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Keep cars and skid-steer vehicles that fall out of the world - #166
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WouterJansen merged 12 commits intoOct 5, 2026
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Co-authored-by: Cursor <cursoragent@cursor.com>
…-stencil-jansen2022 Register spawnObject actors for instance segmentation and material stencil
merged Cosys-Lab#153 PR manually to this branch
3.5.0 release
3.5.0 release for 5.8
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A vehicle that drops below the level's KillZ, for example driven off the edge of the map or pushed through the floor after a collision, is destroyed by the engine. AirSim keeps using the pawn, so the next sim update or reset crashes (PawnSimApi::updateKinematics from CarPawnSimApi::updateRenderedState). CarPawn and SkidVehiclePawn now override FellOutOfWorld to keep the vehicle, log a warning, and move it back to its start pose on the next tick, with its velocities zeroed. The teleport happens in Tick because FellOutOfWorld is called from the physics sync, which overrides a teleport made there. Found and tested in HERCULES (a fork of Cosys-AirSim) with Unreal Engine 5.8.3: a car teleported 500 m to 11 km below the Blocks map is back at its start pose within 0.3 s and the simulation and reset() keep working. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01JmWqXFCY6vDdpRe4VHoaQX
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A car or skid-steer vehicle that drops below the level's KillZ is destroyed by the engine, and AirSim's next update or
reset()then crashes inPawnSimApi::updateKinematics.ACarPawnandASkidVehiclePawnnow overrideFellOutOfWorld: they keep the vehicle, log a warning and move it back to its start pose on the next tick (inTick, because a teleport insideFellOutOfWorldis overridden by the physics sync).Tested in HERCULES (a Cosys-AirSim fork) with UE 5.8.3: a car moved 500 m to 11 km below the map returns to its start within 0.3 s, and
reset()keeps working. Also built from this tree with UE 5.8.3 (Windows): in Blocks, a car and a skid-steer Husky moved 2 km below the map return to their start, andreset()keeps working. The same code applies to the 5.2.1 branch.🤖 Generated with Claude Code