merge of CodexLabsLLC/Colosseum#84

Unreal/Environments/Blocks/Blocks.uproject

@@ -1,6 +1,6 @@
 {
 	"FileVersion": 3,
-	"EngineAssociation": "5.2",
+	"EngineAssociation": "5.3",
 	"Category": "",
 	"Description": "",
 	"Modules": [

Unreal/Environments/Blocks/Source/Blocks.Target.cs

@@ -9,7 +9,7 @@ public BlocksTarget(TargetInfo Target) : base(Target)
 	{
 		Type = TargetType.Game;
 		ExtraModuleNames.AddRange(new string[] { "Blocks" });
-
+    DefaultBuildSettings = BuildSettingsVersion.V4;
 		//bUseUnityBuild = false;
 		if (Target.Platform == UnrealTargetPlatform.Linux)
 			bUsePCHFiles = false;

Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs

@@ -9,7 +9,7 @@ public BlocksEditorTarget(TargetInfo Target) : base(Target)
 	{
 		Type = TargetType.Editor;
 		ExtraModuleNames.AddRange(new string[] { "Blocks" });
-        DefaultBuildSettings = BuildSettingsVersion.V2;
+        DefaultBuildSettings = BuildSettingsVersion.V4;
         IncludeOrderVersion = EngineIncludeOrderVersion.Unreal5_2;
         //bUseUnityBuild = false;
         //bUsePCHFiles = false;

Unreal/Environments/Blocks/package.bat

@@ -7,7 +7,7 @@ set OutPath=%1
 set ToolPath=%2
 set UEVer=%3
 
-if "%UEVer%"=="" set "UEVer=5.2.1"
+if "%UEVer%"=="" set "UEVer=5.3.2"
 
 set "_ToolPath=%PROGRAMFILES%\Epic Games\UE_%UEVer%\Engine\Build\BatchFiles"
 if "%ToolPath%"=="" set ToolPath=%_ToolPath%

Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp

@@ -53,7 +53,7 @@ EAppReturnType::Type UAirBlueprintLib::ShowMessage(EAppMsgType::Type message_typ
 
     return FMessageDialog::Open(message_type,
                                 FText::FromString(message.c_str()),
-                                &title_text);
+                                title_text);
 }
 
 ULineBatchComponent* GetLineBatcher(const UWorld* InWorld, bool bPersistentLines, float LifeTime, bool bDepthIsForeground)
@@ -732,9 +732,9 @@ std::vector<msr::airlib::MeshPositionVertexBuffersResponse> UAirBlueprintLib::Ge
             ENQUEUE_RENDER_COMMAND(GetVertexBuffer)
             (
                 [vertex_buffer, data](FRHICommandListImmediate& RHICmdList) {
-                    FVector* indices = (FVector*)RHILockBuffer(vertex_buffer->VertexBufferRHI, 0, vertex_buffer->VertexBufferRHI->GetSize(), RLM_ReadOnly);
+                    FVector* indices = (FVector*)RHICmdList.LockBuffer(vertex_buffer->VertexBufferRHI, 0, vertex_buffer->VertexBufferRHI->GetSize(), RLM_ReadOnly);
                     memcpy(data, indices, vertex_buffer->VertexBufferRHI->GetSize());
-                    RHIUnlockBuffer(vertex_buffer->VertexBufferRHI);
+                    RHICmdList.UnlockBuffer(vertex_buffer->VertexBufferRHI);
                 });
 
 #if ((ENGINE_MAJOR_VERSION > 4) || (ENGINE_MAJOR_VERSION == 4 && ENGINE_MINOR_VERSION >= 27))
@@ -754,9 +754,9 @@ std::vector<msr::airlib::MeshPositionVertexBuffersResponse> UAirBlueprintLib::Ge
                 ENQUEUE_RENDER_COMMAND(GetIndexBuffer)
                 (
                     [IndexBuffer, data_ptr](FRHICommandListImmediate& RHICmdList) {
-                        uint16_t* indices = (uint16_t*)RHILockBuffer(IndexBuffer->IndexBufferRHI, 0, IndexBuffer->IndexBufferRHI->GetSize(), RLM_ReadOnly);
+                        uint16_t* indices = (uint16_t*)RHICmdList.LockBuffer(IndexBuffer->IndexBufferRHI, 0, IndexBuffer->IndexBufferRHI->GetSize(), RLM_ReadOnly);
                         memcpy(data_ptr, indices, IndexBuffer->IndexBufferRHI->GetSize());
-                        RHIUnlockBuffer(IndexBuffer->IndexBufferRHI);
+                        RHICmdList.UnlockBuffer(IndexBuffer->IndexBufferRHI);
                     });
 
