You've already forked UnrealEngineUWP
mirror of
https://github.com/izzy2lost/UnrealEngineUWP.git
synced 2026-03-26 18:15:20 -07:00
0f0464a30e
#rnx #rb none #ROBOMERGE-OWNER: ryan.durand #ROBOMERGE-AUTHOR: ryan.durand #ROBOMERGE-SOURCE: CL 10869210 via CL 10869511 via CL 10869900 #ROBOMERGE-BOT: (v613-10869866) [CL 10870549 by ryan durand in Main branch]
118 lines
4.6 KiB
C++
118 lines
4.6 KiB
C++
// Copyright Epic Games, Inc. All Rights Reserved.
|
|
|
|
#pragma once
|
|
|
|
#include "CoreMinimal.h"
|
|
#include "SimpleCellGrid.h"
|
|
|
|
class ANavigationData;
|
|
struct FNavigationPath;
|
|
|
|
/**
|
|
* Local navigation grid - simple 2D grid used for navigation.
|
|
*
|
|
* Cell can be either free or marked as obstacle, connected with 8 neighbors (no walls in between)
|
|
*
|
|
* When used as source for UNavLocalGridManager, each obstacle should define its own grid data.
|
|
* Corresponding category in gameplay debugger is hidden by default, please adjust project configs to change that.
|
|
*
|
|
* TODO: helpers for marking different basic shapes
|
|
* TODO: serialization (with maps?)
|
|
* TODO: FNavigationPath support?
|
|
*/
|
|
struct AIMODULE_API FNavLocalGridData : public TSimpleCellGrid<uint8, MAX_uint8>
|
|
{
|
|
FNavLocalGridData() : GridId(0) {}
|
|
FNavLocalGridData(const FVector& Center, float Extent2D);
|
|
FNavLocalGridData(const FVector& Center, const FVector2D& Extent2D);
|
|
FNavLocalGridData(const TArray<FNavLocalGridData>& SourceGrids);
|
|
|
|
/** mark single cell as obstacle */
|
|
void MarkPointObstacle(const FVector& Center);
|
|
|
|
/** mark box (AABB or rotated) shape as obstacle */
|
|
void MarkBoxObstacle(const FVector& Center, const FVector& Extent, const FQuat& Quat = FQuat::Identity);
|
|
|
|
/** mark capsule shape as obstacle */
|
|
void MarkCapsuleObstacle(const FVector& Center, float Radius, float HalfHeight);
|
|
|
|
/** set height of bounds, if not set: ProjectCells will use height of default query box */
|
|
void SetHeight(float ExtentZ);
|
|
|
|
/** get unique Id of grid */
|
|
const int32 GetGridId() const
|
|
{
|
|
return GridId;
|
|
}
|
|
|
|
/** check if there's an obstacle at cell coords */
|
|
bool HasObstacleUnsafe(int32 LocationX, int32 LocationY) const
|
|
{
|
|
return GetCellAtIndexUnsafe(GetCellIndexUnsafe(LocationX, LocationY)) > 0;
|
|
}
|
|
|
|
/** convert cell index to global world coords with origin in (0,0,0) */
|
|
FIntVector GetGlobalCoords(int32 CellIdx) const
|
|
{
|
|
return FIntVector(GetCellCoordX(CellIdx) + OriginWorldCoord.X, GetCellCoordY(CellIdx) + OriginWorldCoord.Y, OriginWorldCoord.Z);
|
|
}
|
|
|
|
/** convert global world coords to cell index, return -1 if outside */
|
|
int32 GetCellIndexFromGlobalCoords2D(const FIntVector& WorldCoords) const;
|
|
|
|
/** convert cell index to world location using projected heights */
|
|
FVector GetProjectedCellCenter(int32 CellIdx) const
|
|
{
|
|
return GetProjectedCellCenter(GetCellCoordX(CellIdx), GetCellCoordY(CellIdx));
|
|
}
|
|
|
|
/** convert cell coords on grid to world location using projected heights */
|
|
FVector GetProjectedCellCenter(int32 LocationX, int32 LocationY) const
|
|
{
|
|
const FVector WorldCoords = GetWorldCellCenter(LocationX, LocationY);
|
|
return FVector(WorldCoords.X, WorldCoords.Y, CellZ[GetCellIndexUnsafe(LocationX, LocationY)]);
|
|
}
|
|
|
|
/** creates path points from navigation path going through grid
|
|
* @param SourcePath - [in] full navigation path
|
|
* @param EntryLocation - [in] location of agent
|
|
* @param EntrySegmentStart - [in] current move segment on path
|
|
* @param PathPointsInside - [out] points inside grid
|
|
* @param NextSegmentStart - [out] next move segment on path after leaving grid or -1 if path ends inside
|
|
*/
|
|
void FindPathForMovingAgent(const FNavigationPath& SourcePath, const FVector& EntryLocation, int32 EntrySegmentStart, TArray<FVector>& PathPointsInside, int32& NextSegmentStart) const;
|
|
|
|
/** create path points from StartCoords to EndCoord, returns false when failed */
|
|
bool FindPath(const FIntVector& StartCoords, const FIntVector& EndCoords, TArray<FIntVector>& PathCoords) const;
|
|
|
|
/** project cells on navigation data and marks failed ones as obstacles */
|
|
void ProjectCells(const ANavigationData& NavData);
|
|
|
|
//////////////////////////////////////////////////////////////////////////
|
|
// FGraphAStar: TGraph
|
|
typedef int32 FNodeRef;
|
|
|
|
int32 GetNeighbourCount(FNodeRef NodeRef) const { return 8; }
|
|
bool IsValidRef(FNodeRef NodeRef) const { return IsValidIndex(NodeRef); }
|
|
FNodeRef GetNeighbour(const FNodeRef NodeRef, const int32 NeiIndex) const;
|
|
//////////////////////////////////////////////////////////////////////////
|
|
|
|
protected:
|
|
friend class UNavLocalGridManager;
|
|
TArray<float> CellZ;
|
|
float LastAccessTime;
|
|
|
|
/** convert PathIndices into pruned PathCoords */
|
|
void PostProcessPath(const FIntVector& StartCoords, const FIntVector& EndCoords, const TArray<int32>& PathIndices, TArray<FIntVector>& PathCoords) const;
|
|
|
|
/** check if line trace between local coords on grid hits any obstacles, doesn't validate coords! */
|
|
bool IsLineObstructed(const FIntVector& StartCoords, const FIntVector& EndCoords) const;
|
|
|
|
/** set unique Id of grid */
|
|
void SetGridId(int32 NewId);
|
|
|
|
private:
|
|
int32 GridId;
|
|
FIntVector OriginWorldCoord;
|
|
};
|