Merge of Colosseum by Codex Laboratories LLC

AirLib/include/api/RpcLibClientBase.hpp

@@ -168,6 +168,8 @@ namespace airlib
         bool isRecording();
 
         void simSetWind(const Vector3r& wind) const;
+        void simSetExtForce(const Vector3r& ext_force) const;
+
         vector<string> listVehicles();
 
         std::string getSettingsString() const;

AirLib/include/api/WorldSimApiBase.hpp

@@ -87,6 +87,7 @@ namespace airlib
         virtual bool isRecording() const = 0;
 
         virtual void setWind(const Vector3r& wind) const = 0;
+        virtual void setExtForce(const Vector3r& ext_force) const = 0;
         virtual vector<string> listVehicles() const = 0;
 
         virtual std::string getSettingsString() const = 0;

AirLib/include/common/AirSimSettings.hpp

@@ -482,12 +482,13 @@ namespace airlib
         CameraDirectorSetting camera_director;
         std::map<std::string, std::unique_ptr<BeaconSetting>> beacons;
         std::map<std::string, std::unique_ptr<PassiveEchoBeaconSetting>> passive_echo_beacons;
-            float speed_unit_factor = 1.0f;
+        float speed_unit_factor = 1.0f;
         std::string speed_unit_label = "m\\s";
         std::map<std::string, std::shared_ptr<SensorSetting>> sensor_defaults;
         Vector3r wind = Vector3r::Zero();
-        std::string settings_text_ = "";
+        Vector3r ext_force = Vector3r::Zero();
         std::string material_list_file = "";
+        std::string settings_text_ = "";
 
     public: //methods
         static AirSimSettings& singleton()
@@ -543,7 +544,7 @@ namespace airlib
             Settings& settings_json = Settings::singleton();
             //write some settings_json in new file otherwise the string "null" is written if all settings_json are empty
             settings_json.setString("SeeDocsAt", "https://cosysgit.uantwerpen.be/sensorsimulation/airsim/-/blob/master/docs/settings.md");
-            settings_json.setDouble("SettingsVersion", 1.2);
+            settings_json.setDouble("SettingsVersion", 2.0);
 
             std::string settings_filename = Settings::getUserDirectoryFullPath("settings.json");
             //TODO: there is a crash in Linux due to settings_json.saveJSonString(). Remove this workaround after we only support Unreal 4.17
@@ -802,7 +803,6 @@ namespace airlib
                 capture_settings[i] = CaptureSetting();
             }
             capture_settings.at(Utils::toNumeric(ImageType::Scene)).target_gamma = CaptureSetting::kSceneTargetGamma;
-        	capture_settings.at(Utils::toNumeric(ImageType::Segmentation)).target_gamma = 1;
         }
 
         static void loadCaptureSettings(const Settings& settings_json, CaptureSettingsMap& capture_settings)
@@ -1407,6 +1407,13 @@ namespace airlib
                     wind = createVectorSetting(child_json, wind);
                 }
             }
+            {
+                // External Force Settings
+                Settings child_json;
+                if (settings_json.getChild("ExternalForce", child_json)) {
+                    ext_force = createVectorSetting(child_json, ext_force);
+                }
+            }
         }
 
         static void loadDefaultCameraSetting(const Settings& settings_json, CameraSetting& camera_defaults)
@@ -1416,7 +1423,6 @@ namespace airlib
                 camera_defaults = createCameraSetting(child_json, camera_defaults);
             }
         }
-
         static void loadCameraDirectorSetting(const Settings& settings_json,
                                               CameraDirectorSetting& camera_director, const std::string& simmode_name)
         {

