void UEnvQueryGenerator_ProjectedPoints::ProjectAndFilterNavPoints(TArray<FVector>& Points, const ANavigationData* NavData) const
{
if (ProjectionData.TraceMode == EEnvQueryTrace::Navigation && NavData)
{
TSharedPtr<const FNavigationQueryFilter> NavigationFilter = UNavigationQueryFilter::GetQueryFilter(NavData, ProjectionData.NavigationFilter);
const ARecastNavMesh* NavMesh = Cast<const ARecastNavMesh>(NavData);
TArray<FNavigationProjectionWork> Workload;
Workload.Reserve(Points.Num());
if (ProjectionData.ProjectDown == ProjectionData.ProjectUp)
{
for (const auto& Point : Points)
{
Workload.Add(FNavigationProjectionWork(Point));
}
}
else
{
const FVector VerticalOffset = FVector(0, 0, (ProjectionData.ProjectUp - ProjectionData.ProjectDown) / 2);
for (const auto& Point : Points)
{
Workload.Add(FNavigationProjectionWork(Point + VerticalOffset));
}
}
const FVector ProjectionExtent(ProjectionData.ExtentX, ProjectionData.ExtentX, (ProjectionData.ProjectDown + ProjectionData.ProjectUp) / 2);
NavData->BatchProjectPoints(Workload, ProjectionExtent, NavigationFilter);
for (int32 PointIndex = Workload.Num() - 1; PointIndex >= 0; PointIndex--)
{
if (Workload[PointIndex].bResult == false)
{
Points.RemoveAt(PointIndex);
}
else
{
Points[PointIndex] = Workload[PointIndex].OutLocation.Location;
}
}
}
}
void UEnvQueryTest_Project::RunTest(FEnvQueryInstance& QueryInstance) const
{
BoolValue.BindData(QueryInstance.Owner.Get(), QueryInstance.QueryID);
bool bWantsProjected = BoolValue.GetValue();
UEnvQueryItemType_Point* ItemTypeCDO = QueryInstance.ItemType->GetDefaultObject<UEnvQueryItemType_Point>();
if (ItemTypeCDO == nullptr)
{
return;
}
if (ProjectionData.TraceMode == EEnvQueryTrace::Navigation)
{
const ANavigationData* NavData = FEQSHelpers::FindNavigationDataForQuery(QueryInstance);
if (NavData)
{
TSharedPtr<const FNavigationQueryFilter> NavigationFilter = UNavigationQueryFilter::GetQueryFilter(*NavData, ProjectionData.NavigationFilter);
TArray<FNavigationProjectionWork> Workload;
Workload.Reserve(QueryInstance.Items.Num());
const FVector VerticalOffset = (ProjectionData.ProjectDown == ProjectionData.ProjectUp) ?
FVector::ZeroVector : FVector(0, 0, (ProjectionData.ProjectUp - ProjectionData.ProjectDown) / 2);
for (int32 Idx = 0; Idx < QueryInstance.Items.Num(); Idx++)
{
if (QueryInstance.Items[Idx].IsValid())
{
const FVector& ItemLocation = GetItemLocation(QueryInstance, Idx);
Workload.Add(FNavigationProjectionWork(ItemLocation + VerticalOffset));
}
}
const FVector ProjectionExtent(ProjectionData.ExtentX, ProjectionData.ExtentX, (ProjectionData.ProjectDown + ProjectionData.ProjectUp) / 2);
NavData->BatchProjectPoints(Workload, ProjectionExtent, NavigationFilter);
int32 Idx = 0;
for (FEnvQueryInstance::ItemIterator It(this, QueryInstance); It; ++It, Idx++)
{
const bool bProjected = Workload[Idx].bResult;
if (bProjected)
{
ItemTypeCDO->SetItemNavLocation(It.GetItemData(), Workload[Idx].OutLocation);
}
It.SetScore(TestPurpose, FilterType, bProjected, bWantsProjected);
}
}
}
else if (ProjectionData.TraceMode == EEnvQueryTrace::Geometry)
{
TArray<FNavLocation> Workload;
TArray<uint8> TraceHits;
Workload.Reserve(QueryInstance.Items.Num());
for (int32 Idx = 0; Idx < QueryInstance.Items.Num(); Idx++)
{
if (QueryInstance.Items[Idx].IsValid())
{
const FVector& ItemLocation = GetItemLocation(QueryInstance, Idx);
Workload.Add(FNavLocation(ItemLocation));
}
}
FEQSHelpers::RunPhysProjection(QueryInstance.World, ProjectionData, Workload, TraceHits);
int32 Idx = 0;
for (FEnvQueryInstance::ItemIterator It(this, QueryInstance); It; ++It, Idx++)
{
const bool bProjected = TraceHits.IsValidIndex(Idx) && TraceHits[Idx];
if (bProjected)
{
ItemTypeCDO->SetItemNavLocation(It.GetItemData(), Workload[Idx]);
}
It.SetScore(TestPurpose, FilterType, bProjected, bWantsProjected);
}
}
}
void UEnvQueryTest_PathfindingBatch::RunTest(FEnvQueryInstance& QueryInstance) const
{
UObject* QueryOwner = QueryInstance.Owner.Get();
