Update for ue4.24. Add API call to spawn objects.

AirLib/include/api/RpcLibClientBase.hpp

@@ -40,6 +40,8 @@ class RpcLibClientBase {
 
     Pose simGetObjectPose(const std::string& object_name) const;
     bool simSetObjectPose(const std::string& object_name, const Pose& pose, bool teleport = true);
+    bool simSpawnStaticMeshObject(const std::string& object_class_name, const std::string& object_class, const Pose& pose);
+    bool simDeleteObject(const std::string& object_name);
 
     //task management APIs
     void cancelLastTask(const std::string& vehicle_name = "");

AirLib/include/api/WorldSimApiBase.hpp

@@ -26,6 +26,8 @@ class WorldSimApiBase {
 
     virtual Pose getObjectPose(const std::string& object_name) const = 0;
     virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) = 0;
+    virtual bool spawnStaticMeshObject(const std::string& object_class_name, const std::string& object_name, const Pose &pose) = 0;
+    virtual bool deleteObject(const std::string& object_name) = 0;
 
     //----------- APIs to control ACharacter in scene ----------/
     virtual void charSetFaceExpression(const std::string& expression_name, float value, const std::string& character_name) = 0;

AirLib/include/common/common_utils/Utils.hpp

@@ -593,7 +593,7 @@ class Utils {
     //implements relative method - do not use for comparing with zero
     //use this most of the time, tolerance needs to be meaningful in your context
     template<typename TReal>
-    static bool isApproximatelyEqual(TReal a, TReal b, TReal tolerance = epsilon<TReal>())
+    static bool isApproximatelyEqual(TReal a, TReal b, TReal tolerance = std::numeric_limits<TReal>::epsilon())
     {
         TReal diff = std::fabs(a - b);
         if (diff <= tolerance)

AirLib/include/common/common_utils/type_utils.hpp

@@ -44,12 +44,14 @@ namespace common_utils { namespace type_utils {
 
             template <typename C> static no & f(...);
 
-            template <typename C>
+            // using template parameter symbol 'D' instead of 'C' as a workaround for
+            // VS2017 compiler issue (internal compiler error) starting 15.9.X releases.
+            template <typename D>
             static yes & g(typename std::enable_if<
-                std::is_same<decltype(static_cast<typename C::const_iterator(C::*)() const>(&C::end)),
-                             typename C::const_iterator(C::*)() const>::value, void>::type*);
+                std::is_same<decltype(static_cast<typename D::const_iterator(D::*)() const>(&D::end)),
+                             typename D::const_iterator(D::*)() const>::value, void>::type*);
 
-            template <typename C> static no & g(...);
+            template <typename D> static no & g(...);
 
         public:
             static bool const beg_value = sizeof(f<T>(nullptr)) == sizeof(yes);
@@ -84,4 +86,4 @@ namespace common_utils { namespace type_utils {
     struct is_container<std::tuple<Args...>> : std::true_type { };
 
 }}	//namespace
-#endif
+#endif

AirLib/src/api/RpcLibClientBase.cpp

@@ -373,6 +373,14 @@ bool RpcLibClientBase::simSetObjectPose(const std::string& object_name, const ms
 {
     return pimpl_->client.call("simSetObjectPose", object_name, RpcLibAdapatorsBase::Pose(pose), teleport).as<bool>();
 }
+bool RpcLibClientBase::simSpawnStaticMeshObject(const std::string& object_class_name, const std::string& object_name, const msr::airlib::Pose& pose)
+{
+    return pimpl_->client.call("simSpawnStaticMeshObject", object_class_name, object_name, RpcLibAdapatorsBase::Pose(pose)).as<bool>();
+}
+bool RpcLibClientBase::simDeleteObject(const std::string& object_name)
+{
+    return pimpl_->client.call("simDeleteObject", object_name).as<bool>();
+}
 
 CameraInfo RpcLibClientBase::simGetCameraInfo(const std::string& camera_name, const std::string& vehicle_name) const
 {

