float UAISense_Touch::Update()
{
AIPerception::FListenerMap& ListenersMap = *GetListeners();
for (int32 EventIndex = 0; EventIndex < RegisteredEvents.Num(); ++EventIndex)
{
const FAITouchEvent& Event = RegisteredEvents[EventIndex];
if (Event.TouchReceiver != NULL && Event.OtherActor != NULL)
{
IAIPerceptionListenerInterface* PerceptionListener = Cast<IAIPerceptionListenerInterface>(Event.TouchReceiver);
if (PerceptionListener != NULL)
{
UAIPerceptionComponent* PerceptionComponent = PerceptionListener->GetPerceptionComponent();
if (PerceptionComponent != NULL && ListenersMap.Contains(PerceptionComponent->GetListenerId()))
{
// this has to succeed, will assert a failure
FPerceptionListener& Listener = ListenersMap[PerceptionComponent->GetListenerId()];
Listener.RegisterStimulus(Event.OtherActor, FAIStimulus(GetSenseIndex(), 1.f, Event.Location, Event.Location));
}
}
}
}
RegisteredEvents.Reset();
// return decides when next tick is going to happen
return SuspendNextUpdate;
}
float UAISense_Team::Update()
{
AIPerception::FListenerMap& ListenersMap = *GetListeners();
for (AIPerception::FListenerMap::TIterator ListenerIt(ListenersMap); ListenerIt; ++ListenerIt)
{
FPerceptionListener& Listener = ListenerIt->Value;
if (Listener.HasSense(GetSenseID()) == false)
{
// skip listeners not interested in this sense
continue;
}
for (int32 EventIndex = 0; EventIndex < RegisteredEvents.Num(); ++EventIndex)
{
const FAITeamStimulusEvent& Event = RegisteredEvents[EventIndex];
// @todo implement some kind of TeamIdentifierType that would supply comparison operator
if (Listener.TeamIdentifier != Event.TeamIdentifier
|| FVector::DistSquared(Event.GetBroadcastLocation(), Listener.CachedLocation) > Event.RangeSq)
{
continue;
}
Listener.RegisterStimulus(Event.Enemy, FAIStimulus(*this, Event.Strength, Event.LastKnowLocation, Event.GetBroadcastLocation(), FAIStimulus::SensingSucceeded).SetStimulusAge(Event.InformationAge));
}
}
RegisteredEvents.Reset();
// return decides when next tick is going to happen
return SuspendNextUpdate;
}
float UAISense_Prediction::Update()
{
AIPerception::FListenerMap& ListenersMap = *GetListeners();
for (int32 EventIndex = 0; EventIndex < RegisteredEvents.Num(); ++EventIndex)
{
const FAIPredictionEvent& Event = RegisteredEvents[EventIndex];
if (Event.Requestor != NULL && Event.PredictedActor != NULL)
{
IAIPerceptionListenerInterface* PerceptionListener = Cast<IAIPerceptionListenerInterface>(Event.Requestor);
if (PerceptionListener != NULL)
{
UAIPerceptionComponent* PerceptionComponent = PerceptionListener->GetPerceptionComponent();
if (PerceptionComponent != NULL && ListenersMap.Contains(PerceptionComponent->GetListenerId()))
{
// this has to succeed, will assert a failure
FPerceptionListener& Listener = ListenersMap[PerceptionComponent->GetListenerId()];
// calculate the prediction here:
const FVector PredictedLocation = Event.PredictedActor->GetActorLocation() + Event.PredictedActor->GetVelocity() * Event.TimeToPredict;
Listener.RegisterStimulus(Event.PredictedActor, FAIStimulus(*this, 1.f, PredictedLocation, Listener.CachedLocation));
}
}
}
}
RegisteredEvents.Reset();
// return decides when next tick is going to happen
return SuspendNextUpdate;
}
float UAISense_Damage::Update()
{
AIPerception::FListenerMap& ListenersMap = *GetListeners();
for (int32 EventIndex = 0; EventIndex < RegisteredEvents.Num(); ++EventIndex)
