AirSim UE5 support

Unreal/Environments/Blocks/Blocks.uproject

@@ -1,6 +1,6 @@
 {
 	"FileVersion": 3,
-	"EngineAssociation": "4.27",
+	"EngineAssociation": "5.0",
 	"Category": "",
 	"Description": "",
 	"Modules": [

Unreal/Plugins/AirSim/AirSim.uplugin

@@ -22,9 +22,9 @@
     }
   ],
   "Plugins": [
-	  {
-		  "Name": "PhysXVehicles",
-		  "Enabled": true
-	  }
+    {
+      "Name": "ChaosVehiclesPlugin",
+      "Enabled": true
+    }
   ]
 }

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

@@ -78,7 +78,7 @@ public AirSim(ReadOnlyTargetRules Target) : base(Target)
 
         bEnableExceptions = true;
 
-        PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore", "ImageWrapper", "RenderCore", "RHI", "AssetRegistry", "PhysicsCore", "PhysXVehicles", "PhysXVehicleLib", "PhysX", "APEX", "Landscape", "CinematicCamera" });
+        PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore", "ImageWrapper", "RenderCore", "RHI", "PhysicsCore", "APEX", "AssetRegistry", "ChaosVehicles", "Landscape", "CinematicCamera" });
         PrivateDependencyModuleNames.AddRange(new string[] { "UMG", "Slate", "SlateCore" });
 
         //suppress VC++ proprietary warnings

Unreal/Plugins/AirSim/Source/PawnSimApi.cpp

@@ -229,7 +229,7 @@ msr::airlib::RCData PawnSimApi::getRCData() const
 
 void PawnSimApi::displayCollisionEffect(FVector hit_location, const FHitResult& hit)
 {
-    if (params_.collision_display_template != nullptr && Utils::isDefinitelyLessThan(hit.ImpactNormal.Z, 0.0f)) {
+    if (params_.collision_display_template != nullptr && Utils::isDefinitelyLessThan<double>(hit.ImpactNormal.Z, 0.0f)) {
         UParticleSystemComponent* particles = UGameplayStatics::SpawnEmitterAtLocation(params_.pawn->GetWorld(),
                                                                                        params_.collision_display_template,
                                                                                        FTransform(hit_location),

Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawn.cpp

@@ -4,7 +4,7 @@
 #include "Components/TextRenderComponent.h"
 #include "Components/AudioComponent.h"
 #include "Sound/SoundCue.h"
-#include "WheeledVehicleMovementComponent4W.h"
+#include "ChaosWheeledVehicleMovementComponent.h"
 
 #include "CarWheelFront.h"
 #include "CarWheelRear.h"
@@ -85,32 +85,33 @@ ACarPawn::ACarPawn()
 
 void ACarPawn::setupVehicleMovementComponent()
 {
-    UWheeledVehicleMovementComponent4W* movement = CastChecked<UWheeledVehicleMovementComponent4W>(getVehicleMovementComponent());
+    UChaosWheeledVehicleMovementComponent* movement = CastChecked<UChaosWheeledVehicleMovementComponent>(getVehicleMovementComponent());
+    movement->WheelSetups.SetNum(4);
     check(movement->WheelSetups.Num() == 4);
 
     // Wheels/Tires
     // Setup the wheels
     movement->WheelSetups[0].WheelClass = UCarWheelFront::StaticClass();
-    movement->WheelSetups[0].BoneName = FName("PhysWheel_FL");
+    movement->WheelSetups[0].BoneName = FName("WheelFL");
     movement->WheelSetups[0].AdditionalOffset = FVector(0.f, -8.f, 0.f);
 
     movement->WheelSetups[1].WheelClass = UCarWheelFront::StaticClass();
-    movement->WheelSetups[1].BoneName = FName("PhysWheel_FR");
+    movement->WheelSetups[1].BoneName = FName("WheelFR");
     movement->WheelSetups[1].AdditionalOffset = FVector(0.f, 8.f, 0.f);
 