                 //Need to force the render command to go through cause on the next iteration the buffer no longer exists
@@ -777,9 +777,9 @@ std::vector<msr::airlib::MeshPositionVertexBuffersResponse> UAirBlueprintLib::Ge
                 ENQUEUE_RENDER_COMMAND(GetIndexBuffer)
                 (
                     [IndexBuffer, data_ptr](FRHICommandListImmediate& RHICmdList) {
-                        uint32_t* indices = (uint32_t*)RHILockBuffer(IndexBuffer->IndexBufferRHI, 0, IndexBuffer->IndexBufferRHI->GetSize(), RLM_ReadOnly);
+                        uint32_t* indices = (uint32_t*)RHICmdList.LockBuffer(IndexBuffer->IndexBufferRHI, 0, IndexBuffer->IndexBufferRHI->GetSize(), RLM_ReadOnly);
                         memcpy(data_ptr, indices, IndexBuffer->IndexBufferRHI->GetSize());
-                        RHIUnlockBuffer(IndexBuffer->IndexBufferRHI);
+                        RHICmdList.UnlockBuffer(IndexBuffer->IndexBufferRHI);
                     });
 
                 FlushRenderingCommands();
@@ -814,7 +814,8 @@ std::vector<msr::airlib::MeshPositionVertexBuffersResponse> UAirBlueprintLib::Ge
 TArray<FName> UAirBlueprintLib::ListWorldsInRegistry()
 {
     FARFilter Filter;
-    Filter.ClassNames.Add(UWorld::StaticClass()->GetFName());
+    FTopLevelAssetPath UPath(UWorld::StaticClass()->GetPathName());
+    Filter.ClassPaths.Add(UPath);
     Filter.bRecursivePaths = true;
 
     TArray<FAssetData> AssetData;
@@ -830,7 +831,8 @@ TArray<FName> UAirBlueprintLib::ListWorldsInRegistry()
 UObject* UAirBlueprintLib::GetMeshFromRegistry(const std::string& load_object)
 {
     FARFilter Filter;
-    Filter.ClassNames.Add(UStaticMesh::StaticClass()->GetFName());
+    FTopLevelAssetPath MPath(UStaticMesh::StaticClass()->GetPathName());
+    Filter.ClassPaths.Add(MPath);
     Filter.bRecursivePaths = true;
 
     TArray<FAssetData> AssetData;

Unreal/Plugins/AirSim/Source/AirBlueprintLib.h

@@ -58,7 +58,7 @@ class UAirBlueprintLib : public UBlueprintFunctionLibrary
         FName name_n = FName(*name);
         for (TActorIterator<AActor> It(context->GetWorld(), T::StaticClass()); It; ++It) {
             AActor* Actor = *It;
-            if (!Actor->IsPendingKill() && (Actor->ActorHasTag(name_n) || Actor->GetName().Compare(name) == 0)) {
+            if (IsValid(Actor) && (Actor->ActorHasTag(name_n) || Actor->GetName().Compare(name) == 0)) {
                 return static_cast<T*>(Actor);
             }
         }

Unreal/Plugins/AirSim/Source/AirSim.Build.cs

@@ -22,7 +22,9 @@ private string AirSimPluginPath
     }
     private string ProjectBinariesPath
     {
-        get { return Path.Combine(
+        get
+        {
+            return Path.Combine(
                 Directory.GetParent(AirSimPluginPath).Parent.FullName, "Binaries");
         }
     }
@@ -91,7 +93,7 @@ public AirSim(ReadOnlyTargetRules Target) : base(Target)
         PublicIncludePaths.Add(Path.Combine(AirLibPath, "deps", "eigen3"));
         AddOSLibDependencies(Target);
 
