class UKismetAIAsyncTaskProxy* UKismetAIHelperLibrary::CreateMoveToProxyObject(class UObject* WorldContextObject, APawn* Pawn, FVector Destination, AActor* TargetActor, float AcceptanceRadius, bool bStopOnOverlap)
{
check(WorldContextObject);
if (!Pawn)
{
return NULL;
}
UKismetAIAsyncTaskProxy* MyObj = NULL;
AAIController* AIController = Cast<AAIController>(Pawn->GetController());
if (AIController)
{
MyObj = NewObject<UKismetAIAsyncTaskProxy>();
FNavPathSharedPtr Path = TargetActor ? AIController->FindPath(TargetActor, true) : AIController->FindPath(Destination, true);
if (Path.IsValid())
{
MyObj->AIController = AIController;
MyObj->AIController->ReceiveMoveCompleted.AddDynamic(MyObj, &UKismetAIAsyncTaskProxy::OnMoveCompleted);
MyObj->MoveRequestId = MyObj->AIController->RequestMove(Path, TargetActor, AcceptanceRadius, bStopOnOverlap);
}
else
{
UWorld* World = GEngine->GetWorldFromContextObject( WorldContextObject );
World->GetTimerManager().SetTimer(MyObj, &UKismetAIAsyncTaskProxy::OnNoPath, 0.1, false);
}
}
return MyObj;
}
void UNavigationComponent::AsyncGeneratePath_OnCompleteCallback(uint32 QueryID, ENavigationQueryResult::Type Result, FNavPathSharedPtr ResultPath)
{
if (QueryID != uint32(AsynPathQueryID))
{
UE_VLOG(GetOwner(), LogNavigation, Display, TEXT("Pathfinding query %u finished, but it's different from AsynPathQueryID (%d)"), QueryID, AsynPathQueryID);
return;
}
check(GetOuter() != NULL);
if (Result == ENavigationQueryResult::Success && ResultPath.IsValid() && ResultPath->IsValid())
{
const bool bIsSamePath = Path.IsValid() == true && ((const FNavMeshPath*)Path.Get())->ContainsWithSameEnd((const FNavMeshPath*)ResultPath.Get())
&& FVector::DistSquared(Path->GetDestinationLocation(), ResultPath->GetDestinationLocation()) < KINDA_SMALL_NUMBER;
if (bIsSamePath == false)
{
if (IsFollowing() == true)
{
// make sure ticking is enabled (and it shouldn't be enabled before _first_ async path finding)
SetComponentTickEnabledAsync(true);
}
SetPath(ResultPath);
CurrentGoal = ResultPath->PathPoints[ ResultPath->PathPoints.Num() - 1 ].Location;
NotifyPathUpdate();
}
else
{
UE_VLOG(GetOwner(), LogNavigation, Display, TEXT("Skipping newly generated path due to it being the same as current one"));
}
}
else
{
ResetTransientData();
if (MyPathObserver != NULL)
{
MyPathObserver->OnPathFailed(this);
}
}
}
// DEPRECATED FUNCTION SUPPORT
FAIRequestID AAIController::RequestPathAndMove(const FAIMoveRequest& MoveRequest, FPathFindingQuery& Query)
{
FAIRequestID MoveId = FAIRequestID::InvalidRequest;
FNavPathSharedPtr FoundPath;
FindPathForMoveRequest(MoveRequest, Query, FoundPath);
if (FoundPath.IsValid())
{
MoveId = RequestMove(MoveRequest, FoundPath);
}
return MoveId;
}
EPathFollowingRequestResult::Type AAIController::MoveToActor(class AActor* Goal, float AcceptanceRadius, bool bStopOnOverlap, bool bUsePathfinding, bool bCanStrafe, TSubclassOf<UNavigationQueryFilter> FilterClass)
{
SCOPE_CYCLE_COUNTER(STAT_MoveToActor);
EPathFollowingRequestResult::Type Result = EPathFollowingRequestResult::Failed;
UE_VLOG(this, LogNavigation, Log, TEXT("MoveToActor: Goal(%s) AcceptRadius(%.1f%s) bUsePathfinding(%d) bCanStrafe(%d)"),
*GetNameSafe(Goal), AcceptanceRadius, bStopOnOverlap ? TEXT(" + agent") : TEXT(""), bUsePathfinding, bCanStrafe);
if (Goal)
{
if (PathFollowingComponent && PathFollowingComponent->HasReached(Goal, AcceptanceRadius, !bStopOnOverlap))
{
UE_VLOG(this, LogNavigation, Log, TEXT("MoveToActor: already at goal!"));
PathFollowingComponent->SetLastMoveAtGoal(true);
