FVector ABaseController::GetHitPosition()
{
FNavLocation location;
UNavigationSystem* navSys = UNavigationSystem::GetCurrent(World);
navSys->GetRandomPointInNavigableRadius(AttackLocation, 200.f, location);
return location.Location;
}
FVector ABaseController::GetNewWanderPosition()
{
FNavLocation Location;
UNavigationSystem* NavSys = World->GetNavigationSystem();
FHitResult hit(ForceInit);
FCollisionQueryParams traceParams = FCollisionQueryParams(FName(TEXT("RV_Trace")), true, Self);
traceParams.bTraceComplex = true;
traceParams.bTraceAsyncScene = true;
int times = 0;
float minimuimDist = Self->MinimuimDistanceBetweenWanderLocations;
do{
if (times >= 50)
{
times = 0;
minimuimDist -= 500.f;
}
times++;
NavSys->GetRandomPointInNavigableRadius(Self->GetActorLocation(), Self->SightRange, Location);
} while (FVector::Dist(Location.Location, Self->GetActorLocation()) < minimuimDist);
bool bHit = World->LineTraceSingleByChannel(hit, Self->EyeLocation, Location.Location, ECC_Visibility, traceParams);
return Location.Location;
}
FVector ABaseController::GetNewSearchPosition()
{
FNavLocation Location;
UNavigationSystem* NavSys = World->GetNavigationSystem();
NavSys->GetRandomPointInNavigableRadius(TargetsLastKnownPosition, Self->SearchRange, Location);
return Location.Location;
}
void ANavLinkProxy::PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent)
{
bool bUpdateInNavOctree = false;
if (PropertyChangedEvent.Property && PropertyChangedEvent.Property->GetFName() == GET_MEMBER_NAME_CHECKED(ANavLinkProxy, bSmartLinkIsRelevant))
{
SmartLinkComp->SetNavigationRelevancy(bSmartLinkIsRelevant);
bUpdateInNavOctree = true;
}
const FName CategoryName = FObjectEditorUtils::GetCategoryFName(PropertyChangedEvent.Property);
const FName MemberCategoryName = FObjectEditorUtils::GetCategoryFName(PropertyChangedEvent.MemberProperty);
if (CategoryName == TEXT("SimpleLink") || MemberCategoryName == TEXT("SimpleLink"))
{
bUpdateInNavOctree = true;
}
if (bUpdateInNavOctree)
{
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys)
{
NavSys->UpdateActorInNavOctree(*this);
}
}
Super::PostEditChangeProperty(PropertyChangedEvent);
}
FAIRequestID AAIController::RequestPathAndMove(FPathFindingQuery& Query, AActor* Goal, float AcceptanceRadius, bool bStopOnOverlap, FCustomMoveSharedPtr CustomData)
{
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 (Goal)
{
PathResult.Path->SetGoalActorObservation(*Goal, 100.0f);
}
PathResult.Path->EnableRecalculationOnInvalidation(true);
}
RequestID = RequestMove(PathResult.Path, Goal, AcceptanceRadius, bStopOnOverlap, CustomData);
}
else
{
UE_VLOG(this, LogBehaviorTree, Error, TEXT("Trying to find path to %s resulted in Error"), *GetNameSafe(Goal));
}
}
return RequestID;
}
FORCENOINLINE
#endif // NAVSYS_DEBUG
void FNavigationOctreeSemantics::SetElementId(const FNavigationOctreeElement& Element, FOctreeElementId Id)
{
UWorld* World = NULL;
UObject* ElementOwner = Element.GetOwner();
if (AActor* Actor = Cast<AActor>(ElementOwner))
{
World = Actor->GetWorld();
}
else if (UActorComponent* AC = Cast<UActorComponent>(ElementOwner))
{
World = AC->GetWorld();
}
else if (ULevel* Level = Cast<ULevel>(ElementOwner))
{
World = Level->OwningWorld;
}
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(World);
if (NavSys)
{
NavSys->SetObjectsNavOctreeId(ElementOwner, Id);
}
}
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;
}
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()));