     movement->WheelSetups[2].WheelClass = UCarWheelRear::StaticClass();
-    movement->WheelSetups[2].BoneName = FName("PhysWheel_BL");
+    movement->WheelSetups[2].BoneName = FName("WheelBL");
     movement->WheelSetups[2].AdditionalOffset = FVector(0.f, -8.f, 0.f);
 
     movement->WheelSetups[3].WheelClass = UCarWheelRear::StaticClass();
-    movement->WheelSetups[3].BoneName = FName("PhysWheel_BR");
+    movement->WheelSetups[3].BoneName = FName("WheelBR");
     movement->WheelSetups[3].AdditionalOffset = FVector(0.f, 8.f, 0.f);
 
     // Adjust the tire loading
-    movement->MinNormalizedTireLoad = 0.0f;
-    movement->MinNormalizedTireLoadFiltered = 0.2308f;
-    movement->MaxNormalizedTireLoad = 2.0f;
-    movement->MaxNormalizedTireLoadFiltered = 2.0f;
+    //movement->MinNormalizedTireLoad = 0.0f;
+    //movement->MinNormalizedTireLoadFiltered = 0.2308f;
+    //movement->MaxNormalizedTireLoad = 2.0f;
+    //movement->MaxNormalizedTireLoadFiltered = 2.0f;
 
     // Engine
     // Torque setup
@@ -121,22 +122,22 @@ void ACarPawn::setupVehicleMovementComponent()
     movement->EngineSetup.TorqueCurve.GetRichCurve()->AddKey(5730.0f, 400.0f);
 
     // Adjust the steering
-    movement->SteeringCurve.GetRichCurve()->Reset();
-    movement->SteeringCurve.GetRichCurve()->AddKey(0.0f, 1.0f);
-    movement->SteeringCurve.GetRichCurve()->AddKey(40.0f, 0.7f);
-    movement->SteeringCurve.GetRichCurve()->AddKey(120.0f, 0.6f);
+    movement->SteeringSetup.SteeringCurve.GetRichCurve()->Reset();
+    movement->SteeringSetup.SteeringCurve.GetRichCurve()->AddKey(0.0f, 1.0f);
+    movement->SteeringSetup.SteeringCurve.GetRichCurve()->AddKey(40.0f, 0.7f);
+    movement->SteeringSetup.SteeringCurve.GetRichCurve()->AddKey(120.0f, 0.6f);
 
     // Transmission
     // We want 4wd
-    movement->DifferentialSetup.DifferentialType = EVehicleDifferential4W::LimitedSlip_4W;
+    movement->DifferentialSetup.DifferentialType = EVehicleDifferential::AllWheelDrive;
 
     // Drive the front wheels a little more than the rear
     movement->DifferentialSetup.FrontRearSplit = 0.65;
 
     // Automatic gearbox
-    movement->TransmissionSetup.bUseGearAutoBox = true;
-    movement->TransmissionSetup.GearSwitchTime = 0.15f;
-    movement->TransmissionSetup.GearAutoBoxLatency = 1.0f;
+    movement->TransmissionSetup.bUseAutomaticGears = true;
+    movement->TransmissionSetup.GearChangeTime = 0.15f;
+    //movement->TransmissionSetup.GearAutoBoxLatency = 1.0f;
 