{
const FAIDamageEvent& Event = RegisteredEvents[EventIndex];
IAIPerceptionListenerInterface* PerceptionListener = Cast<IAIPerceptionListenerInterface>(Event.DamagedActor);
if (PerceptionListener != NULL)
{
UAIPerceptionComponent* PerceptionComponent = PerceptionListener->GetPerceptionComponent();
if (PerceptionComponent != NULL)
{
// this has to succeed, will assert a failure
FPerceptionListener& Listener = ListenersMap[PerceptionComponent->GetListenerId()];
Listener.RegisterStimulus(Event.Instigator, FAIStimulus(GetSenseIndex(), Event.Amount, Event.Location, Event.HitLocation));
}
}
}
RegisteredEvents.Reset();
// return decides when next tick is going to happen
return SuspendNextUpdate;
}
float UAISense_Aquaphobia::Update()
{
AIPerception::FListenerMap& ListenersMap = *GetListeners();
//For each listener who has this sense we're going to perform a sweep to determine nearby aqua actors
for (auto& Elem : ListenersMap)
{
//Get the listener
FPerceptionListener Listener = Elem.Value;
const AActor* ListenerBodyActor = Listener.GetBodyActor();
for (int32 DigestedPropertyIndex = 0; DigestedPropertyIndex < DigestedProperties.Num(); DigestedPropertyIndex++)
{
//Create the sphere for this sense and perform the sweep to determine nearby actors
FCollisionShape CollisionSphere = FCollisionShape::MakeSphere(DigestedProperties[DigestedPropertyIndex].PhobiaRadius);
TArray<FHitResult> HitResults;
GetWorld()->SweepMultiByChannel(HitResults, ListenerBodyActor->GetActorLocation(), ListenerBodyActor->GetActorLocation() + FVector::UpVector*CollisionSphere.GetSphereRadius(), FQuat(), ECollisionChannel::ECC_WorldDynamic, CollisionSphere);
//Draw debug sphere if we have activated it via the config
if (DigestedProperties[DigestedPropertyIndex].bDisplayDebugSphere)
{
DrawDebugSphere(GetWorld(), ListenerBodyActor->GetActorLocation(), DigestedProperties[DigestedPropertyIndex].PhobiaRadius, 8, FColor::Blue, false, 30.f, 1, 2.f);
}
//Check hit results for aqua actors
for (int32 i = 0; i < HitResults.Num(); i++)
{
FHitResult hit = HitResults[i];
//To simplify things, we're going to assume that "water resources" for this post are actors that have the following game tag
if (hit.GetActor()->ActorHasTag(FName("AquaActor")))
{
if ((hit.GetActor()->GetActorLocation() - ListenerBodyActor->GetActorLocation()).Size() <= DigestedProperties[DigestedPropertyIndex].PhobiaRadius)
{
Elem.Value.RegisterStimulus(hit.GetActor(), FAIStimulus(*this, 5.f, hit.GetActor()->GetActorLocation(), ListenerBodyActor->GetActorLocation()));
GLog->Log("registered stimulus!");
}
}
}
}
}
//Time until next update; in this case we're forcing the update to happen in each frame
return 0.f;
}
void UAIPerceptionComponent::ProcessStimuli()
{
if(StimuliToProcess.Num() == 0)
{
UE_VLOG(GetOwner(), LogAIPerception, Warning, TEXT("UAIPerceptionComponent::ProcessStimuli called without any Stimuli to process"));
return;
}
FStimulusToProcess* SourcedStimulus = StimuliToProcess.GetData();
TArray<AActor*> UpdatedActors;
UpdatedActors.Reserve(StimuliToProcess.Num());
for (int32 StimulusIndex = 0; StimulusIndex < StimuliToProcess.Num(); ++StimulusIndex, ++SourcedStimulus)
{
FActorPerceptionInfo* PerceptualInfo = PerceptualData.Find(SourcedStimulus->Source);
if (PerceptualInfo == NULL)
{
if (SourcedStimulus->Stimulus.WasSuccessfullySensed() == false)
