Allow for enabling physics when spawning a new object (#2902)

* Allow for enabling physics when spawning a new object
microsoft · Jul 31, 2020 · 84f314d · 84f314d
1 parent fd4a8fe
commit 84f314d
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Showing 6 changed files with 16 additions and 12 deletions.
diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp
@@ -27,7 +27,7 @@ class WorldSimApiBase {
 
     // ------ Level setting apis ----- //
     virtual bool loadLevel(const std::string& level_name) = 0;
-    virtual string spawnObject(string& object_name, const string& load_component, const Pose& pose, const Vector3r& scale) = 0;
+    virtual string spawnObject(string& object_name, const string& load_component, const Pose& pose, const Vector3r& scale, bool physics_enabled) = 0;
     virtual bool destroyObject(const string& object_name) = 0;
 
     virtual bool isPaused() const = 0;

diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
@@ -262,8 +262,8 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         return getWorldSimApi()->loadLevel(level_name);
     });
 
-    pimpl_->server.bind("simSpawnObject", [&](string& object_name, const string& load_component, const RpcLibAdapatorsBase::Pose& pose, const RpcLibAdapatorsBase::Vector3r& scale) -> string {
-        return getWorldSimApi()->spawnObject(object_name, load_component, pose.to(), scale.to());
+    pimpl_->server.bind("simSpawnObject", [&](string& object_name, const string& load_component, const RpcLibAdapatorsBase::Pose& pose, const RpcLibAdapatorsBase::Vector3r& scale, bool physics_enabled) -> string {
+        return getWorldSimApi()->spawnObject(object_name, load_component, pose.to(), scale.to(), physics_enabled);
     });
 
     pimpl_->server.bind("simDestroyObject", [&](const string& object_name) -> bool {

diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
@@ -383,7 +383,7 @@ def simListSceneObjects(self, name_regex = '.*'):
         """
         return self.client.call('simListSceneObjects', name_regex)
 
-    def simSpawnObject(self, object_name, asset_name, pose, scale):
+    def simSpawnObject(self, object_name, asset_name, pose, scale, physics_enabled=False):
         """Spawned selected object in the world
         
         Args:
@@ -395,7 +395,7 @@ def simSpawnObject(self, object_name, asset_name, pose, scale):
         Returns:
             str: Name of spawned object, in case it had to be modified
         """
-        return self.client.call('simSpawnObject', object_name, asset_name, pose, scale)
+        return self.client.call('simSpawnObject', object_name, asset_name, pose, scale, physics_enabled)
 
     def simDestroyObject(self, object_name):
         """Removes selected object from the world

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h
@@ -16,7 +16,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
 
     // ------ Level setting apis ----- //
     virtual bool loadLevel(const std::string& level_name) { return false; };
-    virtual std::string spawnObject(std::string& object_name, const std::string& load_component, const Pose& pose, const Vector3r& scale) { return ""; };
+    virtual std::string spawnObject(std::string& object_name, const std::string& load_component, const Pose& pose, const Vector3r& scale, bool physics_enabled) { return ""; };
     virtual bool destroyObject(const std::string& object_name) { return false; };
 
 	virtual bool isPaused() const override;

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
@@ -77,12 +77,12 @@ bool WorldSimApi::destroyObject(const std::string& object_name)
     return result;
 }
 
-std::string WorldSimApi::spawnObject(std::string& object_name, const std::string& load_object, const WorldSimApi::Pose& pose, const WorldSimApi::Vector3r& scale)
+std::string WorldSimApi::spawnObject(std::string& object_name, const std::string& load_object, const WorldSimApi::Pose& pose, const WorldSimApi::Vector3r& scale, bool physics_enabled)
 {
     // Create struct for Location and Rotation of actor in Unreal
     FTransform actor_transform = simmode_->getGlobalNedTransform().fromGlobalNed(pose);
     bool found_object;
-    UAirBlueprintLib::RunCommandOnGameThread([this, load_object, &object_name, &actor_transform, &found_object, &scale]() {
+    UAirBlueprintLib::RunCommandOnGameThread([this, load_object, &object_name, &actor_transform, &found_object, &scale, &physics_enabled]() {
             // Find mesh in /Game and /AirSim asset registry. When more plugins are added this function will have to change
             UStaticMesh* LoadObject = dynamic_cast<UStaticMesh*>(UAirBlueprintLib::GetMeshFromRegistry(load_object));
             if (LoadObject)
@@ -104,8 +104,10 @@ std::string WorldSimApi::spawnObject(std::string& object_name, const std::string
                 }
                 FActorSpawnParameters new_actor_spawn_params;
                 new_actor_spawn_params.Name = FName(object_name.c_str());
-                this->createNewActor(new_actor_spawn_params, actor_transform, scale, LoadObject);
+                AActor* NewActor = this->createNewActor(new_actor_spawn_params, actor_transform, scale, LoadObject);
                 found_object  = true;
+
+                UAirBlueprintLib::setSimulatePhysics(NewActor, physics_enabled);
             }
             else
             {
@@ -121,7 +123,7 @@ std::string WorldSimApi::spawnObject(std::string& object_name, const std::string
     return object_name;
 }
 
-void WorldSimApi::createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh)
+AActor* WorldSimApi::createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh)
 {
     AActor* NewActor = simmode_->GetWorld()->SpawnActor<AActor>(AActor::StaticClass(), FVector::ZeroVector, FRotator::ZeroRotator, spawn_params); // new
     UStaticMeshComponent* ObjectComponent = NewObject<UStaticMeshComponent>(NewActor);
@@ -132,6 +134,8 @@ void WorldSimApi::createNewActor(const FActorSpawnParameters& spawn_params, cons
     ObjectComponent->RegisterComponent();
     NewActor->SetRootComponent(ObjectComponent);
     NewActor->SetActorLocationAndRotation(actor_transform.GetLocation(), actor_transform.GetRotation(), false, nullptr, ETeleportType::TeleportPhysics);
+
+    return NewActor;
 }
 
 bool WorldSimApi::isPaused() const

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.h b/Unreal/Plugins/AirSim/Source/WorldSimApi.h
@@ -20,7 +20,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
 
     virtual bool loadLevel(const std::string& level_name) override;
 
-    virtual std::string spawnObject(std::string& object_name, const std::string& load_name, const WorldSimApi::Pose& pose, const WorldSimApi::Vector3r& scale) override;
+    virtual std::string spawnObject(std::string& object_name, const std::string& load_name, const WorldSimApi::Pose& pose, const WorldSimApi::Vector3r& scale, bool physics_enabled) override;
     virtual bool destroyObject(const std::string& object_name) override;
 
     virtual bool isPaused() const override;
@@ -64,7 +64,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
     virtual bool isRecording() const override;
 
 private:
-    void createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh);
+    AActor* createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh);
     void spawnPlayer();
 
 private: