AvoidanceManager.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#if UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_4
#include "CoreMinimal.h"
#endif
#include "Stats/Stats.h"
#include "UObject/ObjectMacros.h"
#include "UObject/Object.h"
#include "Engine/EngineTypes.h"
#include "Misc/CoreMisc.h"
#include "UObject/ScriptMacros.h"
#include "AvoidanceManager.generated.h"
 
class INavEdgeProviderInterface;
class IRVOAvoidanceInterface;
class UAvoidanceManager;
class UMovementComponent;
class UCharacterMovementComponent;
 
DECLARE_CYCLE_STAT_EXTERN(TEXT("Avoidance Time"),STAT_AI_ObstacleAvoidance,STATGROUP_AI, );
 
class UAvoidanceManager;
 
USTRUCT()
struct FNavAvoidanceData
{
    GENERATED_USTRUCT_BODY()
 
    
    FVector Center;
 
    FVector Velocity;
 
    float RemainingTimeToLive;
 
    float Radius;
 
    float HalfHeight;
 
    float Weight;
 
    double OverrideWeightTime;
 
    int32 GroupMask;
 
    int32 GroupsToAvoid;
 
    int32 GroupsToIgnore;
 
    float TestRadius2D;
 
    FNavAvoidanceData() {}
    FNavAvoidanceData(UAvoidanceManager* Manager, IRVOAvoidanceInterface* AvoidanceComp);
 
    void Init(UAvoidanceManager* Avoidance, const FVector& InCenter, float InRadius, float InHalfHeight,
        const FVector& InVelocity, float InWeight = 0.5f,
        int32 InGroupMask = 1, int32 InGroupsToAvoid = 0xffffffff, int32 InGroupsToIgnore = 0,
        float InTestRadius2D = 500.0f);
 
    inline bool ShouldBeIgnored() const
    {
        return (RemainingTimeToLive <= 0.0f);
    }
 
    inline bool ShouldIgnoreGroup(int32 OtherGroupMask) const
    {
        return ((GroupsToAvoid& OtherGroupMask) == 0) || ((GroupsToIgnore & OtherGroupMask) != 0);
    }
};
 
struct FVelocityAvoidanceCone
{
    FPlane ConePlane[2];            //Left and right cone planes - these should point in toward each other. Technically, this is a convex hull, it's just unbounded.
};
 
UCLASS(config=Engine, Blueprintable, MinimalAPI)
class UAvoidanceManager : public UObject, public FSelfRegisteringExec
{
    GENERATED_UCLASS_BODY()
        
    
    UPROPERTY(EditAnywhere, Category="Avoidance", config, meta=(ClampMin = "0.0"))
    float DefaultTimeToLive;
 
    UPROPERTY(EditAnywhere, Category="Avoidance", config, meta=(ClampMin = "0.0"))
    float LockTimeAfterAvoid;
 
    UPROPERTY(EditAnywhere, Category="Avoidance", config, meta=(ClampMin = "0.0"))
    float LockTimeAfterClean;
 
    UPROPERTY(EditAnywhere, Category="Avoidance", config, meta=(ClampMin = "0.0"))
    float DeltaTimeToPredict;
 
    UPROPERTY(EditAnywhere, Category="Avoidance", config, meta=(ClampMin = "0.0"))
    float ArtificialRadiusExpansion;
 
    UPROPERTY()
    float TestHeightDifference_DEPRECATED;
 
    UPROPERTY(EditAnywhere, Category="Avoidance", config, meta=(ClampMin = "0.0"))
    float HeightCheckMargin;
 
    UFUNCTION(BlueprintCallable, Category="AI")
    ENGINE_API int32 GetObjectCount();
 
    UFUNCTION(BlueprintCallable, Category="AI")
    ENGINE_API int32 GetNewAvoidanceUID();
 
    UFUNCTION(BlueprintCallable, Category="AI")
    ENGINE_API bool RegisterMovementComponent(class UMovementComponent* MovementComp, float AvoidanceWeight = 0.5f);
 
