carla-simulator · im-hashim · May 14, 2026 · Jul 12, 2026
diff --git a/Makefile b/Makefile
@@ -24,13 +24,63 @@ _STUDIO := carla-studio-$(_PLATFORM)-$(_ARCH)$(_APP_EXT)
 _CLI    := carla-studio-test-suite-$(_PLATFORM)-$(_ARCH)$(_EXT)
 
 ifdef CARLA_DIR
-_CARLA := -DCARLA_DIR="$(CARLA_DIR)"
+_CARLA_ABS   := $(abspath "$(CARLA_DIR)")
+_CARLA       := -DCARLA_DIR="$(_CARLA_ABS)"
+_CARLA_BUILD := $(_CARLA_ABS)/Build
+_CARLA_LIB   := $(_CARLA_ABS)/Build/LibCarla/libcarla-client.a
+
+ifdef UNREAL_DIR
+# Full build: delegates to CarlaSetup.sh (same as `carla-studio build --engine`).
+# Builds libcarla + UE5 simulator + shipping package in one shot.
+_UNREAL_ABS      := $(abspath $(UNREAL_DIR))
+_CARLA_SIM_STAMP := $(_CARLA_BUILD)/.carla-studio-setup-done
+
+$(_CARLA_SIM_STAMP):
+	@rm -rf "$(_CARLA_BUILD)"
+	CARLA_UNREAL_ENGINE_PATH="$(_UNREAL_ABS)" \
+	cmake -S "$(CARLA_DIR)" -B "$(_CARLA_BUILD)" \
+	  -DCMAKE_BUILD_TYPE=Release \
+	  -DCMAKE_TOOLCHAIN_FILE="$(_CARLA_ABS)/CMake/Toolchain.cmake" \
+	  -DBUILD_CARLA_CLIENT=ON \
+	  -DBUILD_CARLA_SERVER=ON \
+	  -DBUILD_CARLA_UNREAL=ON \
+	  -DBUILD_PYTHON_API=ON \
+	  -DBUILD_OSM2ODR=OFF \
+	  -DENABLE_ROS2=OFF
+	cmake --build "$(_CARLA_BUILD)" --target carla-client       -j$(JOBS)
+	cmake --build "$(_CARLA_BUILD)" --target carla-unreal       -j$(JOBS)
+	cmake --build "$(_CARLA_BUILD)" --target carla-unreal-editor -j$(JOBS)
+	@touch "$(_CARLA_SIM_STAMP)"
+
+$(_CARLA_LIB): $(_CARLA_SIM_STAMP)
+
+$(BUILD)/CMakeCache.txt: $(_CARLA_SIM_STAMP)
+	cmake -S src -B "$(BUILD)" -DCMAKE_BUILD_TYPE=Release $(_CARLA)
+
 else
-_CARLA :=
+# Client-only build: libcarla-client.a only, no UE5.
+$(_CARLA_LIB):
+	cmake -S "$(CARLA_DIR)" -B "$(_CARLA_BUILD)" \
+	  -DCMAKE_BUILD_TYPE=Release \
+	  -DBUILD_CARLA_CLIENT=ON \
+	  -DBUILD_CARLA_SERVER=OFF \
+	  -DBUILD_PYTHON_API=ON \
+	  -DBUILD_OSM2ODR=OFF \
+	  -DENABLE_ROS2=OFF
+	cmake --build "$(_CARLA_BUILD)" --target carla-client -j$(JOBS)
+
+$(BUILD)/CMakeCache.txt: $(_CARLA_LIB)
+	cmake -S src -B "$(BUILD)" -DCMAKE_BUILD_TYPE=Release $(_CARLA)
+
 endif
 
+else
+_CARLA :=
+
 $(BUILD)/CMakeCache.txt:
-	cmake -S src -B "$(BUILD)" -DCMAKE_BUILD_TYPE=Release $(_CARLA)
+	cmake -S src -B "$(BUILD)" -DCMAKE_BUILD_TYPE=Release
+
+endif
 
 _build: $(BUILD)/CMakeCache.txt
 	cmake --build "$(BUILD)" --target carla-studio -j$(JOBS)
@@ -101,10 +151,21 @@ all: $(BUILD)/CMakeCache.txt
 app: $(BUILD)/CMakeCache.txt
 	cmake --build "$(BUILD)" --target carla-studio -j$(JOBS)
 