AirLib/include/physics/FastPhysicsEngine.hpp

@@ -22,8 +22,8 @@ namespace airlib
     class FastPhysicsEngine : public PhysicsEngineBase
     {
     public:
-        FastPhysicsEngine(bool enable_ground_lock = true, Vector3r wind = Vector3r::Zero())
-            : enable_ground_lock_(enable_ground_lock), wind_(wind)
+        FastPhysicsEngine(bool enable_ground_lock = true, Vector3r wind = Vector3r::Zero(), Vector3r ext_force = Vector3r::Zero())
+            : enable_ground_lock_(enable_ground_lock), wind_(wind), ext_force_(ext_force)
         {
             setName("FastPhysicsEngine");
         }
@@ -69,6 +69,11 @@ namespace airlib
         {
             wind_ = wind;
         }
+        // Set External Force
+        void setExtForce(const Vector3r& ext_force) override
+        {
+            ext_force_ = ext_force;
+        }
 
     private:
         void initPhysicsBody(PhysicsBody* body_ptr)
@@ -88,7 +93,7 @@ namespace airlib
 
             //first compute the response as if there was no collision
             //this is necessary to take in to account forces and torques generated by body
-            getNextKinematicsNoCollision(dt, body, current, next, next_wrench, wind_);
+            getNextKinematicsNoCollision(dt, body, current, next, next_wrench, wind_, ext_force_);
 
             //if there is collision, see if we need collision response
             const CollisionInfo collision_info = body.getCollisionInfo();
@@ -261,8 +266,11 @@ namespace airlib
             }
         }
 
-        static Wrench getDragWrench(const PhysicsBody& body, const Quaternionr& orientation,
-                                    const Vector3r& linear_vel, const Vector3r& angular_vel_body, const Vector3r& wind_world)
+        static Wrench getDragWrench(const PhysicsBody& body,
+                                    const Quaternionr& orientation,
+                                    const Vector3r& linear_vel,
+                                    const Vector3r& angular_vel_body,
+                                    const Vector3r& wind_world)
         {
             //add linear drag due to velocity we had since last dt seconds + wind
             //drag vector magnitude is proportional to v^2, direction opposite of velocity
@@ -323,7 +331,7 @@ namespace airlib
         }
 
         static void getNextKinematicsNoCollision(TTimeDelta dt, PhysicsBody& body, const Kinematics::State& current,
-                                                 Kinematics::State& next, Wrench& next_wrench, const Vector3r& wind)
+                                                 Kinematics::State& next, Wrench& next_wrench, const Vector3r& wind, const Vector3r& ext_force)
         {
             const real_T dt_real = static_cast<real_T>(dt);
 
@@ -356,7 +364,11 @@ namespace airlib
                 avg_angular = current.twist.angular + current.accelerations.angular * (0.5f * dt_real);
                 const Wrench drag_wrench = getDragWrench(body, current.pose.orientation, avg_linear, avg_angular, wind);
 
-                next_wrench = body_wrench + drag_wrench;
+                // ext_force is defined in world space
+                Wrench ext_force_wrench = Wrench::zero();
+                ext_force_wrench.force = ext_force;
+
+                next_wrench = body_wrench + drag_wrench + ext_force_wrench;
 
                 //Utils::log(Utils::stringf("B-WRN %s: ", VectorMath::toString(body_wrench.force).c_str()));
                 //Utils::log(Utils::stringf("D-WRN %s: ", VectorMath::toString(drag_wrench.force).c_str()));
@@ -459,6 +471,7 @@ namespace airlib
         bool enable_ground_lock_;
         TTimePoint last_message_time;
         Vector3r wind_;
+        Vector3r ext_force_;
     };
 }
 } //namespace

AirLib/include/physics/PhysicsEngineBase.hpp

@@ -28,6 +28,7 @@ namespace airlib
         }
 
         virtual void setWind(const Vector3r& wind) { unused(wind); };
+        virtual void setExtForce(const Vector3r& ext_force) { unused(ext_force); };
     };
 }
 } //namespace

AirLib/src/api/RpcLibClientBase.cpp

@@ -655,7 +655,11 @@ __pragma(warning(disable : 4239))
             RpcLibAdaptorsBase::Vector3r conv_wind(wind);
             pimpl_->client.call("simSetWind", conv_wind);
         }
-
+        void RpcLibClientBase::simSetExtForce(const Vector3r& ext_force) const
+        {
+            RpcLibAdaptorsBase::Vector3r conv_ext_force(ext_force);
+            pimpl_->client.call("simSetExtForce", conv_ext_force);
+        }
         vector<string> RpcLibClientBase::listVehicles()
         {
             return pimpl_->client.call("listVehicles").as<vector<string>>();

