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492 lines
13 KiB
C++
492 lines
13 KiB
C++
// Copyright 1998-2019 Epic Games, Inc. All Rights Reserved.
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#include "NavigationTestingActor.h"
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#include "NavigationSystem.h"
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#include "Engine/CollisionProfile.h"
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#include "EngineUtils.h"
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#if WITH_EDITOR
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#include "ObjectEditorUtils.h"
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#endif // WITH_EDITOR
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#include "NavMesh/NavTestRenderingComponent.h"
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#include "NavigationInvokerComponent.h"
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#include "NavMesh/RecastNavMesh.h"
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#include "Components/CapsuleComponent.h"
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#include "NavigationData.h"
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void FNavTestTickHelper::Tick(float DeltaTime)
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{
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#if WITH_EDITOR
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if (Owner.IsValid())
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{
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Owner->TickMe();
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}
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#endif // WITH_EDITOR
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}
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TStatId FNavTestTickHelper::GetStatId() const
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{
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RETURN_QUICK_DECLARE_CYCLE_STAT(FNavTestTickHelper, STATGROUP_Tickables);
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}
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ANavigationTestingActor::ANavigationTestingActor(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
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{
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#if WITH_EDITORONLY_DATA
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EdRenderComp = CreateDefaultSubobject<UNavTestRenderingComponent>(TEXT("EdRenderComp"));
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#if WITH_RECAST
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TickHelper = NULL;
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#endif // WITH_RECAST
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#endif // WITH_EDITORONLY_DATA
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bIsEditorOnlyActor = true;
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NavAgentProps.AgentRadius = 34.f;
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NavAgentProps.AgentHeight = 144.f;
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ShowStepIndex = -1;
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bShowNodePool = true;
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bShowBestPath = true;
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bShowDiffWithPreviousStep = false;
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bShouldBeVisibleInGame = false;
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TextCanvasOffset = FVector2D::ZeroVector;
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bGatherDetailedInfo = true;
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bDrawDistanceToWall = false;
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ClosestWallLocation = FNavigationSystem::InvalidLocation;
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OffsetFromCornersDistance = 0.f;
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QueryingExtent = FVector(DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL, DEFAULT_NAV_QUERY_EXTENT_HORIZONTAL, DEFAULT_NAV_QUERY_EXTENT_VERTICAL);
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CapsuleComponent = CreateDefaultSubobject<UCapsuleComponent>(TEXT("CollisionCylinder"));
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CapsuleComponent->InitCapsuleSize(NavAgentProps.AgentRadius, NavAgentProps.AgentHeight / 2);
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CapsuleComponent->SetCollisionProfileName(UCollisionProfile::NoCollision_ProfileName);
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CapsuleComponent->CanCharacterStepUpOn = ECB_No;
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CapsuleComponent->SetShouldUpdatePhysicsVolume(true);
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CapsuleComponent->SetCanEverAffectNavigation(false);
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RootComponent = CapsuleComponent;
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InvokerComponent = CreateDefaultSubobject<UNavigationInvokerComponent>(TEXT("InvokerComponent"));
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InvokerComponent->bAutoActivate = bActAsNavigationInvoker;
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PathObserver = FNavigationPath::FPathObserverDelegate::FDelegate::CreateUObject(this, &ANavigationTestingActor::OnPathEvent);
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}
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ANavigationTestingActor::~ANavigationTestingActor()
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{
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#if WITH_RECAST && WITH_EDITORONLY_DATA
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delete TickHelper;
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#endif // WITH_RECAST && WITH_EDITORONLY_DATA
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}
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void ANavigationTestingActor::BeginDestroy()
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{
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LastPath.Reset();
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if (OtherActor && OtherActor->OtherActor == this)
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{
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OtherActor->OtherActor = NULL;
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OtherActor->LastPath.Reset();
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}
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Super::BeginDestroy();
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}
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#if WITH_EDITOR
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void ANavigationTestingActor::PreEditChange(UProperty* PropertyThatWillChange)
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{
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static const FName NAME_OtherActor = GET_MEMBER_NAME_CHECKED(ANavigationTestingActor, OtherActor);
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if (PropertyThatWillChange && PropertyThatWillChange->GetFName() == NAME_OtherActor && OtherActor && OtherActor->OtherActor == this)
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{
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OtherActor->OtherActor = NULL;
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OtherActor->LastPath.Reset();
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LastPath.Reset();
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#if WITH_EDITORONLY_DATA
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OtherActor->EdRenderComp->MarkRenderStateDirty();
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EdRenderComp->MarkRenderStateDirty();
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#endif
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}
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Super::PreEditChange(PropertyThatWillChange);
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}
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void ANavigationTestingActor::PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent)
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{
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static const FName NAME_ShouldBeVisibleInGame = GET_MEMBER_NAME_CHECKED(ANavigationTestingActor, bShouldBeVisibleInGame);
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static const FName NAME_OtherActor = GET_MEMBER_NAME_CHECKED(ANavigationTestingActor, OtherActor);