-        SetupCompileMode(CompileMode.HeaderOnlyWithRpc, Target);
+        SetupCompileMode(CompileMode.CppCompileWithRpc, Target);
     }
 
     private void AddOSLibDependencies(ReadOnlyTargetRules Target)
@@ -106,12 +108,12 @@ private void AddOSLibDependencies(ReadOnlyTargetRules Target)
             PublicAdditionalLibraries.Add("dxguid.lib");
         }
 
-		if (Target.Platform == UnrealTargetPlatform.Linux)
-		{
-			// needed when packaging
-			PublicAdditionalLibraries.Add("stdc++");
-			PublicAdditionalLibraries.Add("supc++");
-		}
+        if (Target.Platform == UnrealTargetPlatform.Linux)
+        {
+            // needed when packaging
+            PublicAdditionalLibraries.Add("stdc++");
+            PublicAdditionalLibraries.Add("supc++");
+        }
     }
 
     static void CopyFileIfNewer(string srcFilePath, string destFolder)
@@ -143,7 +145,9 @@ private bool AddLibDependency(string LibName, string LibPath, string LibFileName
             isLibrarySupported = true;
 
             PublicAdditionalLibraries.Add(Path.Combine(LibPath, PlatformString, ConfigurationString, LibFileName + ".lib"));
-        } else if (Target.Platform == UnrealTargetPlatform.Linux || Target.Platform == UnrealTargetPlatform.Mac) {
+        }
+        else if (Target.Platform == UnrealTargetPlatform.Linux || Target.Platform == UnrealTargetPlatform.Mac)
+        {
             isLibrarySupported = true;
             PublicAdditionalLibraries.Add(Path.Combine(LibPath, "lib" + LibFileName + ".a"));
         }
@@ -157,4 +161,4 @@ private bool AddLibDependency(string LibName, string LibPath, string LibFileName
 
         return isLibrarySupported;
     }
-}
+}

Unreal/Plugins/AirSim/Source/CameraDirector.cpp → Unreal/Plugins/AirSim/Source/AirSimCameraDirector.cpp

@@ -1,4 +1,4 @@
-#include "CameraDirector.h"
+#include "AirSimCameraDirector.h"
 #include "GameFramework/PlayerController.h"
 #include "AirBlueprintLib.h"
 
@@ -321,7 +321,7 @@ void ACameraDirector::inputEventFpvView()
     if (fpv_camera_) {
         setMode(ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FPV);
         fpv_camera_->showToScreen();
-        disableCameras(false, true, true);
+        disableCameras(false, true, true, true);
     }
     else
         UAirBlueprintLib::LogMessageString("Camera is not available: ", "fpv_camera", LogDebugLevel::Failure);
@@ -346,4 +346,4 @@ void ACameraDirector::notifyViewModeChanged()
     UWorld* world = GetWorld();
     UGameViewportClient* gameViewport = world->GetGameViewport();
     gameViewport->bDisableWorldRendering = nodisplay;
-}
+}

Unreal/Plugins/AirSim/Source/CameraDirector.h → Unreal/Plugins/AirSim/Source/AirSimCameraDirector.h

@@ -7,7 +7,7 @@
 #include "ManualPoseController.h"
 #include "common/common_utils/Utils.hpp"
 #include "GameFramework/SpringArmComponent.h"
-#include "CameraDirector.generated.h"
+#include "AirSimCameraDirector.generated.h"
 
 UENUM(BlueprintType)
 enum class ECameraDirectorMode : uint8
@@ -30,10 +30,10 @@ class AIRSIM_API ACameraDirector : public AActor
 public:
     /** Spring arm that will offset the camera */
     UPROPERTY(Category = Camera, VisibleDefaultsOnly, BlueprintReadOnly, meta = (AllowPrivateAccess = "true"))
-    USpringArmComponent* SpringArm;
+    USpringArmComponent *SpringArm;
 
     UPROPERTY(Category = Camera, VisibleDefaultsOnly, BlueprintReadOnly, meta = (AllowPrivateAccess = "true"))
-    APIPCamera* ExternalCamera;
+    APIPCamera *ExternalCamera;
 
 public:
     void inputEventFpvView();
@@ -57,11 +57,11 @@ class AIRSIM_API ACameraDirector : public AActor
     void setMode(ECameraDirectorMode mode);
 
     void initializeForBeginPlay(ECameraDirectorMode view_mode,
-                                AActor* follow_actor, APIPCamera* fpv_camera, APIPCamera* front_camera, APIPCamera* back_camera);
+                                AActor *follow_actor, APIPCamera *fpv_camera, APIPCamera *front_camera, APIPCamera *back_camera);
 