AirLib/src/api/RpcLibServerBase.cpp

@@ -278,7 +278,6 @@ namespace airlib
             const auto& response = getWorldSimApi()->getDetections(type, CameraDetails(camera_name, vehicle_name));
             return RpcLibAdaptorsBase::DetectionInfo::from(response);
         });
-
         pimpl_->server.bind("reset", [&]() -> void {
             //Exit if already resetting.
             static bool resetInProgress;
@@ -545,6 +544,10 @@ namespace airlib
             getWorldSimApi()->setWind(wind.to());
         });
 
+        pimpl_->server.bind("simSetExtForce", [&](const RpcLibAdaptorsBase::Vector3r& ext_force) -> void {
+            getWorldSimApi()->setExtForce(ext_force.to());
+        });
+
         pimpl_->server.bind("listVehicles", [&]() -> vector<string> {
             return getWorldSimApi()->listVehicles();
         });

AirLib/src/vehicles/multirotor/api/MultirotorRpcLibClient.cpp

@@ -159,7 +159,7 @@ __pragma(warning(disable : 4239))
         MultirotorRpcLibClient* MultirotorRpcLibClient::moveToGPSAsync(float latitude, float longitude, float altitude, float velocity, float timeout_sec,
                                                                        DrivetrainType drivetrain, const YawMode& yaw_mode, float lookahead, float adaptive_lookahead, const std::string& vehicle_name)
         {
-            pimpl_->last_future = static_cast<rpc::client*>(getClient())->async_call("movetoGPS", latitude, longitude, altitude, velocity, timeout_sec, drivetrain, MultirotorRpcLibAdaptors::YawMode(yaw_mode), lookahead, adaptive_lookahead, vehicle_name);
+            pimpl_->last_future = static_cast<rpc::client*>(getClient())->async_call("moveToGPS", latitude, longitude, altitude, velocity, timeout_sec, drivetrain, MultirotorRpcLibAdaptors::YawMode(yaw_mode), lookahead, adaptive_lookahead, vehicle_name);
             return this;
         }
 

HelloDrone/main.cpp

@@ -33,7 +33,7 @@ int main()
         const std::vector<ImageResponse>& response = client.simGetImages(request);
         std::cout << "# of images received: " << response.size() << std::endl;
 
-        if (!response.size()) {
+        if (response.size()) {
             std::cout << "Enter path with ending separator to save images (leave empty for no save)" << std::endl;
             std::string path;
             std::getline(std::cin, path);

LICENSE

@@ -1,9 +1,10 @@
+============================= Original License ================================
 The MIT License (MIT)
 
 MSR Aerial Informatics and Robotics Platform
 MSR Aerial Informatics and Robotics Simulator (AirSim)
 
-Copyright (c) Microsoft Corporation
+Copyright (c) Microsoft Corporation. 2022
 
 All rights reserved. 
 
@@ -12,3 +13,36 @@ MIT License
 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the ""Software""), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
 THE SOFTWARE IS PROVIDED *AS IS*, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+===============================================================================
+===================== New License by Codex Laboratories  ======================
+The MIT License (MIT)
+
+MSR Aerial Informatics and Robotics Platform
+MSR Aerial Informatics and Robotics Simulator (AirSim)
+
+Copyright (c) Codex Laboratories LLC. 2022
+
+All rights reserved. 
+
+MIT License
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the ""Software""), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED *AS IS*, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE
+
+===============================================================================
+======================== New License by Cosys-Lab  ============================
+The MIT License (MIT)
+
+MSR Aerial Informatics and Robotics Platform
+MSR Aerial Informatics and Robotics Simulator (AirSim)
+
+Copyright (c) University of Antwerp, Belgium 2024
+
+All rights reserved.
+
+MIT License
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the ""Software""), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED *AS IS*, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE