118 lines
4.8 KiB
C++
118 lines
4.8 KiB
C++
// Copyright Epic Games, Inc. All Rights Reserved.
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#pragma once
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#include "CoreMinimal.h"
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#include "SimpleCellGrid.h"
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class ANavigationData;
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struct FNavigationPath;
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/**
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* Local navigation grid - simple 2D grid used for navigation.
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*
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* Cell can be either free or marked as obstacle, connected with 8 neighbors (no walls in between)
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*
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* When used as source for UNavLocalGridManager, each obstacle should define its own grid data.
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* Corresponding category in gameplay debugger is hidden by default, please adjust project configs to change that.
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*
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* TODO: helpers for marking different basic shapes
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* TODO: serialization (with maps?)
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* TODO: FNavigationPath support?
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*/
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struct FNavLocalGridData : public TSimpleCellGrid<uint8, MAX_uint8>
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{
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FNavLocalGridData() : GridId(0) {}
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AIMODULE_API FNavLocalGridData(const FVector& Center, float Extent2D);
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AIMODULE_API FNavLocalGridData(const FVector& Center, const FVector2D& Extent2D);
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AIMODULE_API FNavLocalGridData(const TArray<FNavLocalGridData>& SourceGrids);
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/** mark single cell as obstacle */
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AIMODULE_API void MarkPointObstacle(const FVector& Center);
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/** mark box (AABB or rotated) shape as obstacle */
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AIMODULE_API void MarkBoxObstacle(const FVector& Center, const FVector& Extent, const FQuat& Quat = FQuat::Identity);
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/** mark capsule shape as obstacle */
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AIMODULE_API void MarkCapsuleObstacle(const FVector& Center, float Radius, float HalfHeight);
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/** set height of bounds, if not set: ProjectCells will use height of default query box */
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AIMODULE_API void SetHeight(float ExtentZ);
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/** get unique Id of grid */
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const int32 GetGridId() const
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{
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return GridId;
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}
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/** check if there's an obstacle at cell coords */
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bool HasObstacleUnsafe(int32 LocationX, int32 LocationY) const
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{
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return GetCellAtIndexUnsafe(GetCellIndexUnsafe(LocationX, LocationY)) > 0;
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}
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/** convert cell index to global world coords with origin in (0,0,0) */
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FIntVector GetGlobalCoords(int32 CellIdx) const
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{
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return FIntVector(GetCellCoordX(CellIdx) + OriginWorldCoord.X, GetCellCoordY(CellIdx) + OriginWorldCoord.Y, OriginWorldCoord.Z);
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}
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/** convert global world coords to cell index, return -1 if outside */
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AIMODULE_API int32 GetCellIndexFromGlobalCoords2D(const FIntVector& WorldCoords) const;
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/** convert cell index to world location using projected heights */
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FVector GetProjectedCellCenter(int32 CellIdx) const
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{
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return GetProjectedCellCenter(GetCellCoordX(CellIdx), GetCellCoordY(CellIdx));
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}
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/** convert cell coords on grid to world location using projected heights */
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FVector GetProjectedCellCenter(int32 LocationX, int32 LocationY) const
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{
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const FVector WorldCoords = GetWorldCellCenter(LocationX, LocationY);
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return FVector(WorldCoords.X, WorldCoords.Y, CellZ[GetCellIndexUnsafe(LocationX, LocationY)]);
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}
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/** creates path points from navigation path going through grid
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* @param SourcePath - [in] full navigation path
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* @param EntryLocation - [in] location of agent
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* @param EntrySegmentStart - [in] current move segment on path
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* @param PathPointsInside - [out] points inside grid
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* @param NextSegmentStart - [out] next move segment on path after leaving grid or -1 if path ends inside
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*/
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AIMODULE_API void FindPathForMovingAgent(const FNavigationPath& SourcePath, const FVector& EntryLocation, int32 EntrySegmentStart, TArray<FVector>& PathPointsInside, int32& NextSegmentStart) const;
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/** create path points from StartCoords to EndCoord, returns false when failed */
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AIMODULE_API bool FindPath(const FIntVector& StartCoords, const FIntVector& EndCoords, TArray<FIntVector>& PathCoords) const;
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/** project cells on navigation data and marks failed ones as obstacles */
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AIMODULE_API void ProjectCells(const ANavigationData& NavData);
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//////////////////////////////////////////////////////////////////////////
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// FGraphAStar: TGraph
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typedef int32 FNodeRef;
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int32 GetNeighbourCount(FNodeRef NodeRef) const { return 8; }
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bool IsValidRef(FNodeRef NodeRef) const { return IsValidIndex(NodeRef); }
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AIMODULE_API FNodeRef GetNeighbour(const FNodeRef NodeRef, const int32 NeiIndex) const;
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//////////////////////////////////////////////////////////////////////////
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protected:
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friend class UNavLocalGridManager;
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TArray<FVector::FReal> CellZ;
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double LastAccessTime;
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/** convert PathIndices into pruned PathCoords */
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AIMODULE_API void PostProcessPath(const FIntVector& StartCoords, const FIntVector& EndCoords, const TArray<int32>& PathIndices, TArray<FIntVector>& PathCoords) const;
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/** check if line trace between local coords on grid hits any obstacles, doesn't validate coords! */
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AIMODULE_API bool IsLineObstructed(const FIntVector& StartCoords, const FIntVector& EndCoords) const;
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/** set unique Id of grid */
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AIMODULE_API void SetGridId(int32 NewId);
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private:
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int32 GridId;
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FIntVector OriginWorldCoord;
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};
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