Add simFindLookAtRotation

Author: joelreymont

AirLib/include/api/RpcLibClientBase.hpp

@@ -165,6 +165,8 @@ namespace airlib
         void simSetWind(const Vector3r& wind) const;
         void simSetExtForce(const Vector3r& ext_force) const;
 
+        Vector3r simFindLookAtRotation(const std::string& vehicle_name, const std::string& object_name) const;
+
         vector<string> listVehicles();
 
         std::string getSettingsString() const;

AirLib/include/api/WorldSimApiBase.hpp

@@ -81,6 +81,7 @@ namespace airlib
         virtual vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const = 0;
 
         virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) = 0;
+        virtual Vector3r findLookAtRotation(const std::string& vehicle_name, const std::string& object_name) = 0;
 
         // Recording APIs
         virtual void startRecording() = 0;

AirLib/src/api/RpcLibClientBase.cpp

@@ -583,6 +583,11 @@ __pragma(warning(disable : 4239))
             return pimpl_->client.call("simCreateVoxelGrid", RpcLibAdaptorsBase::Vector3r(position), x, y, z, res, output_file).as<bool>();
         }
 
+        msr::airlib::Vector3r RpcLibClientBase::simFindLookAtRotation(const std::string& vehicle_name, const std::string& object_name) const
+        {
+            return pimpl_->client.call("simFindLookAtRotation", vehicle_name, object_name).as<RpcLibAdaptorsBase::Vector3r>().to();
+        }
+
         void RpcLibClientBase::cancelLastTask(const std::string& vehicle_name)
         {
             pimpl_->client.call("cancelLastTask", vehicle_name);

AirLib/src/api/RpcLibServerBase.cpp

@@ -516,6 +516,11 @@ namespace airlib
             return getWorldSimApi()->getSettingsString();
         });
 
+        pimpl_->server.bind("simFindLookAtRotation", [&](const std::string& vehicle_name, const std::string& object_name) -> RpcLibAdaptorsBase::Vector3r {
+            const auto& rot = getWorldSimApi()->findLookAtRotation(vehicle_name, object_name);
+            return RpcLibAdaptorsBase::Vector3r(rot);
+        });
+
         //if we don't suppress then server will bomb out for exceptions raised by any method
         pimpl_->server.suppress_exceptions(true);
     }

PythonClient/airsim/client.py

@@ -1137,6 +1137,9 @@ def simSetExtForce(self, ext_force):
         """
         self.client.call('simSetExtForce', ext_force)
 
+    def simFindLookAtRotation(self, object_name, vehicle_name = ''):
+        return self.client.call('simFindLookAtRotation', vehicle_name, object_name)
+
 # -----------------------------------  Multirotor APIs ---------------------------------------------
 class MultirotorClient(VehicleClient, object):
     def __init__(self, ip = "", port = 41451, timeout_value = 3600):

Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp

@@ -828,3 +828,13 @@ bool UAirBlueprintLib::CompressUsingImageWrapper(const TArray<uint8>& uncompress
 
     return bSucceeded;
 }
+
+void UAirBlueprintLib::FindAllActorByTag(const UObject* context, FName tag, TArray<AActor*>& foundActors)
+{
+    UGameplayStatics::GetAllActorsWithTag(context, tag, foundActors);
+}
+
+FRotator UAirBlueprintLib::FindLookAtRotation(AActor* source, AActor* target)
+{
+    return UKismetMathLibrary::FindLookAtRotation(source->GetActorLocation(), target->GetActorLocation());
+}

Unreal/Plugins/AirSim/Source/AirBlueprintLib.h

@@ -71,6 +71,9 @@ class UAirBlueprintLib : public UBlueprintFunctionLibrary
         UGameplayStatics::GetAllActorsOfClass(context, T::StaticClass(), foundActors);
     }
 
+    static void FindAllActorByTag(const UObject* context, FName tag, TArray<AActor*>& foundActors);
+    static FRotator FindLookAtRotation(AActor* source, AActor* target);
+
     static std::vector<std::string> ListMatchingActors(const UObject* context, const std::string& name_regex);
     static std::vector<std::string> ListMatchingActorsByTag(const UObject* context, const std::string& tag_regex);
 

Unreal/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -1073,3 +1073,23 @@ std::vector<msr::airlib::DetectionInfo> WorldSimApi::getDetections(ImageCaptureB
 
     return result;
 }
+
+Vector3r WorldSimApi::findLookAtRotation(const std::string& vehicle_name, const std::string& object_name)
+{
+    Vector3r result = Vector3r::Zero();
+    PawnSimApi* pawn = simmode_->getVehicleSimApi(vehicle_name);
+
+    if (pawn) {
+        AActor* source = pawn->getPawn();
+        UAirBlueprintLib::RunCommandOnGameThread([this, object_name, &source, &result]() {
+            AActor* target = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
+            if (target) {
+                FRotator rot = UAirBlueprintLib::FindLookAtRotation(source, target);
+                result = Vector3r(rot.Pitch, rot.Roll, rot.Yaw);
+            }
+        },
+                                                 true);
+    }
+
+    return result;
+}

Unreal/Plugins/AirSim/Source/WorldSimApi.h

@@ -121,6 +121,8 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     virtual void clearDetectionMeshNames(ImageCaptureBase::ImageType image_type, const CameraDetails& camera_details) override;
     virtual std::vector<msr::airlib::DetectionInfo> getDetections(ImageCaptureBase::ImageType image_type, const CameraDetails& camera_details) override;
 
+    virtual Vector3r findLookAtRotation(const std::string& vehicle_name, const std::string& object_name);
+
 private:
     AActor* createNewStaticMeshActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh);
     AActor* createNewBPActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UBlueprint* blueprint);