float AMinimapActor::GetRadianHeading() const
{
FVector vec;
FRotator rot;
float radians;
//only need a vector with this actor's
rot.Yaw = GetActorRotation().Yaw;
vec = rot.Vector();
radians = vec.HeadingAngle();
radians = FMath::UnwindRadians(radians);
while (radians < 0.f)
radians += PI * 2.0f;
return radians;
}
float APlayerHUD::GetUnitHeading(AGameCharacter* unit) const
{
if (!IsValid(unit))
return -1.f;
FVector vec;
FRotator rot;
float radians;
//only need a vector with this actor's
rot.Yaw = unit->GetActorRotation().Yaw;
vec = rot.Vector();
radians = vec.HeadingAngle();
radians = FMath::UnwindRadians(radians);
while (radians < 0.f)
radians += PI * 2.0f;
return radians;
}
//RickH - We could probably significantly improve speed if we put separate Z checks in place and did everything else in 2D.
FVector UAvoidanceManager::GetAvoidanceVelocity_Internal(const FNavAvoidanceData& inAvoidanceData, float DeltaTime, int32* inIgnoreThisUID)
{
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
if (!bSystemActive)
{
return inAvoidanceData.Velocity;
}
#endif
if (DeltaTime <= 0.0f)
{
return inAvoidanceData.Velocity;
}
FVector ReturnVelocity = inAvoidanceData.Velocity * DeltaTime;
float MaxSpeed = ReturnVelocity.Size2D();
float CurrentTime;
UWorld* MyWorld = Cast<UWorld>(GetOuter());
if (MyWorld)
{
CurrentTime = MyWorld->TimeSeconds;
}
else
{
//No world? OK, just quietly back out and don't alter anything.
return inAvoidanceData.Velocity;
}
bool Unobstructed = true;
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
bool DebugMode = IsDebugOnForAll() || (inIgnoreThisUID ? IsDebugOnForUID(*inIgnoreThisUID) : false);
#endif
//If we're moving very slowly, just push forward. Not sure it's worth avoiding at this speed, though I could be wrong.
if (MaxSpeed < 0.01f)
{
return inAvoidanceData.Velocity;
}
AllCones.Empty(AllCones.Max());
//DrawDebugDirectionalArrow(GetWorld(), inAvoidanceData.Center, inAvoidanceData.Center + inAvoidanceData.Velocity, 2.5f, FColor(0,255,255), true, 0.05f, SDPG_MAX);
for (auto& AvoidanceObj : AvoidanceObjects)
{
if ((inIgnoreThisUID) && (*inIgnoreThisUID == AvoidanceObj.Key))
{
continue;
}
FNavAvoidanceData& OtherObject = AvoidanceObj.Value;
//
//Start with a few fast-rejects
//
//If the object has expired, ignore it
if (OtherObject.ShouldBeIgnored())
{
continue;
}
//If other object is not in avoided group, ignore it
if (inAvoidanceData.ShouldIgnoreGroup(OtherObject.GroupMask))
{
continue;
}
//RickH - We should have a max-radius parameter/option here, so I'm just going to hardcode one for now.
//if ((OtherObject.Radius + _AvoidanceData.Radius + MaxSpeed + OtherObject.Velocity.Size2D()) < FVector::Dist(OtherObject.Center, _AvoidanceData.Center))
if (FVector2D(OtherObject.Center - inAvoidanceData.Center).SizeSquared() > FMath::Square(inAvoidanceData.TestRadius2D))
{
continue;
}
if (FMath::Abs(OtherObject.Center.Z - inAvoidanceData.Center.Z) > OtherObject.HalfHeight + inAvoidanceData.HalfHeight + HeightCheckMargin)
{
continue;
}
//If we are moving away from the obstacle, ignore it. Even if we're the slower one, let the other obstacle path around us.
