Add simDisableActor API

AirLib/include/api/RpcLibClientBase.hpp

@@ -106,6 +106,8 @@ class RpcLibClientBase {
 
 	std::vector<std::string> simSwapTextures(const std::string& tags, int tex_id = 0, int component_id = 0, int material_id = 0);
 
+    void simDisableActor(const std::string& object_name);
+
 protected:
     void* getClient();
     const void* getClient() const;

AirLib/include/api/WorldSimApiBase.hpp

@@ -58,6 +58,8 @@ class WorldSimApiBase {
 
 	virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) = 0;
     virtual vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const = 0;
+
+    virtual void disableActor(const std::string& object_name) = 0;
 };
 
 

AirLib/src/api/RpcLibClientBase.cpp

@@ -351,6 +351,11 @@ std::vector<std::string> RpcLibClientBase::simSwapTextures(const std::string& ta
 	return pimpl_->client.call("simSwapTextures", tags, tex_id, component_id, material_id).as<vector<string>>();
 }
 
+void RpcLibClientBase::simDisableActor(const std::string& object_name)
+{
+    pimpl_->client.call("simDisableActor", object_name);
+}
+
 msr::airlib::Pose RpcLibClientBase::simGetObjectPose(const std::string& object_name) const
 {
     return pimpl_->client.call("simGetObjectPose", object_name).as<RpcLibAdapatorsBase::Pose>().to();

AirLib/src/api/RpcLibServerBase.cpp

@@ -313,6 +313,10 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
 		return *getWorldSimApi()->swapTextures(tag, tex_id, component_id, material_id);
 	});
 
+    pimpl_->server.bind("simDisableActor", [&](const std::string& object_name) -> void {
+        getWorldSimApi()->disableActor(object_name);
+    });
+
     //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

@@ -268,6 +268,15 @@ def simGetMeshPositionVertexBuffers(self):
         responses_raw = self.client.call('simGetMeshPositionVertexBuffers')
         return [MeshPositionVertexBuffersResponse.from_msgpack(response_raw) for response_raw in responses_raw]
 
+    def simDisableActor(self, object_name):
+        """
+        - Disables an actor from the simulation
+
+        Args:
+            object_name (str): Name of the object(actor) to be disabled
+        """
+        self.client.call('simDisableActor', object_name)
+
     def simGetCollisionInfo(self, vehicle_name = ''):
         """
         Args:

Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp

@@ -80,6 +80,13 @@ bool WorldSimApi::setObjectPose(const std::string& object_name, const WorldSimAp
 	return SetPose(airSimPose, false, object_name.c_str());
 }
 
+void WorldSimApi::disableActor(const std::string& object_name)
+{
+    unused(object_name);
+    throw std::invalid_argument(common_utils::Utils::stringf(
+        "simDisableActor is not supported on unity").c_str());
+}
+
 void WorldSimApi::enableWeather(bool enable)
 {
     unused(enable);

Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h

@@ -32,6 +32,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
 	virtual std::vector<std::string> listSceneObjects(const std::string& name_regex) const override;
 	virtual Pose getObjectPose(const std::string& object_name) const override;
 	virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) override;
+    virtual void disableActor(const std::string& object_name) override;
 
     //----------- Plotting APIs ----------/
     virtual void simFlushPersistentMarkers() override;

Unreal/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -151,6 +151,24 @@ std::unique_ptr<std::vector<std::string>> WorldSimApi::swapTextures(const std::s
 	}, true);
 	return swappedObjectNames;
 }
+
+void WorldSimApi::disableActor(const std::string& object_name)
+{
+    UAirBlueprintLib::RunCommandOnGameThread([this, &object_name]() {
+        AActor* actor = UAirBlueprintLib::FindActor<AActor>(simmode_, FString(object_name.c_str()));
+        if(actor) {
+            // Hides visible components
+            actor->SetActorHiddenInGame(true);
+
+            // Disables collision components
+            actor->SetActorEnableCollision(false);
+
+            // Stops the Actor from ticking
+            actor->SetActorTickEnabled(false);
+        }
+    }, true);
+}
+
 //----------- Plotting APIs ----------/
 void WorldSimApi::simFlushPersistentMarkers()
 {

Unreal/Plugins/AirSim/Source/WorldSimApi.h

@@ -37,6 +37,8 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
     virtual Pose getObjectPose(const std::string& object_name) const override;
     virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) override;
 
+    virtual void disableActor(const std::string& object_name) override;
+
     //----------- Plotting APIs ----------/
     virtual void simFlushPersistentMarkers() override;
     virtual void simPlotPoints(const std::vector<Vector3r>& points, const std::vector<float>& color_rgba, float size, float duration, bool is_persistent) override;