void FNavMeshPath::DescribeSelfToVisLog(FVisualLogEntry* Snapshot) const
{
if (IsStringPulled())
{
// draw path points only for string pulled paths
Super::DescribeSelfToVisLog(Snapshot);
}
// draw corridor
#if WITH_RECAST
FVisualLogShapeElement CorridorPoly(EVisualLoggerShapeElement::Polygon);
CorridorPoly.SetColor(FColorList::Cyan);
CorridorPoly.Category = LogNavigation.GetCategoryName();
CorridorPoly.Points.Reserve(PathCorridor.Num() * 6);
const FVector CorridorOffset = NavigationDebugDrawing::PathOffset * 1.25f;
int32 NumAreaMark = 1;
ARecastNavMesh* NavMesh = Cast<ARecastNavMesh>(GetNavigationDataUsed());
NavMesh->BeginBatchQuery();
TArray<FVector> Verts;
for (int32 Idx = 0; Idx < PathCorridor.Num(); Idx++)
{
Verts.Reset();
NavMesh->GetPolyVerts(PathCorridor[Idx], Verts);
CorridorPoly.Points.Reset();
CorridorPoly.Points.Append(Verts);
Snapshot->ElementsToDraw.Add(CorridorPoly);
const uint8 AreaID = NavMesh->GetPolyAreaID(PathCorridor[Idx]);
const UClass* AreaClass = NavMesh->GetAreaClass(AreaID);
if (AreaClass && AreaClass != UNavigationSystem::GetDefaultWalkableArea())
{
FVector CenterPt = FVector::ZeroVector;
for (int32 VIdx = 0; VIdx < Verts.Num(); VIdx++)
{
CenterPt += Verts[VIdx];
}
CenterPt /= Verts.Num();
FVisualLogShapeElement AreaMarkElem(EVisualLoggerShapeElement::Segment);
AreaMarkElem.SetColor(FColorList::Orange);
AreaMarkElem.Category = LogNavigation.GetCategoryName();
AreaMarkElem.Thicknes = 2;
AreaMarkElem.Description = AreaClass->GetName();
AreaMarkElem.Points.Add(CenterPt + CorridorOffset);
AreaMarkElem.Points.Add(CenterPt + CorridorOffset + FVector(0,0,100.0f + NumAreaMark * 50.0f));
Snapshot->ElementsToDraw.Add(AreaMarkElem);
NumAreaMark = (NumAreaMark + 1) % 5;
}
}
NavMesh->FinishBatchQuery();
//Snapshot->ElementsToDraw.Add(CorridorElem);
#endif
}
void LogPathPartHelper(AActor* LogOwner, FNavMeshPath* NavMeshPath, int32 StartIdx, int32 EndIdx)
{
#if ENABLE_VISUAL_LOG && WITH_RECAST
ARecastNavMesh* NavMesh = Cast<ARecastNavMesh>(NavMeshPath->GetNavigationDataUsed());
if (NavMesh == NULL ||
!NavMeshPath->PathCorridor.IsValidIndex(StartIdx) ||
!NavMeshPath->PathCorridor.IsValidIndex(EndIdx))
{
return;
}
NavMesh->BeginBatchQuery();
FVector SegmentStart = NavMeshPath->GetPathPoints()[0].Location;
FVector SegmentEnd(FVector::ZeroVector);
if (StartIdx > 0)
{
NavMesh->GetPolyCenter(NavMeshPath->PathCorridor[StartIdx], SegmentStart);
}
for (int32 Idx = StartIdx + 1; Idx < EndIdx; Idx++)
{
NavMesh->GetPolyCenter(NavMeshPath->PathCorridor[Idx], SegmentEnd);
UE_VLOG_SEGMENT_THICK(LogOwner, LogCrowdFollowing, Log, SegmentStart, SegmentEnd, FColor::Yellow, 2, TEXT_EMPTY);
SegmentStart = SegmentEnd;
}
if (EndIdx == (NavMeshPath->PathCorridor.Num() - 1))
{
SegmentEnd = NavMeshPath->GetPathPoints()[1].Location;
}
else
{
