Fix for the issues 9361, 9385 and 9387 (#9380)

* Refactor AdjustAllSignsToHeightGround to improve positioning logic and maintain box component locations

* Refactor AdjustAllSignsToHeightGround to preserve box component positions during height adjustments

* Recalculate bounding boxes for moved actors.
Added new parameter for ActorInfo for the trigger volume. Now `get_trigger_volume` returns the real trigger volume

* Revert "Recalculate bounding boxes for moved actors."

This reverts commit 8eb35ab.

* Add methods to retrieve traffic sign trigger volumes

* Fixed bounding boxes being drawed rotated.
Add RegisterEnvironmentObjects method and update object registration logic

Author: LuisPovedaCano

LibCarla/source/carla/client/TrafficSign.cpp

@@ -11,6 +11,10 @@
 namespace carla {
 namespace client {
 
+  geom::BoundingBox TrafficSign::GetTriggerVolume() const {
+    return GetEpisode().Lock()->GetTrafficSignTriggerVolume(*this);
+  }
+
   carla::road::SignId TrafficSign::GetSignId() const {
     return std::string(GetEpisode().Lock()->GetActorSnapshot(*this).state.traffic_light_data.sign_id);
   }

LibCarla/source/carla/client/TrafficSign.h

@@ -17,9 +17,7 @@ namespace client {
 
     explicit TrafficSign(ActorInitializer init) : Actor(std::move(init)) {}
 
-    const geom::BoundingBox &GetTriggerVolume() const {
-      return ActorState::GetBoundingBox();
-    }
+    geom::BoundingBox GetTriggerVolume() const;
 
     carla::road::SignId GetSignId() const;
 

LibCarla/source/carla/client/detail/Client.cpp

@@ -459,6 +459,10 @@ namespace detail {
     return _pimpl->CallAndWait<geom::BoundingBox>("get_actor_bounding_box", actor);
   }
 
+  geom::BoundingBox Client::GetTrafficSignTriggerVolume(rpc::ActorId actor) {
+    return _pimpl->CallAndWait<geom::BoundingBox>("get_traffic_sign_trigger_volume", actor);
+  }
+
   geom::Transform Client::GetActorComponentWorldTransform(rpc::ActorId actor, const std::string componentName) {
     return _pimpl->CallAndWait<geom::Transform>("get_actor_component_world_transform", actor, componentName);
   }

LibCarla/source/carla/client/detail/Client.h

@@ -249,6 +249,9 @@ namespace detail {
     geom::BoundingBox GetActorBoundingBox(
         rpc::ActorId actor);
 
+    geom::BoundingBox GetTrafficSignTriggerVolume(
+        rpc::ActorId actor);
+
     geom::Transform GetActorComponentWorldTransform(
         rpc::ActorId actor,
         const std::string componentName);

LibCarla/source/carla/client/detail/Simulator.h

@@ -456,6 +456,10 @@ namespace detail {
       return _client.GetActorBoundingBox(actor.GetId());
     }
 
+    geom::BoundingBox GetTrafficSignTriggerVolume(const Actor &actor) {
+      return _client.GetTrafficSignTriggerVolume(actor.GetId());
+    }
+
     geom::Transform GetActorComponentWorldTransform(const Actor &actor, const std::string componentName) {
       return _client.GetActorComponentWorldTransform(actor.GetId(), componentName);
     }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h

@@ -77,6 +77,8 @@ class CARLA_API ACarlaGameModeBase : public AGameModeBase
 
   void EnableEnvironmentObjects(const TSet<uint64>& EnvObjectIds, bool Enable);
 
+  void RegisterEnvironmentObjects();
+
   void EnableOverlapEvents();
 
   void CheckForEmptyMeshes();
@@ -143,8 +145,6 @@ class CARLA_API ACarlaGameModeBase : public AGameModeBase
 
   void SpawnRoadSplines();
 
