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Addition of a minimum CostLimit value to FPathFindingQuery::ComputeCostLimitFromHeuristic()

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Exposing the minimum CostLimit parameter in NavigationTestingActor
Renaming MaxCost to CostLimit
[at]Guillaume.Guay [at]Maxime.Mercier
#jira UE-82572


#ROBOMERGE-SOURCE: CL 10055783 via CL 10055784
#ROBOMERGE-BOT: (v565-10026848)

[CL 10055786 by aris theophanidis in Main branch]
This commit is contained in:
aris theophanidis
2019-11-06 10:31:29 -05:00
parent c8b82bdd81
commit d1e11102ca
14 changed files with 66 additions and 58 deletions
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12
Engine/Source/Runtime/NavigationSystem/Private/NavMesh/PImplRecastNavMesh.cpp
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@@ -788,7 +788,7 @@ ENavigationQueryResult::Type FPImplRecastNavMesh::FindPath(const FVector& StartL
}
// @TODONAV
ENavigationQueryResult::Type FPImplRecastNavMesh::FindPath(const FVector& StartLoc, const FVector& EndLoc, const float MaxCost, FNavMeshPath& Path, const FNavigationQueryFilter& InQueryFilter, const UObject* Owner) const
ENavigationQueryResult::Type FPImplRecastNavMesh::FindPath(const FVector& StartLoc, const FVector& EndLoc, const float CostLimit, FNavMeshPath& Path, const FNavigationQueryFilter& InQueryFilter, const UObject* Owner) const
{
// temporarily disabling this check due to it causing too much "crashes"
// @todo but it needs to be back at some point since it realy checks for a buggy setup
@@ -826,7 +826,7 @@ ENavigationQueryResult::Type FPImplRecastNavMesh::FindPath(const FVector& StartL
// get path corridor
dtQueryResult PathResult;
const dtStatus FindPathStatus = NavQuery.findPath(StartPolyID, EndPolyID, &RecastStartPos.X, &RecastEndPos.X, MaxCost, QueryFilter, PathResult, 0);
const dtStatus FindPathStatus = NavQuery.findPath(StartPolyID, EndPolyID, &RecastStartPos.X, &RecastEndPos.X, CostLimit, QueryFilter, PathResult, 0);
// check for special case, where path has not been found, and starting polygon
// was the one closest to the target
@@ -897,9 +897,9 @@ ENavigationQueryResult::Type FPImplRecastNavMesh::TestPath(const FVector& StartL
// get path corridor
dtQueryResult PathResult;
const float MaxCost = FLT_MAX;
const float CostLimit = FLT_MAX;
const dtStatus FindPathStatus = NavQuery.findPath(StartPolyID, EndPolyID,
&RecastStartPos.X, &RecastEndPos.X, MaxCost, QueryFilter, PathResult, 0);
&RecastStartPos.X, &RecastEndPos.X, CostLimit, QueryFilter, PathResult, 0);
if (NumVisitedNodes)
{
@@ -1277,7 +1277,7 @@ static void StorePathfindingDebugStep(const dtNavMeshQuery& NavQuery, const dtNa
}
}
int32 FPImplRecastNavMesh::DebugPathfinding(const FVector& StartLoc, const FVector& EndLoc, const float MaxCost, const FNavigationQueryFilter& Filter, const UObject* Owner, TArray<FRecastDebugPathfindingData>& Steps)
int32 FPImplRecastNavMesh::DebugPathfinding(const FVector& StartLoc, const FVector& EndLoc, const float CostLimit, const FNavigationQueryFilter& Filter, const UObject* Owner, TArray<FRecastDebugPathfindingData>& Steps)
{
int32 NumSteps = 0;
@@ -1299,7 +1299,7 @@ int32 FPImplRecastNavMesh::DebugPathfinding(const FVector& StartLoc, const FVect
return NumSteps;
}
dtStatus status = NavQuery.initSlicedFindPath(StartPolyID, EndPolyID, &RecastStartPos.X, &RecastEndPos.X, MaxCost, QueryFilter);
dtStatus status = NavQuery.initSlicedFindPath(StartPolyID, EndPolyID, &RecastStartPos.X, &RecastEndPos.X, CostLimit, QueryFilter);
while (dtStatusInProgress(status))
{
StorePathfindingDebugStep(NavQuery, DetourNavMesh, Steps);