-    APIPCamera* getFpvCamera() const;
-    APIPCamera* getExternalCamera() const;
-    APIPCamera* getBackupCamera() const;
+    APIPCamera *getFpvCamera() const;
+    APIPCamera *getExternalCamera() const;
+    APIPCamera *getBackupCamera() const;
     void setFollowDistance(const int follow_distance) { this->follow_distance_ = follow_distance; }
     void setCameraRotationLagEnabled(const bool lag_enabled) { this->camera_rotation_lag_enabled_ = lag_enabled; }
 
@@ -74,16 +74,16 @@ class AIRSIM_API ACameraDirector : public AActor
 private:
     typedef common_utils::Utils Utils;
 
-    APIPCamera* fpv_camera_;
-    APIPCamera* backup_camera_;
-    APIPCamera* front_camera_;
-    AActor* follow_actor_;
+    APIPCamera *fpv_camera_;
+    APIPCamera *backup_camera_;
+    APIPCamera *front_camera_;
+    AActor *follow_actor_;
 
-    USceneComponent* last_parent_ = nullptr;
+    USceneComponent *last_parent_ = nullptr;
 
     ECameraDirectorMode mode_;
     UPROPERTY()
-    UManualPoseController* manual_pose_controller_;
+    UManualPoseController *manual_pose_controller_;
 
     FVector camera_start_location_;
     FVector initial_ground_obs_offset_;

Unreal/Plugins/AirSim/Source/DetectionComponent.cpp

@@ -26,25 +26,34 @@ UDetectionComponent::UDetectionComponent()
 void UDetectionComponent::BeginPlay()
 {
     Super::BeginPlay();
-    scene_capture_component_2D_ = CastChecked<USceneCaptureComponent2D>(GetAttachParent());
+    scene_capture_component_2D_ = Cast<USceneCaptureComponent2D>(GetAttachParent());
+    if (!scene_capture_component_2D_)
+    {
+        // we get re-parented to USceneComponent when saving Take Recorder videos
+        this->Deactivate();
+    }
     object_filter_ = FObjectFilter();
 }
 
-void UDetectionComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction)
+void UDetectionComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction *ThisTickFunction)
 {
     Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
 }
 
-const TArray<FDetectionInfo>& UDetectionComponent::getDetections()
+const TArray<FDetectionInfo> &UDetectionComponent::getDetections()
 {
     cached_detections_.Empty();
 
-    for (TActorIterator<AActor> actor_itr(GetWorld()); actor_itr; ++actor_itr) {
-        AActor* actor = *actor_itr;
-        if (object_filter_.matchesActor(actor)) {
-            if (FVector::Distance(actor->GetActorLocation(), GetComponentLocation()) <= max_distance_to_camera_) {
+    for (TActorIterator<AActor> actor_itr(GetWorld()); actor_itr; ++actor_itr)
+    {
+        AActor *actor = *actor_itr;
+        if (object_filter_.matchesActor(actor))
+        {
+            if (FVector::Distance(actor->GetActorLocation(), GetComponentLocation()) <= max_distance_to_camera_)
+            {
                 FBox2D box_2D_out;
-                if (texture_target_ && calcBoundingFromViewInfo(actor, box_2D_out)) {
+                if (texture_target_ && calcBoundingFromViewInfo(actor, box_2D_out))
+                {
                     FDetectionInfo detection;
                     detection.Actor = actor;
                     detection.Box2D = box_2D_out;
@@ -63,7 +72,7 @@ const TArray<FDetectionInfo>& UDetectionComponent::getDetections()
     return cached_detections_;
 }
 
-bool UDetectionComponent::calcBoundingFromViewInfo(AActor* actor, FBox2D& box_out)
+bool UDetectionComponent::calcBoundingFromViewInfo(AActor *actor, FBox2D &box_out)
 {
     FVector origin;
     FVector extend;
@@ -74,7 +83,7 @@ bool UDetectionComponent::calcBoundingFromViewInfo(AActor* actor, FBox2D& box_ou
     bool is_in_camera_view = false;
 
