RayTracer.h

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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>.
 
#pragma once
 
#include <util/disable-ue4-macros.h>
#include "carla/rpc/ObjectLabel.h"
#include "carla/rpc/LabelledPoint.h"
#include <util/enable-ue4-macros.h>
 
#include <util/ue-header-guard-begin.h>
#include "Kismet/BlueprintFunctionLibrary.h"
#include "GameFramework/Actor.h"
#include <util/ue-header-guard-end.h>
 
#include <vector>
#include <utility>
 
#include "RayTracer.generated.h"
 
UCLASS()
class CARLA_API URayTracer : public UBlueprintFunctionLibrary
{
  GENERATED_BODY()
 
public:
 
  static std::vector<carla::rpc::LabelledPoint> CastRay(
      FVector StartLocation, FVector EndLocation, UWorld * World);
 
  static std::pair<bool, carla::rpc::LabelledPoint> ProjectPoint(
      FVector StartLocation, FVector Direction, float MaxDistance, UWorld * World);
 
};