OpenDriveActor.h

Go to the documentation of this file.

// 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 "Traffic/RoutePlanner.h"
#include "Vehicle/VehicleSpawnPoint.h"
 
#include <util/ue-header-guard-begin.h>
#include "GameFramework/Actor.h"
#include "Components/BillboardComponent.h"
#include "Components/SceneComponent.h"
#include "CoreMinimal.h"
#include <util/ue-header-guard-end.h>
 
#include "OpenDriveActor.generated.h"
 
UCLASS()
class CARLA_API AOpenDriveActor : public AActor
{
  GENERATED_BODY()
 
protected:
 
  /// A UBillboardComponent to hold Icon sprite
  UBillboardComponent *SpriteComponent;
 
  /// Sprite for the Billboard Component
  UTexture2D *SpriteTexture;
 
private:
 
  UPROPERTY()
  TArray<AVehicleSpawnPoint *> VehicleSpawners;
 
#if WITH_EDITORONLY_DATA
  /// Generate the road network using an OpenDrive file (named as the current
  /// .umap, or the custom one)
  UPROPERTY(Category = "Generate", EditAnywhere)
  bool bGenerateRoutes = false;
#endif // WITH_EDITORONLY_DATA
 
  /// Specify a custom path. Expected a full path to the xodr.
  UPROPERTY(Category = "Generate", EditAnywhere)
  FString CustomPath = "";
 
  /// Distance between waypoints where the cars will drive
  UPROPERTY(Category = "Generate", EditAnywhere, meta = (ClampMin = "0.01", UIMin = "0.01"))
  float RoadAccuracy = 2.f;
 
  /// Trigger elevantion
  UPROPERTY(Category = "Generate", EditAnywhere, meta = (ClampMin = "0.01", UIMin = "0.01"))
  float TriggersHeight = 100.f;
 
#if WITH_EDITORONLY_DATA
  /// Remove the previously generated road network. Also, it will remove
  /// spawners if necessary
  UPROPERTY(Category = "Generate", EditAnywhere)
  bool bRemoveRoutes = false;
#endif // WITH_EDITORONLY_DATA
 
  /// If true, spawners will be placed when generating the routes
  UPROPERTY(Category = "Spawners", EditAnywhere)
  bool bAddSpawners = false;
 
  /// If true, spawners will be placed on junctions too
  UPROPERTY(Category = "Spawners", EditAnywhere)
  bool bOnIntersections = false;
 
  /// Determine the height where the spawners will be placed, relative to each
  /// RoutePlanner
  UPROPERTY(Category = "Spawners", EditAnywhere)
  float SpawnersHeight = 300.f;
 
#if WITH_EDITORONLY_DATA
  /// Remove already placed spawners if necessary
  UPROPERTY(Category = "Spawners", EditAnywhere)
  bool bRemoveCurrentSpawners = false;
#endif // WITH_EDITORONLY_DATA
 
#if WITH_EDITORONLY_DATA
  /// Show / Hide additional debug information
  UPROPERTY(Category = "Debug", EditAnywhere)
  bool bShowDebug = true;
#endif // WITH_EDITORONLY_DATA
 
public:
 
  AOpenDriveActor(const FObjectInitializer &ObjectInitializer);
 
  void BuildRoutes();
 
  void BuildRoutes(FString MapName);
 
  /// Remove all the existing ARoutePlanner and VehicleSpawners previously
  /// generated by this class to avoid overlapping
  void RemoveRoutes();
 
  void DebugRoutes() const;
 
  void RemoveDebugRoutes() const;
 
#if WITH_EDITOR
  void PostEditChangeProperty(struct FPropertyChangedEvent &PropertyChangedEvent);
 
#endif // WITH_EDITOR
 
  void AddSpawners();
 
  void RemoveSpawners();
 
  UPROPERTY()
  TArray<ARoutePlanner *> RoutePlanners;
};