Add Settings field for Wind

microsoft · Jul 20, 2020 · 82cf932 · 82cf932
1 parent 05ff544
commit 82cf932
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Showing 3 changed files with 18 additions and 0 deletions.
diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
@@ -355,6 +355,7 @@ struct AirSimSettings {
 	float speed_unit_factor =  1.0f;
 	std::string speed_unit_label = "m\\s";
     std::map<std::string, std::unique_ptr<SensorSetting>> sensor_defaults;
+    Vector3r wind = Vector3r::Zero();
 
 public: //methods
     static AirSimSettings& singleton()
@@ -1051,6 +1052,14 @@ struct AirSimSettings {
                 tod_setting.move_sun = tod_settings_json.getBool("MoveSun", tod_setting.move_sun);
             }
         }
+
+        {
+            // Wind Settings
+            Settings child_json;
+            if (settings_json.getChild("Wind", child_json)) {
+                wind = createVectorSetting(child_json, wind);
+            }
+        }
     }
 
     static void loadDefaultCameraSetting(const Settings& settings_json, CameraSetting& camera_defaults)

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.cpp
@@ -62,6 +62,8 @@ std::unique_ptr<ASimModeWorldBase::PhysicsEngineBase> ASimModeWorldBase::createP
         else {
             physics_engine.reset(new msr::airlib::FastPhysicsEngine());
         }
+
+        physics_engine->setWind(getSettings().wind);
     }
     else {
         physics_engine.reset();
@@ -98,6 +100,11 @@ void ASimModeWorldBase::continueForTime(double seconds)
     UGameplayStatics::SetGamePaused(this->GetWorld(), true);
 }
 
+void ASimModeWorldBase::setWind(const msr::airlib::Vector3r& wind)
+{
+    physics_engine_->setWind(wind);
+}
+
 void ASimModeWorldBase::updateDebugReport(msr::airlib::StateReporterWrapper& debug_reporter)
 {
     unused(debug_reporter);

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.h b/Unreal/Plugins/AirSim/Source/SimMode/SimModeWorldBase.h
@@ -31,6 +31,8 @@ class AIRSIM_API ASimModeWorldBase : public ASimModeBase
     virtual void pause(bool is_paused) override;
     virtual void continueForTime(double seconds) override;
 
+    void setWind(const msr::airlib::Vector3r& wind);
+
 protected:
     void startAsyncUpdator();
     void stopAsyncUpdator();