OnMoveCompleted(0, EPathFollowingResult::Success);
Result = EPathFollowingRequestResult::AlreadyAtGoal;
}
else
{
FNavPathSharedPtr Path = FindPath(Goal, bUsePathfinding, UNavigationQueryFilter::GetQueryFilter(FilterClass));
if (Path.IsValid())
{
bAllowStrafe = bCanStrafe;
const uint32 RequestID = RequestMove(Path, Goal, AcceptanceRadius, bStopOnOverlap);
Result = (RequestID != INVALID_MOVEREQUESTID) ? EPathFollowingRequestResult::RequestSuccessful : EPathFollowingRequestResult::Failed;
}
}
}
if (Result == EPathFollowingRequestResult::Failed)
{
if (PathFollowingComponent)
{
PathFollowingComponent->SetLastMoveAtGoal(false);
}
OnMoveCompleted(INVALID_MOVEREQUESTID, EPathFollowingResult::Invalid);
}
return Result;
}
EPathFollowingRequestResult::Type AAIController::MoveToLocation(const FVector& Dest, float AcceptanceRadius, bool bStopOnOverlap, bool bUsePathfinding, bool bProjectDestinationToNavigation, bool bCanStrafe, TSubclassOf<UNavigationQueryFilter> FilterClass)
{
SCOPE_CYCLE_COUNTER(STAT_MoveToLocation);
EPathFollowingRequestResult::Type Result = EPathFollowingRequestResult::Failed;
bool bCanRequestMove = true;
UE_VLOG(this, LogNavigation, Log, TEXT("MoveToLocation: Goal(%s) AcceptRadius(%.1f%s) bUsePathfinding(%d) bCanStrafe(%d)"),
*Dest.ToString(), AcceptanceRadius, bStopOnOverlap ? TEXT(" + agent") : TEXT(""), bUsePathfinding, bCanStrafe);
// Check input is valid
if( Dest.ContainsNaN() )
{
UE_VLOG(this, LogNavigation, Error, TEXT("AAIController::MoveToLocation: Destination is not valid! Goal(%s) AcceptRadius(%.1f%s) bUsePathfinding(%d) bCanStrafe(%d)"),
*Dest.ToString(), AcceptanceRadius, bStopOnOverlap ? TEXT(" + agent") : TEXT(""), bUsePathfinding, bCanStrafe);
ensure( !Dest.ContainsNaN() );
bCanRequestMove = false;
}
FVector GoalLocation = Dest;
// fail if projection to navigation is required but it either failed or there's not navigation component
if (bCanRequestMove && bProjectDestinationToNavigation && (NavComponent == NULL || !NavComponent->ProjectPointToNavigation(Dest, GoalLocation)))
{
UE_VLOG_LOCATION(this, Dest, 30.f, FLinearColor::Red, TEXT("AAIController::MoveToLocation failed to project destination location to navmesh"));
bCanRequestMove = false;
}
if (bCanRequestMove && PathFollowingComponent && PathFollowingComponent->HasReached(GoalLocation, AcceptanceRadius, !bStopOnOverlap))
{
UE_VLOG(this, LogNavigation, Log, TEXT("MoveToLocation: already at goal!"));
PathFollowingComponent->SetLastMoveAtGoal(true);
OnMoveCompleted(0, EPathFollowingResult::Success);
Result = EPathFollowingRequestResult::AlreadyAtGoal;
bCanRequestMove = false;
}
if (bCanRequestMove)
{
FNavPathSharedPtr Path = FindPath(GoalLocation, bUsePathfinding, UNavigationQueryFilter::GetQueryFilter(FilterClass));
if (Path.IsValid())
{
bAllowStrafe = bCanStrafe;
const uint32 RequestID = RequestMove(Path, NULL, AcceptanceRadius, bStopOnOverlap);
Result = (RequestID != INVALID_MOVEREQUESTID) ? EPathFollowingRequestResult::RequestSuccessful : EPathFollowingRequestResult::Failed;
}
}
if (Result == EPathFollowingRequestResult::Failed)
{
if (PathFollowingComponent)
{
PathFollowingComponent->SetLastMoveAtGoal(false);
}
OnMoveCompleted(INVALID_MOVEREQUESTID, EPathFollowingResult::Invalid);
}
return Result;
}
FPathFollowingRequestResult AAIController::MoveTo(const FAIMoveRequest& MoveRequest, FNavPathSharedPtr* OutPath)
{
// both MoveToActor and MoveToLocation can be called from blueprints/script and should keep only single movement request at the same time.