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static const FName NAME_IsSearchStart = GET_MEMBER_NAME_CHECKED(ANavigationTestingActor, bSearchStart);
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static const FName NAME_InvokerComponent = GET_MEMBER_NAME_CHECKED(ANavigationTestingActor, InvokerComponent);
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Super::PostEditChangeProperty(PropertyChangedEvent);
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if (PropertyChangedEvent.Property)
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{
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const FName ChangedPropName = PropertyChangedEvent.Property->GetFName();
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const FName ChangedCategory = FObjectEditorUtils::GetCategoryFName(PropertyChangedEvent.Property);
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if (ChangedPropName == GET_MEMBER_NAME_CHECKED(FNavAgentProperties,AgentRadius) ||
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ChangedPropName == GET_MEMBER_NAME_CHECKED(FNavAgentProperties,AgentHeight))
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{
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MyNavData = NULL;
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UpdateNavData();
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CapsuleComponent->SetCapsuleSize(NavAgentProps.AgentRadius, NavAgentProps.AgentHeight/2);
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}
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else if (ChangedPropName == GET_MEMBER_NAME_CHECKED(ANavigationTestingActor,QueryingExtent))
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{
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UpdateNavData();
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UNavigationSystemV1* NavSys = FNavigationSystem::GetCurrent<UNavigationSystemV1>(GetWorld());
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if (NavSys)
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{
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FNavLocation NavLoc;
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bProjectedLocationValid = NavSys->ProjectPointToNavigation(GetActorLocation(), NavLoc, QueryingExtent, MyNavData);
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ProjectedLocation = NavLoc.Location;
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}
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}
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else if (ChangedPropName == NAME_ShouldBeVisibleInGame)
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{
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bHidden = !bShouldBeVisibleInGame;
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}
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else if (ChangedCategory == TEXT("Debug"))
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{
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#if WITH_EDITORONLY_DATA
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EdRenderComp->MarkRenderStateDirty();
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#endif
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}
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else if (ChangedCategory == TEXT("Query"))
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{
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if (bDrawDistanceToWall)
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{
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ClosestWallLocation = FindClosestWallLocation();
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}
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#if WITH_EDITORONLY_DATA
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else
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{
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EdRenderComp->MarkRenderStateDirty();
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}
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#endif
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}
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else if (ChangedCategory == TEXT("Pathfinding"))
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{
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if (ChangedPropName == NAME_OtherActor)
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{
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if (OtherActor != NULL)
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{
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ANavigationTestingActor* OtherActorsOldOtherActor = OtherActor->OtherActor;
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OtherActor->OtherActor = this;
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bSearchStart = !OtherActor->bSearchStart;
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#if WITH_EDITORONLY_DATA
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if (bSearchStart)
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{
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OtherActor->EdRenderComp->MarkRenderStateDirty();
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}
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else
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{
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EdRenderComp->MarkRenderStateDirty();
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}
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#endif
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if (OtherActorsOldOtherActor)
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{
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OtherActorsOldOtherActor->OtherActor = NULL;
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OtherActorsOldOtherActor->LastPath.Reset();
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#if WITH_EDITORONLY_DATA
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OtherActorsOldOtherActor->EdRenderComp->MarkRenderStateDirty();
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#endif
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}
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}
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}
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else if (ChangedPropName == NAME_IsSearchStart)
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{
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if (OtherActor != NULL)
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{
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OtherActor->bSearchStart = !bSearchStart;
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}
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}
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UpdatePathfinding();
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}
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else if (NAME_InvokerComponent == ChangedPropName)
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{
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InvokerComponent->SetActive(bActAsNavigationInvoker);
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}
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}
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}
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void ANavigationTestingActor::PostEditMove(bool bFinished)
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{
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Super::PostEditMove(bFinished);
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// project location to navmesh
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UNavigationSystemV1* NavSys = FNavigationSystem::GetCurrent<UNavigationSystemV1>(GetWorld());
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if (NavSys)
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{
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FNavLocation NavLoc;
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bProjectedLocationValid = NavSys->ProjectPointToNavigation(GetActorLocation(), NavLoc, QueryingExtent, MyNavData);
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ProjectedLocation = NavLoc.Location;
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if (bSearchStart || (OtherActor != NULL && OtherActor->bSearchStart))
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{
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UpdatePathfinding();
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}
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if (bDrawDistanceToWall)
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{
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ClosestWallLocation = FindClosestWallLocation();