+ifdef UNREAL_DIR
+_CARLA_SIM_ROOT := $(shell find "$(_CARLA_BUILD)/Package" -maxdepth 2 \
+  \( -name "CarlaUnreal-Linux-Shipping" -o -name "CarlaUnreal.sh" \
+     -o -name "CarlaUE5.sh" -o -name "CarlaUE4.sh" \) \
+  -printf '%h\n' 2>/dev/null | head -1)
+endif
+
 test: $(BUILD)/CMakeCache.txt
 	cmake --build "$(BUILD)" --target carla-studio -j$(JOBS)
 	cmake --build "$(BUILD)" --target test-suite   -j$(JOBS)
+ifdef _CARLA_SIM_ROOT
+	CARLA_SIM_ROOT="$(_CARLA_SIM_ROOT)" "$(BUILD)/carla-studio-test-suite$(_EXT)" --update-documentation
+else
 	"$(BUILD)/carla-studio-test-suite$(_EXT)" --update-documentation
+endif
 
 clean:
 	rm -rf "$(BUILD)"
@@ -116,7 +177,7 @@ ifeq ($(_PLATFORM), linux)
 endif
 
 help:
-	@echo "Usage: make [target] [CARLA_DIR=/path/to/carla/source]"
+	@echo "Usage: make [target] [CARLA_DIR=<path>] [UNREAL_DIR=<path>] [JOBS=N]"
 	@echo ""
 	@echo "Targets:"
 	@echo "  make             build + keep only carla-studio binary (default)"
@@ -129,5 +190,9 @@ help:
 	@echo "  make test        build + run full test suite"
 	@echo "  make clean       remove app/ and uninstall .desktop entry (Linux)"
 	@echo ""
-	@echo "  CARLA_DIR=<path>  link against CARLA source tree"
-	@echo "  JOBS=N            parallel build jobs (default: all cores via nproc)"
+	@echo "  CARLA_DIR=<path>   link against CARLA source tree (builds libcarla-client.a)"
+	@echo "  UNREAL_DIR=<path>  also build full UE5 simulator + shipping package"
+	@echo "                     requires CARLA_DIR; builds carla-unreal-package-shipping"
+	@echo "                     simulator lands at CARLA_DIR/Build/Package/Carla-*-Linux-Shipping/"
+	@echo "                     test target sets CARLA_SIM_ROOT automatically"
+	@echo "  JOBS=N             parallel build jobs (default: all cores via nproc)"
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -69,6 +69,56 @@ option (CARLA_STUDIO_FETCH_ASSIMP
         "Fetch + build Assimp at configure time for multi-format mesh ingest in CarlaStudio."
         OFF)
 
+if (DEFINED CARLA_DIR AND NOT DEFINED CARLA_BUILD_DIR)
+  set (CARLA_BUILD_DIR "${CARLA_DIR}/Build")
+endif ()
+
+if (DEFINED CARLA_BUILD_DIR AND NOT TARGET carla-client)
+  set (_cbd "${CARLA_BUILD_DIR}")
+  set (_libcarla_a "${_cbd}/LibCarla/libcarla-client.a")
+  if (NOT EXISTS "${_libcarla_a}")
+    carla_warning ("CARLA_BUILD_DIR=${_cbd}: libcarla-client.a not found; LibCarla disabled.")
+  else ()
+    get_filename_component (_carla_root "${_cbd}/.." ABSOLUTE)
+    set (_boost_src  "${_cbd}/_deps/boost-src")
+    set (_boost_bld  "${_cbd}/_deps/boost-build/libs")
+    set (_rpclib_src "${_cbd}/_deps/rpclib-src")
+    set (_rpclib_a   "${_cbd}/_deps/rpclib-build/librpc.a")
+    set (_png_a      "${_cbd}/_deps/libpng-build/libpng16.a")
+    set (_zlib_a     "${_cbd}/_deps/zlib-build/libz.a")
+
+    file (GLOB _boost_lib_incs "${_boost_src}/libs/*/include")
+    file (GLOB _boost_numeric_incs "${_boost_src}/libs/numeric/*/include")
+    file (GLOB _boost_compiled_libs "${_boost_bld}/*/libboost_*.a")
+
+    add_library (carla-client STATIC IMPORTED GLOBAL)
+    set_target_properties (carla-client PROPERTIES
+      IMPORTED_LOCATION "${_libcarla_a}"
+      INTERFACE_INCLUDE_DIRECTORIES
+        "${_carla_root}/LibCarla/source;${_boost_lib_incs};${_boost_numeric_incs};${_rpclib_src}/include;${_rpclib_src}/dependencies/include"
+      INTERFACE_COMPILE_DEFINITIONS
+        "BOOST_ATOMIC_NO_LIB;BOOST_ATOMIC_STATIC_LINK;\
+BOOST_CHRONO_NO_LIB;BOOST_CHRONO_STATIC_LINK;\
+BOOST_CONTAINER_NO_LIB;BOOST_CONTAINER_STATIC_LINK;\
+BOOST_COROUTINE_NO_LIB;BOOST_COROUTINE_STATIC_LINK;\
+BOOST_DATE_TIME_NO_LIB;BOOST_DATE_TIME_STATIC_LINK;\
+BOOST_FILESYSTEM_NO_LIB;BOOST_FILESYSTEM_STATIC_LINK=1;\
+BOOST_RANDOM_NO_LIB;BOOST_RANDOM_STATIC_LINK;\
+BOOST_SERIALIZATION_NO_LIB;BOOST_SERIALIZATION_STATIC_LINK;\
+BOOST_THREAD_NO_LIB;BOOST_THREAD_STATIC_LINK;BOOST_THREAD_USE_LIB;\
+LIBCARLA_IMAGE_SUPPORT_PNG=1;\
+RPCLIB_LINUX;RPCLIB_MSGPACK=clmdep_msgpack"
+      INTERFACE_LINK_LIBRARIES
+        "${_rpclib_a};${_boost_compiled_libs};\
+${_cbd}/_deps/recastnavigation-build/DetourCrowd/libDetourCrowd.a;\
+${_cbd}/_deps/recastnavigation-build/Detour/libDetour.a;\
+${_cbd}/_deps/recastnavigation-build/Recast/libRecast.a;\
+${_png_a};${_zlib_a}"
+    )
+    carla_message ("LibCarla integration enabled (CARLA_BUILD_DIR=${_cbd})")
+  endif ()
+endif ()
+
 if (CARLA_STUDIO_FETCH_ASSIMP)
   include (FetchContent)
   set (ASSIMP_BUILD_TESTS         OFF CACHE BOOL "" FORCE)