// this function is entry point of all movement mechanics - do NOT abort in here, since movement may be handled by AITasks, which support stacking
SCOPE_CYCLE_COUNTER(STAT_MoveTo);
UE_VLOG(this, LogAINavigation, Log, TEXT("MoveTo: %s"), *MoveRequest.ToString());
FPathFollowingRequestResult ResultData;
ResultData.Code = EPathFollowingRequestResult::Failed;
if (MoveRequest.IsValid() == false)
{
UE_VLOG(this, LogAINavigation, Error, TEXT("MoveTo request failed due MoveRequest not being valid. Most probably desireg Goal Actor not longer exists"), *MoveRequest.ToString());
return ResultData;
}
if (PathFollowingComponent == nullptr)
{
UE_VLOG(this, LogAINavigation, Error, TEXT("MoveTo request failed due missing PathFollowingComponent"));
return ResultData;
}
ensure(MoveRequest.GetNavigationFilter() || !DefaultNavigationFilterClass);
bool bCanRequestMove = true;
bool bAlreadyAtGoal = false;
if (!MoveRequest.IsMoveToActorRequest())
{
if (MoveRequest.GetGoalLocation().ContainsNaN() || FAISystem::IsValidLocation(MoveRequest.GetGoalLocation()) == false)
{
UE_VLOG(this, LogAINavigation, Error, TEXT("AAIController::MoveTo: Destination is not valid! Goal(%s)"), TEXT_AI_LOCATION(MoveRequest.GetGoalLocation()));
bCanRequestMove = false;
}
// fail if projection to navigation is required but it failed
if (bCanRequestMove && MoveRequest.IsProjectingGoal())
{
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
const FNavAgentProperties& AgentProps = GetNavAgentPropertiesRef();
FNavLocation ProjectedLocation;
if (NavSys && !NavSys->ProjectPointToNavigation(MoveRequest.GetGoalLocation(), ProjectedLocation, INVALID_NAVEXTENT, &AgentProps))
{
UE_VLOG_LOCATION(this, LogAINavigation, Error, MoveRequest.GetGoalLocation(), 30.f, FColor::Red, TEXT("AAIController::MoveTo failed to project destination location to navmesh"));
bCanRequestMove = false;
}
MoveRequest.UpdateGoalLocation(ProjectedLocation.Location);
}
bAlreadyAtGoal = bCanRequestMove && PathFollowingComponent->HasReached(MoveRequest);
}
else
{
bAlreadyAtGoal = bCanRequestMove && PathFollowingComponent->HasReached(MoveRequest);
}
if (bAlreadyAtGoal)
{
UE_VLOG(this, LogAINavigation, Log, TEXT("MoveTo: already at goal!"));
ResultData.MoveId = PathFollowingComponent->RequestMoveWithImmediateFinish(EPathFollowingResult::Success);
ResultData.Code = EPathFollowingRequestResult::AlreadyAtGoal;
}
else if (bCanRequestMove)
{
FPathFindingQuery PFQuery;
const bool bValidQuery = BuildPathfindingQuery(MoveRequest, PFQuery);
if (bValidQuery)
{
FNavPathSharedPtr Path;
FindPathForMoveRequest(MoveRequest, PFQuery, Path);
const FAIRequestID RequestID = Path.IsValid() ? RequestMove(MoveRequest, Path) : FAIRequestID::InvalidRequest;
if (RequestID.IsValid())
{
bAllowStrafe = MoveRequest.CanStrafe();
ResultData.MoveId = RequestID;
ResultData.Code = EPathFollowingRequestResult::RequestSuccessful;
if (OutPath)
{
*OutPath = Path;
}
}
}
}
if (ResultData.Code == EPathFollowingRequestResult::Failed)
