void AAIController::FindPathForMoveRequest(const FAIMoveRequest& MoveRequest, FPathFindingQuery& Query, FNavPathSharedPtr& OutPath) const
{
    SCOPE_CYCLE_COUNTER(STAT_AI_Overall);

    UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
    if (NavSys)
    {
        FPathFindingResult PathResult = NavSys->FindPathSync(Query);
        if (PathResult.Result != ENavigationQueryResult::Error)
        {
            if (PathResult.IsSuccessful() && PathResult.Path.IsValid())
            {
                if (MoveRequest.IsMoveToActorRequest())
                {
                    PathResult.Path->SetGoalActorObservation(*MoveRequest.GetGoalActor(), 100.0f);
                }

                PathResult.Path->EnableRecalculationOnInvalidation(true);
                OutPath = PathResult.Path;
            }
        }
        else
        {
            UE_VLOG(this, LogAINavigation, Error, TEXT("Trying to find path to %s resulted in Error")
                    , MoveRequest.IsMoveToActorRequest() ? *GetNameSafe(MoveRequest.GetGoalActor()) : *MoveRequest.GetGoalLocation().ToString());
            UE_VLOG_SEGMENT(this, LogAINavigation, Error, GetPawn() ? GetPawn()->GetActorLocation() : FAISystem::InvalidLocation
                            , MoveRequest.GetGoalLocation(), FColor::Red, TEXT("Failed move to %s"), *GetNameSafe(MoveRequest.GetGoalActor()));
        }
    }
}
Beispiel #2
0
FAIRequestID AAIController::RequestPathAndMove(const FAIMoveRequest& MoveRequest, FPathFindingQuery& Query)
{
	FAIRequestID RequestID;

	UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
	if (NavSys)
	{
		FPathFindingResult PathResult = NavSys->FindPathSync(Query);
		if (PathResult.Result != ENavigationQueryResult::Error)
		{
			if (PathResult.IsSuccessful() && PathResult.Path.IsValid())
			{
				if (MoveRequest.IsUsingPathfinding())
				{
					if (MoveRequest.HasGoalActor())
					{
						PathResult.Path->SetGoalActorObservation(*MoveRequest.GetGoalActor(), 100.0f);
					}

					PathResult.Path->EnableRecalculationOnInvalidation(true);
				}

				RequestID = RequestMove(MoveRequest, PathResult.Path);
			}
		}
		else
		{
			UE_VLOG(this, LogAINavigation, Error, TEXT("Trying to find path to %s resulted in Error"), *GetNameSafe(MoveRequest.GetGoalActor()));
		}
	}

	return RequestID;
}
UAITask_MoveTo* UAITask_MoveTo::AIMoveTo(AAIController* Controller, FVector InGoalLocation, AActor* InGoalActor, float AcceptanceRadius, EAIOptionFlag::Type StopOnOverlap, EAIOptionFlag::Type AcceptPartialPath, bool bUsePathfinding, bool bLockAILogic)
{
	UAITask_MoveTo* MyTask = Controller ? UAITask::NewAITask<UAITask_MoveTo>(*Controller, EAITaskPriority::High) : nullptr;
	if (MyTask)
	{
		FAIMoveRequest MoveReq;
		if (InGoalActor)
		{
			MoveReq.SetGoalActor(InGoalActor);
		}
		else
		{
			MoveReq.SetGoalLocation(InGoalLocation);
		}

		MoveReq.SetAcceptanceRadius(AcceptanceRadius);
		MoveReq.SetReachTestIncludesAgentRadius(FAISystem::PickAIOption(StopOnOverlap, MoveReq.IsReachTestIncludingAgentRadius()));
		MoveReq.SetAllowPartialPath(FAISystem::PickAIOption(AcceptPartialPath, MoveReq.IsUsingPartialPaths()));
		MoveReq.SetUsePathfinding(bUsePathfinding);
		if (Controller)
		{
			MoveReq.SetNavigationFilter(Controller->GetDefaultNavigationFilterClass());
		}

