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;
}
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;
}
EPathFollowingRequestResult::Type AAIController::MoveToLocation(const FVector& Dest, float AcceptanceRadius, bool bStopOnOverlap, bool bUsePathfinding, bool bProjectDestinationToNavigation, bool bCanStrafe, TSubclassOf<UNavigationQueryFilter> FilterClass)
{
SCOPE_CYCLE_COUNTER(STAT_MoveToLocation);
EPathFollowingRequestResult::Type Result = EPathFollowingRequestResult::Failed;
bool bCanRequestMove = true;
UE_VLOG(this, LogAINavigation, Log, TEXT("MoveToLocation: Goal(%s) AcceptRadius(%.1f%s) bUsePathfinding(%d) bCanStrafe(%d) Filter(%s)")
, TEXT_AI_LOCATION(Dest), AcceptanceRadius, bStopOnOverlap ? TEXT(" + agent") : TEXT(""), bUsePathfinding, bCanStrafe, *GetNameSafe(FilterClass));
// Check input is valid
if (Dest.ContainsNaN())
{
UE_VLOG(this, LogAINavigation, Error, TEXT("AAIController::MoveToLocation: Destination is not valid! Goal(%s) AcceptRadius(%.1f%s) bUsePathfinding(%d) bCanStrafe(%d)")
, TEXT_AI_LOCATION(Dest), AcceptanceRadius, bStopOnOverlap ? TEXT(" + agent") : TEXT(""), bUsePathfinding, bCanStrafe);
ensure(!Dest.ContainsNaN());
bCanRequestMove = false;
}
FVector GoalLocation = Dest;
// fail if projection to navigation is required but it failed
if (bCanRequestMove && bProjectDestinationToNavigation)
{
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
const FNavAgentProperties& AgentProps = GetNavAgentPropertiesRef();
FNavLocation ProjectedLocation;
if (NavSys && !NavSys->ProjectPointToNavigation(Dest, ProjectedLocation, AgentProps.GetExtent(), &AgentProps))
{
UE_VLOG_LOCATION(this, LogAINavigation, Error, Dest, 30.f, FLinearColor::Red, TEXT("AAIController::MoveToLocation failed to project destination location to navmesh"));
bCanRequestMove = false;
}
GoalLocation = ProjectedLocation.Location;
}
if (bCanRequestMove && PathFollowingComponent && PathFollowingComponent->HasReached(GoalLocation, AcceptanceRadius, !bStopOnOverlap))
{
UE_VLOG(this, LogAINavigation, Log, TEXT("MoveToLocation: 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;
bCanRequestMove = false;
}
if (bCanRequestMove)
{
FPathFindingQuery Query;
const bool bValidQuery = PreparePathfinding(Query, GoalLocation, NULL, bUsePathfinding, FilterClass);
const FAIRequestID RequestID = bValidQuery ? RequestPathAndMove(Query, NULL, AcceptanceRadius, bStopOnOverlap, NULL) : FAIRequestID::InvalidRequest;
if (RequestID.IsValid())
{
bAllowStrafe = bCanStrafe;
Result = EPathFollowingRequestResult::RequestSuccessful;
}
}
if (Result == EPathFollowingRequestResult::Failed)
{
if (PathFollowingComponent)
{
PathFollowingComponent->SetLastMoveAtGoal(false);
}
OnMoveCompleted(FAIRequestID::InvalidRequest, EPathFollowingResult::Invalid);
}
return Result;
}