Add Ability to Specify Vehicle Longitudinal Input as Velocity

TempoMovement/Source/TempoMovement/Private/TempoMovementControlServiceSubsystem.cpp

@@ -83,9 +83,9 @@ void UTempoMovementControlServiceSubsystem::CommandVehicle(const VehicleCommandR
 			ResponseContinuation.ExecuteIfBound(TempoEmpty(), grpc::Status(grpc::StatusCode::FAILED_PRECONDITION, "More than one commandable vehicle found, vehicle name required."));
 			return;
 		}
-		
+
 		ITempoVehicleControlInterface* Controller = Cast<ITempoVehicleControlInterface>(VehicleControllers[0]);
-		Controller->HandleDrivingInput(FNormalizedDrivingInput(Request.acceleration(), Request.steering()));
+		Controller->HandleDrivingInput(FNormalizedDrivingInput(Request.longitudinal(), Request.lateral()));
 		ResponseContinuation.ExecuteIfBound(TempoEmpty(), grpc::Status_OK);
 		return;
 	}
@@ -95,8 +95,8 @@ void UTempoMovementControlServiceSubsystem::CommandVehicle(const VehicleCommandR
 		ITempoVehicleControlInterface* Controller = Cast<ITempoVehicleControlInterface>(VehicleController);
 		if (Controller->GetVehicleName().Equals(RequestedVehicleName, ESearchCase::IgnoreCase))
 		{
-			Controller->HandleDrivingInput(FNormalizedDrivingInput(Request.acceleration(), Request.steering()));
-			ResponseContinuation.ExecuteIfBound(TempoEmpty(), grpc::Status_OK);
+			Controller->HandleDrivingInput(FNormalizedDrivingInput(Request.longitudinal(), Request.lateral()));
+			ResponseContinuation.ExecuteIfBound(TempoEmpty(), grpc::Status(grpc::OK, ""));
 			return;
 		}
 	}

TempoMovement/Source/TempoMovement/Public/MovementControlService.proto

@@ -11,8 +11,8 @@ message CommandableVehiclesResponse{
 
 message VehicleCommandRequest {
   string vehicle_name = 1;
-  float acceleration = 2;
-  float steering = 3;
+  float longitudinal = 2;
+  float lateral = 3;
 }
 
 message CommandablePawnsResponse {

TempoMovement/Source/TempoMovementShared/Public/TempoMovementTypes.h

@@ -11,20 +11,20 @@ struct FNormalizedDrivingInput {
 	GENERATED_BODY();
 
 	FNormalizedDrivingInput() = default;
-	FNormalizedDrivingInput(float AccelerationIn, float SteeringIn)
-		: Acceleration(FMath::Clamp(AccelerationIn, -1.0, 1.0)), Steering(FMath::Clamp(SteeringIn, -1.0, 1.0))
+	FNormalizedDrivingInput(float LongitudinalIn, float LateralIn)
+		: Longitudinal(FMath::Clamp(LongitudinalIn, -1.0, 1.0)), Lateral(FMath::Clamp(LateralIn, -1.0, 1.0))
 	{}
 
-	float GetAcceleration() const { return Acceleration; }
+	float GetLongitudinal() const { return Longitudinal; }
 
-	float GetSteering() const { return Steering; }
+	float GetLateral() const { return Lateral; }
 
 protected:
-	// Normalized acceleration in [-1.0 <-> 1.0]
+	// Normalized longitudinal input [-1.0 <-> 1.0]
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, meta=(UIMin=-1.0, UIMax=1.0, ClampMin=-1.0, ClampMax=1.0))
-	float Acceleration = 0.0;
+	float Longitudinal = 0.0;
 
-	// Normalized steering in [-1.0 <-> 1.0]
+	// Normalized lateral input [-1.0 <-> 1.0]
 	UPROPERTY(EditAnywhere, BlueprintReadWrite, meta=(UIMin=-1.0, UIMax=1.0, ClampMin=-1.0, ClampMax=1.0))
-	float Steering = 0.0;
+	float Lateral = 0.0;
 };

