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;
}
bool AAIController::PreparePathfinding(FPathFindingQuery& Query, const FVector& Dest, AActor* Goal, bool bUsePathfinding, TSubclassOf<class UNavigationQueryFilter> FilterClass)
{
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
if (NavSys)
{
ANavigationData* NavData = bUsePathfinding ?
NavSys->GetNavDataForProps(GetNavAgentPropertiesRef()) :
NavSys->GetAbstractNavData();
FVector GoalLocation = Dest;
if (Goal)
{
const INavAgentInterface* NavGoal = Cast<const INavAgentInterface>(Goal);
if (NavGoal)
{
const FVector Offset = NavGoal->GetMoveGoalOffset(this);
GoalLocation = FRotationTranslationMatrix(Goal->GetActorRotation(), NavGoal->GetNavAgentLocation()).TransformPosition(Offset);
}
else
{
GoalLocation = Goal->GetActorLocation();
}
}
Query = FPathFindingQuery(this, NavData, GetNavAgentLocation(), GoalLocation, UNavigationQueryFilter::GetQueryFilter(NavData, FilterClass));
if (PathFollowingComponent)
{
PathFollowingComponent->OnPathfindingQuery(Query);
}
return true;
}
return false;
}