}
}
}
void UCheatManager::RebuildNavigation()
{
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys)
{
NavSys->Build();
}
}
void UNavLinkCustomComponent::SetDisabledArea(TSubclassOf<UNavArea> AreaClass)
{
DisabledAreaClass = AreaClass;
if (IsNavigationRelevant() && !bLinkEnabled && GetWorld() != nullptr )
{
UNavigationSystem* NavSys = GetWorld()->GetNavigationSystem();
NavSys->UpdateCustomLink(this);
}
}
// 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;
}
void USmartNavLinkComponent::SetDisabledArea(TSubclassOf<class UNavArea> AreaClass)
{
DisabledAreaClass = AreaClass;
if (IsNavigationRelevant() && !bLinkEnabled)
{
UNavigationSystem* NavSys = GetWorld()->GetNavigationSystem();
NavSys->UpdateSmartLink(this);
}
}
void UNavLinkCustomComponent::SetEnabledArea(TSubclassOf<class UNavArea> AreaClass)
{
EnabledAreaClass = AreaClass;
if (IsNavigationRelevant() && bLinkEnabled)
{
UNavigationSystem* NavSys = GetWorld()->GetNavigationSystem();
NavSys->UpdateCustomLink(this);
}
}
bool UGameplayDebuggingComponent::ServerCollectNavmeshData_Validate(FVector_NetQuantize10 TargetLocation)
{
bool bIsValid = false;
#if WITH_RECAST
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
bIsValid = NavSys && NavSys->GetMainNavData(FNavigationSystem::DontCreate);
#endif
return bIsValid;
}
void USmartNavLinkComponent::OnOwnerUnregistered()
{
if (GetOwner() == NULL || GetWorld() == NULL || GetWorld()->GetNavigationSystem() == NULL)
{
return;
}
// always try to unregister, even if not relevant right now
UNavigationSystem* NavSys = GetWorld()->GetNavigationSystem();
NavSys->UnregisterSmartLink(this);
}
void ANavigationTestingActor::SearchPathTo(ANavigationTestingActor* Goal)
{
#if WITH_EDITORONLY_DATA
if (EdRenderComp)
{
EdRenderComp->MarkRenderStateDirty();
}
#endif // WITH_EDITORONLY_DATA
if (Goal == NULL)
{
return;
}
UNavigationSystem* NavSys = GetWorld()->GetNavigationSystem();
check(NavSys);
const double StartTime = FPlatformTime::Seconds();
FPathFindingQuery Query = BuildPathFindingQuery(Goal);
EPathFindingMode::Type Mode = bUseHierarchicalPathfinding ? EPathFindingMode::Hierarchical : EPathFindingMode::Regular;
FPathFindingResult Result = NavSys->FindPathSync(NavAgentProps, Query, Mode);
const double EndTime = FPlatformTime::Seconds();
const float Duration = (EndTime - StartTime);
PathfindingTime = Duration * 1000000.0f; // in micro seconds [us]
bPathIsPartial = Result.IsPartial();
bPathExist = Result.IsSuccessful();
bPathSearchOutOfNodes = bPathExist ? Result.Path->DidSearchReachedLimit() : false;
LastPath = Result.Path;
PathCost = bPathExist ? Result.Path->GetCost() : 0.0f;
if (bPathExist)
{
LastPath->AddObserver(PathObserver);
if (OffsetFromCornersDistance > 0.0f)
{
((FNavMeshPath*)LastPath.Get())->OffsetFromCorners(OffsetFromCornersDistance);
}
}
#if WITH_RECAST && WITH_EDITORONLY_DATA
if (bGatherDetailedInfo && !bUseHierarchicalPathfinding)
{
ARecastNavMesh* RecastNavMesh = Cast<ARecastNavMesh>(MyNavData);
if (RecastNavMesh && RecastNavMesh->HasValidNavmesh())
{
PathfindingSteps = RecastNavMesh->DebugPathfinding(Query, DebugSteps);
}
}
#endif
}
void ANavMeshBoundsVolume::PostLoad()
{
Super::PostLoad();
#if WITH_NAVIGATION_GENERATOR
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys && Role == ROLE_Authority)
{
NavSys->OnNavigationBoundsUpdated(this);
}
#endif
}
void UNavLinkCustomComponent::OnUnregister()
{
Super::OnUnregister();
