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AirSim UE5 support #4672

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6ee64ba
first partial try to move to ue5
alonfaraj Aug 14, 2022
d5455f7
fix some pawn and wheel stuff
alonfaraj Aug 25, 2022
538446a
cleanup
alonfaraj Aug 25, 2022
648baf7
clang
alonfaraj Aug 25, 2022
55ce761
clang
alonfaraj Aug 25, 2022
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fix some pawn and wheel stuff
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@alonfaraj
alonfaraj committed Aug 25, 2022
commit d5455f7dfdb3769f6854516ad6fe8e416e5e4996
12 changes: 6 additions & 6 deletions Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawn.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,6 @@
#include <vector>
#include "common/common_utils/Utils.hpp"
#include "common/ClockFactory.hpp"
#include <ChaosVehicles/ChaosVehiclesCore/Public/TransmissionSystem.h>

#define LOCTEXT_NAMESPACE "VehiclePawn"

Expand Down Expand Up @@ -93,19 +92,19 @@ void ACarPawn::setupVehicleMovementComponent()
// Wheels/Tires
// Setup the wheels
movement->WheelSetups[0].WheelClass = UCarWheelFront::StaticClass();
movement->WheelSetups[0].BoneName = FName("PhysWheel_FL");
movement->WheelSetups[0].BoneName = FName("WheelFL");
movement->WheelSetups[0].AdditionalOffset = FVector(0.f, -8.f, 0.f);

movement->WheelSetups[1].WheelClass = UCarWheelFront::StaticClass();
movement->WheelSetups[1].BoneName = FName("PhysWheel_FR");
movement->WheelSetups[1].BoneName = FName("WheelFR");
movement->WheelSetups[1].AdditionalOffset = FVector(0.f, 8.f, 0.f);

movement->WheelSetups[2].WheelClass = UCarWheelRear::StaticClass();
movement->WheelSetups[2].BoneName = FName("PhysWheel_BL");
movement->WheelSetups[2].BoneName = FName("WheelBL");
movement->WheelSetups[2].AdditionalOffset = FVector(0.f, -8.f, 0.f);

movement->WheelSetups[3].WheelClass = UCarWheelRear::StaticClass();
movement->WheelSetups[3].BoneName = FName("PhysWheel_BR");
movement->WheelSetups[3].BoneName = FName("WheelBR");
movement->WheelSetups[3].AdditionalOffset = FVector(0.f, 8.f, 0.f);

// Adjust the tire loading
Expand Down Expand Up @@ -149,10 +148,11 @@ void ACarPawn::setupVehicleMovementComponent()
if (primitive) {
primitive->BodyInstance.COMNudge = FVector(8.0f, 0.0f, 0.0f);
}

movement->UpdatedPrimitive = primitive;
// Set the inertia scale. This controls how the mass of the vehicle is distributed.
movement->InertiaTensorScale = FVector(1.0f, 1.333f, 1.2f);
//movement->bDeprecatedSpringOffsetMode = true;
movement->bAutoRegisterUpdatedComponent = true;
}

void ACarPawn::NotifyHit(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, bool bSelfMoved, FVector HitLocation,
Expand Down
2 changes: 1 addition & 1 deletion Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawnApi.cpp
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Expand Up @@ -57,7 +57,7 @@ void CarPawnApi::reset()
movement_->SetActive(true, true);
vehicle_api_->setCarControls(msr::airlib::CarApiBase::CarControls());
updateMovement(msr::airlib::CarApiBase::CarControls());

movement_->ResetVehicleState();
//auto pv = movement_->PVehicle;
//if (pv) {
// pv->mWheelsDynData.setToRestState();
Expand Down
1 change: 1 addition & 0 deletions Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawnApi.h
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Expand Up @@ -28,4 +28,5 @@ class CarPawnApi
ACarPawn* pawn_;
const msr::airlib::Kinematics::State* pawn_kinematics_;
msr::airlib::CarApiBase* vehicle_api_;
UChaosWheeledVehicleMovementComponent* movement_;
};
10 changes: 5 additions & 5 deletions Unreal/Plugins/AirSim/Source/Vehicles/Car/CarWheelFront.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,19 +7,19 @@

UCarWheelFront::UCarWheelFront()
{
WheelRadius = 18.f;
WheelWidth = 15.0f;
WheelRadius = 38.f;
WheelWidth = 17.0f;
//WheelMass = 20.0f;
SuspensionDampingRatio = 0.25f;
bAffectedByHandbrake = false;
//SteerAngle = 40.f;
MaxSteerAngle = 50.f;
AxleType = EAxleType::Front;

// Setup suspension forces
SuspensionForceOffset = FVector(0.0f, 0.0f, 0.0f);
SuspensionMaxRaise = 10.0f;
SuspensionMaxDrop = 10.0f;
//SuspensionNaturalFrequency = 9.0f;
SuspensionDampingRatio = 1.05f;
SuspensionDampingRatio = 1.5f;

// Find the tire object and set the data for it
//static ConstructorHelpers::FObjectFinder<UTireConfig> TireData(TEXT("/AirSim/VehicleAdv/Vehicle/WheelData/Vehicle_FrontTireConfig.Vehicle_FrontTireConfig"));
Expand Down
9 changes: 5 additions & 4 deletions Unreal/Plugins/AirSim/Source/Vehicles/Car/CarWheelRear.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,17 +6,18 @@

UCarWheelRear::UCarWheelRear()
{
WheelRadius = 18.f;
WheelWidth = 15.0f;
WheelRadius = 38.f;
WheelWidth = 17.0f;
bAffectedByHandbrake = true;
//SteerAngle = 0.f;
MaxSteerAngle = 0.f;
AxleType = EAxleType::Rear;

// Setup suspension forces
SuspensionForceOffset = FVector(0.0f, 0.0f, 0.0f);
SuspensionMaxRaise = 10.0f;
SuspensionMaxDrop = 10.0f;
//SuspensionNaturalFrequency = 9.0f;
SuspensionDampingRatio = 1.05f;
SuspensionDampingRatio = 1.5f;

// Find the tire object and set the data for it
//static ConstructorHelpers::FObjectFinder<UTireConfig> TireData(TEXT("/AirSim/VehicleAdv/Vehicle/WheelData/Vehicle_BackTireConfig.Vehicle_BackTireConfig"));
Expand Down