		MyTask->SetUp(Controller, MoveReq);

		if (bLockAILogic)
		{
			MyTask->RequestAILogicLocking();
		}
	}

	return MyTask;
}
Beispiel #4
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FAIRequestID AAIController::RequestMove(const FAIMoveRequest& MoveRequest, FNavPathSharedPtr Path)
{
	uint32 RequestID = FAIRequestID::InvalidRequest;
	if (PathFollowingComponent)
	{
		RequestID = PathFollowingComponent->RequestMove(Path, MoveRequest.GetGoalActor(), MoveRequest.GetAcceptanceRadius(), MoveRequest.CanStopOnOverlap(), MoveRequest.GetUserData());
	}

	return RequestID;
}
void UAITask_MoveTo::Activate()
{
	Super::Activate();

	FAIMoveRequest MoveRequest = (MoveGoalActor != nullptr) ? FAIMoveRequest(MoveGoalActor) : FAIMoveRequest(RealGoalLocation);

	MoveRequest.SetAllowPartialPath(bShouldAcceptPartialPath)
		.SetAcceptanceRadius(MoveAcceptanceRadius)
		.SetStopOnOverlap(bShouldStopOnOverlap)
		.SetUsePathfinding(bShouldUsePathfinding);

	const EPathFollowingRequestResult::Type RequestResult = OwnerController->MoveTo(MoveRequest);

	switch (RequestResult)
	{
	case EPathFollowingRequestResult::Failed:
		{
			EndTask();
			OnRequestFailed.Broadcast();
		}
		break;
	case EPathFollowingRequestResult::AlreadyAtGoal:
		{
			EndTask();
			OnMoveFinished.Broadcast(EPathFollowingResult::Success);
		}
		break;
	case EPathFollowingRequestResult::RequestSuccessful:
		if (OwnerController->GetPathFollowingComponent())
		{
			MoveRequestID = OwnerController->GetPathFollowingComponent()->GetCurrentRequestId();
			OwnerController->GetPathFollowingComponent()->OnMoveFinished.AddUObject(this, &UAITask_MoveTo::HandleMoveFinished);
		}
		break;
	default:
		checkNoEntry();
		break;
	}
}
Beispiel #6
0
FPathFollowingRequestResult AWalkerAIController::MoveTo(
      const FAIMoveRequest& MoveRequest,
      FNavPathSharedPtr* OutPath)
{
#ifdef CARLA_AI_WALKERS_EXTRA_LOG
  UE_LOG(LogCarla, Log, TEXT("Walker %s requested move from (%s) to (%s)"),
      *GetPawn()->GetName(),
      *GetPawn()->GetActorLocation().ToString(),
      *MoveRequest.GetGoalLocation().ToString());
#endif // CARLA_AI_WALKERS_EXTRA_LOG
  Status = EWalkerStatus::Moving;
  return Super::MoveTo(MoveRequest, OutPath);
}
bool AAIController::BuildPathfindingQuery(const FAIMoveRequest& MoveRequest, FPathFindingQuery& Query) const
{
    bool bResult = false;

    UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
    const ANavigationData* NavData = (NavSys == nullptr) ? nullptr :
                                     MoveRequest.IsUsingPathfinding() ? NavSys->GetNavDataForProps(GetNavAgentPropertiesRef()) :
                                     NavSys->GetAbstractNavData();

    if (NavData)
    {
        FVector GoalLocation = MoveRequest.GetGoalLocation();
        if (MoveRequest.IsMoveToActorRequest())
        {
            const INavAgentInterface* NavGoal = Cast<const INavAgentInterface>(MoveRequest.GetGoalActor());
            if (NavGoal)
            {
                const FVector Offset = NavGoal->GetMoveGoalOffset(this);
                GoalLocation = FQuatRotationTranslationMatrix(MoveRequest.GetGoalActor()->GetActorQuat(), NavGoal->GetNavAgentLocation()).TransformPosition(Offset);
            }
            else
            {
                GoalLocation = MoveRequest.GetGoalActor()->GetActorLocation();
            }
        }