if ((ReturnVelocity | (OtherObject.Center - inAvoidanceData.Center)) <= 0.0f)
{
continue;
}
//Create data for the avoidance routine
{
FVector PointAWorld = inAvoidanceData.Center;
FVector PointBRelative = OtherObject.Center - PointAWorld;
FVector TowardB, SidewaysFromB;
FVector VelAdjustment;
FVector VelAfterAdjustment;
float RadiusB = OtherObject.Radius + inAvoidanceData.Radius;
PointBRelative.Z = 0.0f;
TowardB = PointBRelative.GetSafeNormal2D(); //Don't care about height for this game. Rough height-checking will come in later, but even then it will be acceptable to do this.
if (TowardB.IsZero())
{
//Already intersecting, or aligned vertically, scrap this whole object.
continue;
}
SidewaysFromB.Set(-TowardB.Y, TowardB.X, 0.0f);
//Build collision cone (two planes) and store for later use. We might consider some fast rejection here to see if we can skip the cone entirely.
//RickH - If we built these cones in 2D, we could avoid all the cross-product matrix stuff and just use (y, -x) 90-degree rotation.
{
FVector PointPlane[2];
FVector EffectiveVelocityB;
FVelocityAvoidanceCone NewCone;
//Use RVO (as opposed to VO) only for objects that are not overridden to max weight AND that are currently moving toward us.
if ((OtherObject.OverrideWeightTime <= CurrentTime) && ((OtherObject.Velocity|PointBRelative) < 0.0f))
{
float OtherWeight = (OtherObject.Weight + (1.0f - inAvoidanceData.Weight)) * 0.5f; //Use the average of what the other wants to be and what we want it to be.
EffectiveVelocityB = ((inAvoidanceData.Velocity * (1.0f - OtherWeight)) + (OtherObject.Velocity * OtherWeight)) * DeltaTime;
}
else
{
EffectiveVelocityB = OtherObject.Velocity * DeltaTime; //This is equivalent to VO (not RVO) because the other object is not going to reciprocate our avoidance.
}
checkSlow(EffectiveVelocityB.Z == 0.0f);
//Make the left plane
PointPlane[0] = EffectiveVelocityB + (PointBRelative + (SidewaysFromB * RadiusB));
PointPlane[1].Set(PointPlane[0].X, PointPlane[0].Y, PointPlane[0].Z + 100.0f);
NewCone.ConePlane[0] = FPlane(EffectiveVelocityB, PointPlane[0], PointPlane[1]); //First point is relative to A, which is ZeroVector in this implementation
checkSlow((((PointBRelative+EffectiveVelocityB)|NewCone.ConePlane[0]) - NewCone.ConePlane[0].W) > 0.0f);
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
if (DebugMode)
{
// DrawDebugDirectionalArrow(MyWorld, EffectiveVelocityB + PointAWorld, PointPlane[0] + PointAWorld, 50.0f, FColor(64,64,64), true, 0.05f, SDPG_MAX);
// DrawDebugLine(MyWorld, PointAWorld, EffectiveVelocityB + PointAWorld, FColor(64,64,64), true, 0.05f, SDPG_MAX, 5.0f);
}
#endif
//Make the right plane
PointPlane[0] = EffectiveVelocityB + (PointBRelative - (SidewaysFromB * RadiusB));
PointPlane[1].Set(PointPlane[0].X, PointPlane[0].Y, PointPlane[0].Z - 100.0f);
NewCone.ConePlane[1] = FPlane(EffectiveVelocityB, PointPlane[0], PointPlane[1]); //First point is relative to A, which is ZeroVector in this implementation
checkSlow((((PointBRelative+EffectiveVelocityB)|NewCone.ConePlane[1]) - NewCone.ConePlane[1].W) > 0.0f);
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
if (DebugMode)
{
// DrawDebugDirectionalArrow(MyWorld, EffectiveVelocityB + PointAWorld, PointPlane[0] + PointAWorld, 50.0f, FColor(64,64,64), true, 0.05f, SDPG_MAX);
}
#endif
if ((((ReturnVelocity|NewCone.ConePlane[0]) - NewCone.ConePlane[0].W) > 0.0f)
&& (((ReturnVelocity|NewCone.ConePlane[1]) - NewCone.ConePlane[1].W) > 0.0f))
{
Unobstructed = false;
}
AllCones.Add(NewCone);
}
}
}
if (Unobstructed)
{
//Trivial case, our ideal velocity is available.
