NavigationMesh.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 "Carla/Util/NavigationMesh.h"
#include "Carla.h"
#include "Carla/ContentPacks/ContentPackManager.h"
 
#include <util/ue-header-guard-begin.h>
#include "Misc/FileHelper.h"
#include <util/ue-header-guard-end.h>
 
TArray<uint8> FNavigationMesh::Load(FString MapName)
{
#if WITH_EDITOR
    {
      // When playing in editor the map name gets an extra prefix, here we
      // remove it.
      FString CorrectedMapName = MapName;
      constexpr auto PIEPrefix = TEXT("UEDPIE_0_");
      CorrectedMapName.RemoveFromStart(PIEPrefix);
      UE_LOG(LogCarla, Log, TEXT("FNavigationMesh: Corrected map name from %s to %s"), *MapName, *CorrectedMapName);
      MapName = CorrectedMapName;
    }
#endif // WITH_EDITOR
 
  const auto FileName = MapName + ".bin";
 
  TArray<FString> Files;
 
  // Generated OpenDRIVE worlds get their navmesh built into Saved/Nav/ (the
  // content dir is pak-backed in a packaged build); that copy is current.
  const FString SavedFilePath = FPaths::ConvertRelativePathToFull(
      FPaths::ProjectSavedDir() / TEXT("Nav") / FileName);
  if (IFileManager::Get().FileExists(*SavedFilePath))
  {
    Files.Add(SavedFilePath);
  }
 
  // Mounted content packs ship <Content>/Maps/Nav/<Map>.bin.
  if (const UCarlaContentPackManager *ContentPacks = UCarlaContentPackManager::Get())
  {
    for (const FString &PackContentDir : ContentPacks->GetPackContentDirs())
    {
      if (Files.Num())
      {
        break;
      }
      const FString PackFilePath = PackContentDir / TEXT("Maps/Nav") / FileName;
      if (IFileManager::Get().FileExists(*PackFilePath))
      {
        Files.Add(PackFilePath);
      }
    }
  }
 
  if (!Files.Num())
  {
    IFileManager::Get().FindFilesRecursive(Files, *FPaths::ProjectContentDir(), *FileName, true, false, false);
  }
 
  TArray<uint8> Content;
 
  if (!Files.Num())
  {
    UE_LOG(LogTemp, Error, TEXT("Failed to find OpenDrive file for map '%s'"), *MapName);
  }
  else if (FFileHelper::LoadFileToArray(Content, *Files[0], 0))
  {
    UE_LOG(LogCarla, Log, TEXT("Loading Navigation Mesh file '%s'"), *Files[0]);
  }
  else
  {
    UE_LOG(LogTemp, Error, TEXT("Failed to load Navigation Mesh file '%s'"), *Files[0]);
  }
 
  return Content;
}