_camera_index_) : nullptr;
     backup_camera_ = backup_camera_index_ >= 0 && vehicle_pawn_wrapper->getCameraCount() > backup_camera_index_ ? vehicle_pawn_wrapper->getCamera(backup_camera_index_) : nullptr;
     camera_start_location_ = external_camera_->GetActorLocation();
     camera_start_rotation_ = external_camera_->GetActorRotation();
@@ -95,7 +95,7 @@ void ACameraDirector::setCameras(APIPCamera* external_camera, VehiclePawnWrapper
     case ECameraDirectorMode::CAMERA_DIRECTOR_MODE_SPRINGARM_CHASE: inputEventSpringArmChaseView(); break;
     case ECameraDirectorMode::CAMERA_DIRECTOR_MODE_BACKUP: inputEventBackupView(); break;
     case ECameraDirectorMode::CAMERA_DIRECTOR_MODE_NODISPLAY: inputEventNoDisplayView(); break;
-	case ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FRONT: inputEventFrontView(); break;
+    case ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FRONT: inputEventFrontView(); break;
     default:
         throw std::out_of_range("Unsupported view mode specified in CameraDirector::initializeForBeginPlay");
     }
@@ -201,7 +201,7 @@ void ACameraDirector::setupInputBindings()
     UAirBlueprintLib::BindActionToKey("inputEventSpringArmChaseView", EKeys::Slash, this, &ACameraDirector::inputEventSpringArmChaseView);
     UAirBlueprintLib::BindActionToKey("inputEventBackupView", EKeys::K, this, &ACameraDirector::inputEventBackupView);
     UAirBlueprintLib::BindActionToKey("inputEventNoDisplayView", EKeys::Hyphen, this, &ACameraDirector::inputEventNoDisplayView);
-	UAirBlueprintLib::BindActionToKey("inputEventFrontView", EKeys::I, this, &ACameraDirector::inputEventFrontView);
+    UAirBlueprintLib::BindActionToKey("inputEventFrontView", EKeys::I, this, &ACameraDirector::inputEventFrontView);
 }
 
 
@@ -217,12 +217,12 @@ void ACameraDirector::inputEventFpvView()
 
 void ACameraDirector::inputEventFrontView()
 {
-	setMode(ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FRONT);
-	external_camera_->disableMain();
-	if (backup_camera_)
-		backup_camera_->disableMain();
-	if (front_camera_)
-		front_camera_->showToScreen();
+    setMode(ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FRONT);
+    external_camera_->disableMain();
+    if (backup_camera_)
+        backup_camera_->disableMain();
+    if (front_camera_)
+        front_camera_->showToScreen();
 }
 
 void ACameraDirector::inputEventSpringArmChaseView()

Unreal/Plugins/AirSim/Source/Car/CarPawn.cpp

@@ -34,19 +34,19 @@ ACarPawn::ACarPawn()
 
     UWheeledVehicleMovementComponent4W* Vehicle4W = CastChecked<UWheeledVehicleMovementComponent4W>(GetVehicleMovement());
 
-    // load assets
-    if (UseDefaultMesh) {
-        static MeshContructionHelpers helpers(AirSimSettings::singleton().car_mesh_paths);
-        GetMesh()->SetSkeletalMesh(helpers.skeleton);
-        GetMesh()->SetAnimationMode(EAnimationMode::AnimationBlueprint);
-        GetMesh()->SetAnimInstanceClass(helpers.bp->GeneratedClass);
-        SlipperyMaterial = helpers.slippery_mat;
-        NonSlipperyMaterial = helpers.non_slippery_mat;
-    }
-
     static ConstructorHelpers::FClassFinder<APIPCamera> pip_camera_class(TEXT("Blueprint'/AirSim/Blueprints/BP_PIPCamera'"));
     pip_camera_class_ = pip_camera_class.Succeeded() ? pip_camera_class.Class : nullptr;
 