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys == NULL)
{
return;
}
// always try to unregister, even if not relevant right now
NavSys->UnregisterCustomLink(this);
}
void ANavigationTestingActor::TickMe()
{
UNavigationSystem* NavSys = GetWorld() ? GetWorld()->GetNavigationSystem() : NULL;
if (NavSys && !NavSys->IsNavigationBuildInProgress())
{
#if WITH_RECAST && WITH_EDITORONLY_DATA
delete TickHelper;
TickHelper = NULL;
#endif
UpdatePathfinding();
}
}
void UNavigationQueryFilter::PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent)
{
Super::PostEditChangeProperty(PropertyChangedEvent);
// remove cached filter settings from existing NavigationSystems
for (const FWorldContext& Context : GEngine->GetWorldContexts())
{
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(Context.World());
if (NavSys)
{
NavSys->ResetCachedFilter(GetClass());
}
}
}
void USmartNavLinkComponent::OnOwnerRegistered()
{
if (GetOwner() == NULL || GetWorld() == NULL || GetWorld()->GetNavigationSystem() == NULL)
{
return;
}
UNavigationSystem* NavSys = GetWorld()->GetNavigationSystem();
if (NavLinkUserId == 0)
{
NavLinkUserId = NavSys->FindFreeSmartLinkId();
}
NavSys->RegisterSmartLink(this);
}
void ANavMeshBoundsVolume::PostEditChangeProperty( struct FPropertyChangedEvent& PropertyChangedEvent)
{
Super::PostEditChangeProperty(PropertyChangedEvent);
#if WITH_NAVIGATION_GENERATOR
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (GIsEditor && NavSys)
{
if (PropertyChangedEvent.Property == NULL ||
PropertyChangedEvent.Property->GetFName() == GET_MEMBER_NAME_CHECKED(ABrush, BrushBuilder))
{
NavSys->OnNavigationBoundsUpdated(this);
}
}
#endif // WITH_NAVIGATION_GENERATOR
}
EBTNodeResult::Type UATBTTask_MoveArea::ExecuteTask(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory)
{
UNavigationSystem* NavigationSystem = UNavigationSystem::GetCurrent(GetWorld());
AATCharacterAI* MyCharacter = Cast<AATCharacterAI>(OwnerComp.GetAIOwner()->GetPawn());
if (NavigationSystem != nullptr && MyCharacter != nullptr)
{
FNavLocation RandomPointIn;
if (NavigationSystem->GetRandomPointInNavigableRadius(MyCharacter->GetActorLocation(), MyCharacter->AreaRadius, RandomPointIn))
{
OwnerComp.GetBlackboardComponent()->SetValue<UBlackboardKeyType_Vector>(GetSelectedBlackboardKey(), RandomPointIn.Location);
return EBTNodeResult::Succeeded;
}
}
return EBTNodeResult::Failed;
}
void UNavMovementComponent::UpdateNavAgent(const UCapsuleComponent& CapsuleComponent)
{
if (ShouldUpdateNavAgentWithOwnersCollision() == false)
{
return;
}
// initialize properties from navigation system
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys != nullptr)
{
NavAgentProps.NavWalkingSearchHeightScale = NavSys->GetDefaultSupportedAgentConfig().NavWalkingSearchHeightScale;
}
NavAgentProps.AgentRadius = CapsuleComponent.GetScaledCapsuleRadius();
NavAgentProps.AgentHeight = CapsuleComponent.GetScaledCapsuleHalfHeight() * 2.f;
}
void UNavLinkCustomComponent::OnRegister()
{
Super::OnRegister();
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys == NULL)
{
return;
}
if (NavLinkUserId == 0)
{
NavLinkUserId = INavLinkCustomInterface::GetUniqueId();
}
NavSys->RegisterCustomLink(this);
}
void FGameplayDebuggerCategory_Navmesh::CollectData(APlayerController* OwnerPC, AActor* DebugActor)
{
#if WITH_RECAST
ARecastNavMesh* NavData = nullptr;
APawn* PlayerPawn = OwnerPC ? OwnerPC->GetPawnOrSpectator() : nullptr;
APawn* DebugActorAsPawn = Cast<APawn>(DebugActor);
