void UAISense_Sight::GenerateQueriesForListener(const FPerceptionListener& Listener, const FDigestedSightProperties& PropertyDigest) { bool bNewQueriesAdded = false; const IGenericTeamAgentInterface* ListenersTeamAgent = Listener.GetTeamAgent(); const AActor* Avatar = Listener.GetBodyActor(); // create sight queries with all legal targets for (TMap<FName, FAISightTarget>::TConstIterator ItTarget(ObservedTargets); ItTarget; ++ItTarget) { const AActor* TargetActor = ItTarget->Value.GetTargetActor(); if (TargetActor == NULL || TargetActor == Avatar) { continue; } if (FAISenseAffiliationFilter::ShouldSenseTeam(ListenersTeamAgent, *TargetActor, PropertyDigest.AffiliationFlags)) { // create a sight query FAISightQuery SightQuery(Listener.GetListenerID(), ItTarget->Key); SightQuery.Importance = CalcQueryImportance(Listener, ItTarget->Value.GetLocationSimple(), PropertyDigest.SightRadiusSq); SightQueryQueue.Add(SightQuery); bNewQueriesAdded = true; } } // sort Sight Queries if (bNewQueriesAdded) { SortQueries(); RequestImmediateUpdate(); } }
void UAISense_Sight::GenerateQueriesForListener(const FPerceptionListener& Listener, const FDigestedSightProperties& PropertyDigest) { bool bNewQueriesAdded = false; const IGenericTeamAgentInterface* ListenersTeamAgent = Listener.GetTeamAgent(); // create sight queries with all legal targets for (TMap<FName, FAISightTarget>::TConstIterator ItTarget(ObservedTargets); ItTarget; ++ItTarget) { const AActor* TargetActor = ItTarget->Value.GetTargetActor(); if (TargetActor == NULL) { continue; } // @todo this should be configurable - some AI might want to observe Neutrals and Friendlies as well if (ListenersTeamAgent == NULL || ListenersTeamAgent->GetTeamAttitudeTowards(*TargetActor) == ETeamAttitude::Hostile) { // create a sight query FAISightQuery SightQuery(Listener.GetListenerID(), ItTarget->Key); SightQuery.Importance = CalcQueryImportance(Listener, ItTarget->Value.GetLocationSimple(), PropertyDigest.SightRadiusSq); SightQueryQueue.Add(SightQuery); bNewQueriesAdded = true; } } // sort Sight Queries if (bNewQueriesAdded) { SortQueries(); RequestImmediateUpdate(); } }
bool UAISense_Sight::RegisterTarget(AActor& TargetActor, FQueriesOperationPostProcess PostProcess) { SCOPE_CYCLE_COUNTER(STAT_AI_Sense_Sight); FAISightTarget* SightTarget = ObservedTargets.Find(TargetActor.GetFName()); if (SightTarget == NULL) { FAISightTarget NewSightTarget(&TargetActor); SightTarget = &(ObservedTargets.Add(NewSightTarget.TargetId, NewSightTarget)); SightTarget->SightTargetInterface = Cast<IAISightTargetInterface>(&TargetActor); } // set/update data SightTarget->TeamId = FGenericTeamId::GetTeamIdentifier(&TargetActor); // generate all pairs and add them to current Sight Queries bool bNewQueriesAdded = false; AIPerception::FListenerMap& ListenersMap = *GetListeners(); const FVector TargetLocation = TargetActor.GetActorLocation(); for (AIPerception::FListenerMap::TConstIterator ItListener(ListenersMap); ItListener; ++ItListener) { const FPerceptionListener& Listener = ItListener->Value; const IGenericTeamAgentInterface* ListenersTeamAgent = Listener.GetTeamAgent(); if (Listener.HasSense(GetSenseID()) && Listener.GetBodyActor() != &TargetActor) { const FDigestedSightProperties& PropDigest = DigestedProperties[Listener.GetListenerID()]; if (FAISenseAffiliationFilter::ShouldSenseTeam(ListenersTeamAgent, TargetActor, PropDigest.AffiliationFlags)) { // create a sight query FAISightQuery SightQuery(ItListener->Key, SightTarget->TargetId); SightQuery.Importance = CalcQueryImportance(ItListener->Value, TargetLocation, PropDigest.SightRadiusSq); SightQueryQueue.Add(SightQuery); bNewQueriesAdded = true; } } } // sort Sight Queries if (PostProcess == Sort && bNewQueriesAdded) { SortQueries(); RequestImmediateUpdate(); } return bNewQueriesAdded; }