        FSharedConstNavQueryFilter NavFilter = UNavigationQueryFilter::GetQueryFilter(*NavData, this, MoveRequest.GetNavigationFilter());
        Query = FPathFindingQuery(*this, *NavData, GetNavAgentLocation(), GoalLocation, NavFilter);
        Query.SetAllowPartialPaths(MoveRequest.IsUsingPartialPaths());

        if (PathFollowingComponent)
        {
            PathFollowingComponent->OnPathfindingQuery(Query);
        }

        bResult = true;
    }
    else
    {
        UE_VLOG(this, LogAINavigation, Warning, TEXT("Unable to find NavigationData instance while calling AAIController::BuildPathfindingQuery"));
    }

    return bResult;
}
UAIAsyncTaskBlueprintProxy* UAIBlueprintHelperLibrary::CreateMoveToProxyObject(UObject* WorldContextObject, APawn* Pawn, FVector Destination, AActor* TargetActor, float AcceptanceRadius, bool bStopOnOverlap)
{
	check(WorldContextObject);
	if (!Pawn)
	{
		return NULL;
	}
	UAIAsyncTaskBlueprintProxy* MyObj = NULL;
	AAIController* AIController = Cast<AAIController>(Pawn->GetController());
	if (AIController)
	{
		UWorld* World = GEngine->GetWorldFromContextObject( WorldContextObject );
		MyObj = NewObject<UAIAsyncTaskBlueprintProxy>(World);

		FAIMoveRequest MoveReq;
		MoveReq.SetUsePathfinding(true);
		MoveReq.SetAcceptanceRadius(AcceptanceRadius);
		MoveReq.SetStopOnOverlap(bStopOnOverlap);
		if (TargetActor)
		{
			MoveReq.SetGoalActor(TargetActor);
		}
		else
		{
			MoveReq.SetGoalLocation(Destination);
		}
		
		FPathFindingQuery Query;
		const bool bValidQuery = AIController->PreparePathfinding(MoveReq, Query);

		if (bValidQuery)
		{
			const FAIRequestID RequestID = AIController->RequestPathAndMove(MoveReq, Query);
			if (RequestID.IsValid())
			{
				MyObj->AIController = AIController;
				MyObj->AIController->ReceiveMoveCompleted.AddDynamic(MyObj, &UAIAsyncTaskBlueprintProxy::OnMoveCompleted);
				MyObj->MoveRequestId = RequestID;
			}
			else
			{
				World->GetTimerManager().SetTimer(MyObj->TimerHandle_OnNoPath, MyObj, &UAIAsyncTaskBlueprintProxy::OnNoPath, 0.1f, false);
			}
		}
	}
	return MyObj;
}
Beispiel #9
0
bool AAIController::PreparePathfinding(const FAIMoveRequest& MoveRequest, FPathFindingQuery& Query)
{
	UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
	if (NavSys)
	{
		ANavigationData* NavData = MoveRequest.IsUsingPathfinding() ?
			NavSys->GetNavDataForProps(GetNavAgentPropertiesRef()) :
			NavSys->GetAbstractNavData();

		FVector GoalLocation = MoveRequest.GetGoalLocation();
		if (MoveRequest.HasGoalActor())
		{
			const INavAgentInterface* NavGoal = Cast<const INavAgentInterface>(MoveRequest.GetGoalActor());
			if (NavGoal)
			{
				const FVector Offset = NavGoal->GetMoveGoalOffset(this);
				GoalLocation = FRotationTranslationMatrix(MoveRequest.GetGoalActor()->GetActorRotation(), NavGoal->GetNavAgentLocation()).TransformPosition(Offset);
			}
			else
			{
				GoalLocation = MoveRequest.GetGoalActor()->GetActorLocation();
			}
		}

		Query = FPathFindingQuery(this, NavData, GetNavAgentLocation(), GoalLocation, UNavigationQueryFilter::GetQueryFilter(NavData, MoveRequest.GetNavigationFilter()));
		Query.SetAllowPartialPaths(MoveRequest.IsUsingPartialPaths());

		if (PathFollowingComponent)
		{
			PathFollowingComponent->OnPathfindingQuery(Query);
		}

		return true;
	}

	return false;
}
Beispiel #10
0
EPathFollowingRequestResult::Type AAIController::MoveTo(const FAIMoveRequest& MoveRequest)
{
	SCOPE_CYCLE_COUNTER(STAT_MoveTo);
	UE_VLOG(this, LogAINavigation, Log, TEXT("MoveTo: %s"), *MoveRequest.ToString());

