When you finish modifying a custom scene, you can package the project file containing this scene into an executable. You can then configure your model to simulate from this executable by using the Simulation 3D Scene Configuration block. Executable files can improve simulation performance and do not require opening the Unreal® Editor to simulate your scene. Instead, the scene runs by using the Unreal Engine® that comes installed with Automated Driving Toolbox™.
Open the project containing the scene in the Unreal Editor. You must open the project from a Simulink® model that is configured to co-simulate with the Unreal Editor. For more details on this configuration, see Customize Scenes Using Simulink and Unreal Editor.
In the Unreal Editor toolbar, select Settings > Project Settings to open the Project Settings window.
In the left pane, in the Project section, click Packaging.
In the Packaging section, set or verify the options in the table. If you do not see all these options, at the bottom of the Packaging section, click the Show Advanced expander .
|Packaging Option||Enable or Disable|
|Use Pak File||Enable|
|Cook everything in the project content directory (ignore list of maps below)||Disable|
|Cook only maps (this only affects cookall)||Enable|
|Create compressed cooked packages||Enable|
|Exclude editor content while cooking||Enable|
Specify the scene from the project that you want to package into an executable.
In the List of maps to include in a packaged build option, click the Adds Element button .
Specify the path to the scene that you want to include in the
executable. By default, the Unreal Editor saves maps to the
folder. For example, if the
/Game/Maps folder has
a scene named
myScene that you want to include in
the executable, enter
Add or remove additional scenes as needed.
Rebuild the lighting in your scenes. If you do not rebuild the lighting, the shadows from the light source in your executable file are incorrect and a warning about rebuilding the lighting displays during simulation. In the Unreal Editor toolbar, select Build > Build Lighting Only.
(Optional) If you plan to obtain semantic segmentation data from the scene by
using a Simulation
3D Camera block, enable rendering of the stencil IDs. In the left
pane, in the Engine section, click
Rendering. Then, in the main window, in the
Postprocessing section, set Custom
Depth-Stencil Pass to
Stencil. For more details on applying stencil IDs for semantic
segmentation, see Apply Semantic Segmentation Labels to Custom Scenes.
Close the Project Settings window.
In the top-left menu of the editor, select File > Package Project > Windows > Windows (64-bit). Select a local folder in which to save the executable, such as to
the root of the project file (for example,
Packaging a project into an executable can take several minutes. The more scenes that you include in the executable, the longer the packaging takes.
Once packaging is complete, the folder where you saved the package contains a
WindowsNoEditor folder that includes the executable file.
This file has the same name as the project file.
If you repackage a project into the same folder, the new executable folder overwrites the old one.
Suppose you package a scene that is from the
myProject.uproject file and save the executable to the
C:/Local/myProject folder. The editor creates a file
myProject.exe with this
In the Simulation
3D Scene Configuration block of your Simulink model, set the Scene source parameter to
Set the File name parameter to the name of your Unreal Editor executable file. You can either browse for the file or specify the full path to the file by using backslashes. For example:
Set the Scene parameter to the name of a scene from within the executable file. For example:
Run the simulation. The model simulates in the custom scene that you created.
If you are simulating a scene from a project that is not based on the
AutoVtrlEnv project, then the scene simulates in full screen
mode. To use the same window size as the default scenes, copy the
DefaultGameUserSettings.ini file from the support package
installation folder to your custom project folder. For example, copy
Then, package scenes from the project into an executable again and retry the simulation.