CrowdFollowingComponent.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "CoreMinimal.h"
#include "UObject/ObjectMacros.h"
#include "UObject/WeakInterfacePtr.h"
#include "EngineDefines.h"
#include "AITypes.h"
#include "Navigation/PathFollowingComponent.h"
#include "Navigation/CrowdAgentInterface.h"
#include "AI/Navigation/NavigationAvoidanceTypes.h"
#include "CrowdFollowingComponent.generated.h"
 
class INavLinkCustomInterface;
class IRVOAvoidanceInterface;
class UCrowdManager;
 
namespace ECrowdAvoidanceQuality
{
    enum Type
    {
        Low,
        Medium,
        Good,
        High,
    };
}
 
enum class ECrowdSimulationState : uint8
{
    Enabled,
    ObstacleOnly, // Disabled, avoided by others
    Disabled, // Disabled, ignored by others
};
 
UCLASS(BlueprintType, MinimalAPI)
class UCrowdFollowingComponent : public UPathFollowingComponent, public ICrowdAgentInterface
{
    GENERATED_UCLASS_BODY()
 
    AIMODULE_API virtual void BeginDestroy() override;
 
    // ICrowdAgentInterface BEGIN
    AIMODULE_API virtual FVector GetCrowdAgentLocation() const override;
    AIMODULE_API virtual FVector GetCrowdAgentVelocity() const override;
    AIMODULE_API virtual void GetCrowdAgentCollisions(float& CylinderRadius, float& CylinderHalfHeight) const override;
    AIMODULE_API virtual float GetCrowdAgentMaxSpeed() const override;
    AIMODULE_API virtual int32 GetCrowdAgentAvoidanceGroup() const override;
    AIMODULE_API virtual int32 GetCrowdAgentGroupsToAvoid() const override;
    AIMODULE_API virtual int32 GetCrowdAgentGroupsToIgnore() const override;
    // ICrowdAgentInterface END
 
    // PathFollowingComponent BEGIN
    AIMODULE_API virtual void Initialize() override;
    AIMODULE_API virtual void Cleanup() override;
    AIMODULE_API virtual void AbortMove(const UObject& Instigator, FPathFollowingResultFlags::Type AbortFlags, FAIRequestID RequestID = FAIRequestID::CurrentRequest, EPathFollowingVelocityMode VelocityMode = EPathFollowingVelocityMode::Reset) override;
    AIMODULE_API virtual void PauseMove(FAIRequestID RequestID = FAIRequestID::CurrentRequest, EPathFollowingVelocityMode VelocityMode = EPathFollowingVelocityMode::Reset) override;
    AIMODULE_API virtual void ResumeMove(FAIRequestID RequestID = FAIRequestID::CurrentRequest) override;
    AIMODULE_API virtual FVector GetMoveFocus(bool bAllowStrafe) const override;
    AIMODULE_API virtual void OnLanded() override;
    AIMODULE_API virtual void FinishUsingCustomLink(INavLinkCustomInterface* CustomNavLink) override;
    AIMODULE_API virtual void OnPathFinished(const FPathFollowingResult& Result) override;
    AIMODULE_API virtual void OnPathUpdated() override;
    AIMODULE_API virtual void OnPathfindingQuery(FPathFindingQuery& Query) override;
    virtual int32 GetCurrentPathElement() const override { return LastPathPolyIndex; }
    AIMODULE_API virtual void OnNavigationInitDone() override;
    // PathFollowingComponent END
 
    AIMODULE_API void UpdateCrowdAgentParams() const;
 
    AIMODULE_API virtual void ApplyCrowdAgentVelocity(const FVector& NewVelocity, const FVector& DestPathCorner, bool bTraversingLink, bool bIsNearEndOfPath);
    
    AIMODULE_API virtual void ApplyCrowdAgentPosition(const FVector& NewPosition);
 
    UFUNCTION(BlueprintCallable, Category = "Crowd")
    AIMODULE_API virtual void SuspendCrowdSteering(bool bSuspend);
 
    AIMODULE_API virtual void SetCrowdSimulationState(ECrowdSimulationState NewState);
 