+    const auto& car_mesh_paths = AirSimSettings::singleton().pawn_paths["DefaultCar"];
+    auto slippery_mat = Cast<UPhysicalMaterial>(
+        UAirBlueprintLib::LoadObject(car_mesh_paths.slippery_mat));
+    auto non_slippery_mat = Cast<UPhysicalMaterial>(
+        UAirBlueprintLib::LoadObject(car_mesh_paths.non_slippery_mat));
+    if (slippery_mat)
+        SlipperyMaterial = slippery_mat;
+    if (non_slippery_mat)
+        NonSlipperyMaterial = non_slippery_mat;
+
     check(Vehicle4W->WheelSetups.Num() == 4);
 
     // Wheels/Tyres
@@ -178,6 +178,7 @@ void ACarPawn::initializeForBeginPlay(bool enable_rpc, const std::string& api_se
     else
         EngineSoundComponent->Deactivate();
 
+
     //put camera little bit above vehicle
     FTransform camera_transform(FVector::ZeroVector);
     FActorSpawnParameters camera_spawn_params;

Unreal/Plugins/AirSim/Source/Car/CarPawn.h

@@ -65,11 +65,6 @@ class ACarPawn : public AWheeledVehicle
     UPROPERTY(Category = Display, VisibleDefaultsOnly, BlueprintReadOnly, meta = (AllowPrivateAccess = "true"))
     UAudioComponent* EngineSoundComponent;
 
-
-    /** Whether to load the default meshes */
-    UPROPERTY(Category = Display, VisibleDefaultsOnly, BlueprintReadOnly, meta = (AllowPrivateAccess = "true"))
-    bool UseDefaultMesh = false;
-
 public:
     ACarPawn();
 
@@ -163,23 +158,6 @@ class ACarPawn : public AWheeledVehicle
 private:
     typedef msr::airlib::AirSimSettings AirSimSettings;
 
-    struct MeshContructionHelpers {
-        USkeletalMesh* skeleton;
-        UBlueprint* bp;
-        UPhysicalMaterial* slippery_mat;
-        UPhysicalMaterial* non_slippery_mat;
-
-        MeshContructionHelpers(const msr::airlib::AirSimSettings::CarMeshPaths& paths)
-        {
-            skeleton = Cast<USkeletalMesh>(UAirBlueprintLib::LoadObject(paths.skeletal));
-            bp = Cast<UBlueprint>(UAirBlueprintLib::LoadObject(paths.bp));
-            slippery_mat = Cast<UPhysicalMaterial>(UAirBlueprintLib::LoadObject(paths.slippery_mat));
-            non_slippery_mat = Cast<UPhysicalMaterial>(UAirBlueprintLib::LoadObject(paths.non_slippery_mat));
-        }
-
-    };
-
-
     UClass* pip_camera_class_;
 
     std::unique_ptr<msr::airlib::CarRpcLibServer> rpclib_server_;

Unreal/Plugins/AirSim/Source/Car/SimModeCar.cpp

@@ -11,17 +11,7 @@ ASimModeCar::ASimModeCar()
     static ConstructorHelpers::FClassFinder<ACameraDirector> camera_director_class(TEXT("Blueprint'/AirSim/Blueprints/BP_CameraDirector'"));
     camera_director_class_ = camera_director_class.Succeeded() ? camera_director_class.Class : nullptr;
 
-    //Try to find the high polycount vehicle
-    //If not found, spawn the default class (go-kart)
-    static ConstructorHelpers::FClassFinder<ACarPawn> vehicle_pawn_class(TEXT("Blueprint'/AirSim/VehicleAdv/SUV/SuvCarPawn'"));
-    if (vehicle_pawn_class.Succeeded()) {
-        vehicle_pawn_class_ = vehicle_pawn_class.Class;
-        follow_distance_ = -800;
-    }
-    else {
-        vehicle_pawn_class_ = ACarPawn::StaticClass();
-        follow_distance_ = -225;
-    }
+    follow_distance_ = -800;
 }
 
 void ASimModeCar::BeginPlay()
@@ -61,29 +51,6 @@ void ASimModeCar::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
     //we will either find external camera if it already exist in evironment or create one
     APIPCamera* external_camera;
 
