USensorUtilities Class Reference

#include <SensorUtilities.h>

Inheritance diagram for USensorUtilities:

Collaboration diagram for USensorUtilities:

Static Public Member Functions
static void	EnableAllSensors (const UObject *WorldContextObject)
static void	DisableAllSensors (const UObject *WorldContextObject)
static void	SetSimulateAllSensors (const UObject *WorldContextObject, bool SimulateSensors)
static void	DestroyAllSensors (const UObject *WorldContextObject, bool DestroyDefaultVehicleSensors=false)
static void	EnableSensorsAttachedToVehicle (AVehicle *Vehicle)
static void	DisableSensorsAttachedToVehicle (AVehicle *Vehicle)
static void	SetSimulateSensorsAttachedToVehicle (AVehicle *Vehicle, bool SimulateSensors)
static void	HideComponentForAllCameraSensors (UPrimitiveComponent *PrimitiveComponent)

Detailed Description

Class fo sensor related utilities.

Definition at line 20 of file SensorUtilities.h.

Member Function Documentation

DestroyAllSensors()

void USensorUtilities::DestroyAllSensors ( const UObject *  WorldContextObject, bool  DestroyDefaultVehicleSensors = false  )

static

Destroy all sensors currently existing in the level. Default behavior does not destroy vehicle-related sensors like Transform, Collision or Overlap sensors.

Definition at line 42 of file SensorUtilities.cpp.

{
    // Most sensors should be attached to Vehicle(s)
    // Get all Vehicles from the level and destroy the sensors through USensorsManagerComponent
    TArray<AActor*> Vehicles;
    UGameplayStatics::GetAllActorsOfClass(WorldContextObject, AVehicle::StaticClass(), Vehicles);
    for (AActor* Actor : Vehicles)
    {
        AVehicle* Vehicle = Cast<AVehicle>(Actor);
        if (Vehicle)
        {
            auto* SensorManager = Vehicle->GetSensorsManager();
            if (SensorManager)
            {
                SensorManager->DestroyAllSensors();
            }
        }
    }
 
    Vehicles.Empty();
 
    // Destroy remaining sensors if they exist
    TArray<AActor*> Sensors;
    UGameplayStatics::GetAllActorsOfClass(WorldContextObject, ASensor::StaticClass(), Sensors);
    for (AActor* SensorActor : Sensors)
    {
        ASensor* Sensor = Cast<ASensor>(SensorActor);
        if (Sensor)
        {
            bool AllowedToDestroy = true;
            if (!DestroyDefaultVehicleSensors)
            {
                // We might not want to destroy these sensors,
                // as these sensors cannot be spawned back any in way at the moment.
                // These sensors are spawned automatically by Vehicle.cpp to each vehicle.
                ESensorTypes SensorType = Sensor->GetSensorType();
                if (SensorType == ESensorTypes::Overlap
                    || SensorType == ESensorTypes::Transform
                    || SensorType == ESensorTypes::Collision)
                {
                    AllowedToDestroy = false;
                }
            }
 
            if (AllowedToDestroy)
            {
                Sensor->Destroy();
            }
        }
    }
 
    Sensors.Empty();
}

References Collision, ASensor::GetSensorType(), Overlap, Sensors, Transform, and Vehicle.

Referenced by UROSCommands::HandleDestroyAllSensors().

DisableAllSensors()

void USensorUtilities::DisableAllSensors ( const UObject *  WorldContextObject )

static

Disable all sensors in the level.

Definition at line 21 of file SensorUtilities.cpp.

{
    SetSimulateAllSensors(WorldContextObject, false);
}

References SetSimulateAllSensors().

Referenced by UROSCommands::HandleDisableAllSensors(), and UROSCommands::HandleSetAllSensorsEnabled().

DisableSensorsAttachedToVehicle()

void USensorUtilities::DisableSensorsAttachedToVehicle ( AVehicle *  Vehicle )

static

Disable all sensors attached to Vehicle actor

Definition at line 101 of file SensorUtilities.cpp.

{
    SetSimulateSensorsAttachedToVehicle(Vehicle, false);
}

References SetSimulateSensorsAttachedToVehicle(), and Vehicle.

EnableAllSensors()

void USensorUtilities::EnableAllSensors ( const UObject *  WorldContextObject )

static

Enable all sensors in the level.

Definition at line 16 of file SensorUtilities.cpp.

{
    SetSimulateAllSensors(WorldContextObject, true);
}

References SetSimulateAllSensors().

Referenced by UROSCommands::HandleEnableAllSensors(), and UROSCommands::HandleSetAllSensorsEnabled().

EnableSensorsAttachedToVehicle()

void USensorUtilities::EnableSensorsAttachedToVehicle ( AVehicle *  Vehicle )

static

Enable all sensors attached to Vehicle actor

Definition at line 96 of file SensorUtilities.cpp.

{
    SetSimulateSensorsAttachedToVehicle(Vehicle, true);
}

References SetSimulateSensorsAttachedToVehicle(), and Vehicle.

HideComponentForAllCameraSensors()

void USensorUtilities::HideComponentForAllCameraSensors ( UPrimitiveComponent *  PrimitiveComponent )

static

Hides the specified primitive component for all camera sensors in the level. Most of the rendering related components are derived from UPrimitiveComponent.

Parameters

PrimitiveComponent

- The primitive component to be hidden for all camera sensors.

Definition at line 130 of file SensorUtilities.cpp.

{
    if (PrimitiveComponent)
    {
        ASensor::HideComponentForAllCameras(PrimitiveComponent);
    }
}

References ASensor::HideComponentForAllCameras().

SetSimulateAllSensors()

void USensorUtilities::SetSimulateAllSensors ( const UObject *  WorldContextObject, bool  SimulateSensors  )

static

Set Simulate all sensors in the level.

Definition at line 26 of file SensorUtilities.cpp.

{
    // Get all ASensor actors from the level
    TArray<AActor*> Sensors;
    UGameplayStatics::GetAllActorsOfClass(WorldContextObject, ASensor::StaticClass(), Sensors);
 
    for (AActor* SensorActor : Sensors)
    {
        ASensor* sensor = Cast<ASensor>(SensorActor);
        if (sensor != nullptr)
        {
            sensor->SetSimulateSensor(SimulateSensors);
        }
    }
}

References Sensors, and ASensor::SetSimulateSensor().

Referenced by DisableAllSensors(), and EnableAllSensors().

SetSimulateSensorsAttachedToVehicle()

void USensorUtilities::SetSimulateSensorsAttachedToVehicle ( AVehicle *  Vehicle, bool  SimulateSensors  )

static

Set Simulate all sensors attached to Vehicle actor

Definition at line 106 of file SensorUtilities.cpp.

{
    if (Vehicle == nullptr)
    {
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("vehicle is nullptr. Returning."));
#endif
        return;
    }
 
    // Get all Actors attached to Vehicle actor
    TArray<AActor*> Actors;
    Vehicle->GetAttachedActors(Actors);
 
    for (AActor* actor : Actors)
    {
        ASensor* sensor = Cast<ASensor>(actor);
        if (sensor)
        {
            sensor->SetSimulateSensor(SimulateSensors);
        }
    }
}

References ASensor::SetSimulateSensor(), and Vehicle.

Referenced by DisableSensorsAttachedToVehicle(), and EnableSensorsAttachedToVehicle().

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The documentation for this class was generated from the following files:

• Unreal/Agrarsense/Source/Agrarsense/Sensor/SensorUtilities.h
• Unreal/Agrarsense/Source/Agrarsense/Sensor/SensorUtilities.cpp