TempoMovement/Source/TempoVehicleControl/Private/TempoVehicleController.cpp

@@ -28,7 +28,9 @@ void ATempoVehicleController::Tick(float DeltaTime)
 			if (Input->Frame < GFrameCounter)
 			{
 				// Apply some very small acceleration, alternating + and -, to avoid no-input deceleration
-				const FVector ControlInputLocal((GFrameCounter % 2 ? 1 : -1) * UE_KINDA_SMALL_NUMBER, Input->Input.GetSteering(), 0.0);
+				const float LongitudinalInput = bPersistLongitudinalInput ? Input->Input.GetLongitudinal() : 0.0;
+				const float LateralInput = bPersistLateralInput ? Input->Input.GetLateral() : 0.0;
+				const FVector ControlInputLocal(LongitudinalInput + (GFrameCounter % 2 ? 1 : -1) * UE_KINDA_SMALL_NUMBER, LateralInput, 0.0);
 				ControlledPawn->AddMovementInput(ControlledPawn->GetActorTransform().TransformVector(ControlInputLocal));
 			}
 		}
@@ -46,9 +48,9 @@ void ATempoVehicleController::HandleDrivingInput(const FNormalizedDrivingInput&
 			return;
 		}
 
-		const FVector ControlInputLocal(Input.GetAcceleration() + (GFrameCounter % 2 ? 1 : -1) * UE_KINDA_SMALL_NUMBER, Input.GetSteering(), 0.0);
+		const FVector ControlInputLocal(Input.GetLongitudinal() + (GFrameCounter % 2 ? 1 : -1) * UE_KINDA_SMALL_NUMBER, Input.GetLateral(), 0.0);
 		ControlledPawn->AddMovementInput(ControlledPawn->GetActorTransform().TransformVector(ControlInputLocal));
-		if (bPersistSteering)
+		if (bPersistLateralInput || bPersistLongitudinalInput)
 		{
 			LastInput = FLastInput(Input, GFrameCounter);
 		}
@@ -96,6 +98,6 @@ void ATempoVehicleController::ApplyDrivingInputToChaosVehicle(UChaosVehicleMovem
 		}
 	};
 
-	MovementComponent->SetSteeringInput(Input.GetSteering());
-	SetAccelInput(Input.GetAcceleration());
+	MovementComponent->SetSteeringInput(Input.GetLongitudinal());
+	SetAccelInput(Input.GetLongitudinal());
 }

TempoMovement/Source/TempoVehicleControl/Public/TempoVehicleController.h

@@ -25,7 +25,10 @@ class TEMPOVEHICLECONTROL_API ATempoVehicleController : public AAIController, pu
 	virtual void ApplyDrivingInputToChaosVehicle(class UChaosVehicleMovementComponent* ChaosVehicleMovementComponent, const FNormalizedDrivingInput& Input);
 
 	UPROPERTY(EditAnywhere, BlueprintReadWrite)
-	bool bPersistSteering = true;
+	bool bPersistLateralInput = true;
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	bool bPersistLongitudinalInput = false;
 
 	struct FLastInput
 	{

TempoMovement/Source/TempoVehicleMovement/Private/KinematicVehicleMovementComponent.cpp

@@ -22,33 +22,48 @@ void UKinematicVehicleMovementComponent::TickComponent(float DeltaTime, ELevelTi
 		ControlInput = GetOwner()->GetActorRotation().GetInverse().RotateVector(Input);
 	}
 
-	const float NormalizedAcceleration = FMath::IsNearlyZero(ControlInput.X) ?
-		FMath::Sign(LinearVelocity) * -1.0 * NoInputNormalizedDeceleration * MaxDeceleration :
-		ControlInput.X;
-	const float SteeringInput = ControlInput.Y;
+	float NewLinearVelocity = 0.0;
+	switch (LongitudinalInputMode)
+	{
+		case EVehicleInputMode::Acceleration:
+		{
+			const float NormalizedAcceleration = FMath::IsNearlyZero(ControlInput.X) ?
+				FMath::Sign(LinearVelocity) * -1.0 * NoInputNormalizedDeceleration * MaxDeceleration :
+				ControlInput.X;
 
-	const float Acceleration = NormalizedAcceleration > 0.0 ?
-		FMath::Min(MaxAcceleration, NormalizedAcceleration * MaxAcceleration) : LinearVelocity > 0.0 ?
-		// Moving forward, slowing down
-		FMath::Max(-MaxDeceleration, NormalizedAcceleration * MaxDeceleration) :
-		// Moving backwards, speeding up (in reverse)
-		FMath::Max(-MaxAcceleration, NormalizedAcceleration * MaxAcceleration);
+			const float Acceleration = NormalizedAcceleration > 0.0 ?
+				FMath::Min(MaxAcceleration, NormalizedAcceleration * MaxAcceleration) : LinearVelocity > 0.0 ?
+				// Moving forward, slowing down
+				FMath::Max(-MaxDeceleration, NormalizedAcceleration * MaxDeceleration) :
+				// Moving backwards, speeding up (in reverse)
+				FMath::Max(-MaxAcceleration, NormalizedAcceleration * MaxAcceleration);
 