-  void RegisterEnvironmentObjects();
-
   void ConvertMapLayerMaskToMapNames(int32 MapLayer, TArray<FName>& OutLevelNames);
 
   void OnEpisodeSettingsChanged(const FEpisodeSettings &Settings);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/MapGen/LargeMapManager.cpp

@@ -9,6 +9,7 @@
 #include "Game/CarlaStatics.h"
 #include "Actor/ActorRegistry.h"
 #include "Game/CarlaEpisode.h"
+#include "Util/BoundingBoxCalculator.h"
 #include "Engine/EngineTypes.h"
 #include "Components/PrimitiveComponent.h"
 #include "Landscape.h"
@@ -166,9 +167,17 @@ bool ALargeMapManager::AdjustSignHeightToGround(FVector& SpawnLocation, const FS
 
 void ALargeMapManager::AdjustAllSignsToHeightGround()
 {
+  UWorld* World = GetWorld();
+  if (!World)
+  {
+    return;
+  }
+
+  UCarlaEpisode* CarlaEpisode = UCarlaStatics::GetCurrentEpisode(World);
+
   TArray<AActor*> ActorsToIgnore;
   TArray<AActor*> ActorsToAdjustHeight;
-  UGameplayStatics::GetAllActorsOfClass(GetWorld(), ATrafficSignBase::StaticClass(), ActorsToAdjustHeight);
+  UGameplayStatics::GetAllActorsOfClass(World, ATrafficSignBase::StaticClass(), ActorsToAdjustHeight);
   ActorsToIgnore.Append(ActorsToAdjustHeight);
   for (AActor* Actor : ActorsToAdjustHeight)
   {
@@ -179,40 +188,40 @@ void ALargeMapManager::AdjustAllSignsToHeightGround()
       continue;
     FVector OriginalLocation = Actor->GetActorLocation();
     FVector AdjustedLocation = OriginalLocation;
-    
+
     TrafficSign->bPositioned = AdjustSignHeightToGround(AdjustedLocation, Actor->GetName(), ActorsToIgnore);
-    
+
     if (TrafficSign->bPositioned)
     {
       float ZOffset = AdjustedLocation.Z - OriginalLocation.Z;
 
       Actor->GetRootComponent()->SetMobility(EComponentMobility::Movable);
-      
+
       // Get all static mesh components
       TArray<UStaticMeshComponent*> StaticMeshComps;
       Actor->GetComponents<UStaticMeshComponent>(StaticMeshComps);
-      
+
       for (UStaticMeshComponent* MeshComp : StaticMeshComps)
       {
         if (!MeshComp) continue;
-        
+
         // Skip if this has a mesh parent (it's a child)
         USceneComponent* ParentComp = MeshComp->GetAttachParent();
         if (ParentComp && Cast<UStaticMeshComponent>(ParentComp))
         {
           continue;
         }
-        
+
         // Move the mesh component down
         FVector CompLocation = MeshComp->GetRelativeLocation();
         CompLocation.Z += ZOffset;
         MeshComp->SetRelativeLocation(CompLocation);
-        
+
         MeshComp->UpdateBounds();
-        
+
         LM_LOG(Log, "Moved mesh %s by %f cm", *Actor->GetName(), ZOffset);
       }
-      
+
       Actor->UpdateComponentTransforms();
       Actor->GetRootComponent()->SetMobility(EComponentMobility::Static);
     }
@@ -221,10 +230,17 @@ void ALargeMapManager::AdjustAllSignsToHeightGround()
 
 void ALargeMapManager::OnLevelAddedToWorld(ULevel* InLevel, UWorld* InWorld)
 {
-
   UCarlaEpisode* CarlaEpisode = UCarlaStatics::GetCurrentEpisode(InWorld);
   ATagger::TagActorsInLevel(*InLevel, *CarlaEpisode, true);
   AdjustAllSignsToHeightGround();
+
+  ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(InWorld);
+  if (GameMode)
+  {
+    GameMode->RegisterEnvironmentObjects();
+    LM_LOG(Log, "Re-registered environment objects after sign height adjustment");
+  }
+
   LM_LOG(Warning, "OnLevelAddedToWorld");
   //FDebug::DumpStackTraceToLog(ELogVerbosity::Log);
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp

