AimSim 代码学习记录

1、获得UClass方法：

#include "Runtime/CoreUObject/Public/UObject/ConstructorHelpers.h"
static ConstructorHelpers::FClassFinder<UUserWidget> hud_widget_class(TEXT("WidgetBlueprint'/AirSim/Blueprints/BP_SimHUDWidget'"));
UClass* widget_class_ = hud_widget_class.Succeeded() ? hud_widget_class.Class : nullptr;

2、生成Widget

USimHUDWidget* widget_ = CreateWidget<USimHUDWidget>(player_controller, widget_class_);
widget_->AddToViewport();

3、创建对话框

UAirBlueprintLib::ShowMessage(EAppMsgType::Ok, std::string("Error at startup: ") + ex.what(), "Error");

EAppReturnType::Type UAirBlueprintLib::ShowMessage(EAppMsgType::Type message_type, const std::string& message, const std::string& title)
{
    FText title_text = FText::FromString(title.c_str());

    return FMessageDialog::Open(message_type,
        FText::FromString(message.c_str()),
        &title_text);
}

4、代码方式执行console，设置参数。

//use two different methods to set console var because sometime it doesn't seem to work
    static const auto custom_depth_var = IConsoleManager::Get().FindConsoleVariable(TEXT("r.CustomDepth"));
    custom_depth_var->Set(3);

    //Equivalent to enabling Custom Stencil in Project > Settings > Rendering > Postprocessing
    UKismetSystemLibrary::ExecuteConsoleCommand(GetWorld(), FString("r.CustomDepth 3"));

    //during startup we init stencil IDs to random hash and it takes long time for large environments
    //we get error that GameThread has timed out after 30 sec waiting on render thread
    static const auto render_timeout_var = IConsoleManager::Get().FindConsoleVariable(TEXT("g.TimeoutForBlockOnRenderFence"));
    render_timeout_var->Set(300000);

5、代码方式开启GameViewport（）的各项参数。

 GetWorld()->GetGameViewport()->GetEngineShowFlags()->SetMotionBlur(false);

6、屏幕输出：

UENUM(BlueprintType)
enum class LogDebugLevel : uint8 {
    Informational UMETA(DisplayName = "Informational"),
    Success UMETA(DisplayName = "Success"),
    Failure UMETA(DisplayName = "Failure"),
    Unimportant  UMETA(DisplayName = "Unimportant")
};

void UAirBlueprintLib::LogMessage(const FString &prefix, const FString &suffix, LogDebugLevel level, float persist_sec)
{
    if (log_messages_hidden_)
        return;


    static TMap<FString, int> loggingKeys;
    static int counter = 1;

    int key = loggingKeys.FindOrAdd(prefix);
    if (key == 0) {
        key = counter++;
        loggingKeys[prefix] = key;
    }

    FColor color;
    switch (level) {
    case LogDebugLevel::Informational:
        color = FColor(147, 231, 237);
        //UE_LOG(LogTemp, Log, TEXT("%s%s"), *prefix, *suffix);
        break;
    case LogDebugLevel::Success:
        color = FColor(156, 237, 147);
        //UE_LOG(LogTemp, Log, TEXT("%s%s"), *prefix, *suffix);
        break;
    case LogDebugLevel::Failure:
        color = FColor(237, 147, 168);
        //UE_LOG(LogAirSim, Error, TEXT("%s%s"), *prefix, *suffix); 
        break;
    case LogDebugLevel::Unimportant:
        color = FColor(237, 228, 147);
        //UE_LOG(LogTemp, Verbose, TEXT("%s%s"), *prefix, *suffix); 
        break;
    default: color = FColor::Black; break;
    }
    if (GEngine) {
        GEngine->AddOnScreenDebugMessage(key, persist_sec, color, prefix + suffix);
    }
    //GEngine->AddOnScreenDebugMessage(key + 10, 60.0f, color, FString::FromInt(key));
}

7, 遍历world中所有Actor，并挑选目标Actor

typedef AUrdfBotPawn TVehiclePawn;

void ASimModeUrdfBot::getExistingVehiclePawns(TArray<AirsimVehicle*>& pawns) const
{
    for (TActorIterator<TVehiclePawn> it(this->GetWorld()); it; ++it)
    {
        pawns.Add(static_cast<AirsimVehicle*>(*it));
    }
}