BoolValue.BindData(QueryOwner, QueryInstance.QueryID);
PathFromContext.BindData(QueryOwner, QueryInstance.QueryID);
SkipUnreachable.BindData(QueryOwner, QueryInstance.QueryID);
FloatValueMin.BindData(QueryOwner, QueryInstance.QueryID);
FloatValueMax.BindData(QueryOwner, QueryInstance.QueryID);
ScanRangeMultiplier.BindData(QueryOwner, QueryInstance.QueryID);
bool bWantsPath = BoolValue.GetValue();
bool bPathToItem = PathFromContext.GetValue();
bool bDiscardFailed = SkipUnreachable.GetValue();
float MinThresholdValue = FloatValueMin.GetValue();
float MaxThresholdValue = FloatValueMax.GetValue();
float RangeMultiplierValue = ScanRangeMultiplier.GetValue();
UNavigationSystem* NavSys = QueryInstance.World->GetNavigationSystem();
if (NavSys == nullptr)
{
return;
}
ANavigationData* NavData = FindNavigationData(*NavSys, QueryOwner);
ARecastNavMesh* NavMeshData = Cast<ARecastNavMesh>(NavData);
if (NavMeshData == nullptr)
{
return;
}
TArray<FVector> ContextLocations;
if (!QueryInstance.PrepareContext(Context, ContextLocations))
{
return;
}
TArray<FNavigationProjectionWork> TestPoints;
TArray<float> CollectDistanceSq;
CollectDistanceSq.Init(0.0f, ContextLocations.Num());
FSharedNavQueryFilter NavigationFilter = FilterClass != nullptr
? UNavigationQueryFilter::GetQueryFilter(*NavMeshData, FilterClass)->GetCopy()
: NavMeshData->GetDefaultQueryFilter()->GetCopy();
NavigationFilter->SetBacktrackingEnabled(!bPathToItem);
const dtQueryFilter* NavQueryFilter = ((const FRecastQueryFilter*)NavigationFilter->GetImplementation())->GetAsDetourQueryFilter();
{
// scope for perf timers
// can't use FEnvQueryInstance::ItemIterator yet, since it has built in scoring functionality
for (int32 ItemIdx = 0; ItemIdx < QueryInstance.Items.Num(); ItemIdx++)
{
if (QueryInstance.Items[ItemIdx].IsValid())
{
const FVector ItemLocation = GetItemLocation(QueryInstance, ItemIdx);
TestPoints.Add(FNavigationProjectionWork(ItemLocation));
for (int32 ContextIdx = 0; ContextIdx < ContextLocations.Num(); ContextIdx++)
{
const float TestDistanceSq = FVector::DistSquared(ItemLocation, ContextLocations[ContextIdx]);
CollectDistanceSq[ContextIdx] = FMath::Max(CollectDistanceSq[ContextIdx], TestDistanceSq);
}
}
}
NavMeshData->BatchProjectPoints(TestPoints, NavMeshData->GetDefaultQueryExtent(), NavigationFilter);
}
TArray<FRecastDebugPathfindingData> NodePoolData;
NodePoolData.SetNum(ContextLocations.Num());
{
// scope for perf timer
TArray<NavNodeRef> Polys;
for (int32 ContextIdx = 0; ContextIdx < ContextLocations.Num(); ContextIdx++)
{
const float MaxPathDistance = FMath::Sqrt(CollectDistanceSq[ContextIdx]) * RangeMultiplierValue;
Polys.Reset();
NodePoolData[ContextIdx].Flags = ERecastDebugPathfindingFlags::PathLength;
NavMeshData->GetPolysWithinPathingDistance(ContextLocations[ContextIdx], MaxPathDistance, Polys, NavigationFilter, nullptr, &NodePoolData[ContextIdx]);
}
}
int32 ProjectedItemIdx = 0;
if (GetWorkOnFloatValues())
{
NodePoolHelpers::PathParamFunc Func[] = { nullptr, NodePoolHelpers::GetPathCost, NodePoolHelpers::GetPathLength };
FEnvQueryInstance::ItemIterator It(this, QueryInstance);
for (It.IgnoreTimeLimit(); It; ++It, ProjectedItemIdx++)
{
for (int32 ContextIndex = 0; ContextIndex < ContextLocations.Num(); ContextIndex++)
{
const float PathValue = Func[TestMode](NodePoolData[ContextIndex], TestPoints[ProjectedItemIdx], NavQueryFilter);
It.SetScore(TestPurpose, FilterType, PathValue, MinThresholdValue, MaxThresholdValue);
if (bDiscardFailed && PathValue >= BIG_NUMBER)
{
It.ForceItemState(EEnvItemStatus::Failed);
}
}
}
}
else
{
FEnvQueryInstance::ItemIterator It(this, QueryInstance);
for (It.IgnoreTimeLimit(); It; ++It, ProjectedItemIdx++)
{
for (int32 ContextIndex = 0; ContextIndex < ContextLocations.Num(); ContextIndex++)
{
const bool bFoundPath = NodePoolHelpers::HasPath(NodePoolData[ContextIndex], TestPoints[ProjectedItemIdx]);
It.SetScore(TestPurpose, FilterType, bFoundPath, bWantsPath);
}
}
}
}
