CarlaHUD.cpp

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#include "CarlaHUD.h"
 
#include <util/ue-header-guard-begin.h>
#include "Engine/Engine.h"
#include "Engine/Canvas.h"
#include "CanvasItem.h"
#include "PhysicalMaterials/PhysicalMaterial.h"
#include "GameFramework/PlayerController.h"
#include <util/ue-header-guard-end.h>
 
void ACarlaHUD::DrawHUD()
{
  Super::DrawHUD();
 
  auto Player = GetOwningPlayerController();
  if (Player == nullptr)
  {
    UE_LOG(LogCarla, Error, TEXT("Can't find player controller!"));
    return;
  }
 
  if(DebugVehicle) {
    float YL = 1600.0f;
    float Y0 = 0.0f;
    DrawDebug(YL, Y0);
  }
 
  double Now = FPlatformTime::Seconds();
  int i = 0;
  while (i < StringList.Num())
  {
    // project position from camera
    FVector2D Screen;
    if (Player->ProjectWorldLocationToScreen(StringList[i].Location, Screen, true))
    {
      // draw text
      DrawText(StringList[i].Str, StringList[i].Color, Screen.X, Screen.Y);
    }
 
    // check to remove the string
    if (Now >= StringList[i].TimeToDie)
    {
      StringList.RemoveAt(i);
    }
    else
      ++i;
  }
}
 
void ACarlaHUD::AddHUDString(const FString Str, const FVector Location, const FColor Color, double LifeTime)
{
  double Now = FPlatformTime::Seconds();
  HUDString Obj { Str, Location, Color, Now + LifeTime };
  StringList.Add(std::move(Obj));
}
 
// Debug
void ACarlaHUD::DrawDebug(float& YL, float& YPos)
{
    using namespace Chaos;
 
    ensure(IsInGameThread());
 
    if (!DebugVehicle->HasValidPhysicsState()){
        UE_LOG(LogCarla, Log, TEXT("Invalid state"));
        return;
    }
 
    UFont* RenderFont = GEngine->GetMediumFont();
    // draw drive data
    {
        Canvas->SetDrawColor(FColor::White);
    
        YPos += 16;
        for (int i = 0; i < DebugVehicle->GetNumWheels(); i++)
        {
            YPos += Canvas->DrawText(RenderFont, FString::Printf(TEXT("WheelLoad: [%d] %1.f N"), i, CmToM(DebugVehicle->GetWheelState(i).SpringForce)), 4, YPos);
        }
 
        YPos += 16;
        for (int i = 0; i < DebugVehicle->GetNumWheels(); i++)
        {
            if (DebugVehicle->GetWheelState(i).PhysMaterial.IsValid())
            {
                YPos += Canvas->DrawText(RenderFont, FString::Printf(TEXT("SurfaceFriction: [%d] %.2f"), i, DebugVehicle->GetWheelState(i).PhysMaterial->Friction), 4, YPos);
            }
        }
    }
}