	EPathFollowingRequestResult::Type Result = EPathFollowingRequestResult::Failed;
	bool bCanRequestMove = true;
	bool bAlreadyAtGoal = false;

	if (!MoveRequest.HasGoalActor())
	{
		if (MoveRequest.GetGoalLocation().ContainsNaN() || FAISystem::IsValidLocation(MoveRequest.GetGoalLocation()) == false)
		{
			UE_VLOG(this, LogAINavigation, Error, TEXT("AAIController::MoveTo: Destination is not valid! Goal(%s)"), TEXT_AI_LOCATION(MoveRequest.GetGoalLocation()));
			bCanRequestMove = false;
		}

		// fail if projection to navigation is required but it failed
		if (bCanRequestMove && MoveRequest.IsProjectingGoal())
		{
			UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
			const FNavAgentProperties& AgentProps = GetNavAgentPropertiesRef();
			FNavLocation ProjectedLocation;

			if (NavSys && !NavSys->ProjectPointToNavigation(MoveRequest.GetGoalLocation(), ProjectedLocation, AgentProps.GetExtent(), &AgentProps))
			{
				UE_VLOG_LOCATION(this, LogAINavigation, Error, MoveRequest.GetGoalLocation(), 30.f, FLinearColor::Red, TEXT("AAIController::MoveTo failed to project destination location to navmesh"));
				bCanRequestMove = false;
			}

			MoveRequest.UpdateGoalLocation(ProjectedLocation.Location);
		}

		bAlreadyAtGoal = bCanRequestMove && PathFollowingComponent &&
			PathFollowingComponent->HasReached(MoveRequest.GetGoalLocation(), MoveRequest.GetAcceptanceRadius(), !MoveRequest.CanStopOnOverlap());
	}
	else
	{
		bAlreadyAtGoal = bCanRequestMove && PathFollowingComponent &&
			PathFollowingComponent->HasReached(*MoveRequest.GetGoalActor(), MoveRequest.GetAcceptanceRadius(), !MoveRequest.CanStopOnOverlap());
	}

	if (bAlreadyAtGoal)
	{
		UE_VLOG(this, LogAINavigation, Log, TEXT("MoveToActor: already at goal!"));

		// make sure previous move request gets aborted
		PathFollowingComponent->AbortMove(TEXT("Aborting move due to new move request finishing with AlreadyAtGoal"), FAIRequestID::AnyRequest);

		PathFollowingComponent->SetLastMoveAtGoal(true);
		
		OnMoveCompleted(FAIRequestID::CurrentRequest, EPathFollowingResult::Success);
		Result = EPathFollowingRequestResult::AlreadyAtGoal;
	}
	else if (bCanRequestMove)
	{
		FPathFindingQuery Query;
		const bool bValidQuery = PreparePathfinding(MoveRequest, Query);
		const FAIRequestID RequestID = bValidQuery ? RequestPathAndMove(MoveRequest, Query) : FAIRequestID::InvalidRequest;

		if (RequestID.IsValid())
		{
			bAllowStrafe = MoveRequest.CanStrafe();
			Result = EPathFollowingRequestResult::RequestSuccessful;
		}
	}

	if (Result == EPathFollowingRequestResult::Failed)
	{
		if (PathFollowingComponent)
		{
			PathFollowingComponent->SetLastMoveAtGoal(false);
		}

		OnMoveCompleted(FAIRequestID::InvalidRequest, EPathFollowingResult::Invalid);
	}

	return Result;
}
FPathFollowingRequestResult AAIController::MoveTo(const FAIMoveRequest& MoveRequest, FNavPathSharedPtr* OutPath)
{
    // both MoveToActor and MoveToLocation can be called from blueprints/script and should keep only single movement request at the same time.
    // this function is entry point of all movement mechanics - do NOT abort in here, since movement may be handled by AITasks, which support stacking

