remove car_assets.zip

Author: sytelus

AirLib/include/api/RpcLibAdapatorsBase.hpp

@@ -57,26 +57,30 @@ class RpcLibAdapatorsBase {
         Vector3r position;
         msr::airlib::real_T penetration_depth = 0;
         msr::airlib::TTimePoint time_stamp = 0;
+        std::string object_name;
+        int object_id = -1;
 
-        MSGPACK_DEFINE_MAP(has_collided, penetration_depth, time_stamp, normal, impact_point, position);
+        MSGPACK_DEFINE_MAP(has_collided, penetration_depth, time_stamp, normal, impact_point, position, object_name, object_id);
 
         CollisionInfo()
         {}
 
         CollisionInfo(const msr::airlib::CollisionInfo& s)
         {
             has_collided = s.has_collided;
-            penetration_depth = s.penetration_depth;
-            time_stamp = s.time_stamp;
             normal = s.normal;
             impact_point = s.impact_point;
             position = s.position;
+            penetration_depth = s.penetration_depth;
+            time_stamp = s.time_stamp;
+            object_name = s.object_name;
+            object_id = s.object_id;
         }
 
         msr::airlib::CollisionInfo to() const
         {
             return msr::airlib::CollisionInfo(has_collided, normal.to(), impact_point.to(), position.to(),
-                penetration_depth, time_stamp);
+                penetration_depth, time_stamp, object_name, object_id);
         }
     };
 

AirLib/include/common/CommonStructs.hpp

@@ -180,16 +180,20 @@ struct CollisionInfo {
     real_T penetration_depth = 0;
     TTimePoint time_stamp = 0;
     unsigned int collision_count = 0;
+    std::string object_name;
+    int object_id = -1;
 
     CollisionInfo()
     {}
 
     CollisionInfo(bool has_collided_val, const Vector3r& normal_val, 
         const Vector3r& impact_point_val, const Vector3r& position_val, 
-        real_T penetration_depth_val, TTimePoint time_stamp_val)
+        real_T penetration_depth_val, TTimePoint time_stamp_val,
+        const std::string& object_name_val, int object_id_val)
         : has_collided(has_collided_val), normal(normal_val),
         impact_point(impact_point_val), position(position_val),
-        penetration_depth(penetration_depth_val), time_stamp(time_stamp_val)
+        penetration_depth(penetration_depth_val), time_stamp(time_stamp_val),
+        object_name(object_name_val), object_id(object_id_val)
     {
     }
 };

PythonClient/AirSimClient.py

@@ -78,6 +78,8 @@ class CollisionInfo(MsgpackMixin):
     position = Vector3r()
     penetration_depth = np.float32(0)
     time_stamp = np.float32(0)
+    object_name = ""
+    object_id = -1
 
 class GeoPoint(MsgpackMixin):
     latitude = 0.0

PythonClient/car_collision.py

@@ -22,11 +22,11 @@
     collision_info = client.getCollisionInfo()
 
     if collision_info.has_collided:
-        print("Collision at pos %s, normal %s, impact pt %s, penetration %f" % (
+        print("Collision at pos %s, normal %s, impact pt %s, penetration %f, name %s, obj id %d" % (
             pprint.pformat(collision_info.position), 
             pprint.pformat(collision_info.normal), 
             pprint.pformat(collision_info.impact_point), 
-            collision_info.penetration_depth))
+            collision_info.penetration_depth, collision_info.object_name, collision_info.object_id))
         break
 
     time.sleep(0.1)

Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp

@@ -71,16 +71,24 @@ void VehiclePawnWrapper::onCollision(class UPrimitiveComponent* MyComp, class AA
     //FRotator CurrentRotation = GetActorRotation(RootComponent);
     //SetActorRotation(FQuat::Slerp(CurrentRotation.Quaternion(), HitNormal.ToOrientationQuat(), 0.025f));
 
+    UPrimitiveComponent* comp = Other ? (Other->GetRootPrimitiveComponent() ? Other->GetRootPrimitiveComponent() : nullptr) : nullptr;
+
     state_.collision_info.has_collided = true;
     state_.collision_info.normal = NedTransform::toVector3r(Hit.ImpactNormal, 1, true);
     state_.collision_info.impact_point = NedTransform::toNedMeters(Hit.ImpactPoint);
     state_.collision_info.position = NedTransform::toNedMeters(getPosition());
     state_.collision_info.penetration_depth = NedTransform::toNedMeters(Hit.PenetrationDepth);
     state_.collision_info.time_stamp = msr::airlib::ClockFactory::get()->nowNanos();
+    state_.collision_info.object_name = std::string(Other ? TCHAR_TO_UTF8(*(Other->GetName())) : "(null)");
+    state_.collision_info.object_id = comp ? comp->CustomDepthStencilValue : -1;
+
     ++state_.collision_info.collision_count;
 
-    UAirBlueprintLib::LogMessage(TEXT("Collision Count:"), FString::FromInt(
-        state_.collision_info.collision_count), LogDebugLevel::Failure);
+
+    UAirBlueprintLib::LogMessageString("Collision", Utils::stringf("#%d with %s - ObjID %d", 
+        state_.collision_info.collision_count, 
+        state_.collision_info.object_name.c_str(), state_.collision_info.object_id),
+        LogDebugLevel::Failure);
 }
 
 APawn* VehiclePawnWrapper::getPawn()