return inAvoidanceData.Velocity;
}
TArray<FNavEdgeSegment> NavEdges;
if (EdgeProviderOb.IsValid())
{
DECLARE_SCOPE_CYCLE_COUNTER(TEXT("Avoidance: collect nav edges"), STAT_AIAvoidanceEdgeCollect, STATGROUP_AI);
EdgeProviderInterface->GetEdges(inAvoidanceData.Center, inAvoidanceData.TestRadius2D, NavEdges);
}
//Find a good velocity that isn't inside a cone.
if (AllCones.Num())
{
float AngleCurrent;
float AngleF = ReturnVelocity.HeadingAngle();
float BestScore = 0.0f;
float BestScorePotential;
FVector BestVelocity = FVector::ZeroVector; //Worst case is we just stand completely still. Should we also allow backing up? Should we test standing still?
const int AngleCount = 4; //Every angle will be tested both right and left.
float AngleOffset[AngleCount] = {FMath::DegreesToRadians<float>(23.0f), FMath::DegreesToRadians<float>(40.0f), FMath::DegreesToRadians<float>(55.0f), FMath::DegreesToRadians<float>(85.0f)};
FVector AngleVector[AngleCount<<1];
//Determine check angles
for (int i = 0; i < AngleCount; ++i)
{
AngleCurrent = AngleF - AngleOffset[i];
AngleVector[(i<<1)].Set(FMath::Cos(AngleCurrent), FMath::Sin(AngleCurrent), 0.0f);
AngleCurrent = AngleF + AngleOffset[i];
AngleVector[(i<<1) + 1].Set(FMath::Cos(AngleCurrent), FMath::Sin(AngleCurrent), 0.0f);
}
//Sample velocity-space destination points and drag them back to form lines
for (int AngleToCheck = 0; AngleToCheck < (AngleCount<<1); ++AngleToCheck)
{
FVector VelSpacePoint = AngleVector[AngleToCheck] * MaxSpeed;
//Skip testing if we know we can't possibly get a better score than what we have already.
//Note: This assumes the furthest point is the highest-scoring value (i.e. VelSpacePoint is not moving backward relative to ReturnVelocity)
BestScorePotential = (VelSpacePoint|ReturnVelocity) * (VelSpacePoint|VelSpacePoint);
if (BestScorePotential > BestScore)
{
const bool bAvoidsNavEdges = NavEdges.Num() > 0 ? AvoidsNavEdges(inAvoidanceData.Center, VelSpacePoint, NavEdges, inAvoidanceData.HalfHeight) : true;
if (bAvoidsNavEdges)
{
FVector CandidateVelocity = AvoidCones(AllCones, FVector::ZeroVector, VelSpacePoint, AllCones.Num());
float CandidateScore = (CandidateVelocity|ReturnVelocity) * (CandidateVelocity|CandidateVelocity);
//Vectors are rated by their length and their overall forward movement.
if (CandidateScore > BestScore)
{
BestScore = CandidateScore;
BestVelocity = CandidateVelocity;
}
}
}
}
ReturnVelocity = BestVelocity;
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
if (DebugMode)
{
DrawDebugDirectionalArrow(MyWorld, inAvoidanceData.Center + inAvoidanceData.Velocity, inAvoidanceData.Center + (ReturnVelocity / DeltaTime), 75.0f, FColor(64,255,64), true, 2.0f, SDPG_MAX);
}
#endif
}
return ReturnVelocity / DeltaTime; //Remove prediction-time scaling
}