-    //find all BP camera directors in the environment
-    {
-        TArray<AActor*> camera_dirs;
-        UAirBlueprintLib::FindAllActor<ACameraDirector>(this, camera_dirs);
-        if (camera_dirs.Num() == 0) {
-            //create director
-            FActorSpawnParameters camera_spawn_params;
-            camera_spawn_params.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;
-            CameraDirector = this->GetWorld()->SpawnActor<ACameraDirector>(camera_director_class_, camera_transform, camera_spawn_params);
-            CameraDirector->setFollowDistance(follow_distance_);
-            CameraDirector->setCameraRotationLagEnabled(true);
-            CameraDirector->setFpvCameraIndex(3);
-            spawned_actors_.Add(CameraDirector);
-
-            //create external camera required for the director
-            external_camera = this->GetWorld()->SpawnActor<APIPCamera>(external_camera_class_, camera_transform, camera_spawn_params);
-            spawned_actors_.Add(external_camera);
-        }
-        else {
-            CameraDirector = static_cast<ACameraDirector*>(camera_dirs[0]);
-            external_camera = CameraDirector->getExternalCamera();
-        }
-    }
 
     //find all vehicle pawns
     {
@@ -96,8 +63,13 @@ void ASimModeCar::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
             FActorSpawnParameters pawn_spawn_params;
             pawn_spawn_params.SpawnCollisionHandlingOverride =
                 ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;
+
+            auto vehicle_bp = Cast<UBlueprint>(UAirBlueprintLib::LoadObject(
+                getSettings().pawn_paths.at("DefaultCar").pawn_bp));
+
             TVehiclePawn* spawned_pawn = this->GetWorld()->SpawnActor<TVehiclePawn>(
-                vehicle_pawn_class_, actor_transform, pawn_spawn_params);
+                vehicle_bp->GeneratedClass, 
+                actor_transform, pawn_spawn_params);
 
             spawned_actors_.Add(spawned_pawn);
             pawns.Add(spawned_pawn);
@@ -122,6 +94,31 @@ void ASimModeCar::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
         }
     }
 
+    //find all BP camera directors in the environment
+    {
+        TArray<AActor*> camera_dirs;
+        UAirBlueprintLib::FindAllActor<ACameraDirector>(this, camera_dirs);
+        if (camera_dirs.Num() == 0) {
+            //create director
+            FActorSpawnParameters camera_spawn_params;
+            camera_spawn_params.SpawnCollisionHandlingOverride = ESpawnActorCollisionHandlingMethod::AdjustIfPossibleButAlwaysSpawn;
+            CameraDirector = this->GetWorld()->SpawnActor<ACameraDirector>(camera_director_class_, camera_transform, camera_spawn_params);
+            CameraDirector->setFollowDistance(follow_distance_);
+            CameraDirector->setCameraRotationLagEnabled(true);
+            CameraDirector->setFpvCameraIndex(3);
+            spawned_actors_.Add(CameraDirector);
+
+            //create external camera required for the director
+            external_camera = this->GetWorld()->SpawnActor<APIPCamera>(external_camera_class_, camera_transform, camera_spawn_params);
+            spawned_actors_.Add(external_camera);
+        }
+        else {
+            CameraDirector = static_cast<ACameraDirector*>(camera_dirs[0]);
+            external_camera = CameraDirector->getExternalCamera();
+        }
+    }
+
+    fpv_vehicle_pawn_wrapper_->possess();
     CameraDirector->initializeForBeginPlay(getInitialViewMode(), fpv_vehicle_pawn_wrapper_, external_camera);
 }
 

Unreal/Plugins/AirSim/Source/Car/SimModeCar.h

@@ -37,7 +37,6 @@ class AIRSIM_API ASimModeCar : public ASimModeBase
 private:    
     UClass* external_camera_class_;
     UClass* camera_director_class_;
-    UClass* vehicle_pawn_class_;
 
     TArray<AActor*> spawned_actors_;
     std::vector<VehiclePtr> vehicles_;