    AIMODULE_API virtual void OnNavNodeChanged(NavNodeRef NewPolyRef, NavNodeRef PrevPolyRef, int32 CorridorSize);
 
    AIMODULE_API void SetCrowdAnticipateTurns(bool bEnable, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdObstacleAvoidance(bool bEnable, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdSeparation(bool bEnable, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdOptimizeVisibility(bool bEnable, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdOptimizeTopology(bool bEnable, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdPathOffset(bool bEnable, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdSlowdownAtGoal(bool bEnable, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdSeparationWeight(float Weight, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdCollisionQueryRange(float Range, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdPathOptimizationRange(float Range, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdAvoidanceQuality(ECrowdAvoidanceQuality::Type Quality, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdAvoidanceRangeMultiplier(float Multiplier, bool bUpdateAgent = true);
    AIMODULE_API void SetCrowdAffectFallingVelocity(bool bEnable);
    AIMODULE_API void SetCrowdRotateToVelocity(bool bEnable);
    AIMODULE_API void SetAvoidanceGroup(int32 GroupFlags, bool bUpdateAgent = true);
    AIMODULE_API void SetGroupsToAvoid(int32 GroupFlags, bool bUpdateAgent = true);
    AIMODULE_API void SetGroupsToIgnore(int32 GroupFlags, bool bUpdateAgent = true);
 
    inline bool IsCrowdSimulationEnabled() const { return SimulationState == ECrowdSimulationState::Enabled; }
    inline bool IsCrowdSimulatioSuspended() const { return bSuspendCrowdSimulation; }
    inline bool IsCrowdAnticipateTurnsEnabled() const { return bEnableAnticipateTurns; }
    inline bool IsCrowdObstacleAvoidanceEnabled() const { return bEnableObstacleAvoidance; }
    inline bool IsCrowdSeparationEnabled() const { return bEnableSeparation; }
    inline bool IsCrowdOptimizeVisibilityEnabled() const { return bEnableOptimizeVisibility;  }
    inline bool IsCrowdOptimizeTopologyEnabled() const { return bEnableOptimizeTopology; }
    inline bool IsCrowdPathOffsetEnabled() const { return bEnablePathOffset; }
    inline bool IsCrowdSlowdownAtGoalEnabled() const { return bEnableSlowdownAtGoal; }
    inline bool IsCrowdAffectFallingVelocityEnabled() const { return bAffectFallingVelocity; }
    inline bool IsCrowdRotateToVelocityEnabled() const { return bRotateToVelocity; }
 
    inline ECrowdSimulationState GetCrowdSimulationState() const { return SimulationState; }
    inline bool IsCrowdSimulationActive() const { return IsCrowdSimulationEnabled() && !IsCrowdSimulatioSuspended(); }
    inline bool IsCrowdAnticipateTurnsActive() const { return IsCrowdAnticipateTurnsEnabled() && !IsCrowdSimulatioSuspended(); }
    inline bool IsCrowdObstacleAvoidanceActive() const { return IsCrowdObstacleAvoidanceEnabled() && !IsCrowdSimulatioSuspended(); }
    inline bool IsCrowdSeparationActive() const { return IsCrowdSeparationEnabled() && !IsCrowdSimulatioSuspended(); }
    inline bool IsCrowdOptimizeTopologyActive() const { return IsCrowdOptimizeTopologyEnabled() && !IsCrowdSimulatioSuspended(); }
 
    inline float GetCrowdSeparationWeight() const { return SeparationWeight; }
    inline float GetCrowdCollisionQueryRange() const { return CollisionQueryRange; }
    inline float GetCrowdPathOptimizationRange() const { return PathOptimizationRange; }
    inline ECrowdAvoidanceQuality::Type GetCrowdAvoidanceQuality() const { return AvoidanceQuality; }
    inline float GetCrowdAvoidanceRangeMultiplier() const { return AvoidanceRangeMultiplier; }
    AIMODULE_API int32 GetAvoidanceGroup() const;
    AIMODULE_API int32 GetGroupsToAvoid() const;
    AIMODULE_API int32 GetGroupsToIgnore() const;
 
