CarSimManagerComponent.h

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// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
// Copyright (c) 2019 Intel Corporation
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "BaseCarlaMovementComponent.h"
#include "Carla/Vehicle/VehicleControl.h"
 
#ifdef WITH_CARSIM
#include "CarSimMovementComponent.h"
#endif
 
#include "CarSimManagerComponent.generated.h"
 
class ACarlaWheeledVehicle;
 
UCLASS(Blueprintable, meta=(BlueprintSpawnableComponent) )
class CARLA_API UCarSimManagerComponent : public UBaseCarlaMovementComponent
{
  GENERATED_BODY()
 
  #ifdef WITH_CARSIM
  AActor* OffsetActor;
 
  UCarSimMovementComponent * CarSimMovementComponent;
  #endif
 
public:
 
  static void CreateCarsimComponent(
      ACarlaWheeledVehicle* Vehicle, FString Simfile);
 
  FString SimfilePath = "";
 
  virtual void BeginPlay() override;
 
  virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;
 
  void ProcessControl(FVehicleControl &Control) override;
 
  FVector GetVelocity() const override;
 
  virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
  void UseCarSimRoad(bool bEnabled);
 
  int32 GetVehicleCurrentGear() const override;
 
  float GetVehicleForwardSpeed() const override;
 
  void DisableCarSimPhysics();
 
  virtual void DisableSpecialPhysics() override;
 
private:
 
  // On car mesh hit, only works when carsim is enabled
  UFUNCTION()
  void OnCarSimHit(AActor *Actor,
      AActor *OtherActor,
      FVector NormalImpulse,
      const FHitResult &Hit);
 
  // On car mesh overlap, only works when carsim is enabled
  // (this event triggers when overlapping with static environment)
  UFUNCTION()
  void OnCarSimOverlap(UPrimitiveComponent* OverlappedComponent,
      AActor* OtherActor,
      UPrimitiveComponent* OtherComp,
      int32 OtherBodyIndex,
      bool bFromSweep,
      const FHitResult & SweepResult);
 
  // On car mesh overlap end, only works when carsim is enabled
  // (this event triggers when overlapping with static environment)
  UFUNCTION()
  void OnCarSimEndOverlap(UPrimitiveComponent* OverlappedComponent,
      AActor* OtherActor,
      UPrimitiveComponent* OtherComp,
      int32 OtherBodyIndex);
};