NavMesh->GetPolyCenter(NavMeshPath->PathCorridor[EndIdx], SegmentEnd);
}
UE_VLOG_SEGMENT_THICK(LogOwner, LogCrowdFollowing, Log, SegmentStart, SegmentEnd, FColor::Yellow, 2, TEXT_EMPTY);
NavMesh->FinishBatchQuery();
#endif // ENABLE_VISUAL_LOG && WITH_RECAST
}
void UCrowdManager::DrawDebugPath(const dtCrowdAgent* CrowdAgent) const
{
ARecastNavMesh* NavMesh = Cast<ARecastNavMesh>(MyNavData);
if (NavMesh == NULL)
{
return;
}
NavMesh->BeginBatchQuery();
const dtPolyRef* Path = CrowdAgent->corridor.getPath();
TArray<FVector> Verts;
for (int32 Idx = 0; Idx < CrowdAgent->corridor.getPathCount(); Idx++)
{
Verts.Reset();
NavMesh->GetPolyVerts(Path[Idx], Verts);
uint16 PolyFlags = 0;
uint16 AreaFlags = 0;
NavMesh->GetPolyFlags(Path[Idx], PolyFlags, AreaFlags);
const FColor PolyColor = AreaFlags != 1 ? CrowdDebugDrawing::Path : CrowdDebugDrawing::PathSpecial;
for (int32 VertIdx = 0; VertIdx < Verts.Num(); VertIdx++)
{
const FVector Pt0 = Verts[VertIdx];
const FVector Pt1 = Verts[(VertIdx + 1) % Verts.Num()];
DrawDebugLine(GetWorld(), Pt0 + CrowdDebugDrawing::Offset * 0.5f, Pt1 + CrowdDebugDrawing::Offset * 0.5f, PolyColor, false
, /*LifeTime*/-1.f, /*DepthPriority*/0
, /*Thickness*/CrowdDebugDrawing::LineThickness);
}
}
NavMesh->FinishBatchQuery();
}
void UGameplayDebuggingComponent::ServerCollectNavmeshData_Implementation(FVector_NetQuantize10 TargetLocation)
{
#if WITH_RECAST
UNavigationSystem* NavSys = UNavigationSystem::GetCurrent(GetWorld());
ARecastNavMesh* NavData = GetNavData();
if (NavData == NULL)
{
NavmeshRepData.Empty();
return;
}
const double Timer1 = FPlatformTime::Seconds();
TArray<int32> Indices;
int32 TileX = 0;
int32 TileY = 0;
const int32 DeltaX[] = { 0, 1, 1, 0, -1, -1, -1, 0, 1 };
const int32 DeltaY[] = { 0, 0, 1, 1, 1, 0, -1, -1, -1 };
NavData->BeginBatchQuery();
// add 3x3 neighborhood of target
int32 TargetTileX = 0;
int32 TargetTileY = 0;
NavData->GetNavMeshTileXY(TargetLocation, TargetTileX, TargetTileY);
for (int32 i = 0; i < ARRAY_COUNT(DeltaX); i++)
{
const int32 NeiX = TargetTileX + DeltaX[i];
const int32 NeiY = TargetTileY + DeltaY[i];
if (FMath::Abs(NeiX - TileX) > 1 || FMath::Abs(NeiY - TileY) > 1)
{
NavData->GetNavMeshTilesAt(NeiX, NeiY, Indices);
}
}
const FNavDataConfig& NavConfig = NavData->GetConfig();
FColor NavMeshColors[RECAST_MAX_AREAS];
NavMeshColors[RECAST_DEFAULT_AREA] = NavConfig.Color.DWColor() > 0 ? NavConfig.Color : NavMeshRenderColor_RecastMesh;
for (uint8 i = 0; i < RECAST_DEFAULT_AREA; ++i)
{
NavMeshColors[i] = NavData->GetAreaIDColor(i);
}
TArray<uint8> UncompressedBuffer;
FMemoryWriter ArWriter(UncompressedBuffer);
int32 NumIndices = Indices.Num();
ArWriter << NumIndices;
for (int32 i = 0; i < NumIndices; i++)
{
FRecastDebugGeometry NavMeshGeometry;
NavMeshGeometry.bGatherPolyEdges = false;