@@ -1550,6 +1550,18 @@ BIND_SYNC(is_sensor_enabled_for_ros) << [this](carla::streaming::detail::stream_
     return cr::BoundingBox(bounding_box);
   };
 
+  BIND_SYNC(get_traffic_sign_trigger_volume) << [this](
+      cr::ActorId ActorId) -> R<cr::BoundingBox>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+      return cr::BoundingBox();
+    FBoundingBox trigger_volume = UBoundingBoxCalculator::GetTrafficSignTriggerVolume(CarlaActor->GetActor());
+    trigger_volume.ActorId = CarlaActor->GetActorId();
+    return cr::BoundingBox(trigger_volume);
+  };
+
   BIND_SYNC(get_actor_component_world_transform) << [this](
       cr::ActorId ActorId,
       const std::string componentName) -> R<cr::Transform>

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp

@@ -6,6 +6,7 @@
 
 #include "TrafficLightManager.h"
 #include "Game/CarlaStatics.h"
+#include "Util/BoundingBoxCalculator.h"
 #include "StopSignComponent.h"
 #include "YieldSignComponent.h"
 #include "SpeedLimitComponent.h"
@@ -264,6 +265,14 @@ const boost::optional<carla::road::Map>& ATrafficLightManager::GetMap()
 
 void ATrafficLightManager::AdjustAllSignsToHeightGround()
 {
+  UWorld* World = GetWorld();
+  if (!World)
+  {
+    return;
+  }
+
+  UCarlaEpisode* CarlaEpisode = UCarlaStatics::GetCurrentEpisode(World);
+
   for(ATrafficSignBase* TS : TrafficSigns)
   {
     if (!IsValid(TS))
@@ -273,40 +282,40 @@ void ATrafficLightManager::AdjustAllSignsToHeightGround()
 
     FVector OriginalLocation = TS->GetActorLocation();
     FVector AdjustedLocation = OriginalLocation;
-    
+
     TS->bPositioned = AdjustSignHeightToGround(AdjustedLocation);
-    
+
     if (TS->bPositioned)
     {
       float ZOffset = AdjustedLocation.Z - OriginalLocation.Z;
 
       TS->GetRootComponent()->SetMobility(EComponentMobility::Movable);
-      
+
       // Get all static mesh components
       TArray<UStaticMeshComponent*> StaticMeshComps;
       TS->GetComponents<UStaticMeshComponent>(StaticMeshComps);
-      
+
       for (UStaticMeshComponent* MeshComp : StaticMeshComps)
       {
         if (!MeshComp) continue;
-        
+
         // Skip if this has a mesh parent (it's a child)
         USceneComponent* ParentComp = MeshComp->GetAttachParent();
         if (ParentComp && Cast<UStaticMeshComponent>(ParentComp))
         {
           continue;
         }
-        
+
         // Move the mesh component down
         FVector CompLocation = MeshComp->GetRelativeLocation();
         CompLocation.Z += ZOffset;
         MeshComp->SetRelativeLocation(CompLocation);
-        
+
         MeshComp->UpdateBounds();
-        
+
         UE_LOG(LogCarla, Log, TEXT("Moved mesh %s by %f cm"), *TS->GetName(), ZOffset);
       }
-      
+
       TS->UpdateComponentTransforms();
       TS->GetRootComponent()->SetMobility(EComponentMobility::Static);
     }
@@ -336,6 +345,13 @@ void ATrafficLightManager::GenerateSignalsAndTrafficLights()
     if (CurrentMapName.Contains(TEXT("Town15"), ESearchCase::IgnoreCase))
     {
       AdjustAllSignsToHeightGround();
+
+      ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(GetWorld());
+      if (GameMode)
+      {
+        GameMode->RegisterEnvironmentObjects();
+        UE_LOG(LogCarla, Log, TEXT("Re-registered environment objects after sign height adjustment"));
+      }
     }
 
   }