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;
}
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;
}
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;
}
