CarlaWalkerNavFilters.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/Navigation/CarlaNavAreas.h"
 
#include <util/ue-header-guard-begin.h>
#include "CoreMinimal.h"
#include "NavFilters/NavigationQueryFilter.h"
#include <util/ue-header-guard-end.h>
 
#include "CarlaWalkerNavFilters.generated.h"
 
/// Query filter for walkers that must not cross roads (the default): road and
/// crosswalk polys are excluded, so paths stay on sidewalks/terrain and random
/// nav locations never land on the roadway.
UCLASS()
class CARLA_API UCarlaWalkerNavFilter : public UNavigationQueryFilter
{
  GENERATED_BODY()
 
public:
 
  UCarlaWalkerNavFilter()
  {
    FNavigationFilterArea Road;
    Road.AreaClass = UNavAreaCarlaRoad::StaticClass();
    Road.bIsExcluded = true;
    Areas.Add(Road);
 
    FNavigationFilterArea Crosswalk;
    Crosswalk.AreaClass = UNavAreaCarlaCrosswalk::StaticClass();
    Crosswalk.bIsExcluded = true;
    Areas.Add(Crosswalk);
  }
};
 
/// Query filter for "crosser" walkers (drawn with probability
/// pedestrians_cross_factor): road and crosswalk are traversable and keep the
/// default costs of their area classes (crosswalk ~1.5x, road ~10x), so
/// crossings happen at crosswalks unless the detour is unreasonable.
UCLASS()
class CARLA_API UCarlaWalkerCrosserNavFilter : public UNavigationQueryFilter
{
  GENERATED_BODY()
};