diff --git a/src/carla_studio.cpp b/src/carla_studio.cpp
@@ -3332,8 +3332,8 @@ int main(int argc, char *argv[]) {
 
       const float cameraDistance = 6.0f;
       cg::Location cameraLocation = vehicleTransform.location;
-      cameraLocation.x -= static_cast<float>(std::cos(yawRad) * cameraDistance);
-      cameraLocation.y -= static_cast<float>(std::sin(yawRad) * cameraDistance);
+      cameraLocation.x -= static_cast<float>(std::cos(yawRad) * static_cast<double>(cameraDistance));
+      cameraLocation.y -= static_cast<float>(std::sin(yawRad) * static_cast<double>(cameraDistance));
       cameraLocation.z += 2.6f;
       cg::Rotation cameraRotation(-12.0f, vehicleTransform.rotation.yaw, 0.0f);
 
@@ -3877,8 +3877,8 @@ int main(int argc, char *argv[]) {
         for (int xi = 0; xi < 4; ++xi) {
           for (int yi = 0; yi < 11; ++yi) {
             if ((xi + yi) % 2 != 0) continue;
-            const float x0 = 88.0f + xi * 1.0f;
-            const float y0 = -5.5f + yi * 1.0f;
+            const float x0 = 88.0f + static_cast<float>(xi);
+            const float y0 = -5.5f + static_cast<float>(yi);
             for (float dy = 0.0f; dy <= 1.0f; dy += 0.12f) {
               dbg.DrawLine(cg::Location(x0,        y0 + dy, 0.12f),
                            cg::Location(x0 + 1.0f, y0 + dy, 0.12f),
@@ -10029,7 +10029,7 @@ int main(int argc, char *argv[]) {
                 double maxMag = 1e-6;
                 for (size_t i = 0; i < flow->size(); ++i) {
                   const auto &p = (*flow)[i];
-                  const double m = std::sqrt(double(p.x) * p.x + double(p.y) * p.y);
+                  const double m = std::sqrt(double(p.x) * double(p.x) + double(p.y) * double(p.y));
                   if (m > maxMag) maxMag = m;
                 }
 