AirLib/src/api/RpcLibServerBase.cpp

@@ -185,6 +185,12 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
     pimpl_->server.bind("simSetObjectPose", [&](const std::string& object_name, const RpcLibAdapatorsBase::Pose& pose, bool teleport) -> bool {
         return getWorldSimApi()->setObjectPose(object_name, pose.to(), teleport);
     });
+    pimpl_->server.bind("simSpawnStaticMeshObject", [&](const std::string& object_class_name, const std::string& object_name, const RpcLibAdapatorsBase::Pose& pose) -> bool {
+        return getWorldSimApi()->spawnStaticMeshObject(object_class_name, object_name, pose.to());
+    });
+    pimpl_->server.bind("simDeleteObject", [&](const std::string& object_name) -> bool {
+        return getWorldSimApi()->deleteObject(object_name);
+    });
 
     pimpl_->server.bind("simGetGroundTruthKinematics", [&](const std::string& vehicle_name) -> RpcLibAdapatorsBase::KinematicsState {
         const Kinematics::State& result = *getVehicleSimApi(vehicle_name)->getGroundTruthKinematics();

MavLinkCom/common_utils/type_utils.hpp

@@ -44,12 +44,14 @@ namespace mavlink_utils { namespace type_utils {
 
             template <typename C> static no & f(...);
 
-            template <typename C>
+            // using template parameter symbol 'D' instead of 'C' as a workaround for
+            // VS2017 compiler issue (internal compiler error) starting 15.9.X releases.
+            template <typename D>
             static yes & g(typename std::enable_if<
-                std::is_same<decltype(static_cast<typename C::const_iterator(C::*)() const>(&C::end)),
-                             typename C::const_iterator(C::*)() const>::value, void>::type*);
+                std::is_same<decltype(static_cast<typename D::const_iterator(D::*)() const>(&D::end)),
+                             typename D::const_iterator(D::*)() const>::value, void>::type*);
 
-            template <typename C> static no & g(...);
+            template <typename D> static no & g(...);
 
         public:
             static bool const beg_value = sizeof(f<T>(nullptr)) == sizeof(yes);
@@ -84,4 +86,4 @@ namespace mavlink_utils { namespace type_utils {
     struct is_container<std::tuple<Args...>> : std::true_type { };
 
 }}	//namespace
-#endif
+#endif

PythonClient/PythonClient.pyproj

@@ -5,7 +5,7 @@
     <SchemaVersion>2.0</SchemaVersion>
     <ProjectGuid>e2049e20-b6dd-474e-8bca-1c8dc54725aa</ProjectGuid>
     <ProjectHome>.</ProjectHome>
-    <StartupFile>urdfbot\GenerateImageTrainingSet.py</StartupFile>
+    <StartupFile>urdfbot\LunabotClientTest.py</StartupFile>
     <SearchPath>
     </SearchPath>
     <WorkingDirectory>.</WorkingDirectory>
@@ -126,9 +126,6 @@
     <Compile Include="urdfbot\ClientUtil.py">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="urdfbot\GenerateImageTrainingSet.py">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="urdfbot\LunabotClient.py">
       <SubType>Code</SubType>
     </Compile>
@@ -147,6 +144,9 @@
     <Compile Include="urdfbot\ShapeDrawTest.py">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="urdfbot\SpawnObjectTest.py">
+      <SubType>Code</SubType>
+    </Compile>
   </ItemGroup>
   <ItemGroup>
     <Folder Include="airsim\" />

PythonClient/airsim/client.py

@@ -156,6 +156,11 @@ def simGetObjectPose(self, object_name):
     def simSetObjectPose(self, object_name, pose, teleport = True):
         return self.client.call('simSetObjectPose', object_name, pose, teleport)
 
+    def simSpawnStaticMeshObject(self, object_class_name, object_name, pose):
+        return self.client.call('simSpawnStaticMeshObject', object_class_name, object_name, pose)
+    def simDeleteObject(self, object_name):
+        return self.client.call('simDeleteObject', object_name)
+
     def simSetSegmentationObjectID(self, mesh_name, object_id, is_name_regex = False):
         return self.client.call('simSetSegmentationObjectID', mesh_name, object_id, is_name_regex)
     def simGetSegmentationObjectID(self, mesh_name):

