CarlaNavigationSubsystem.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 "CoreMinimal.h"
#include "Subsystems/WorldSubsystem.h"
#include <util/ue-header-guard-end.h>
 
#include "CarlaNavigationSubsystem.generated.h"
 
/// Thin wrapper over the engine navigation system (UNavigationSystemV1) used
/// by the server-side pedestrian navigation RPCs. On World Partition maps the
/// navmesh streams with the cells, so every query below operates on the
/// currently loaded tiles only.
UCLASS()
class CARLA_API UCarlaNavigationSubsystem : public UWorldSubsystem
{
  GENERATED_BODY()
 
public:
 
  static UCarlaNavigationSubsystem *Get(UWorld *World)
  {
    return World != nullptr
        ? World->GetSubsystem<UCarlaNavigationSubsystem>()
        : nullptr;
  }
 
  /// True iff the current world has a RecastNavMesh with valid nav data:
  /// the signal for clients that walker navigation runs server-side here.
  bool HasServerSideNavigation() const;
 
  /// Random point on the loaded navmesh, in world-local centimeters.
  bool GetRandomNavLocation(FVector &OutLocation) const;
};