     // Disable reverse as brake, this is needed for SetBreakInput() to take effect
     movement->bReverseAsBrake = false;
@@ -147,10 +148,11 @@ void ACarPawn::setupVehicleMovementComponent()
     if (primitive) {
         primitive->BodyInstance.COMNudge = FVector(8.0f, 0.0f, 0.0f);
     }
-
+    movement->UpdatedPrimitive = primitive;
     // Set the inertia scale. This controls how the mass of the vehicle is distributed.
     movement->InertiaTensorScale = FVector(1.0f, 1.333f, 1.2f);
-    movement->bDeprecatedSpringOffsetMode = true;
+    //movement->bDeprecatedSpringOffsetMode = true;
+    movement->bAutoRegisterUpdatedComponent = true;
 }
 
 void ACarPawn::NotifyHit(class UPrimitiveComponent* MyComp, class AActor* Other, class UPrimitiveComponent* OtherComp, bool bSelfMoved, FVector HitLocation,
@@ -159,7 +161,7 @@ void ACarPawn::NotifyHit(class UPrimitiveComponent* MyComp, class AActor* Other,
     pawn_events_.getCollisionSignal().emit(MyComp, Other, OtherComp, bSelfMoved, HitLocation, HitNormal, NormalImpulse, Hit);
 }
 
-UWheeledVehicleMovementComponent* ACarPawn::getVehicleMovementComponent() const
+UChaosVehicleMovementComponent* ACarPawn::getVehicleMovementComponent() const
 {
     return GetVehicleMovement();
 }
@@ -250,8 +252,9 @@ void ACarPawn::Tick(float Delta)
     updateInCarHUD();
 
     // Pass the engine RPM to the sound component
-    float RPMToAudioScale = 2500.0f / GetVehicleMovement()->GetEngineMaxRotationSpeed();
-    engine_sound_audio_->SetFloatParameter(FName("RPM"), GetVehicleMovement()->GetEngineRotationSpeed() * RPMToAudioScale);
+    UChaosWheeledVehicleMovementComponent* movement = CastChecked<UChaosWheeledVehicleMovementComponent>(getVehicleMovementComponent());
+    float RPMToAudioScale = 2500.0f / movement->GetEngineMaxRotationSpeed();
+    engine_sound_audio_->SetFloatParameter(FName("RPM"), movement->GetEngineRotationSpeed() * RPMToAudioScale);
 
     pawn_events_.getPawnTickSignal().emit(Delta);
 }
@@ -283,9 +286,10 @@ void ACarPawn::updateHUDStrings()
         last_gear_ = (Gear == 0) ? LOCTEXT("N", "N") : FText::AsNumber(Gear);
     }
 
+    UChaosWheeledVehicleMovementComponent* movement = CastChecked<UChaosWheeledVehicleMovementComponent>(getVehicleMovementComponent());
     UAirBlueprintLib::LogMessage(TEXT("Speed: "), last_speed_.ToString(), LogDebugLevel::Informational);
     UAirBlueprintLib::LogMessage(TEXT("Gear: "), last_gear_.ToString(), LogDebugLevel::Informational);
-    UAirBlueprintLib::LogMessage(TEXT("RPM: "), FText::AsNumber(GetVehicleMovement()->GetEngineRotationSpeed()).ToString(), LogDebugLevel::Informational);
+    UAirBlueprintLib::LogMessage(TEXT("RPM: "), FText::AsNumber(movement->GetEngineRotationSpeed()).ToString(), LogDebugLevel::Informational);
 }
 
 void ACarPawn::updateInCarHUD()

Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawn.h

@@ -1,7 +1,8 @@
 #pragma once
 
 #include "CoreMinimal.h"
-#include "WheeledVehicle.h"
+#include "ChaosWheeledVehicleMovementComponent.h"
+#include "WheeledVehiclePawn.h"
 #include "Components/SkeletalMeshComponent.h"
 #include "PhysicalMaterials/PhysicalMaterial.h"
 #include "UObject/ConstructorHelpers.h"
@@ -26,7 +27,7 @@ class UInputComponent;
 class UAudioComponent;
 
 UCLASS(config = Game)
-class ACarPawn : public AWheeledVehicle
+class ACarPawn : public AWheeledVehiclePawn
 {
     GENERATED_BODY()
 
