void UEnvQueryGenerator_SimpleGrid::GenerateItems(FEnvQueryInstance& QueryInstance) const
{
UObject* BindOwner = QueryInstance.Owner.Get();
GridSize.BindData(BindOwner, QueryInstance.QueryID);
SpaceBetween.BindData(BindOwner, QueryInstance.QueryID);
float RadiusValue = GridSize.GetValue();
float DensityValue = SpaceBetween.GetValue();
const int32 ItemCount = FPlatformMath::TruncToInt((RadiusValue * 2.0f / DensityValue) + 1);
const int32 ItemCountHalf = ItemCount / 2;
TArray<FVector> ContextLocations;
QueryInstance.PrepareContext(GenerateAround, ContextLocations);
TArray<FNavLocation> GridPoints;
GridPoints.Reserve(ItemCount * ItemCount * ContextLocations.Num());
for (int32 ContextIndex = 0; ContextIndex < ContextLocations.Num(); ContextIndex++)
{
for (int32 IndexX = 0; IndexX <= ItemCount; ++IndexX)
{
for (int32 IndexY = 0; IndexY <= ItemCount; ++IndexY)
{
const FNavLocation TestPoint = FNavLocation(ContextLocations[ContextIndex] - FVector(DensityValue * (IndexX - ItemCountHalf), DensityValue * (IndexY - ItemCountHalf), 0));
GridPoints.Add(TestPoint);
}
}
}
ProjectAndFilterNavPoints(GridPoints, QueryInstance);
StoreNavPoints(GridPoints, QueryInstance);
}
// execution
EBTNodeResult::Type UAIE_GoToRandom_BTTaskNode::ExecuteTask(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory) {
/* call super
* should aquire refrences for our BehaviorTreeComp, BlackboardComp, AIController, and BotCharacter
* will return EBTNodeResult::Succeeded if we have all of them
* will return EBTNodeResult::Failed if it failed to grab any of them
*/
EBTNodeResult::Type resultFromSuperExecution = Super::ExecuteTask(OwnerComp, NodeMemory);
// check that we successfully grabbed the BehaviorTreeComp, BlackboardComp, AIController, and BotCharacter
if (resultFromSuperExecution == EBTNodeResult::Succeeded) {
// check that we can get the World
if (GetWorld()) {
// get the current nav system from the world
UNavigationSystem* navSystem = UNavigationSystem::GetCurrent(GetWorld());
// check that we have a nav system
if (navSystem) {
// get our actors current location to pe used as our start position
FVector startPosi = BotCharacter->GetActorLocation();
// create a nav location to be used as our end position
// default will be set to our current position in case of failure to find a suitable end position
FNavLocation endPosi = FNavLocation(startPosi);
// attempt to get a random new position
if (navSystem->GetRandomReachablePointInRadius(startPosi, searchRadius, endPosi)) {
// if we were successfull in finding a new location get the MoveToLocation BlackboardKeyID
FBlackboard::FKey BlackboardKey_MoveToLocation = Blackboard->GetKeyID("MoveToLocation");
// check that we got the key
if ( Blackboard->IsValidKey( BlackboardKey_MoveToLocation)) {
// set the MoveToLocation BlackboardKeyID to our new location
Blackboard->SetValue<UBlackboardKeyType_Vector>(BlackboardKey_MoveToLocation, endPosi.Location);
// return succeeded now that we have set up our new loacation
return EBTNodeResult::Succeeded;
}
else {
// return Aborted if we can't find the Key as it will never succeed without a proper Key
if (bForceSuccess) {
return EBTNodeResult::Succeeded;
}
return EBTNodeResult::Aborted;
}
}
// return in progress if their are currently no valid locations
if (bForceSuccess) {
return EBTNodeResult::Succeeded;
}
return EBTNodeResult::InProgress;
}
}
}
// we will only get here if execution fails so we will check if force success is on
if (bForceSuccess) {
// if force success is on we will return Succeeded anyway
return EBTNodeResult::Succeeded;
}
// we want to return Failed after the force success check
return EBTNodeResult::Failed;
}
FNavLocation UNavigationComponent::GetRandomPointOnNavMesh() const
{
#if WITH_RECAST
ARecastNavMesh* const Nav = (ARecastNavMesh*)GetWorld()->GetNavigationSystem()->GetMainNavData(NavigationSystem::Create);
if (Nav)
{
return Nav->GetRandomPoint();
}
#endif // WITH_RECAST
return FNavLocation();
}
FNavLocation UNavigationComponent::ProjectPointToNavigation(const FVector& Location) const
{
FNavLocation OutLocation(Location);
if (GetNavData() != NULL)
{
if (!MyNavData->ProjectPoint(Location, OutLocation, MyNavData->GetDefaultQueryExtent()))
{
OutLocation = FNavLocation();
}
}
return OutLocation;
}
void UEnvQueryGenerator_OnCircle::GenerateItemsForCircle(uint8* ContextRawData, UEnvQueryItemType* ContextItemType,
const FVector& CenterLocation, const FVector& StartDirection,
int32 StepsCount, float AngleStep, FEnvQueryInstance& OutQueryInstance) const
{
TArray<FNavLocation> ItemCandidates;
ItemCandidates.AddZeroed(StepsCount);
for (int32 Step = 0; Step < StepsCount; ++Step)
{
ItemCandidates[Step] = FNavLocation(CenterLocation + StartDirection.RotateAngleAxis(AngleStep*Step, FVector::UpVector));
}
switch (TraceData.TraceMode)
{
case EEnvQueryTrace::Navigation:
{
ANavigationData* NavData = const_cast<ANavigationData*>(FEQSHelpers::FindNavigationDataForQuery(OutQueryInstance));
if (NavData)
{
FEQSHelpers::RunNavRaycasts(*NavData, TraceData, CenterLocation, ItemCandidates);
}
}
break;
case EEnvQueryTrace::Geometry:
FEQSHelpers::RunPhysRaycasts(OutQueryInstance.World, TraceData, CenterLocation, ItemCandidates);
break;
case EEnvQueryTrace::None:
// Just accept the ItemCandidates as they already are (points on a circle), without using navigation OR collision.
break;
default:
UE_VLOG(Cast<AActor>(OutQueryInstance.Owner.Get()), LogEQS, Warning, TEXT("UEnvQueryGenerator_OnCircle::CalcDirection has invalid value for TraceData.TraceMode. Query: %s"), *OutQueryInstance.QueryName);
break;
}
ProjectAndFilterNavPoints(ItemCandidates, OutQueryInstance);
AddItemDataForCircle(ContextRawData, ContextItemType, ItemCandidates, OutQueryInstance);
}
void UEnvQueryTest_Project::RunTest(FEnvQueryInstance& QueryInstance) const
{
BoolValue.BindData(QueryInstance.Owner.Get(), QueryInstance.QueryID);
bool bWantsProjected = BoolValue.GetValue();
UEnvQueryItemType_Point* ItemTypeCDO = QueryInstance.ItemType->GetDefaultObject<UEnvQueryItemType_Point>();
if (ItemTypeCDO == nullptr)
{
return;
}
if (ProjectionData.TraceMode == EEnvQueryTrace::Navigation)
{
const ANavigationData* NavData = FEQSHelpers::FindNavigationDataForQuery(QueryInstance);
if (NavData)
{
TSharedPtr<const FNavigationQueryFilter> NavigationFilter = UNavigationQueryFilter::GetQueryFilter(*NavData, ProjectionData.NavigationFilter);
TArray<FNavigationProjectionWork> Workload;
Workload.Reserve(QueryInstance.Items.Num());
const FVector VerticalOffset = (ProjectionData.ProjectDown == ProjectionData.ProjectUp) ?
