An Envelope Filter (or, more properly, an Envelope-Controlled Filter) correlates the intensity of your playing (specifically, the strength of your attack) to the center frequency or cutoff frequency of a filter. It's a Voltage-Controlled Filter being automatically modulated by the output of an Envelope Follower. Play softly, and the filter barely opens up; its fc remains fairly low. Play very aggressively, and the filter opens up fairly wide; its fc goes high.
In contrast, a wah-wah pedal correlates the physical position of the pedal to the center frequency or cutoff frequency of a filter. It's a Manually-Controlled Filter whose fc is determined by a potentiometer mechanically connected to that pedal. Push the pedal down and fc goes high, push the pedal back and fc goes low (or vice-versa). It doesn't care about the intensity of your playing, the filter just opens or closes as a result of moving the pedal.