Merge pull request #4237 from zimmy87/fix-1004

keep CollisionInfo.has_collided flag set until simGetCollisionInfo called
microsoft · Jan 11, 2022 · c23a3a5 · c23a3a5
2 parents c1959b7 + 96ca307
commit c23a3a5
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Showing 6 changed files with 18 additions and 5 deletions.
diff --git a/AirLib/include/api/VehicleSimApiBase.hpp b/AirLib/include/api/VehicleSimApiBase.hpp
@@ -58,6 +58,7 @@ namespace airlib
         virtual const msr::airlib::Environment* getGroundTruthEnvironment() const = 0;
 
         virtual CollisionInfo getCollisionInfo() const = 0;
+        virtual CollisionInfo getCollisionInfoAndReset() = 0;
         virtual int getRemoteControlID() const = 0; //which RC to use, 0 is first one, -1 means disable RC (use keyborad)
         virtual RCData getRCData() const = 0; //get reading from RC from simulator's host OS
         virtual std::string getVehicleName() const = 0;

diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
@@ -357,7 +357,7 @@ namespace airlib
         });
 
         pimpl_->server.bind("simGetCollisionInfo", [&](const std::string& vehicle_name) -> RpcLibAdaptorsBase::CollisionInfo {
-            const auto& collision_info = getVehicleSimApi(vehicle_name)->getCollisionInfo();
+            const auto& collision_info = getVehicleSimApi(vehicle_name)->getCollisionInfoAndReset();
             return RpcLibAdaptorsBase::CollisionInfo(collision_info);
         });
 

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp
@@ -168,6 +168,13 @@ PawnSimApi::CollisionInfo PawnSimApi::getCollisionInfo() const
     return state_.collision_info;
 }
 
+PawnSimApi::CollisionInfo PawnSimApi::getCollisionInfoAndReset()
+{
+    CollisionInfo collision_info = getCollisionInfo();
+    state_.collision_info.has_collided = false;
+    return collision_info;
+}
+
 void PawnSimApi::toggleTrace()
 {
     state_.tracing_enabled = !state_.tracing_enabled;

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h
@@ -74,6 +74,7 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase
     virtual void setPose(const Pose& pose, bool ignore_collision) override;
 
     virtual CollisionInfo getCollisionInfo() const override;
+    virtual CollisionInfo getCollisionInfoAndReset() override;
     virtual int getRemoteControlID() const override;
     virtual msr::airlib::RCData getRCData() const override;
     virtual std::string getVehicleName() const override

diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
@@ -360,6 +360,13 @@ PawnSimApi::CollisionInfo PawnSimApi::getCollisionInfo() const
     return state_.collision_info;
 }
 
+PawnSimApi::CollisionInfo PawnSimApi::getCollisionInfoAndReset()
+{
+    CollisionInfo collision_info = getCollisionInfo();
+    state_.collision_info.has_collided = false;
+    return collision_info;
+}
+
 FVector PawnSimApi::getUUPosition() const
 {
     return params_.pawn->GetActorLocation(); // - state_.mesh_origin
@@ -447,10 +454,6 @@ void PawnSimApi::setPoseInternal(const Pose& pose, bool ignore_collision)
 
     bool enable_teleport = ignore_collision || canTeleportWhileMove();
 
-    //must reset collision before we set pose. Setting pose will immediately call NotifyHit if there was collision
-    //if there was no collision than has_collided would remain false, else it will be set so its value can be
-    //checked at the start of next tick
-    state_.collision_info.has_collided = false;
     state_.was_last_move_teleport = enable_teleport;
 
     if (enable_teleport)

diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.h b/Unreal/Plugins/AirSim/Source/PawnSimApi.h
@@ -81,6 +81,7 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase
     virtual void setPose(const Pose& pose, bool ignore_collision) override;
 
     virtual CollisionInfo getCollisionInfo() const override;
+    virtual CollisionInfo getCollisionInfoAndReset() override;
     virtual int getRemoteControlID() const override;
     virtual msr::airlib::RCData getRCData() const override;
     virtual std::string getVehicleName() const override