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Adjusted BB when doors are oppened. #7133

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1 change: 1 addition & 0 deletions CHANGELOG.md
Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
## Latest Changes
* Prevent from segfault on failing SignalReference identification when loading OpenDrive files
* Added vehicle doors to the recorder
* Adjusted vehicle BoundingBox when the vehicle opens the doors.
* Added functions to get actor' components transform
* Added posibility to Digital Twins to work with local files (osm and xodr)
* Enable proper material merging for Building in Digital Twins
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Original file line number Diff line number Diff line change
Expand Up @@ -23,17 +23,19 @@

#include "Rendering/SkeletalMeshRenderData.h"
#include "Engine/SkeletalMeshSocket.h"
#include "Kismet/KismetMathLibrary.h"

namespace crp = carla::rpc;

static FBoundingBox ApplyTransformToBB(
FBoundingBox InBB,
const FTransform& Transform)
{
auto Scale = Transform.GetScale3D();
const auto Scale = Transform.GetScale3D();
const auto TransformRotation = Transform.GetRotation().Rotator();
InBB.Origin *= Scale;
InBB.Rotation = Transform.GetRotation().Rotator();
InBB.Origin = InBB.Rotation.RotateVector(InBB.Origin) + Transform.GetLocation();
InBB.Rotation = UKismetMathLibrary::ComposeRotators(TransformRotation, InBB.Rotation);
InBB.Origin = TransformRotation.RotateVector(InBB.Origin) + Transform.GetLocation();
InBB.Extent *= Scale;
return InBB;
}
Expand Down Expand Up @@ -183,6 +185,14 @@ FBoundingBox UBoundingBoxCalculator::GetVehicleBoundingBox(
}
}

// Calculate bounding boxes of the doors.
FBoundingBox DoorsBB = GetVehicleDoorsBoundingBox(Vehicle);
if(DoorsBB.Extent != FVector::ZeroVector)
{
// Combine doors Bounding Box with the vehicle BB.
BB = CombineBBs({DoorsBB, BB});
}

// Component-to-world transform for this component
auto& CompToWorldTransform = ParentComp->GetComponentTransform();
BB = ApplyTransformToBB(BB, CompToWorldTransform);
Expand Down Expand Up @@ -445,7 +455,7 @@ TArray<FBoundingBox> UBoundingBoxCalculator::GetBBsOfActor(
{
Result.Add(BoundingBox);
}
return Result;;
return Result;
}

// Pedestrians, we just use the capsule component at the moment.
Expand Down Expand Up @@ -645,3 +655,34 @@ void UBoundingBoxCalculator::GetMeshCompsFromActorBoundingBox(
}
}
}

FBoundingBox UBoundingBoxCalculator::GetVehicleDoorsBoundingBox(const ACarlaWheeledVehicle* Vehicle)
{
FBoundingBox DoorsBB;
if(Vehicle && Vehicle->GetConstraintsComponents().Num() > 0)
{
FBox DoorsBox(ForceInit);
const FTransform& ActorToWorld = Vehicle->GetActorTransform();
const FTransform WorldToActor = ActorToWorld.Inverse();

// Iterates over all doors of the vehicle
for(const UPhysicsConstraintComponent* ConstraintComp : Vehicle->GetConstraintsComponents())
{
const UPrimitiveComponent* DoorComponent = Vehicle->GetConstraintDoor()[ConstraintComp];
if(const UStaticMeshComponent* StaticMeshComp = Cast<UStaticMeshComponent>(DoorComponent))
{
const FTransform ComponentToActor = StaticMeshComp->GetComponentTransform() * WorldToActor;
DoorsBox += StaticMeshComp->CalcBounds(ComponentToActor).GetBox();
}
}

if(DoorsBox.IsValid)
{
// DoorBB is aligned with the Vehicle orientation, for this reason it is not necessary to assign rotation.
DoorsBB.Origin = DoorsBox.GetCenter();
DoorsBB.Extent = DoorsBox.GetExtent();
}
}

return DoorsBB;
}
Original file line number Diff line number Diff line change
Expand Up @@ -110,4 +110,7 @@ class CARLA_API UBoundingBoxCalculator : public UBlueprintFunctionLibrary
const FBoundingBox& InBB,
TArray<UStaticMeshComponent*>& OutStaticMeshComps);

// Return the combined BB of all doors of the vehicle, with the same orientation.
UFUNCTION(Category = "Carla Actor", BlueprintCallable)
static FBoundingBox GetVehicleDoorsBoundingBox(const ACarlaWheeledVehicle* Vehicle);
};
Original file line number Diff line number Diff line change
Expand Up @@ -1035,6 +1035,15 @@ void ACarlaWheeledVehicle::OpenDoorPhys(const EVehicleDoor DoorIdx)
}

RecordDoorChange(DoorIdx, true);

// Wait until door is max opened to recalculate its bounds.
float TimeNeededToHaveItOpened = (AngleLimit + Constraint->ConstraintInstance.AngularRotationOffset.Yaw) / (DoorOpenStrength > 0.f ? DoorOpenStrength : 1.f);
TimeNeededToHaveItOpened = TimeNeededToHaveItOpened < 0.f ? TimeNeededToHaveItOpened * -1.f : TimeNeededToHaveItOpened;
FTimerHandle DoorMaxOpenRangeTimerHandle;
GetWorldTimerManager().SetTimer(DoorMaxOpenRangeTimerHandle, [this]()
{
AdjustVehicleBounds();
}, TimeNeededToHaveItOpened, false);
}

void ACarlaWheeledVehicle::CloseDoorPhys(const EVehicleDoor DoorIdx)
Expand All @@ -1049,6 +1058,8 @@ void ACarlaWheeledVehicle::CloseDoorPhys(const EVehicleDoor DoorIdx)
DoorComponent->AttachToComponent(
GetMesh(), FAttachmentTransformRules(EAttachmentRule::KeepWorld, true));
RecordDoorChange(DoorIdx, false);

AdjustVehicleBounds();
}

void ACarlaWheeledVehicle::RecordDoorChange(const EVehicleDoor DoorIdx, bool bIsOpen)
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Original file line number Diff line number Diff line change
Expand Up @@ -428,6 +428,10 @@ class CARLA_API ACarlaWheeledVehicle : public AWheeledVehicle
UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
static void SetPhysicsConstraintAngle(
UPhysicsConstraintComponent*Component, const FRotator &NewAngle);

const TArray<UPhysicsConstraintComponent*>& GetConstraintsComponents() const { return ConstraintsComponents; }

const TMap<UPhysicsConstraintComponent*, UPrimitiveComponent*>& GetConstraintDoor() const {return ConstraintDoor; }

private:

Expand Down