void FGameplayDebuggerCategory_Navmesh::CollectData(APlayerController* OwnerPC, AActor* DebugActor)
{
#if WITH_RECAST
ARecastNavMesh* NavData = nullptr;
APawn* PlayerPawn = OwnerPC ? OwnerPC->GetPawnOrSpectator() : nullptr;
APawn* DebugActorAsPawn = Cast<APawn>(DebugActor);
APawn* DestPawn = DebugActorAsPawn ? DebugActorAsPawn : PlayerPawn;
if (DestPawn)
{
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(OwnerPC->GetWorld());
const FNavAgentProperties& NavAgentProperties = DestPawn->GetNavAgentPropertiesRef();
NavData = Cast<ARecastNavMesh>(NavSys->GetNavDataForProps(NavAgentProperties));
}
if (NavData)
{
// add 3x3 neighborhood of target
const FVector TargetLocation = DestPawn->GetActorLocation();
TArray<int32> TileSet;
int32 TileX = 0;
int32 TileY = 0;
const int32 DeltaX[] = { 0, 1, 1, 0, -1, -1, -1, 0, 1 };
const int32 DeltaY[] = { 0, 0, 1, 1, 1, 0, -1, -1, -1 };
int32 TargetTileX = 0;
int32 TargetTileY = 0;
NavData->GetNavMeshTileXY(TargetLocation, TargetTileX, TargetTileY);
for (int32 Idx = 0; Idx < ARRAY_COUNT(DeltaX); Idx++)
{
const int32 NeiX = TargetTileX + DeltaX[Idx];
const int32 NeiY = TargetTileY + DeltaY[Idx];
NavData->GetNavMeshTilesAt(NeiX, NeiY, TileSet);
}
const int32 DetailFlags =
(1 << static_cast<int32>(ENavMeshDetailFlags::PolyEdges)) |
(1 << static_cast<int32>(ENavMeshDetailFlags::FilledPolys)) |
(1 << static_cast<int32>(ENavMeshDetailFlags::NavLinks));
NavmeshRenderData.GatherData(NavData, DetailFlags, TileSet);
}
#endif // WITH_RECAST
}
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;
}
ARecastNavMesh* UGameplayDebuggingComponent::GetNavData()
{
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys == NULL)
{
return NULL;
}
// Try to get the correct nav-mesh relative to the selected actor.
APawn* TargetPawn = Cast<APawn>(TargetActor);
if (TargetPawn != NULL)
{
const FNavAgentProperties* NavAgentProperties = TargetPawn->GetNavAgentProperties();
if (NavAgentProperties != NULL)
{
return Cast<ARecastNavMesh>(NavSys->GetNavDataForProps(*NavAgentProperties));
}
}
// If it wasn't found, just get the main nav-mesh data.
return Cast<ARecastNavMesh>(NavSys->GetMainNavData(FNavigationSystem::DontCreate));
}
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;
}
bool AAIController::PreparePathfinding(FPathFindingQuery& Query, const FVector& Dest, AActor* Goal, bool bUsePathfinding, TSubclassOf<class UNavigationQueryFilter> FilterClass)
{
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys)
{
ANavigationData* NavData = bUsePathfinding ?