@@ -46,7 +47,7 @@ class ACarPawn : public AWheeledVehicle
     {
         return &pawn_events_;
     }
-    UWheeledVehicleMovementComponent* getVehicleMovementComponent() const;
+    UChaosVehicleMovementComponent* getVehicleMovementComponent() const;
     const msr::airlib::CarApiBase::CarControls& getKeyBoardControls() const
     {
         return keyboard_controls_;

Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawnApi.cpp

@@ -1,13 +1,13 @@
 #include "CarPawnApi.h"
 #include "AirBlueprintLib.h"
 
-#include "PhysXVehicleManager.h"
+#include "ChaosVehicleManager.h"
 
 CarPawnApi::CarPawnApi(ACarPawn* pawn, const msr::airlib::Kinematics::State* pawn_kinematics,
                        msr::airlib::CarApiBase* vehicle_api)
     : pawn_(pawn), pawn_kinematics_(pawn_kinematics), vehicle_api_(vehicle_api)
 {
-    movement_ = pawn->GetVehicleMovement();
+    movement_ = CastChecked<UChaosWheeledVehicleMovementComponent>(pawn->GetVehicleMovement());
 }
 
 void CarPawnApi::updateMovement(const msr::airlib::CarApiBase::CarControls& controls)
@@ -23,7 +23,7 @@ void CarPawnApi::updateMovement(const msr::airlib::CarApiBase::CarControls& cont
     movement_->SetSteeringInput(controls.steering);
     movement_->SetBrakeInput(controls.brake);
     movement_->SetHandbrakeInput(controls.handbrake);
-    movement_->SetUseAutoGears(!controls.is_manual_gear);
+    movement_->SetUseAutomaticGears(!controls.is_manual_gear);
 }
 
 msr::airlib::CarApiBase::CarState CarPawnApi::getCarState() const
@@ -56,15 +56,15 @@ void CarPawnApi::reset()
         movement_->SetActive(true, true);
         vehicle_api_->setCarControls(msr::airlib::CarApiBase::CarControls());
         updateMovement(msr::airlib::CarApiBase::CarControls());
-
-        auto pv = movement_->PVehicle;
-        if (pv) {
-            pv->mWheelsDynData.setToRestState();
-        }
-        auto pvd = movement_->PVehicleDrive;
-        if (pvd) {
-            pvd->mDriveDynData.setToRestState();
-        }
+        movement_->ResetVehicleState();
+        //auto pv = movement_->PVehicle;
+        //if (pv) {
+        //    pv->mWheelsDynData.setToRestState();
+        //}
+        //auto pvd = movement_->PVehicleDrive;
+        //if (pvd) {
+        //    pvd->mDriveDynData.setToRestState();
+        //}
     },
                                              true);
 

Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawnApi.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include "vehicles/car/api/CarApiBase.hpp"
-#include "WheeledVehicleMovementComponent4W.h"
+#include "ChaosWheeledVehicleMovementComponent.h"
 #include "physics/Kinematics.hpp"
 #include "CarPawn.h"
 
@@ -23,7 +23,7 @@ class CarPawnApi
     virtual ~CarPawnApi();
 
 private:
-    UWheeledVehicleMovementComponent* movement_;
+    UChaosWheeledVehicleMovementComponent* movement_;
     msr::airlib::CarApiBase::CarControls last_controls_;
     ACarPawn* pawn_;
     const msr::airlib::Kinematics::State* pawn_kinematics_;

Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawnSimApi.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include "CoreMinimal.h"
-#include "WheeledVehicleMovementComponent4W.h"
+#include "ChaosWheeledVehicleMovementComponent.h"
 
 #include "CarPawn.h"
 #include "CarPawnApi.h"

Unreal/Plugins/AirSim/Source/Vehicles/Car/CarWheelFront.cpp

@@ -1,26 +1,22 @@
 // Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
 
 #include "CarWheelFront.h"
-#include "TireConfig.h"
 #include "UObject/ConstructorHelpers.h"
 