APawn* DestPawn = DebugActorAsPawn ? DebugActorAsPawn : PlayerPawn;
if (DestPawn)
{
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(OwnerPC->GetWorld());
const FNavAgentProperties& NavAgentProperties = DestPawn->GetNavAgentPropertiesRef();
NavData = Cast<ARecastNavMesh>(NavSys->GetNavDataForProps(NavAgentProperties));
}
if (NavData)
{
// add 3x3 neighborhood of target
const FVector TargetLocation = DestPawn->GetActorLocation();
TArray<int32> TileSet;
int32 TileX = 0;
int32 TileY = 0;
const int32 DeltaX[] = { 0, 1, 1, 0, -1, -1, -1, 0, 1 };
const int32 DeltaY[] = { 0, 0, 1, 1, 1, 0, -1, -1, -1 };
int32 TargetTileX = 0;
int32 TargetTileY = 0;
NavData->GetNavMeshTileXY(TargetLocation, TargetTileX, TargetTileY);
for (int32 Idx = 0; Idx < ARRAY_COUNT(DeltaX); Idx++)
{
const int32 NeiX = TargetTileX + DeltaX[Idx];
const int32 NeiY = TargetTileY + DeltaY[Idx];
NavData->GetNavMeshTilesAt(NeiX, NeiY, TileSet);
}
const int32 DetailFlags =
(1 << static_cast<int32>(ENavMeshDetailFlags::PolyEdges)) |
(1 << static_cast<int32>(ENavMeshDetailFlags::FilledPolys)) |
(1 << static_cast<int32>(ENavMeshDetailFlags::NavLinks));
NavmeshRenderData.GatherData(NavData, DetailFlags, TileSet);
}
#endif // WITH_RECAST
}
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;
}
void UNavigationInvokerComponent::RegisterWithNavigationSystem(UNavigationSystem& NavSys)
{
if (IsActive())
{
AActor* Owner = GetOwner();
if (Owner)
{
NavSys.RegisterInvoker(*Owner, TileGenerationRadius, TileRemovalRadius);
}
}
}
void UNavigationComponent::OnSmartLinkBroadcast(class USmartNavLinkComponent* NearbyLink)
{
// update only when agent is actually moving
if (NearbyLink == NULL || !Path.IsValid() ||
PathFollowComp == NULL || PathFollowComp->GetStatus() == EPathFollowingStatus::Idle)
{
return;
}
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys == NULL || MyNavAgent == NULL || GetNavData() == NULL)
{
return;
}
const bool bHasLink = Path->ContainsSmartLink(NearbyLink);
const bool bIsEnabled = NearbyLink->IsEnabled();
if (bIsEnabled == bHasLink)
{
// enabled link, path already use it - or - disabled link and path it's not using it
return;
}
const FVector GoalLocation = Path->PathPoints.Last().Location;
FPathFindingResult Result = NavSys->FindPathSync(*MyNavAgent->GetNavAgentProperties(),
FPathFindingQuery(GetNavData(), MyNavAgent->GetNavAgentLocation(), GoalLocation, StoredQueryFilter),
bDoHierarchicalPathfinding ? EPathFindingMode::Hierarchical : EPathFindingMode::Regular);
if (Result.IsSuccessful() || Result.IsPartial())
{
const bool bNewHasLink = Result.Path->ContainsSmartLink(NearbyLink);
if ((bIsEnabled && !bHasLink && bNewHasLink) ||
(!bIsEnabled && bHasLink && !bNewHasLink))
{
SetPath(Result.Path);
NotifyPathUpdate();
}
}
}
void UNavMovementComponent::UpdateNavAgent(const AActor& Owner)
{
ensure(&Owner == GetOwner());
if (ShouldUpdateNavAgentWithOwnersCollision() == false)
{
return;
}
// initialize properties from navigation system
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys != nullptr)
{
NavAgentProps.NavWalkingSearchHeightScale = NavSys->GetDefaultSupportedAgentConfig().NavWalkingSearchHeightScale;
}
// Can't call GetSimpleCollisionCylinder(), because no components will be registered.
float BoundRadius, BoundHalfHeight;
Owner.GetSimpleCollisionCylinder(BoundRadius, BoundHalfHeight);
NavAgentProps.AgentRadius = BoundRadius;
NavAgentProps.AgentHeight = BoundHalfHeight * 2.f;
}