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}
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}
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}
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void ANavigationTestingActor::PostLoad()
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{
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Super::PostLoad();
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InvokerComponent->bAutoActivate = bActAsNavigationInvoker;
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#if WITH_RECAST && WITH_EDITORONLY_DATA
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if (GIsEditor)
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{
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TickHelper = new FNavTestTickHelper();
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TickHelper->Owner = this;
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}
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#endif
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bHidden = !bShouldBeVisibleInGame;
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}
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void ANavigationTestingActor::TickMe()
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{
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UNavigationSystemV1* NavSys = FNavigationSystem::GetCurrent<UNavigationSystemV1>(GetWorld());
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if (NavSys && !NavSys->IsNavigationBuildInProgress())
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{
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#if WITH_RECAST && WITH_EDITORONLY_DATA
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delete TickHelper;
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TickHelper = NULL;
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#endif
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UpdatePathfinding();
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}
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}
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#endif // WITH_EDITOR
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void ANavigationTestingActor::OnPathUpdated(INavigationPathGenerator* PathGenerator)
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{
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}
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FVector ANavigationTestingActor::GetNavAgentLocation() const
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{
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return GetActorLocation();
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}
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void ANavigationTestingActor::UpdateNavData()
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{
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if (!MyNavData && GetWorld() && GetWorld()->GetNavigationSystem())
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{
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UNavigationSystemV1* NavSys = FNavigationSystem::GetCurrent<UNavigationSystemV1>(GetWorld());
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if (NavSys)
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{
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MyNavData = NavSys->GetNavDataForProps(NavAgentProps);
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}
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}
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}
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void ANavigationTestingActor::UpdatePathfinding()
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{
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PathfindingTime = 0.0f;
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PathCost = 0.0f;
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bPathSearchOutOfNodes = false;
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bPathIsPartial = false;
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bPathExist = false;
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LastPath.Reset();
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ShowStepIndex = -1;
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PathfindingSteps = 0;
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#if WITH_EDITORONLY_DATA
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DebugSteps.Reset();
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#endif
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UpdateNavData();
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if (bSearchStart == false && (OtherActor == NULL || OtherActor->bSearchStart == false))
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{
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#if WITH_EDITORONLY_DATA
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if (EdRenderComp)
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{
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EdRenderComp->MarkRenderStateDirty();
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}
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#endif // WITH_EDITORONLY_DATA
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return;
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}
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if (OtherActor == NULL)
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{
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ANavigationTestingActor* AlternativeOtherActor = NULL;
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for (TActorIterator<ANavigationTestingActor> It(GetWorld()); It; ++It)
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{
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ANavigationTestingActor* TestActor = *It;
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if (TestActor && TestActor != this)
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{
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if( TestActor->OtherActor == this )
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{
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OtherActor = TestActor;
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break;
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}
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// the other one doesn't have anything set - potential end for us
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else if (bSearchStart && TestActor->OtherActor == NULL)
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{
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AlternativeOtherActor = TestActor;
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}
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}
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}
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// if still empty maybe AlternativeOtherActor can fill in
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if (OtherActor == NULL && AlternativeOtherActor != NULL)
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{
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OtherActor = AlternativeOtherActor;
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AlternativeOtherActor->OtherActor = this;
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}
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}
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if (OtherActor)
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{
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if (bSearchStart)
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{
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SearchPathTo(OtherActor);
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}
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else if (OtherActor)
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{
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OtherActor->SearchPathTo(this);
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}
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}
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}
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FVector ANavigationTestingActor::FindClosestWallLocation() const
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{
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#if WITH_EDITORONLY_DATA
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if (EdRenderComp)
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{
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EdRenderComp->MarkRenderStateDirty();