NavMeshGeometry.bGatherNavMeshEdges = false;
NavData->GetDebugGeometry(NavMeshGeometry, Indices[i]);
NavMeshDebug::FTileData TileData;
const FBox TileBoundingBox = NavData->GetNavMeshTileBounds(Indices[i]);
TileData.Location = TileBoundingBox.GetCenter();
for (int32 VertIndex = 0; VertIndex < NavMeshGeometry.MeshVerts.Num(); ++VertIndex)
{
const NavMeshDebug::FShortVector SV = NavMeshGeometry.MeshVerts[VertIndex] - TileData.Location;
TileData.Verts.Add(SV);
}
for (int32 iArea = 0; iArea < RECAST_MAX_AREAS; iArea++)
{
const int32 NumTris = NavMeshGeometry.AreaIndices[iArea].Num();
if (NumTris)
{
NavMeshDebug::FAreaPolys AreaPolys;
for (int32 AreaIndicesIndex = 0; AreaIndicesIndex < NavMeshGeometry.AreaIndices[iArea].Num(); ++AreaIndicesIndex)
{
AreaPolys.Indices.Add(NavMeshGeometry.AreaIndices[iArea][AreaIndicesIndex]);
}
AreaPolys.Color = NavMeshColors[iArea];
TileData.Areas.Add(AreaPolys);
}
}
TileData.Links.Reserve(NavMeshGeometry.OffMeshLinks.Num());
for (int32 iLink = 0; iLink < NavMeshGeometry.OffMeshLinks.Num(); iLink++)
{
const FRecastDebugGeometry::FOffMeshLink& SrcLink = NavMeshGeometry.OffMeshLinks[iLink];
NavMeshDebug::FOffMeshLink Link;
Link.Left = SrcLink.Left - TileData.Location;
Link.Right = SrcLink.Right - TileData.Location;
Link.Color = ((SrcLink.Direction && SrcLink.ValidEnds) || (SrcLink.ValidEnds & FRecastDebugGeometry::OMLE_Left)) ? DarkenColor(NavMeshColors[SrcLink.AreaID]) : NavMeshRenderColor_OffMeshConnectionInvalid;
Link.PackedFlags.Radius = (int8)SrcLink.Radius;
Link.PackedFlags.Direction = SrcLink.Direction;
Link.PackedFlags.ValidEnds = SrcLink.ValidEnds;
TileData.Links.Add(Link);
}
ArWriter << TileData;
}
NavData->FinishBatchQuery();
const double Timer2 = FPlatformTime::Seconds();
const int32 HeaderSize = sizeof(int32);
NavmeshRepData.Init(0, HeaderSize + FMath::TruncToInt(1.1f * UncompressedBuffer.Num()));
const int32 UncompressedSize = UncompressedBuffer.Num();
int32 CompressedSize = NavmeshRepData.Num() - HeaderSize;
uint8* DestBuffer = NavmeshRepData.GetData();
FMemory::Memcpy(DestBuffer, &UncompressedSize, HeaderSize);
DestBuffer += HeaderSize;
FCompression::CompressMemory((ECompressionFlags)(COMPRESS_ZLIB | COMPRESS_BiasMemory),
(void*)DestBuffer, CompressedSize, (void*)UncompressedBuffer.GetData(), UncompressedSize);
NavmeshRepData.SetNum(CompressedSize + HeaderSize, false);
const double Timer3 = FPlatformTime::Seconds();
UE_LOG(LogGDT, Log, TEXT("Preparing navmesh data: %.1fkB took %.3fms (collect: %.3fms + compress %d%%: %.3fms)"),
NavmeshRepData.Num() / 1024.0f, 1000.0f * (Timer3 - Timer1),
1000.0f * (Timer2 - Timer1),
FMath::TruncToInt(100.0f * NavmeshRepData.Num() / UncompressedBuffer.Num()), 1000.0f * (Timer3 - Timer2));
#endif
if (World && World->GetNetMode() != NM_DedicatedServer)
{
OnRep_UpdateNavmesh();
}
}
