예제 #1
0
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()));
        }
    }
}
예제 #2
0
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;
}
예제 #3
0
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;
}