    SCOPE_CYCLE_COUNTER(STAT_MoveTo);
    UE_VLOG(this, LogAINavigation, Log, TEXT("MoveTo: %s"), *MoveRequest.ToString());

    FPathFollowingRequestResult ResultData;
    ResultData.Code = EPathFollowingRequestResult::Failed;

    if (MoveRequest.IsValid() == false)
    {
        UE_VLOG(this, LogAINavigation, Error, TEXT("MoveTo request failed due MoveRequest not being valid. Most probably desireg Goal Actor not longer exists"), *MoveRequest.ToString());
        return ResultData;
    }

    if (PathFollowingComponent == nullptr)
    {
        UE_VLOG(this, LogAINavigation, Error, TEXT("MoveTo request failed due missing PathFollowingComponent"));
        return ResultData;
    }

    ensure(MoveRequest.GetNavigationFilter() || !DefaultNavigationFilterClass);

    bool bCanRequestMove = true;
    bool bAlreadyAtGoal = false;

    if (!MoveRequest.IsMoveToActorRequest())
    {
        if (MoveRequest.GetGoalLocation().ContainsNaN() || FAISystem::IsValidLocation(MoveRequest.GetGoalLocation()) == false)
        {
            UE_VLOG(this, LogAINavigation, Error, TEXT("AAIController::MoveTo: Destination is not valid! Goal(%s)"), TEXT_AI_LOCATION(MoveRequest.GetGoalLocation()));
            bCanRequestMove = false;
        }

        // fail if projection to navigation is required but it failed
        if (bCanRequestMove && MoveRequest.IsProjectingGoal())
        {
            UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
            const FNavAgentProperties& AgentProps = GetNavAgentPropertiesRef();
            FNavLocation ProjectedLocation;

            if (NavSys && !NavSys->ProjectPointToNavigation(MoveRequest.GetGoalLocation(), ProjectedLocation, INVALID_NAVEXTENT, &AgentProps))
            {
                UE_VLOG_LOCATION(this, LogAINavigation, Error, MoveRequest.GetGoalLocation(), 30.f, FColor::Red, TEXT("AAIController::MoveTo failed to project destination location to navmesh"));
                bCanRequestMove = false;
            }

            MoveRequest.UpdateGoalLocation(ProjectedLocation.Location);
        }

        bAlreadyAtGoal = bCanRequestMove && PathFollowingComponent->HasReached(MoveRequest);
    }
    else
    {
        bAlreadyAtGoal = bCanRequestMove && PathFollowingComponent->HasReached(MoveRequest);
    }

    if (bAlreadyAtGoal)
    {
        UE_VLOG(this, LogAINavigation, Log, TEXT("MoveTo: already at goal!"));
        ResultData.MoveId = PathFollowingComponent->RequestMoveWithImmediateFinish(EPathFollowingResult::Success);
        ResultData.Code = EPathFollowingRequestResult::AlreadyAtGoal;
    }
    else if (bCanRequestMove)
    {
        FPathFindingQuery PFQuery;

        const bool bValidQuery = BuildPathfindingQuery(MoveRequest, PFQuery);
        if (bValidQuery)
        {
            FNavPathSharedPtr Path;
            FindPathForMoveRequest(MoveRequest, PFQuery, Path);

            const FAIRequestID RequestID = Path.IsValid() ? RequestMove(MoveRequest, Path) : FAIRequestID::InvalidRequest;
            if (RequestID.IsValid())
            {
                bAllowStrafe = MoveRequest.CanStrafe();
                ResultData.MoveId = RequestID;
                ResultData.Code = EPathFollowingRequestResult::RequestSuccessful;

                if (OutPath)
                {
                    *OutPath = Path;
                }
            }
        }
    }

    if (ResultData.Code == EPathFollowingRequestResult::Failed)
    {
        ResultData.MoveId = PathFollowingComponent->RequestMoveWithImmediateFinish(EPathFollowingResult::Invalid);
    }

    return ResultData;
}