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; }
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; }