PythonClient/urdfbot/SpawnObjectTest.py

@@ -0,0 +1,63 @@
+import setup_path
+import airsim
+import airsim.airsim_types as at
+import math
+import time
+import numpy as np
+import pandas as pd
+import random
+import time
+
+def main():
+    client = airsim.UrdfBotClient()
+
+    random.seed(42)
+
+
+    cone_class_name = "/Game/StarterContent/Props/SM_Couch.SM_Couch"
+
+    xs = [0, 0.1]
+    ys = [0, 0.1]
+    time_stamp = 0
+
+    for i in range(0, 3, 1):
+        xs.append(random.randint(0, 10))
+        ys.append(random.randint(0, 10))
+
+    for i in range(0, len(xs), 1):
+        x = xs[i]
+        y = ys[i]
+        random_position = at.Vector3r(x_val=x, y_val=y, z_val=5)
+        random_orientation = at.Quaternionr(x_val=0, y_val=0, z_val=0, w_val=1)
+        random_pose = at.Pose(position_val=random_position, orientation_val=random_orientation)
+
+        print('Spawning cone at ({0}, {1})...'.format(x, y))
+        client.simSpawnStaticMeshObject(cone_class_name, 'cone_{0}'.format(i), random_pose)
+
+        time.sleep(2)
+        ci = client.simGetCollisionInfo()
+        if (ci.has_collided and ci.time_stamp > time_stamp):
+            print('\tBot has collided with {0}.'.format(ci.object_name))
+            time_stamp = ci.time_stamp
+        else:
+            print('\tBot has not collided.')
+
+    time.sleep(3)
+
+    for i in range(0, len(xs), 1):
+        cone_name = 'cone_{0}'.format(i)
+        cone_pose = client.simGetObjectPose(cone_name)
+        print('Cone "{0}" is at position <{1}, {2}, {3}>'.format(cone_name, cone_pose.position.x_val, cone_pose.position.y_val, cone_pose.position.z_val))
+
+    time.sleep(3)
+
+    for i in range(0, len(xs), 1):
+        cone_name = 'cone_{0}'.format(i)
+        print('Deleting cone {0}...'.format(cone_name))
+        client.simDeleteObject(cone_name)
+
+    print('Graceful termination')
+
+main()
+
+

Unreal/Environments/Blocks/Config/DefaultEngine.ini

@@ -12,7 +12,7 @@ GlobalDefaultGameMode=/Script/AirSim.AirSimGameMode
 GlobalDefaultServerGameMode=None
 
 [/Script/IOSRuntimeSettings.IOSRuntimeSettings]
-MinimumiOSVersion=IOS_8
+MinimumiOSVersion=IOS_11
 
 
 [/Script/Engine.Engine]
@@ -67,4 +67,3 @@ SyncSceneSmoothingFactor=0.000000
 AsyncSceneSmoothingFactor=0.990000
 InitialAverageFrameRate=0.016667
 PhysXTreeRebuildRate=10
-

Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp

@@ -124,15 +124,15 @@ void UAirBlueprintLib::enableViewportRendering(AActor* context, bool enable)
         // Do this only if the main viewport is not being rendered anyway in case there are
         // any adverse performance effects during main rendering.
         //HACK: FViewPort doesn't expose this field so we are doing dirty work around by maintaining count by ourselves
-        if (flush_on_draw_count_ == 0)
-            viewport->GetGameViewport()->IncrementFlushOnDraw();
+        //if (flush_on_draw_count_ == 0)
+        //    viewport->GetGameViewport()->IncrementFlushOnDraw();
     }
     else {
         viewport->EngineShowFlags.SetRendering(true);
 
         //HACK: FViewPort doesn't expose this field so we are doing dirty work around by maintaining count by ourselves
-        if (flush_on_draw_count_ > 0)
-            viewport->GetGameViewport()->DecrementFlushOnDraw();
+        //if (flush_on_draw_count_ > 0)
+        //    viewport->GetGameViewport()->DecrementFlushOnDraw();
     }
 }
 