@@ -10038,12 +10038,12 @@ int main(int argc, char *argv[]) {
                   uchar *L = frame.scanLine(y);
                   for (int x = 0; x < w; ++x) {
                     const auto &p = (*flow)[size_t(y * w + x)];
-                    const double mag = std::sqrt(double(p.x) * p.x + double(p.y) * p.y);
+                    const double mag = std::sqrt(double(p.x) * double(p.x) + double(p.y) * double(p.y));
                     const double ang = std::atan2(double(p.y), double(p.x));
                     const double hue = (ang + M_PI) / (2.0 * M_PI);
                     const double sat = std::min(1.0, mag / maxMag);
-                    const QColor c = QColor::fromHsvF(hue, sat, 1.0);
-                    L[x*3+0] = c.red(); L[x*3+1] = c.green(); L[x*3+2] = c.blue();
+                    const QColor c = QColor::fromHsvF(static_cast<float>(hue), static_cast<float>(sat), 1.0f);
+                    L[x*3+0] = static_cast<uchar>(c.red()); L[x*3+1] = static_cast<uchar>(c.green()); L[x*3+2] = static_cast<uchar>(c.blue());
                   }
                 }
                 postImageToSink(tab, frame);
@@ -10107,7 +10107,7 @@ int main(int argc, char *argv[]) {
                   QString("accel=(%1,%2,%3)  gyro=(%4,%5,%6)  compass=%7°")
                     .arg(a.x, 0, 'f', 2).arg(a.y, 0, 'f', 2).arg(a.z, 0, 'f', 2)
                     .arg(g.x, 0, 'f', 2).arg(g.y, 0, 'f', 2).arg(g.z, 0, 'f', 2)
-                    .arg(m->GetCompass() * 180.0 / M_PI, 0, 'f', 1),
+                    .arg(static_cast<double>(m->GetCompass()) * 180.0 / M_PI, 0, 'f', 1),
                   true);
                 break;
               }
@@ -10123,7 +10123,7 @@ int main(int argc, char *argv[]) {
                   QString("[%1] ↯ %2  impulse=%3")
                     .arg(QTime::currentTime().toString("HH:mm:ss"))
                     .arg(otherName)
-                    .arg(std::sqrt(double(imp.x)*imp.x + double(imp.y)*imp.y + double(imp.z)*imp.z), 0, 'f', 1),
+                    .arg(std::sqrt(double(imp.x)*double(imp.x) + double(imp.y)*double(imp.y) + double(imp.z)*double(imp.z)), 0, 'f', 1),
                   false);
                 break;
               }
@@ -10376,8 +10376,8 @@ int main(int argc, char *argv[]) {
         if (!bp) continue;
 
         const SensorMountConfig mount = getOrCreateSensorMount(name);
-        cg::Location loc(mount.tx, mount.ty, mount.tz);
-        cg::Rotation rot(mount.ry, mount.rz, mount.rx);
+        cg::Location loc(static_cast<float>(mount.tx), static_cast<float>(mount.ty), static_cast<float>(mount.tz));
+        cg::Rotation rot(static_cast<float>(mount.ry), static_cast<float>(mount.rz), static_cast<float>(mount.rx));
         cg::Transform tr(loc, rot);
 
         for (int k = 0; k < counts[i]; ++k) {
@@ -11356,7 +11356,7 @@ int main(int argc, char *argv[]) {
             if (bp.ContainsAttribute("role_name")) {
               bp.SetAttribute("role_name", "scenario_traffic");
             }
-            auto actor = world.TrySpawnActor(bp, spawns[idx[i]]);
+            auto actor = world.TrySpawnActor(bp, spawns[idx[static_cast<size_t>(i)]]);
             if (!actor) continue;
             try {
               auto v = std::static_pointer_cast<cc::Vehicle>(actor);
@@ -11449,10 +11449,10 @@ int main(int argc, char *argv[]) {
       };
       for (const auto &pair : topology) {
         if (!pair.first || !pair.second) continue;
-        const auto l1 = pair.first->GetTransform().location;
-        const auto l2 = pair.second->GetTransform().location;
-        grow(l1.x, l1.y);
-        grow(l2.x, l2.y);
+        const auto loc1 = pair.first->GetTransform().location;
+        const auto loc2 = pair.second->GetTransform().location;
+        grow(loc1.x, loc1.y);
+        grow(loc2.x, loc2.y);
       }
       for (const auto &tr : spawns) {
         grow(tr.location.x, tr.location.y);
@@ -11466,17 +11466,17 @@ int main(int argc, char *argv[]) {
       topoPen.setWidthF(0);
       for (const auto &pair : topology) {
         if (!pair.first || !pair.second) continue;
-        const auto l1 = pair.first->GetTransform().location;
-        const auto l2 = pair.second->GetTransform().location;
-        previewScene->addLine(l1.x, -l1.y, l2.x, -l2.y, topoPen);
+        const auto loc1 = pair.first->GetTransform().location;
+        const auto loc2 = pair.second->GetTransform().location;
+        previewScene->addLine(loc1.x, -loc1.y, loc2.x, -loc2.y, topoPen);
       }
 
       const double r = std::max(1.5, (std::max(maxX - minX, maxY - minY)) / 300.0);
       QPen spawnPen(QColor(47, 166, 107));
       spawnPen.setWidthF(0);
       QBrush spawnBrush(QColor(47, 166, 107, 200));
       for (const auto &tr : spawns) {
-        previewScene->addEllipse(tr.location.x - r, -tr.location.y - r,
+        previewScene->addEllipse(static_cast<double>(tr.location.x) - r, -static_cast<double>(tr.location.y) - r,
                                  2 * r, 2 * r, spawnPen, spawnBrush);
       }