{
ResultData.MoveId = PathFollowingComponent->RequestMoveWithImmediateFinish(EPathFollowingResult::Invalid);
}
return ResultData;
}
void ANavigationData::TickActor(float DeltaTime, enum ELevelTick TickType, FActorTickFunction& ThisTickFunction)
{
Super::TickActor(DeltaTime, TickType, ThisTickFunction);
PurgeUnusedPaths();
INC_DWORD_STAT_BY(STAT_Navigation_ObservedPathsCount, ObservedPaths.Num());
if (NextObservedPathsTickInSeconds >= 0.f)
{
NextObservedPathsTickInSeconds -= DeltaTime;
if (NextObservedPathsTickInSeconds <= 0.f)
{
RepathRequests.Reserve(ObservedPaths.Num());
for (int32 PathIndex = ObservedPaths.Num() - 1; PathIndex >= 0; --PathIndex)
{
if (ObservedPaths[PathIndex].IsValid())
{
FNavPathSharedPtr SharedPath = ObservedPaths[PathIndex].Pin();
FNavigationPath* Path = SharedPath.Get();
EPathObservationResult::Type Result = Path->TickPathObservation();
switch (Result)
{
case EPathObservationResult::NoLongerObserving:
ObservedPaths.RemoveAtSwap(PathIndex, 1, /*bAllowShrinking=*/false);
break;
case EPathObservationResult::NoChange:
// do nothing
break;
case EPathObservationResult::RequestRepath:
RepathRequests.Add(FNavPathRecalculationRequest(SharedPath, ENavPathUpdateType::GoalMoved));
break;
default:
check(false && "unhandled EPathObservationResult::Type in ANavigationData::TickActor");
break;
}
}
else
{
ObservedPaths.RemoveAtSwap(PathIndex, 1, /*bAllowShrinking=*/false);
}
}
if (ObservedPaths.Num() > 0)
{
NextObservedPathsTickInSeconds = ObservedPathsTickInterval;
}
}
}
if (RepathRequests.Num() > 0)
{
float TimeStamp = GetWorldTimeStamp();
TArray<FNavPathRecalculationRequest> PostponedRequests;
const UWorld* World = GetWorld();
// @todo batch-process it!
for (auto RecalcRequest : RepathRequests)
{
// check if it can be updated right now
FNavPathSharedPtr PinnedPath = RecalcRequest.Path.Pin();
if (PinnedPath.IsValid() == false)
{
continue;
}
const UObject* PathQuerier = PinnedPath->GetQuerier();
const INavAgentInterface* PathNavAgent = Cast<const INavAgentInterface>(PathQuerier);
if (PathNavAgent && PathNavAgent->ShouldPostponePathUpdates())
{
PostponedRequests.Add(RecalcRequest);
continue;
}
FPathFindingQuery Query(PinnedPath.ToSharedRef());
// @todo consider supplying NavAgentPropertied from path's querier
const FPathFindingResult Result = FindPath(FNavAgentProperties(), Query.SetPathInstanceToUpdate(PinnedPath));
// update time stamp to give observers any means of telling if it has changed
PinnedPath->SetTimeStamp(TimeStamp);
// partial paths are still valid and can change to full path when moving goal gets back on navmesh
if (Result.IsSuccessful() || Result.IsPartial())
{
PinnedPath->UpdateLastRepathGoalLocation();
PinnedPath->DoneUpdating(RecalcRequest.Reason);
if (RecalcRequest.Reason == ENavPathUpdateType::NavigationChanged)
{
RegisterActivePath(PinnedPath);
}
}
else
{
PinnedPath->RePathFailed();
}
}
RepathRequests.Reset();
RepathRequests.Append(PostponedRequests);
}
}