{
// this means it's a failed perception of an actor our owner is not aware of
// at all so there's no point in creating perceptual data for a failed stimulus
continue;
}
else
{
// create an entry
PerceptualInfo = &PerceptualData.Add(SourcedStimulus->Source, FActorPerceptionInfo(SourcedStimulus->Source));
// tell it what's our dominant sense
PerceptualInfo->DominantSense = DominantSenseID;
PerceptualInfo->bIsHostile = AIOwner != NULL && FGenericTeamId::GetAttitude(AIOwner, SourcedStimulus->Source) == ETeamAttitude::Hostile;
}
}
if (PerceptualInfo->LastSensedStimuli.Num() <= SourcedStimulus->Stimulus.Type)
{
const int32 NumberToAdd = SourcedStimulus->Stimulus.Type - PerceptualInfo->LastSensedStimuli.Num() + 1;
for (int32 Index = 0; Index < NumberToAdd; ++Index)
{
PerceptualInfo->LastSensedStimuli.Add(FAIStimulus());
}
}
check(SourcedStimulus->Stimulus.Type.IsValid());
FAIStimulus& StimulusStore = PerceptualInfo->LastSensedStimuli[SourcedStimulus->Stimulus.Type];
// if the new stimulus is "valid" or it's info that "no longer sensed" and it used to be sensed successfully
if (SourcedStimulus->Stimulus.WasSuccessfullySensed() || StimulusStore.WasSuccessfullySensed())
{
UpdatedActors.AddUnique(SourcedStimulus->Source);
}
if (SourcedStimulus->Stimulus.WasSuccessfullySensed())
{
RefreshStimulus(StimulusStore, SourcedStimulus->Stimulus);
}
else if (StimulusStore.IsExpired())
{
HandleExpiredStimulus(StimulusStore);
}
else
{
// @note there some more valid info in SourcedStimulus->Stimulus regarding test that failed
// may be useful in future
StimulusStore.MarkNoLongerSensed();
}
}
StimuliToProcess.Reset();
if (UpdatedActors.Num() > 0)
{
if (AIOwner != NULL)
{
AIOwner->ActorsPerceptionUpdated(UpdatedActors);
}
OnPerceptionUpdated.Broadcast(UpdatedActors);
}
}
float UAISense_Sight::Update()
{
static const FName NAME_AILineOfSight = FName(TEXT("AILineOfSight"));
SCOPE_CYCLE_COUNTER(STAT_AI_Sense_Sight);
const UWorld* World = GEngine->GetWorldFromContextObject(GetPerceptionSystem()->GetOuter());
if (World == NULL)
{
return SuspendNextUpdate;
}
int32 TracesCount = 0;
static const int32 InitialInvalidItemsSize = 16;
TArray<int32> InvalidQueries;
TArray<FAISightTarget::FTargetId> InvalidTargets;
InvalidQueries.Reserve(InitialInvalidItemsSize);
InvalidTargets.Reserve(InitialInvalidItemsSize);
AIPerception::FListenerMap& ListenersMap = *GetListeners();
FAISightQuery* SightQuery = SightQueryQueue.GetData();
for (int32 QueryIndex = 0; QueryIndex < SightQueryQueue.Num(); ++QueryIndex, ++SightQuery)
{
if (TracesCount < MaxTracesPerTick)
{
FPerceptionListener& Listener = ListenersMap[SightQuery->ObserverId];
ensure(Listener.Listener.IsValid());
FAISightTarget& Target = ObservedTargets[SightQuery->TargetId];
const bool bTargetValid = Target.Target.IsValid();
const bool bListenerValid = Listener.Listener.IsValid();
// @todo figure out what should we do if not valid
if (bTargetValid && bListenerValid)
{
AActor* TargetActor = Target.Target.Get();
const FVector TargetLocation = TargetActor->GetActorLocation();
const FDigestedSightProperties& PropDigest = DigestedProperties[SightQuery->ObserverId];
const float SightRadiusSq = SightQuery->bLastResult ? PropDigest.LoseSightRadiusSq : PropDigest.SightRadiusSq;
if (CheckIsTargetInSightPie(Listener, PropDigest, TargetLocation, SightRadiusSq))
