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()));
}
}
}
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;
}
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;
}
}
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;
}
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;
}
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;
}