float UAISense_Sight::Update() { static const FName NAME_AILineOfSight = FName(TEXT("AILineOfSight")); SCOPE_CYCLE_COUNTER(STAT_AI_Sense_Sight); const UWorld* World = GEngine->GetWorldFromContextObject(GetPerceptionSystem()->GetOuter()); if (World == NULL) { return SuspendNextUpdate; } int32 TracesCount = 0; static const int32 InitialInvalidItemsSize = 16; TArray<int32> InvalidQueries; TArray<FAISightTarget::FTargetId> InvalidTargets; InvalidQueries.Reserve(InitialInvalidItemsSize); InvalidTargets.Reserve(InitialInvalidItemsSize); AIPerception::FListenerMap& ListenersMap = *GetListeners(); FAISightQuery* SightQuery = SightQueryQueue.GetData(); for (int32 QueryIndex = 0; QueryIndex < SightQueryQueue.Num(); ++QueryIndex, ++SightQuery) { if (TracesCount < MaxTracesPerTick) { FPerceptionListener& Listener = ListenersMap[SightQuery->ObserverId]; ensure(Listener.Listener.IsValid()); FAISightTarget& Target = ObservedTargets[SightQuery->TargetId]; const bool bTargetValid = Target.Target.IsValid(); const bool bListenerValid = Listener.Listener.IsValid(); // @todo figure out what should we do if not valid if (bTargetValid && bListenerValid) { AActor* TargetActor = Target.Target.Get(); const FVector TargetLocation = TargetActor->GetActorLocation(); const FDigestedSightProperties& PropDigest = DigestedProperties[SightQuery->ObserverId]; const float SightRadiusSq = SightQuery->bLastResult ? PropDigest.LoseSightRadiusSq : PropDigest.SightRadiusSq; if (CheckIsTargetInSightPie(Listener, PropDigest, TargetLocation, SightRadiusSq)) { // UE_VLOG_SEGMENT(Listener.Listener.Get()->GetOwner(), Listener.CachedLocation, TargetLocation, FColor::Green, TEXT("%s"), *(Target.TargetId.ToString())); FVector OutSeenLocation(0.f); // do line checks if (Target.SightTargetInterface != NULL) { int32 NumberOfLoSChecksPerformed = 0; if (Target.SightTargetInterface->CanBeSeenFrom(Listener.CachedLocation, OutSeenLocation, NumberOfLoSChecksPerformed, Listener.Listener->GetBodyActor()) == true) { Listener.RegisterStimulus(TargetActor, FAIStimulus(*this, 1.f, OutSeenLocation, Listener.CachedLocation)); SightQuery->bLastResult = true; } else { // UE_VLOG_LOCATION(Listener.Listener.Get()->GetOwner(), TargetLocation, 25.f, FColor::Red, TEXT("")); Listener.RegisterStimulus(TargetActor, FAIStimulus(*this, 0.f, TargetLocation, Listener.CachedLocation, FAIStimulus::SensingFailed)); SightQuery->bLastResult = false; } TracesCount += NumberOfLoSChecksPerformed; } else { // we need to do tests ourselves /*const bool bHit = World->LineTraceTest(Listener.CachedLocation, TargetLocation , FCollisionQueryParams(NAME_AILineOfSight, true, Listener.Listener->GetBodyActor()) , FCollisionObjectQueryParams(ECC_WorldStatic));*/ FHitResult HitResult; const bool bHit = World->LineTraceSingle(HitResult, Listener.CachedLocation, TargetLocation , FCollisionQueryParams(NAME_AILineOfSight, true, Listener.Listener->GetBodyActor()) , FCollisionObjectQueryParams(ECC_WorldStatic)); ++TracesCount; if (bHit == false || (HitResult.Actor.IsValid() && HitResult.Actor->IsOwnedBy(TargetActor))) { Listener.RegisterStimulus(TargetActor, FAIStimulus(*this, 1.f, TargetLocation, Listener.CachedLocation)); SightQuery->bLastResult = true; } else { // UE_VLOG_LOCATION(Listener.Listener.Get()->GetOwner(), TargetLocation, 25.f, FColor::Red, TEXT("")); Listener.RegisterStimulus(TargetActor, FAIStimulus(*this, 0.f, TargetLocation, Listener.CachedLocation, FAIStimulus::SensingFailed)); SightQuery->bLastResult = false; } } } else { // UE_VLOG_SEGMENT(Listener.Listener.Get()->GetOwner(), Listener.CachedLocation, TargetLocation, FColor::Red, TEXT("%s"), *(Target.TargetId.ToString())); Listener.RegisterStimulus(TargetActor, FAIStimulus(*this, 0.f, TargetLocation, Listener.CachedLocation, FAIStimulus::SensingFailed)); SightQuery->bLastResult = false; } SightQuery->Importance = CalcQueryImportance(Listener, TargetLocation, SightRadiusSq); // restart query SightQuery->Age = 0.f; } else { // put this index to "to be removed" array InvalidQueries.Add(QueryIndex); if (bTargetValid == false) { InvalidTargets.AddUnique(SightQuery->TargetId); } } } else { // age unprocessed queries so that they can advance in the queue during next sort SightQuery->Age += 1.f; } SightQuery->RecalcScore(); } if (InvalidQueries.Num() > 0) { for (int32 Index = InvalidQueries.Num() - 1; Index >= 0; --Index) { // removing with swapping here, since queue is going to be sorted anyway SightQueryQueue.RemoveAtSwap(InvalidQueries[Index], 1, /*bAllowShrinking*/false); } if (InvalidTargets.Num() > 0) { for (const auto& TargetId : InvalidTargets) { // remove affected queries RemoveAllQueriesToTarget(TargetId, DontSort); // remove target itself ObservedTargets.Remove(TargetId); } // remove holes ObservedTargets.Compact(); } } // sort Sight Queries SortQueries(); //return SightQueryQueue.Num() > 0 ? 1.f/6 : FLT_MAX; return 0.f; }