    AIMODULE_API virtual void GetDebugStringTokens(TArray<FString>& Tokens, TArray<EPathFollowingDebugTokens::Type>& Flags) const override;
#if ENABLE_VISUAL_LOG
    AIMODULE_API virtual void DescribeSelfToVisLog(struct FVisualLogEntry* Snapshot) const override;
#endif // ENABLE_VISUAL_LOG
 
    UE_DEPRECATED_FORGAME(4.16, "Use ApplyCrowdAgentVelocity function with bIsNearEndOfPath param instead.")
    virtual void ApplyCrowdAgentVelocity(const FVector& NewVelocity, const FVector& DestPathCorner, bool bTraversingLink) {}
 
    AIMODULE_API void UpdateDestinationForMovingGoal(const FVector& NewDestination);
 
protected:
 
    TWeakInterfacePtr<IRVOAvoidanceInterface> AvoidanceInterface;
 
public:
    UPROPERTY()
    FVector CrowdAgentMoveDirection;
 
protected:
#if WITH_EDITORONLY_DATA
    UPROPERTY()
    FNavAvoidanceMask AvoidanceGroup_DEPRECATED;
 
    UPROPERTY()
    FNavAvoidanceMask GroupsToAvoid_DEPRECATED;
 
    UPROPERTY()
    FNavAvoidanceMask GroupsToIgnore_DEPRECATED;
#endif
 
    uint8 bAffectFallingVelocity : 1;
 
    uint8 bRotateToVelocity : 1;
 
    uint8 bUpdateDirectMoveVelocity : 1;
 
    uint8 bRegisteredWithCrowdSimulation : 1;
 
    uint8 bSuspendCrowdSimulation : 1;
 
    uint8 bEnableAnticipateTurns : 1;
    uint8 bEnableObstacleAvoidance : 1;
    uint8 bEnableSeparation : 1;
    uint8 bEnableOptimizeVisibility : 1;
    uint8 bEnableOptimizeTopology : 1;
    uint8 bEnablePathOffset : 1;
    uint8 bEnableSlowdownAtGoal : 1;
 
    uint8 bFinalPathPart : 1;
 
    uint8 bCanCheckMovingTooFar : 1;
 
    uint8 bCanUpdatePathPartInTick : 1;
 
    uint8 bCheckMovementAngle : 1;
 
    uint8 bEnableSimulationReplanOnResume : 1;
 
    TEnumAsByte<ECrowdAvoidanceQuality::Type> AvoidanceQuality;
    ECrowdSimulationState SimulationState;
 
    float SeparationWeight;
    float CollisionQueryRange;
    float PathOptimizationRange;
 
    float AvoidanceRangeMultiplier;
 
    int32 PathStartIndex;
 
    int32 LastPathPolyIndex;
 
    // PathFollowingComponent BEGIN
    AIMODULE_API virtual int32 DetermineStartingPathPoint(const FNavigationPath* ConsideredPath) const override;
    AIMODULE_API virtual void SetMoveSegment(int32 SegmentStartIndex) override;
    AIMODULE_API virtual void UpdatePathSegment() override;
    AIMODULE_API virtual void FollowPathSegment(float DeltaTime) override;
    AIMODULE_API virtual bool ShouldCheckPathOnResume() const override;
    AIMODULE_API virtual bool IsOnPath() const override;
    AIMODULE_API virtual bool UpdateMovementComponent(bool bForce) override;
    AIMODULE_API virtual void Reset() override;
    // PathFollowingComponent END
 
    AIMODULE_API void SwitchToNextPathPart();
    AIMODULE_API bool ShouldSwitchPathPart(int32 CorridorSize) const;
    AIMODULE_API bool HasMovedDuringPause() const;
    AIMODULE_API void UpdateCachedDirections(const FVector& NewVelocity, const FVector& NextPathCorner, bool bTraversingLink);
 
    AIMODULE_API virtual bool ShouldTrackMovingGoal(FVector& OutGoalLocation) const;
    
    AIMODULE_API void RegisterCrowdAgent();
 
    friend UCrowdManager;
};