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}
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#endif // WITH_EDITORONLY_DATA
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ARecastNavMesh* AsRecastNavMesh = Cast<ARecastNavMesh>(MyNavData);
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if (AsRecastNavMesh)
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{
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FVector TmpOutLocation = FNavigationSystem::InvalidLocation;
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const float Distance = AsRecastNavMesh->FindDistanceToWall(GetActorLocation(), UNavigationQueryFilter::GetQueryFilter(*MyNavData, this, FilterClass), FLT_MAX, &TmpOutLocation);
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return TmpOutLocation;
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}
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return FNavigationSystem::InvalidLocation;
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}
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void ANavigationTestingActor::SearchPathTo(ANavigationTestingActor* Goal)
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{
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#if WITH_EDITORONLY_DATA
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if (EdRenderComp)
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{
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EdRenderComp->MarkRenderStateDirty();
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}
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#endif // WITH_EDITORONLY_DATA
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if (Goal == NULL)
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{
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return;
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}
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UNavigationSystemV1* NavSys = FNavigationSystem::GetCurrent<UNavigationSystemV1>(GetWorld());
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if (NavSys == nullptr)
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{
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return;
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}
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ANavigationData* NavData = Cast<ANavigationData>(NavSys->GetNavDataForActor(*this));
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if (NavData == nullptr)
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{
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return;
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}
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const double StartTime = FPlatformTime::Seconds();
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FPathFindingQuery Query = BuildPathFindingQuery(Goal);
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if (bBacktracking)
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{
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FSharedConstNavQueryFilter NavQueryFilter = Query.QueryFilter
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? Query.QueryFilter
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: NavData->GetDefaultQueryFilter();
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FSharedNavQueryFilter NavigationFilterCopy = NavQueryFilter->GetCopy();
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NavigationFilterCopy->SetBacktrackingEnabled(true);
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Query.QueryFilter = NavigationFilterCopy;
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}
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EPathFindingMode::Type Mode = bUseHierarchicalPathfinding ? EPathFindingMode::Hierarchical : EPathFindingMode::Regular;
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FPathFindingResult Result = NavSys->FindPathSync(NavAgentProps, Query, Mode);
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const double EndTime = FPlatformTime::Seconds();
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const float Duration = (EndTime - StartTime);
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PathfindingTime = Duration * 1000000.0f; // in micro seconds [us]
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bPathIsPartial = Result.IsPartial();
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bPathExist = Result.IsSuccessful();
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bPathSearchOutOfNodes = bPathExist ? Result.Path->DidSearchReachedLimit() : false;
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LastPath = Result.Path;
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PathCost = bPathExist ? Result.Path->GetCost() : 0.0f;
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if (bPathExist)
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{
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LastPath->AddObserver(PathObserver);
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if (OffsetFromCornersDistance > 0.0f)
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{
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((FNavMeshPath*)LastPath.Get())->OffsetFromCorners(OffsetFromCornersDistance);
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}
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}
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#if WITH_RECAST && WITH_EDITORONLY_DATA
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if (bGatherDetailedInfo && !bUseHierarchicalPathfinding)
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{
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ARecastNavMesh* RecastNavMesh = Cast<ARecastNavMesh>(MyNavData);
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if (RecastNavMesh && RecastNavMesh->HasValidNavmesh())
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{
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PathfindingSteps = RecastNavMesh->DebugPathfinding(Query, DebugSteps);
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}
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}
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#endif
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}
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void ANavigationTestingActor::OnPathEvent(FNavigationPath* InvalidatedPath, ENavPathEvent::Type Event)
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{
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if (InvalidatedPath == NULL || InvalidatedPath != LastPath.Get())
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{
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return;
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}
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switch (Event)
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{
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case ENavPathEvent::Invalidated:
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{
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UpdatePathfinding();
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break;
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}
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case ENavPathEvent::RePathFailed:
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break;
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case ENavPathEvent::UpdatedDueToGoalMoved:
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case ENavPathEvent::UpdatedDueToNavigationChanged:
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{
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}
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break;
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}
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}
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FPathFindingQuery ANavigationTestingActor::BuildPathFindingQuery(const ANavigationTestingActor* Goal) const
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{
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check(Goal);
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if (MyNavData)
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{
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return FPathFindingQuery(this, *MyNavData, GetNavAgentLocation(), Goal->GetNavAgentLocation(), UNavigationQueryFilter::GetQueryFilter(*MyNavData, this, FilterClass));
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}
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return FPathFindingQuery();
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}
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