/** Loc is an anchor point in the world to guide which part of the infinite plane to draw. */ void DrawDebugSolidPlane(const UWorld* InWorld, FPlane const& P, FVector const& Loc, float Size, FColor const& Color, bool bPersistent, float LifeTime, uint8 DepthPriority) { // no debug line drawing on dedicated server if (GEngine->GetNetMode(InWorld) != NM_DedicatedServer) { FVector const ClosestPtOnPlane = Loc - P.PlaneDot(Loc) * P; FVector U, V; P.FindBestAxisVectors(U, V); U *= Size; V *= Size; TArray<FVector> Verts; Verts.AddUninitialized(4); Verts[0] = ClosestPtOnPlane + U + V; Verts[1] = ClosestPtOnPlane - U + V; Verts[2] = ClosestPtOnPlane + U - V; Verts[3] = ClosestPtOnPlane - U - V; TArray<int32> Indices; Indices.AddUninitialized(6); Indices[0] = 0; Indices[1] = 2; Indices[2] = 1; Indices[3] = 1; Indices[4] = 2; Indices[5] = 3; // plane quad DrawDebugMesh(InWorld, Verts, Indices, Color, bPersistent, LifeTime, DepthPriority); // arrow indicating normal DrawDebugDirectionalArrow(InWorld, ClosestPtOnPlane, ClosestPtOnPlane + P * 16.f, 8.f, FColor::White, bPersistent, LifeTime, DepthPriority); } }
void UDebugHandUtility::DebugOrientation(FRotator Orientation, FVector At, float Scale) { FRotator rotation = UKismetMathLibrary::ComposeRotators(Orientation, GetComponentRotation()); FVector EndArrow = (UKismetMathLibrary::GetForwardVector(rotation)*Scale) + At; DrawDebugDirectionalArrow(GetWorld(), At, EndArrow, 5, FColor::Black); FVector Extent = Scale * FVector(0.2, 0.2, 0.2); DrawDebugBox(GetWorld(), EndArrow, Extent, rotation.Quaternion(), FColor::Black); }
//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 }
void UCheatManager::TickCollisionDebug() { // If we are debugging capsule tracing if(bDebugCapsuleSweep) { APlayerController* PC = GetOuterAPlayerController(); if(PC) { // Get view location to act as start point FVector ViewLoc; FRotator ViewRot; PC->GetPlayerViewPoint(ViewLoc, ViewRot); FVector ViewDir = ViewRot.Vector(); FVector End = ViewLoc + (DebugTraceDistance * ViewDir); // Fill in params and do trace static const FName TickCollisionDebugName(TEXT("TickCollisionDebug")); FCollisionQueryParams CapsuleParams(TickCollisionDebugName, false, PC->GetPawn()); CapsuleParams.bTraceComplex = bDebugCapsuleTraceComplex; if (bDebugCapsuleSweep) { // If we get a hit, draw the capsule FHitResult Result; bool bHit = GetWorld()->SweepSingle(Result, ViewLoc, End, FQuat::Identity, DebugTraceChannel, FCollisionShape::MakeCapsule(DebugCapsuleRadius, DebugCapsuleHalfHeight), CapsuleParams); if(bHit) { AddCapsuleSweepDebugInfo(ViewLoc, End, Result.ImpactPoint, Result.Normal, Result.ImpactNormal, Result.Location, DebugCapsuleHalfHeight, DebugCapsuleRadius, false, (Result.bStartPenetrating && Result.bBlockingHit)? true: false); UE_LOG(LogCollision, Log, TEXT("Collision component (%s) : Actor (%s)"), *GetNameSafe(Result.Component.Get()), *GetNameSafe(Result.GetActor())); } } } } // draw for (int32 TraceIdx=0; TraceIdx < DebugTraceInfoList.Num(); ++TraceIdx) { FDebugTraceInfo & TraceInfo = DebugTraceInfoList[TraceIdx]; DrawDebugDirectionalArrow(GetWorld(), TraceInfo.LineTraceStart, TraceInfo.LineTraceEnd, 10.f, FColor::White, SDPG_World); // if it's current trace index, use highlight color if (CurrentTraceIndex == TraceIdx) { if (TraceInfo.bInsideOfObject) { DrawDebugCapsule(GetWorld(), TraceInfo.HitLocation, TraceInfo.CapsuleHalfHeight, TraceInfo.CapsuleRadius, FQuat::Identity, FColor(255,100,64)); } else { DrawDebugCapsule(GetWorld(), TraceInfo.HitLocation, TraceInfo.CapsuleHalfHeight, TraceInfo.CapsuleRadius, FQuat::Identity, FColor(255,200,128)); } } else { if (TraceInfo.bInsideOfObject) { DrawDebugCapsule(GetWorld(), TraceInfo.HitLocation, TraceInfo.CapsuleHalfHeight, TraceInfo.CapsuleRadius, FQuat::Identity, FColor(64,100,255)); } else { DrawDebugCapsule(GetWorld(), TraceInfo.HitLocation, TraceInfo.CapsuleHalfHeight, TraceInfo.CapsuleRadius, FQuat::Identity, FColor(128,200,255)); } } DrawDebugDirectionalArrow(GetWorld(), TraceInfo.HitNormalStart, TraceInfo.HitNormalEnd, 5, FColor(255,64,64), SDPG_World); DrawDebugDirectionalArrow(GetWorld(), TraceInfo.HitNormalStart, TraceInfo.HitImpactNormalEnd, 5, FColor(64,64,255), SDPG_World); } FLinearColor CurrentColor(255.f/255.f,96.f/255.f,96/255.f); FLinearColor DeltaColor = (FLinearColor(1.0f, 1.0f, 1.0f, 1.0f) - CurrentColor)*0.1f; int32 TotalCount=0; if ( DebugTracePawnInfoList.Num() > 0 ) { // the latest will draw very red-ish to whiter color as it gets older. for (int32 TraceIdx=CurrentTracePawnIndex; TotalCount<10; TraceIdx=SAFE_TRACEINDEX_DECREASE(TraceIdx), CurrentColor+=DeltaColor, ++TotalCount) { FDebugTraceInfo & TraceInfo = DebugTracePawnInfoList[TraceIdx]; DrawDebugDirectionalArrow(GetWorld(), TraceInfo.LineTraceStart, TraceInfo.LineTraceEnd, 10.f, FColor(200,200,100), SDPG_World); if (TraceInfo.bInsideOfObject) { DrawDebugCapsule(GetWorld(), TraceInfo.HitLocation, TraceInfo.CapsuleHalfHeight, TraceInfo.CapsuleRadius, FQuat::Identity, FColor(64, 64, 255)); } else { DrawDebugCapsule(GetWorld(), TraceInfo.HitLocation, TraceInfo.CapsuleHalfHeight, TraceInfo.CapsuleRadius, FQuat::Identity, CurrentColor.Quantize()); } DrawDebugDirectionalArrow(GetWorld(), TraceInfo.HitNormalStart, TraceInfo.HitNormalEnd, 5.f, FColor(255,64,64), SDPG_World); } } }
void DrawDebugArrow(UWorld *World) const { DrawDebugDirectionalArrow(World, GetPointForDrawing(Start), GetPointForDrawing(End), 60.0f, FColor::Red, false, 1.0f); }