FVector::ZeroVector : FVector(0, 0, (ProjectionData.ProjectUp - ProjectionData.ProjectDown) / 2);
for (int32 Idx = 0; Idx < QueryInstance.Items.Num(); Idx++)
{
if (QueryInstance.Items[Idx].IsValid())
{
const FVector& ItemLocation = GetItemLocation(QueryInstance, Idx);
Workload.Add(FNavigationProjectionWork(ItemLocation + VerticalOffset));
}
}
const FVector ProjectionExtent(ProjectionData.ExtentX, ProjectionData.ExtentX, (ProjectionData.ProjectDown + ProjectionData.ProjectUp) / 2);
NavData->BatchProjectPoints(Workload, ProjectionExtent, NavigationFilter);
int32 Idx = 0;
for (FEnvQueryInstance::ItemIterator It(this, QueryInstance); It; ++It, Idx++)
{
const bool bProjected = Workload[Idx].bResult;
if (bProjected)
{
ItemTypeCDO->SetItemNavLocation(It.GetItemData(), Workload[Idx].OutLocation);
}
It.SetScore(TestPurpose, FilterType, bProjected, bWantsProjected);
}
}
}
else if (ProjectionData.TraceMode == EEnvQueryTrace::Geometry)
{
TArray<FNavLocation> Workload;
TArray<uint8> TraceHits;
Workload.Reserve(QueryInstance.Items.Num());
for (int32 Idx = 0; Idx < QueryInstance.Items.Num(); Idx++)
{
if (QueryInstance.Items[Idx].IsValid())
{
const FVector& ItemLocation = GetItemLocation(QueryInstance, Idx);
Workload.Add(FNavLocation(ItemLocation));
}
}
FEQSHelpers::RunPhysProjection(QueryInstance.World, ProjectionData, Workload, TraceHits);
int32 Idx = 0;
for (FEnvQueryInstance::ItemIterator It(this, QueryInstance); It; ++It, Idx++)
{
const bool bProjected = TraceHits.IsValidIndex(Idx) && TraceHits[Idx];
if (bProjected)
{
ItemTypeCDO->SetItemNavLocation(It.GetItemData(), Workload[Idx]);
}
It.SetScore(TestPurpose, FilterType, bProjected, bWantsProjected);
}
}
}
void UEnvQueryGenerator_Donut::GenerateItems(FEnvQueryInstance& QueryInstance) const
{
TArray<FVector> CenterPoints;
QueryInstance.PrepareContext(Center, CenterPoints);
if (CenterPoints.Num() <= 0)
{
return;
}
UObject* BindOwner = QueryInstance.Owner.Get();
InnerRadius.BindData(BindOwner, QueryInstance.QueryID);
OuterRadius.BindData(BindOwner, QueryInstance.QueryID);
NumberOfRings.BindData(BindOwner, QueryInstance.QueryID);
PointsPerRing.BindData(BindOwner, QueryInstance.QueryID);
ArcAngle.BindData(BindOwner, QueryInstance.QueryID);
float ArcAngleValue = ArcAngle.GetValue();
float InnerRadiusValue = InnerRadius.GetValue();
float OuterRadiusValue = OuterRadius.GetValue();
int32 NumRings = NumberOfRings.GetValue();
int32 NumPoints = PointsPerRing.GetValue();
if ((InnerRadiusValue <= 0.f) || (OuterRadiusValue <= 0.f) ||
(InnerRadiusValue > OuterRadiusValue) ||
(NumRings < 1) || (NumPoints < 1))
{
return;
}
const float ArcBisectDeg = GetArcBisectorAngle(QueryInstance);
const float ArcAngleDeg = FMath::Clamp(ArcAngleValue, 0.0f, 360.0f);
const float RadiusDelta = (OuterRadiusValue - InnerRadiusValue) / (NumRings - 1);
const float AngleDelta = 2.0 * PI / NumPoints;
float SectionAngle = FMath::DegreesToRadians(ArcBisectDeg);
TArray<FNavLocation> Points;
Points.Reserve(NumPoints * NumRings);
for (int32 SectionIdx = 0; SectionIdx < NumPoints; SectionIdx++, SectionAngle += AngleDelta)
{
if (IsAngleAllowed(SectionAngle, ArcBisectDeg, ArcAngleDeg, bDefineArc))
{
const float SinValue = FMath::Sin(SectionAngle);
const float CosValue = FMath::Cos(SectionAngle);
float RingRadius = InnerRadiusValue;
for (int32 RingIdx = 0; RingIdx < NumRings; RingIdx++, RingRadius += RadiusDelta)
{
const FVector RingPos(RingRadius * CosValue, RingRadius * SinValue, 0.0f);
for (int32 ContextIdx = 0; ContextIdx < CenterPoints.Num(); ContextIdx++)
{
const FNavLocation PointPos = FNavLocation(CenterPoints[ContextIdx] + RingPos);
Points.Add(PointPos);
}
}
}
}
ProjectAndFilterNavPoints(Points, QueryInstance);
StoreNavPoints(Points, QueryInstance);
}
