Integrating CARLA with Leadwerks

[Leadwerks]

Hi, I am the developer of Leadwerks Game Engine. I am investigating what it would take to make CARLA communicate with my engine instead of Unreal. If you can point me in the right direction I'd appreciate it.

Can CARLA even be separated from unreal, or are they too deeply integrated?

[Miko997]

The main separation is between CARLA's client and simulation server, not between CARLA and Unreal. The server still relies on Unreal for actors, physics and sensor rendering.

Replacing Unreal would therefore mean implementing the server-side operations against Leadwerks, rather than plugging in a different renderer. [CarlaServer.cpp](https://github.com/carla-simulator/carla/blob/ue5-dev/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp) is a useful starting point: the RPC handlers call into the Unreal plugin.

If you only need Leadwerks to display or control the simulation, I'd start with a bridge that keeps CARLA running and mirrors actor transforms through the C++ or Python API. Assets, coordinates and synchronization would still need handling.

Is the goal a completely Unreal-free simulator, or using Leadwerks alongside CARLA?