RoutePlanner.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/ue-header-guard-begin.h>
#include "GameFramework/Actor.h"
#include "Components/BoxComponent.h"
#include "Components/SplineComponent.h"
#include <util/ue-header-guard-end.h>
 
#include "RoutePlanner.generated.h"
 
class AWheeledVehicleAIController;
 
/// Assign a random route to every ACarlaWheeledVehicle entering the trigger
/// volume. Routes must be added in editor after placing this actor into the
/// world. Spline tangents are ignored, only locations are taken into account
/// for making the route.
UCLASS()
class CARLA_API ARoutePlanner : public AActor
{
  GENERATED_BODY()
 
public:
 
  ARoutePlanner(const FObjectInitializer &ObjectInitializer);
 
  virtual void BeginDestroy() override;
 
  void Init();
 
  void SetBoxExtent(const FVector &Extent)
  {
    TriggerVolume->SetBoxExtent(Extent);
  }
 
  void DrawRoutes();
 
  void AddRoute(float probability, const TArray<FVector> &routePoints);
 
  void CleanRoute();
 
  void AssignRandomRoute(AWheeledVehicleAIController &Controller) const;
 
  /// Searches every ARoutePlanner in the world for the route spline point
  /// closest to Location, and returns the road direction there (as a
  /// rotator built from the spline tangent). Used by editor tools that want
  /// to align spawned props (e.g. road decals) to the flow of traffic.
  /// Returns false, leaving OutRotation untouched, if no route spline point
  /// is found within SearchRadius.
  UFUNCTION(BlueprintCallable, Category = "Traffic Routes", meta = (WorldContext = "WorldContextObject"))
  static bool FindRoadFlowRotationAtLocation(
      const UObject *WorldContextObject,
      const FVector &Location,
      float SearchRadius,
      FRotator &OutRotation);
 
protected:
 
#if WITH_EDITOR
  virtual void PostEditChangeProperty(FPropertyChangedEvent &PropertyChangedEvent) override;
 
#endif // WITH_EDITOR
 
  virtual void BeginPlay() override;
 
  virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
 
  UFUNCTION()
  void OnTriggerBeginOverlap(
      UPrimitiveComponent *OverlappedComp,
      AActor *OtherActor,
      UPrimitiveComponent *OtherComp,
      int32 OtherBodyIndex,
      bool bFromSweep,
      const FHitResult &SweepResult);
 
public:
 
  UPROPERTY(EditAnywhere)
  TObjectPtr<UBoxComponent> TriggerVolume;
 
  UPROPERTY(BlueprintReadWrite, Category = "Traffic Routes", EditAnywhere)
  TArray<TObjectPtr<USplineComponent>> Routes;
 
  UPROPERTY(BlueprintReadWrite, Category = "Traffic Routes", EditAnywhere, EditFixedSize)
  TArray<float> Probabilities;
 
  UPROPERTY(BlueprintReadWrite, Category = "Traffic Routes", EditAnywhere, EditFixedSize)
  bool bIsIntersection = false;
};