 UCarWheelFront::UCarWheelFront()
 {
-    ShapeRadius = 18.f;
-    ShapeWidth = 15.0f;
-    Mass = 20.0f;
-    DampingRate = 0.25f;
+    WheelRadius = 38.f;
+    WheelWidth = 17.0f;
+    //WheelMass = 20.0f;
     bAffectedByHandbrake = false;
-    SteerAngle = 40.f;
+    bAffectedBySteering = true;
+    MaxSteerAngle = 50.f;
+    AxleType = EAxleType::Front;
 
     // Setup suspension forces
-    SuspensionForceOffset = 0.0f;
+    SuspensionForceOffset = FVector(0.0f, 0.0f, 0.0f);
     SuspensionMaxRaise = 10.0f;
     SuspensionMaxDrop = 10.0f;
-    SuspensionNaturalFrequency = 9.0f;
-    SuspensionDampingRatio = 1.05f;
-
-    // Find the tire object and set the data for it
-    static ConstructorHelpers::FObjectFinder<UTireConfig> TireData(TEXT("/AirSim/VehicleAdv/Vehicle/WheelData/Vehicle_FrontTireConfig.Vehicle_FrontTireConfig"));
-    TireConfig = TireData.Object;
+    //SuspensionNaturalFrequency = 9.0f;
+    SuspensionDampingRatio = 1.5f;
 }

Unreal/Plugins/AirSim/Source/Vehicles/Car/CarWheelFront.h

@@ -3,11 +3,11 @@
 #pragma once
 
 #include "CoreMinimal.h"
-#include "VehicleWheel.h"
+#include "ChaosVehicleWheel.h"
 #include "CarWheelFront.generated.h"
 
 UCLASS()
-class UCarWheelFront : public UVehicleWheel
+class UCarWheelFront : public UChaosVehicleWheel
 {
     GENERATED_BODY()
 

Unreal/Plugins/AirSim/Source/Vehicles/Car/CarWheelRear.cpp

@@ -1,24 +1,21 @@
 // Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
 
 #include "CarWheelRear.h"
-#include "TireConfig.h"
+//#include "TireConfig.h"
 #include "UObject/ConstructorHelpers.h"
 
 UCarWheelRear::UCarWheelRear()
 {
-    ShapeRadius = 18.f;
-    ShapeWidth = 15.0f;
+    WheelRadius = 38.f;
+    WheelWidth = 17.0f;
     bAffectedByHandbrake = true;
-    SteerAngle = 0.f;
+    MaxSteerAngle = 0.f;
+    AxleType = EAxleType::Rear;
 
     // Setup suspension forces
-    SuspensionForceOffset = -0.0f;
+    SuspensionForceOffset = FVector(0.0f, 0.0f, 0.0f);
     SuspensionMaxRaise = 10.0f;
     SuspensionMaxDrop = 10.0f;
-    SuspensionNaturalFrequency = 9.0f;
-    SuspensionDampingRatio = 1.05f;
-
-    // Find the tire object and set the data for it
-    static ConstructorHelpers::FObjectFinder<UTireConfig> TireData(TEXT("/AirSim/VehicleAdv/Vehicle/WheelData/Vehicle_BackTireConfig.Vehicle_BackTireConfig"));
-    TireConfig = TireData.Object;
+    //SuspensionNaturalFrequency = 9.0f;
+    SuspensionDampingRatio = 1.5f;
 }

Unreal/Plugins/AirSim/Source/Vehicles/Car/CarWheelRear.h

@@ -3,11 +3,11 @@
 #pragma once
 
 #include "CoreMinimal.h"
-#include "VehicleWheel.h"
+#include "ChaosVehicleWheel.h"
 #include "CarWheelRear.generated.h"
 
 UCLASS()
-class UCarWheelRear : public UVehicleWheel
+class UCarWheelRear : public UChaosVehicleWheel
 {
     GENERATED_BODY()