-	const float SteeringAngle = FMath::Clamp(SteeringInput * MaxSteering, -MaxSteering, MaxSteering);
+			float DeltaVelocity = DeltaTime * Acceleration;
+			if (LinearVelocity > 0.0 && DeltaVelocity < 0.0)
+			{
+				// If slowing down, don't start reversing.
+				DeltaVelocity = FMath::Max(-LinearVelocity, DeltaVelocity);
+			}
+			NewLinearVelocity = LinearVelocity + DeltaVelocity;
 
-	float DeltaVelocity = DeltaTime * Acceleration;
-	if (LinearVelocity > 0.0 && DeltaVelocity < 0.0)
-	{
-		// If slowing down, don't start reversing.
-		DeltaVelocity = FMath::Max(-LinearVelocity, DeltaVelocity);
+			NewLinearVelocity = FMath::Clamp(NewLinearVelocity, -MaxSpeed, MaxSpeed);
+			break;
+		}
+		case EVehicleInputMode::Velocity:
+		{
+			const float NormalizedLinearVelocity = ControlInput.X;
+			NewLinearVelocity = NormalizedLinearVelocity * MaxSpeed;
+			break;
+		}
 	}
-	float NewLinearVelocity = LinearVelocity + DeltaVelocity;
+
 	if (!bReverseEnabled)
 	{
 		NewLinearVelocity = FMath::Max(NewLinearVelocity, 0.0);
 	}
 
-	NewLinearVelocity = FMath::Clamp(NewLinearVelocity, -MaxSpeed, MaxSpeed);
+	const float LateralInput = ControlInput.Y;
+	const float SteeringAngle = FMath::Clamp(LateralInput * MaxSteering, -MaxSteering, MaxSteering);
 
 	FVector NewVelocity = Velocity;
 	float NewAngularVelocity = AngularVelocity;

TempoMovement/Source/TempoVehicleMovement/Public/KinematicVehicleMovementComponent.h

@@ -8,6 +8,13 @@
 #include "GameFramework/PawnMovementComponent.h"
 #include "KinematicVehicleMovementComponent.generated.h"
 
+UENUM(BlueprintType)
+enum class EVehicleInputMode : uint8
+{
+	Velocity = 0,
+	Acceleration = 1,
+};
+
 UCLASS(Abstract, ClassGroup=(Custom), meta=(BlueprintSpawnableComponent))
 class TEMPOVEHICLEMOVEMENT_API UKinematicVehicleMovementComponent : public UPawnMovementComponent, public ITempoMovementInterface
 {
@@ -48,4 +55,7 @@ class TEMPOVEHICLEMOVEMENT_API UKinematicVehicleMovementComponent : public UPawn
 
 	UPROPERTY(VisibleAnywhere, BlueprintReadWrite)
 	float AngularVelocity = 0.0; // Deg/S
+
+	UPROPERTY(EditAnywhere, BlueprintReadWrite)
+	EVehicleInputMode LongitudinalInputMode = EVehicleInputMode::Acceleration;
 };

TempoROSBridge/Source/TempoMovementROSBridge/Public/TempoMovementROSConverters.h

@@ -39,8 +39,8 @@ struct TFromROSConverter<tempo_movement_ros_bridge::srv::CommandVehicle::Request
 	{
 		TempoMovement::VehicleCommandRequest TempoValue;
 		TempoValue.set_vehicle_name(ROSValue.vehicle_name);
-		TempoValue.set_acceleration(ROSValue.acceleration);
-		TempoValue.set_steering(ROSValue.steering);
+		TempoValue.set_longitudinal(ROSValue.longitudinal);
+		TempoValue.set_lateral(ROSValue.lateral);
 		return TempoValue;
 	}
 };

TempoROSBridge/Source/TempoMovementROSBridge/Public/srv/CommandVehicle.srv

@@ -1,4 +1,4 @@
 string vehicle_name
-float32 acceleration
-float32 steering
+float32 longitudinal
+float32 lateral
 ---