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()));
        }
    }
}
Exemple #2
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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;
}
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;
}
Exemple #4
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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;
}
Exemple #5
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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;
}
Exemple #6
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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;
}