{
// UE_VLOG_SEGMENT(Listener.Listener.Get()->GetOwner(), Listener.CachedLocation, TargetLocation, FColor::Green, TEXT("%s"), *(Target.TargetId.ToString()));
FVector OutSeenLocation(0.f);
// do line checks
if (Target.SightTargetInterface != NULL)
{
int32 NumberOfLoSChecksPerformed = 0;
if (Target.SightTargetInterface->CanBeSeenFrom(Listener.CachedLocation, OutSeenLocation, NumberOfLoSChecksPerformed, Listener.Listener->GetBodyActor()) == true)
{
Listener.RegisterStimulus(TargetActor, FAIStimulus(*this, 1.f, OutSeenLocation, Listener.CachedLocation));
SightQuery->bLastResult = true;
}
else
{
// UE_VLOG_LOCATION(Listener.Listener.Get()->GetOwner(), TargetLocation, 25.f, FColor::Red, TEXT(""));
Listener.RegisterStimulus(TargetActor, FAIStimulus(*this, 0.f, TargetLocation, Listener.CachedLocation, FAIStimulus::SensingFailed));
SightQuery->bLastResult = false;
}
TracesCount += NumberOfLoSChecksPerformed;
}
else
{
// we need to do tests ourselves
/*const bool bHit = World->LineTraceTest(Listener.CachedLocation, TargetLocation
, FCollisionQueryParams(NAME_AILineOfSight, true, Listener.Listener->GetBodyActor())
, FCollisionObjectQueryParams(ECC_WorldStatic));*/
FHitResult HitResult;
const bool bHit = World->LineTraceSingle(HitResult, Listener.CachedLocation, TargetLocation
, FCollisionQueryParams(NAME_AILineOfSight, true, Listener.Listener->GetBodyActor())
, FCollisionObjectQueryParams(ECC_WorldStatic));
++TracesCount;
if (bHit == false || (HitResult.Actor.IsValid() && HitResult.Actor->IsOwnedBy(TargetActor)))
{
Listener.RegisterStimulus(TargetActor, FAIStimulus(*this, 1.f, TargetLocation, Listener.CachedLocation));
SightQuery->bLastResult = true;
}
else
{
// UE_VLOG_LOCATION(Listener.Listener.Get()->GetOwner(), TargetLocation, 25.f, FColor::Red, TEXT(""));
Listener.RegisterStimulus(TargetActor, FAIStimulus(*this, 0.f, TargetLocation, Listener.CachedLocation, FAIStimulus::SensingFailed));
SightQuery->bLastResult = false;
}
}
}
else
{
// UE_VLOG_SEGMENT(Listener.Listener.Get()->GetOwner(), Listener.CachedLocation, TargetLocation, FColor::Red, TEXT("%s"), *(Target.TargetId.ToString()));
Listener.RegisterStimulus(TargetActor, FAIStimulus(*this, 0.f, TargetLocation, Listener.CachedLocation, FAIStimulus::SensingFailed));
SightQuery->bLastResult = false;
}
SightQuery->Importance = CalcQueryImportance(Listener, TargetLocation, SightRadiusSq);
// restart query
SightQuery->Age = 0.f;
}
else
{
// put this index to "to be removed" array
InvalidQueries.Add(QueryIndex);
if (bTargetValid == false)
{
InvalidTargets.AddUnique(SightQuery->TargetId);
}
}
}
else
{
// age unprocessed queries so that they can advance in the queue during next sort
SightQuery->Age += 1.f;
}
SightQuery->RecalcScore();
}
if (InvalidQueries.Num() > 0)
{
for (int32 Index = InvalidQueries.Num() - 1; Index >= 0; --Index)
{
// removing with swapping here, since queue is going to be sorted anyway
SightQueryQueue.RemoveAtSwap(InvalidQueries[Index], 1, /*bAllowShrinking*/false);
}
if (InvalidTargets.Num() > 0)
{
for (const auto& TargetId : InvalidTargets)
{
// remove affected queries
RemoveAllQueriesToTarget(TargetId, DontSort);
// remove target itself
ObservedTargets.Remove(TargetId);
}
// remove holes
ObservedTargets.Compact();
}
}
// sort Sight Queries
SortQueries();
//return SightQueryQueue.Num() > 0 ? 1.f/6 : FLT_MAX;
return 0.f;
}
