Merge branch 'pr/set_kinematics_for_external_physics' of github.com:j…

…onyMarino/AirSim into pr/set_kinematics_for_external_physics
microsoft · Oct 7, 2021 · ca80d21 · ca80d21
2 parents 1ecfe78 + 50efe1b
commit ca80d21
Show file tree

Hide file tree

Showing 9 changed files with 18 additions and 7 deletions.
diff --git a/AirLib/include/api/VehicleSimApiBase.hpp b/AirLib/include/api/VehicleSimApiBase.hpp
@@ -54,7 +54,7 @@ namespace airlib
         virtual Pose getPose() const = 0;
         virtual void setPose(const Pose& pose, bool ignore_collision) = 0;
         virtual const Kinematics::State* getGroundTruthKinematics() const = 0;
-        virtual void setKinematics(const Kinematics::State& state, bool ignore_collision) const = 0;
+        virtual void setKinematics(const Kinematics::State& state, bool ignore_collision) = 0;
         virtual const msr::airlib::Environment* getGroundTruthEnvironment() const = 0;
 
         virtual CollisionInfo getCollisionInfo() const = 0;

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp
@@ -226,7 +226,7 @@ const msr::airlib::Kinematics::State* PawnSimApi::getGroundTruthKinematics() con
     return &kinematics_->getState();
 }
 
-void PawnSimApi::setKinematics(const Kinematics::State& state, bool ignore_collision) const
+void PawnSimApi::setKinematics(const Kinematics::State& state, bool ignore_collision)
 {
     unused(ignore_collision);
     return kinematics_->setState(state);

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h
@@ -85,7 +85,7 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase
     virtual void updateRenderedState(float dt) override;
     virtual void updateRendering(float dt) override;
     virtual const msr::airlib::Kinematics::State* getGroundTruthKinematics() const override;
-    virtual void setKinematics(const Kinematics::State& state, bool ignore_collision) const override;
+    virtual void setKinematics(const Kinematics::State& state, bool ignore_collision) override;
     virtual const msr::airlib::Environment* getGroundTruthEnvironment() const override;
     virtual std::string getRecordFileLine(bool is_header_line) const override;
     virtual void reportState(msr::airlib::StateReporter& reporter) override;

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/MultirotorPawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/MultirotorPawnSimApi.cpp
@@ -125,6 +125,14 @@ void MultirotorPawnSimApi::setPose(const Pose& pose, bool ignore_collision)
     pending_pose_status_ = PendingPoseStatus::RenderStatePending;
 }
 
+void MultirotorPawnSimApi::setKinematics(const msr::airlib::Kinematics::State& state, bool ignore_collision)
+{
+    PawnSimApi::setKinematics(state, ignore_collision);
+
+    msr::airlib::Pose pose(state.pose.position, state.pose.orientation);
+    setPose(pose, ignore_collision);
+}
+
 //*** Start: UpdatableState implementation ***//
 void MultirotorPawnSimApi::resetImplementation()
 {

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/MultirotorPawnSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/Vehicles/Multirotor/MultirotorPawnSimApi.h
@@ -30,6 +30,7 @@ class MultirotorPawnSimApi : public PawnSimApi
     virtual void reportState(StateReporter& reporter) override;
     virtual UpdatableObject* getPhysicsBody() override;
     virtual void setPose(const Pose& pose, bool ignore_collision) override;
+    virtual void setKinematics(const msr::airlib::Kinematics::State& state, bool ignore_collision) override;
 
     msr::airlib::MultirotorApiBase* getVehicleApi() const
     {

diff --git a/Unity/build.cmd b/Unity/build.cmd
@@ -1,3 +1,4 @@
+@echo off
 REM //---------- copy binaries and include for MavLinkCom in deps ----------
 msbuild AirLibWrapper\AirsimWrapper.sln  /target:Clean /target:Build  /property:Configuration=Release /property:Platform=x64
 if ERRORLEVEL 1 goto :buildfailed

diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
@@ -529,10 +529,11 @@ const msr::airlib::Kinematics::State* PawnSimApi::getGroundTruthKinematics() con
     return &kinematics_->getState();
 }
 
-void PawnSimApi::setKinematics(const Kinematics::State& state, bool ignore_collision) const
+void PawnSimApi::setKinematics(const Kinematics::State& state, bool ignore_collision)
 {
+    unused(ignore_collision);
+
     return kinematics_->setState(state);
-    (void)ignore_collision;
 }
 const msr::airlib::Environment* PawnSimApi::getGroundTruthEnvironment() const
 {

diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.h b/Unreal/Plugins/AirSim/Source/PawnSimApi.h
@@ -93,7 +93,7 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase
     virtual void updateRenderedState(float dt) override;
     virtual void updateRendering(float dt) override;
     virtual const msr::airlib::Kinematics::State* getGroundTruthKinematics() const override;
-    virtual void setKinematics(const msr::airlib::Kinematics::State& state, bool ignore_collision) const;
+    virtual void setKinematics(const msr::airlib::Kinematics::State& state, bool ignore_collision) override;
     virtual const msr::airlib::Environment* getGroundTruthEnvironment() const override;
     virtual std::string getRecordFileLine(bool is_header_line) const override;
     virtual void reportState(msr::airlib::StateReporter& reporter) override;

diff --git a/Unreal/Plugins/AirSim/Source/Vehicles/Multirotor/MultirotorPawnSimApi.h b/Unreal/Plugins/AirSim/Source/Vehicles/Multirotor/MultirotorPawnSimApi.h
@@ -43,7 +43,7 @@ class MultirotorPawnSimApi : public PawnSimApi
     virtual UpdatableObject* getPhysicsBody() override;
 
     virtual void setPose(const Pose& pose, bool ignore_collision) override;
-    virtual void setKinematics(const Kinematics::State& state, bool ignore_collision);
+    virtual void setKinematics(const Kinematics::State& state, bool ignore_collision) override;
     virtual void pawnTick(float dt) override;
 
     msr::airlib::MultirotorApiBase* getVehicleApi() const