     // get render target for texture size
-    FRenderTarget* render_target = texture_target_->GameThread_GetRenderTargetResource();
+    FRenderTarget *render_target = texture_target_->GameThread_GetRenderTargetResource();
 
     // initialize viewinfo for projection matrix
     FMinimalViewInfo info;
@@ -113,16 +122,19 @@ bool UDetectionComponent::calcBoundingFromViewInfo(AActor* actor, FBox2D& box_ou
                                                                                      FPlane(0, 1, 0, 0),
                                                                                      FPlane(0, 0, 0, 1));
 
-    if (scene_capture_component_2D_->bUseCustomProjectionMatrix) {
+    if (scene_capture_component_2D_->bUseCustomProjectionMatrix)
+    {
         projection_data.ProjectionMatrix = scene_capture_component_2D_->CustomProjectionMatrix;
     }
-    else {
+    else
+    {
         projection_data.ProjectionMatrix = info.CalculateProjectionMatrix();
     }
     projection_data.SetConstrainedViewRectangle(screen_rect);
 
     // Project Points to pixels and get the corner pixels
-    for (FVector& point : points) {
+    for (FVector &point : points)
+    {
         FVector2D Pixel(0, 0);
         FSceneView::ProjectWorldToScreen((point), screen_rect, projection_data.ComputeViewProjectionMatrix(), Pixel);
         is_in_camera_view |= (Pixel != screen_rect.Min) && (Pixel != screen_rect.Max) && screen_rect.Contains(FIntPoint(Pixel.X, Pixel.Y));
@@ -136,13 +148,17 @@ bool UDetectionComponent::calcBoundingFromViewInfo(AActor* actor, FBox2D& box_ou
     // If actor in camera view - check if it's actually visible or hidden
     // Check against 8 extend points
     bool is_visible = false;
-    if (is_in_camera_view) {
+    if (is_in_camera_view)
+    {
         FHitResult result;
         bool is_world_hit;
-        for (FVector& point : points) {
+        for (FVector &point : points)
+        {
             is_world_hit = GetWorld()->LineTraceSingleByChannel(result, GetComponentLocation(), point, ECC_WorldStatic);
-            if (is_world_hit) {
-                if (result.GetActor() == actor) {
+            if (is_world_hit)
+            {
+                if (result.GetActor() == actor)
+                {
                     is_visible = true;
                     break;
                 }
@@ -151,12 +167,16 @@ bool UDetectionComponent::calcBoundingFromViewInfo(AActor* actor, FBox2D& box_ou
 
         // If actor in camera view but didn't hit any point out of 8 extend points,
         // check against 10 random points
-        if (!is_visible) {
-            for (int i = 0; i < 10; i++) {
+        if (!is_visible)
+        {
+            for (int i = 0; i < 10; i++)
+            {
                 FVector point = UKismetMathLibrary::RandomPointInBoundingBox(origin, extend);
                 is_world_hit = GetWorld()->LineTraceSingleByChannel(result, GetComponentLocation(), point, ECC_WorldStatic);
-                if (is_world_hit) {
-                    if (result.GetActor() == actor) {
+                if (is_world_hit)
+                {
+                    if (result.GetActor() == actor)
+                    {
                         is_visible = true;
                         break;
                     }
@@ -187,11 +207,12 @@ FRotator UDetectionComponent::getRelativeRotation(FVector in_location, FRotator
     return relative_object_transform.Rotator();
 }
 
-void UDetectionComponent::addMeshName(const std::string& mesh_name)
+void UDetectionComponent::addMeshName(const std::string &mesh_name)
 {
     FString name(mesh_name.c_str());
 
-    if (!object_filter_.wildcard_mesh_names_.Contains(name)) {
+    if (!object_filter_.wildcard_mesh_names_.Contains(name))
+    {
         object_filter_.wildcard_mesh_names_.Add(name);
     }
 }
@@ -204,4 +225,4 @@ void UDetectionComponent::setFilterRadius(const float radius_cm)
 void UDetectionComponent::clearMeshNames()
 {
     object_filter_.wildcard_mesh_names_.Empty();
-}
+}