FrictionTrigger.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 "GameFramework/Actor.h"
#include "Components/BoxComponent.h"
#include "Carla/Game/CarlaEpisode.h"
 
#include "FrictionTrigger.generated.h"
 
class ACarlaWheeledVehicle;
 
UCLASS()
class CARLA_API AFrictionTrigger : public AActor
{
  GENERATED_BODY()
 
private:
 
  void Init();
 
  void UpdateWheelsFriction(AActor *OtherActor, TArray<float>& NewFriction);
 
public:
 
  AFrictionTrigger(const FObjectInitializer &ObjectInitializer);
 
  UFUNCTION()
  void OnTriggerBeginOverlap(
      UPrimitiveComponent *OverlappedComp,
      AActor *OtherActor,
      UPrimitiveComponent *OtherComp,
      int32 OtherBodyIndex,
      bool bFromSweep,
      const FHitResult &SweepResult);
 
  UFUNCTION()
  void OnTriggerEndOverlap(
      UPrimitiveComponent *OverlappedComp,
      AActor *OtherActor,
      UPrimitiveComponent *OtherComp,
      int32 OtherBodyIndex);
 
  void SetEpisode(const UCarlaEpisode &InEpisode)
  {
    Episode = &InEpisode;
  }
 
  void SetBoxExtent(const FVector &Extent)
  {
    TriggerVolume->SetBoxExtent(Extent);
  }
 
  void SetFriction(float NewFriction)
  {
    Friction = NewFriction;
  }
 
protected:
 
  virtual void BeginPlay() override;
 
  virtual void EndPlay(EEndPlayReason::Type EndPlayReason) override;
 
  virtual void Tick(float DeltaTime) override;
 
  // Friction each vehicle had when it entered, restored when it leaves
  TMap<TWeakObjectPtr<ACarlaWheeledVehicle>, TArray<float>> OldFrictionValues;
 
public:
 
  UPROPERTY(EditAnywhere)
  float Friction = 0.0f;
 
  UPROPERTY(EditAnywhere)
  TObjectPtr<UBoxComponent> TriggerVolume;
 
  UPROPERTY()
  TObjectPtr<const UCarlaEpisode> Episode = nullptr;
};