    ENGINE_API bool RegisterMovementComponent(UCharacterMovementComponent* MovementComp, float AvoidanceWeight = 0.5f);
 
    FNavAvoidanceData* GetAvoidanceObjectForUID(int32 AvoidanceUID) { return AvoidanceObjects.Find(AvoidanceUID); }
    const FNavAvoidanceData* GetAvoidanceObjectForUID(int32 AvoidanceUID) const { return AvoidanceObjects.Find(AvoidanceUID); }
 
    UFUNCTION(BlueprintCallable, Category="AI")
    ENGINE_API FVector GetAvoidanceVelocityForComponent(UMovementComponent* MovementComp);
 
    ENGINE_API FVector GetAvoidanceVelocityForComponent(UCharacterMovementComponent* MovementComp);
 
    ENGINE_API FVector GetAvoidanceVelocityIgnoringUID(const FNavAvoidanceData& AvoidanceData, float DeltaTime, int32 IgnoreThisUID);
 
    ENGINE_API FVector GetAvoidanceVelocity(const FNavAvoidanceData& AvoidanceData, float DeltaTime);
 
    ENGINE_API void UpdateRVO(UMovementComponent* MovementComp);
 
    ENGINE_API void UpdateRVO(UCharacterMovementComponent* MovementComp);
 
    ENGINE_API void OverrideToMaxWeight(int32 AvoidanceUID, float Duration);
 
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
    ENGINE_API bool IsDebugOnForUID(int32 AvoidanceUID);
    ENGINE_API bool IsDebugOnForAll();
    ENGINE_API bool IsDebugEnabled(int32 AvoidanceUID);
    ENGINE_API void AvoidanceDebugForUID(int32 AvoidanceUID, bool TurnOn);
    ENGINE_API void AvoidanceDebugForAll(bool TurnOn);
    static ENGINE_API void AvoidanceSystemToggle(bool TurnOn);
 
    ENGINE_API void HandleToggleDebugAll( const TCHAR* Cmd, FOutputDevice& Ar );
    ENGINE_API void HandleToggleAvoidance( const TCHAR* Cmd, FOutputDevice& Ar );
#endif
 
    ENGINE_API void SetNavEdgeProvider(INavEdgeProviderInterface* InEdgeProvider);
 
    ENGINE_API void RemoveAvoidanceObject(const int32 AvoidanceUID);
 
    bool IsAutoPurgeEnabled() const { return bAutoPurgeOutdatedObjects; }
 
protected:
    //~ Begin FExec Interface
    ENGINE_API virtual bool Exec_Dev(UWorld* Inworld,const TCHAR* Cmd,FOutputDevice& Ar) override;
    //~ End FExec Interface
 
    FTimerHandle TimerHandle_RemoveOutdatedObjects;
 
    ENGINE_API void RemoveOutdatedObjects();
 
    ENGINE_API void RequestUpdateTimer();
 
    ENGINE_API void UpdateRVO_Internal(int32 AvoidanceUID, const FNavAvoidanceData& AvoidanceData);
 
    ENGINE_API FVector GetAvoidanceVelocity_Internal(const FNavAvoidanceData& AvoidanceData, float DeltaTime, int32 *IgnoreThisUID = NULL);
 
    TMap<int32, FNavAvoidanceData> AvoidanceObjects;
 
    TArray<int32> NewKeyPool;
 
    TArray<FVelocityAvoidanceCone> AllCones;
 
    TWeakObjectPtr<UObject> EdgeProviderOb;
    INavEdgeProviderInterface* EdgeProviderInterface;
 
    uint32 bRequestedUpdateTimer : 1;
 
    uint32 bAutoPurgeOutdatedObjects : 1;
 
    UE_DEPRECATED(5.3, "Please use bAutoPurgeOutdatedObjects instead.")
    uint32 bAutoPurceOutdatedObjects : 1;
 
#if !(UE_BUILD_SHIPPING || UE_BUILD_TEST)
    TArray<int32> DebugUIDs;
    bool bDebugAll;
    
    static ENGINE_API bool bSystemActive;
#endif
};