Unreal/Plugins/AirSim/Source/CameraDirector.h

@@ -13,6 +13,7 @@
 UENUM(BlueprintType)
 enum class ECameraDirectorMode : uint8
 {
+    CAMERA_DIRECTOR_MODE_UNUSED = 0 UMETA(Displayname = "Unused"),
     CAMERA_DIRECTOR_MODE_FPV = 1	UMETA(DisplayName = "FPV"),
     CAMERA_DIRECTOR_MODE_GROUND_OBSERVER = 2	UMETA(DisplayName = "GroundObserver"),
     CAMERA_DIRECTOR_MODE_FLY_WITH_ME = 3	UMETA(DisplayName = "FlyWithMe"),

Unreal/Plugins/AirSim/Source/PawnSimApi.cpp

@@ -380,7 +380,9 @@ void PawnSimApi::serviceMoveCameraRequests()
         AActor* cameraActor = matchedCamera->GetAttachParentActor();
 
         FDetachmentTransformRules detatchRules(EDetachmentRule::KeepWorld, EDetachmentRule::KeepWorld, EDetachmentRule::KeepWorld, true);
-        matchedCamera->DetachSceneComponentsFromParent(cameraActor->GetRootComponent(), true);
+        matchedCamera->DetachAllSceneComponents(cameraActor->GetRootComponent(), detatchRules);
+        matchedCamera->DetachFromActor(detatchRules);
+        //matchedCamera->DetachSceneComponentsFromParent(cameraActor->GetRootComponent(), true);
         auto a1 = cameraActor->GetActorLocation();
         auto a2 = cameraActor->GetRootComponent()->GetComponentLocation();
         matchedCamera->SetActorLocation(cameraActor->GetRootComponent()->GetComponentLocation() + request.transformVec);

Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h

@@ -79,6 +79,8 @@ class AIRSIM_API ASimModeBase : public AActor
         return static_cast<PawnSimApi*>(api_provider_->getVehicleSimApi(vehicle_name));
     }
 
+    virtual bool isUrdf() { return false; }
+
 protected: //must overrides
     typedef msr::airlib::AirSimSettings AirSimSettings;
 

Unreal/Plugins/AirSim/Source/UnrealSensors/UnrealLidarSensor.cpp

@@ -95,7 +95,7 @@ void UnrealLidarSensor::getPointCloud(const msr::airlib::Pose& lidar_pose, const
             FVector(start.x(), start.y(), start.z()),
             5,                       //size
             FColor::Blue,
-            true,                    //persistent (never goes away)
+            false,                    //persistent (never goes away)
             0.1                      //point leaves a trail on moving object
         );
     }
@@ -204,7 +204,7 @@ bool UnrealLidarSensor::shootLaser(const msr::airlib::Pose& lidar_pose, const ms
                     hit_result.ImpactPoint,
                     5,                       //size
                     FColor::Red,
-                    true,                    //persistent (never goes away)
+                    false,                    //persistent (never goes away)
                     0.1                      //point leaves a trail on moving object
                 );
             }
@@ -236,7 +236,7 @@ bool UnrealLidarSensor::shootLaser(const msr::airlib::Pose& lidar_pose, const ms
                 endVec,
                 5,                       //size
                 FColor::Green,
-                true,                    //persistent (never goes away)
+                false,                    //persistent (never goes away)
                 0.1                      //point leaves a trail on moving object
             );
         }

Unreal/Plugins/AirSim/Source/Vehicles/UrdfBot/MeshGeneration/StaticMeshGenerator.cpp

@@ -10,7 +10,7 @@ bool StaticMeshGenerator::Initialize(UStaticMesh* boxTemplateMesh, UStaticMesh*
     return true;
 }
 
-bool StaticMeshGenerator::CreateUnscaledMeshForLink(FString linkName, UrdfGeometry* visualGeometry, UrdfGeometry* collisionGeometry, APawn* outer, AUrdfLink* link)
+bool StaticMeshGenerator::CreateUnscaledMeshForLink(FString linkName, FString linkMaterialName, UrdfGeometry* visualGeometry, UrdfGeometry* collisionGeometry, APawn* outer, AUrdfLink* link, TMap<FString, UMaterialInterface*> materials)
 {
     FName collisionName = FName((linkName + TEXT("_collision")).GetCharArray().GetData());
 
