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; }