NavSys->GetNavDataForProps(GetNavAgentPropertiesRef()) :
NavSys->GetAbstractNavData();
FVector GoalLocation = Dest;
if (Goal)
{
const INavAgentInterface* NavGoal = Cast<const INavAgentInterface>(Goal);
if (NavGoal)
{
const FVector Offset = NavGoal->GetMoveGoalOffset(this);
GoalLocation = FRotationTranslationMatrix(Goal->GetActorRotation(), NavGoal->GetNavAgentLocation()).TransformPosition(Offset);
}
else
{
GoalLocation = Goal->GetActorLocation();
}
}
Query = FPathFindingQuery(this, NavData, GetNavAgentLocation(), GoalLocation, UNavigationQueryFilter::GetQueryFilter(NavData, FilterClass));
if (PathFollowingComponent)
{
PathFollowingComponent->OnPathfindingQuery(Query);
}
return true;
}
return false;
}
void FGameplayDebuggerCategory_AI::CollectData(APlayerController* OwnerPC, AActor* DebugActor)
{
APawn* MyPawn = Cast<APawn>(DebugActor);
ACharacter* MyChar = Cast<ACharacter>(MyPawn);
DataPack.PawnName = MyPawn ? MyPawn->GetHumanReadableName() : FString(TEXT("{red}No selected pawn."));
DataPack.bIsUsingCharacter = (MyChar != nullptr);
AAIController* MyController = MyPawn ? Cast<AAIController>(MyPawn->Controller) : nullptr;
DataPack.bHasController = (MyController != nullptr);
if (MyController)
{
if (MyController->IsPendingKill() == false)
{
DataPack.ControllerName = MyController->GetName();
}
else
{
DataPack.ControllerName = TEXT("Controller PENDING KILL");
}
}
else
{
DataPack.ControllerName = TEXT("No Controller");
}
if (MyPawn && !MyPawn->IsPendingKill())
{
UCharacterMovementComponent* CharMovementComp = MyChar ? MyChar->GetCharacterMovement() : nullptr;
if (CharMovementComp)
{
UPrimitiveComponent* FloorComponent = MyPawn->GetMovementBase();
AActor* FloorActor = FloorComponent ? FloorComponent->GetOwner() : nullptr;
DataPack.MovementBaseInfo = FloorComponent ? FString::Printf(TEXT("%s.%s"), *GetNameSafe(FloorActor), *FloorComponent->GetName()) : FString(TEXT("None"));
DataPack.MovementModeInfo = CharMovementComp->GetMovementName();
}
UBehaviorTreeComponent* BehaviorComp = MyController ? Cast<UBehaviorTreeComponent>(MyController->BrainComponent) : nullptr;
DataPack.bIsUsingBehaviorTree = (BehaviorComp != nullptr);
if (BehaviorComp)
{
DataPack.CurrentAITask = BehaviorComp->DescribeActiveTasks();
DataPack.CurrentAIState = BehaviorComp->IsRunning() ? TEXT("Running") : BehaviorComp->IsPaused() ? TEXT("Paused") : TEXT("Inactive");
DataPack.CurrentAIAssets = BehaviorComp->DescribeActiveTrees();
}
UGameplayTasksComponent* TasksComponent = MyController ? MyController->GetGameplayTasksComponent() : nullptr;
DataPack.bIsUsingGameplayTasks = (TasksComponent != nullptr);
if (TasksComponent)
{
for (FConstGameplayTaskIterator It = TasksComponent->GetTickingTaskIterator(); It; ++It)
{
const UGameplayTask* TaskOb = *It;
if (TaskOb)
{
DataPack.TickingTaskInfo += DescribeTaskHelper(*TaskOb);
DataPack.NumTickingTasks++;
}
}
for (FConstGameplayTaskIterator It = TasksComponent->GetPriorityQueueIterator(); It; ++It)
{
const UGameplayTask* TaskOb = *It;
if (TaskOb)
{
DataPack.TaskQueueInfo += DescribeTaskHelper(*TaskOb);
DataPack.NumTasksInQueue++;
}
}
}
DataPack.MontageInfo = MyChar ? GetNameSafe(MyChar->GetCurrentMontage()) : FString();
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(MyPawn->GetWorld());
const ANavigationData* NavData = MyController && NavSys ? NavSys->GetNavDataForProps(MyController->GetNavAgentPropertiesRef()) : nullptr;
DataPack.NavDataInfo = NavData ? NavData->GetConfig().Name.ToString() : FString();
CollectPathData(MyController);
}
else
{
PathDataPack.PathCorridor.Reset();
PathDataPack.PathPoints.Reset();
}
}
