WalkerController.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 "Carla/Walker/WalkerBoneControlIn.h"
#include "Carla/Walker/WalkerBoneControlOut.h"
#include "Carla/Walker/WalkerControl.h"
 
#include <util/disable-ue4-macros.h>
#include <carla/rpc/WalkerBoneControlIn.h>
#include <util/enable-ue4-macros.h>
 
#include <util/ue-header-guard-begin.h>
#include "CoreMinimal.h"
#include "AIController.h"
#include <util/ue-header-guard-end.h>
 
#include "WalkerController.generated.h"
 
/// Possesses every walker pawn. Historically a plain AController that only
/// relayed the client-computed FWalkerControl into the character movement;
/// it is now an AAIController with a UCrowdFollowingComponent so the server
/// can also path-follow on the engine navmesh (server-side pedestrian
/// navigation on World Partition maps). Manual FWalkerControl input and
/// navmesh following are mutually exclusive: applying a manual control
/// aborts any active navigation request.
UCLASS()
class CARLA_API AWalkerController : public AAIController
{
  GENERATED_BODY()
 
public:
 
  AWalkerController(const FObjectInitializer &ObjectInitializer);
 
  void OnPossess(APawn *InPawn) override;
 
  void Tick(float DeltaSeconds) override;
 
  /// Maximum walk speed allowed in centimetres per second.
  UFUNCTION(BlueprintCallable)
  float GetMaximumWalkSpeed() const
  {
    return 4096.0f; // ~147 km/h
  }
 
  UFUNCTION(BlueprintCallable)
  void ApplyWalkerControl(const FWalkerControl &InControl);
 
  UFUNCTION(BlueprintCallable)
  const FWalkerControl GetWalkerControl() const
  {
    return Control;
  }
 
  UFUNCTION(BlueprintCallable)
  void GetBonesTransform(FWalkerBoneControlOut &WalkerBones);
 
  UFUNCTION(BlueprintCallable)
  void SetBonesTransform(const FWalkerBoneControlIn &WalkerBones);
 
  UFUNCTION(BlueprintCallable)
  void BlendPose(float Blend);
 
  UFUNCTION(BlueprintCallable)
  void GetPoseFromAnimation();
 
  /// -- Server-side navmesh navigation ---------------------------------------
 
  /// Enter navigation mode (idempotent). Returns false if no walker pawn is
  /// possessed. The manual control input is suppressed while navigating.
  /// @a bIsCrosser selects the query filter: crossers may traverse
  /// road/crosswalk nav areas (drawn once per walker by the episode with
  /// probability pedestrians_cross_factor); the flag is ignored when
  /// navigation is already active, so repeated Start calls cannot re-draw.
  bool StartNavigation(bool bIsCrosser = false);
 
  /// Path-follow to @a WorldLocation (world-local centimeters) on the navmesh
  /// through the crowd following component. Implies StartNavigation().
  bool GoToNavLocation(const FVector &WorldLocation);
 
  /// Walking speed used while navigating, in cm/s. The manual control path
  /// scales its input against GetMaximumWalkSpeed(), so the character's
  /// MaxWalkSpeed is only lowered to this value while navigation is active
  /// and restored when it stops.
  bool SetNavMaxSpeed(float SpeedCmPerSec);
 
  /// Abort any navigation request and return to manual control.
  bool StopNavigation();
 
  bool IsNavigationActive() const
  {
    return bNavigationActive;
  }
 
private:
 
  void SetNavigationActive(bool bActive);
 
  FWalkerControl Control;
 
  /// Walking speed applied while navigating, cm/s (defaults to the usual
  /// pedestrian speed the Python clients use, 1.39 m/s).
  float NavMaxSpeed = 139.0f;
 
  bool bNavigationActive = false;
 
  /// Whether this walker may traverse road/crosswalk nav areas. Drawn once
  /// per walker when its navigation starts.
  bool bNavCrosser = false;
};