@@ -58,6 +58,11 @@ bool StaticMeshGenerator::CreateUnscaledMeshForLink(FString linkName, UrdfGeomet
         meshComponent->SetCollisionEnabled(ECollisionEnabled::Type::QueryAndPhysics);
         meshComponent->SetNotifyRigidBodyCollision(true);
 
+        if (linkMaterialName.Len() > 0)
+        {
+            meshComponent->SetMaterial(0, materials[linkMaterialName]);
+        }
+
         link->SetMeshFromStaticMeshComponent(meshComponent);
     }
     else if (geometryType == MESH)
@@ -82,6 +87,11 @@ bool StaticMeshGenerator::CreateUnscaledMeshForLink(FString linkName, UrdfGeomet
             meshComponent->SetCollisionEnabled(ECollisionEnabled::Type::QueryAndPhysics);
             meshComponent->SetNotifyRigidBodyCollision(true);
 
+            if (linkMaterialName.Len() > 0)
+            {
+                meshComponent->SetMaterial(0, materials[linkMaterialName]);
+            }
+
             link->SetMeshFromStaticMeshComponent(meshComponent);
         }
         else
@@ -182,17 +192,32 @@ TArray<TArray<FVector>> StaticMeshGenerator::CreateCollisionVAHCD(TArray<FVector
     VHACD_Params.m_oclAcceleration = false;
     VHACD_Params.m_minVolumePerCH = minVolumePerCh; // this should be around 1 / (3 * m_resolution ^ (1/3))
 
-    const float* const verts = (float*)stlPoints.GetData();
+    double* verts = new double[3 * stlPoints.Num()];
+    double* vertPtr = verts;
+    for (int i = 0; i < stlPoints.Num(); i++)
+    {
+        FVector currentPoint = stlPoints[i];
+        *vertPtr = (double)currentPoint.X;
+        vertPtr++;
+        *vertPtr = (double)currentPoint.Y;
+        vertPtr++;
+        *vertPtr = (double)currentPoint.Z;
+        vertPtr++;
+    }
+
+    //const double* const verts = (double*)stlPoints.GetData();
     const unsigned int numVerts = stlPoints.Num();
-    const int* const tris = (int*)stlIndices.GetData();
+    const unsigned int* const tris = (unsigned int*)stlIndices.GetData();
     const unsigned int numTris = stlIndices.Num() / 3;
-
-    bool success = vhacdInterface->Compute(verts, 3, numVerts, tris, 3, numTris, VHACD_Params);
+
+    bool success = vhacdInterface->Compute(verts, numVerts, tris, numTris, VHACD_Params);
+    //bool success = vhacdInterface->Compute(verts, 3, numVerts, tris, 3, numTris, VHACD_Params);
 
     if (!success)
     {
         vhacdInterface->Clean();
         vhacdInterface->Release();
+        delete verts;
         return TArray<TArray<FVector>>();
     }
 
@@ -221,6 +246,7 @@ TArray<TArray<FVector>> StaticMeshGenerator::CreateCollisionVAHCD(TArray<FVector
 
     vhacdInterface->Clean();
     vhacdInterface->Release();
+    delete verts;
 
     return output;
 }

Unreal/Plugins/AirSim/Source/Vehicles/UrdfBot/MeshGeneration/StaticMeshGenerator.h

@@ -30,7 +30,7 @@ class StaticMeshGenerator
 {
     public:
         bool Initialize(UStaticMesh* boxTemplateMesh, UStaticMesh* cylinderTemplateMesh, UStaticMesh* sphereTemplateMesh, TMap<FString, UStaticMesh*> unrealMeshes);
-        bool CreateUnscaledMeshForLink(FString linkName, UrdfGeometry* visualGeometry, UrdfGeometry* collisionGeometry, APawn* outer, AUrdfLink* link);
+        bool CreateUnscaledMeshForLink(FString linkName, FString linkMaterialName, UrdfGeometry* visualGeometry, UrdfGeometry* collisionGeometry, APawn* outer, AUrdfLink* link, TMap<FString, UMaterialInterface*> materials);
 
     private:
         void ParseProceduralMeshSpecification(FString fileName, ProceduralMeshFileType fileType, bool reverseNormals, float scaleFactor, ProceduralMeshSpecification& meshSpecification);