void UVehiclePathFollowingComponent::UpdatePathSegment()
{
#ifdef NDEBUG
if (Path.IsValid())
{
for (int i = 0; i < Path->GetPathPoints().Num(); ++i)
{
DrawDebugPoint(GetWorld(), Path->GetPathPoints()[i].Location, 40.0f, FColor::Yellow, false, 0.3f);
}
}
#endif
float DistanceLeft = (
*Path->GetPathPointLocation(Path->GetPathPoints().Num() - 1)
- MovementComp->GetActorLocation()
).Size();
if (DistanceLeft < AcceptanceRadius)
{
OnSegmentFinished();
OnPathFinished(EPathFollowingResult::Success);
}
UPathFollowingComponent::UpdatePathSegment();
}
void UCrowdFollowingComponent::UpdatePathSegment()
{
if (!bEnableCrowdSimulation)
{
Super::UpdatePathSegment();
return;
}
if (!Path.IsValid() || MovementComp == NULL)
{
AbortMove(TEXT("no path"), FAIRequestID::CurrentRequest, true, false, EPathFollowingMessage::NoPath);
return;
}
if (!Path->IsValid())
{
if (!Path->IsWaitingForRepath())
{
AbortMove(TEXT("no path"), FAIRequestID::CurrentRequest, true, false, EPathFollowingMessage::NoPath);
}
return;
}
// if agent has control over its movement, check finish conditions
const bool bCanReachTarget = MovementComp->CanStopPathFollowing();
if (bCanReachTarget && Status == EPathFollowingStatus::Moving)
{
const FVector CurrentLocation = MovementComp->GetActorFeetLocation();
const FVector GoalLocation = GetCurrentTargetLocation();
if (bCollidedWithGoal)
{
// check if collided with goal actor
OnSegmentFinished();
OnPathFinished(EPathFollowingResult::Success);
}
else if (bFinalPathPart)
{
const FVector ToTarget = (GoalLocation - MovementComp->GetActorFeetLocation());
const bool bDirectPath = Path->CastPath<FAbstractNavigationPath>() != NULL;
const float SegmentDot = FVector::DotProduct(ToTarget, bDirectPath ? MovementComp->Velocity : CrowdAgentMoveDirection);
const bool bMovedTooFar = bCheckMovementAngle && (SegmentDot < 0.0);
// can't use HasReachedDestination here, because it will use last path point
// which is not set correctly for partial paths without string pulling
if (bMovedTooFar || HasReachedInternal(GoalLocation, 0.0f, 0.0f, CurrentLocation, AcceptanceRadius, bStopOnOverlap ? MinAgentRadiusPct : 0.0f))
{
UE_VLOG(GetOwner(), LogCrowdFollowing, Log, TEXT("Last path segment finished due to \'%s\'"), bMovedTooFar ? TEXT("Missing Last Point") : TEXT("Reaching Destination"));
OnPathFinished(EPathFollowingResult::Success);
}
}
else
{
// override radius multiplier and switch to next path part when closer than 4x agent radius
const float NextPartMultiplier = 4.0f;
const bool bHasReached = HasReachedInternal(GoalLocation, 0.0f, 0.0f, CurrentLocation, 0.0f, NextPartMultiplier);
if (bHasReached)
{
SwitchToNextPathPart();
}
}
}
// gather location samples to detect if moving agent is blocked
if (bCanReachTarget && Status == EPathFollowingStatus::Moving)
{
const bool bHasNewSample = UpdateBlockDetection();
if (bHasNewSample && IsBlocked())
{
OnPathFinished(EPathFollowingResult::Blocked);
}
}
}
