NavLocalGridData.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "CoreMinimal.h"
#include "SimpleCellGrid.h"
 
class ANavigationData;
struct FNavigationPath;
 
struct FNavLocalGridData : public TSimpleCellGrid<uint8, MAX_uint8>
{
    FNavLocalGridData() : GridId(0) {}
    AIMODULE_API FNavLocalGridData(const FVector& Center, float Extent2D);
    AIMODULE_API FNavLocalGridData(const FVector& Center, const FVector2D& Extent2D);
    AIMODULE_API FNavLocalGridData(const TArray<FNavLocalGridData>& SourceGrids);
 
    AIMODULE_API void MarkPointObstacle(const FVector& Center);
 
    AIMODULE_API void MarkBoxObstacle(const FVector& Center, const FVector& Extent, const FQuat& Quat = FQuat::Identity);
 
    AIMODULE_API void MarkCapsuleObstacle(const FVector& Center, float Radius, float HalfHeight);
 
    AIMODULE_API void SetHeight(float ExtentZ);
 
    const int32 GetGridId() const
    {
        return GridId; 
    }
 
    bool HasObstacleUnsafe(int32 LocationX, int32 LocationY) const
    {
        return GetCellAtIndexUnsafe(GetCellIndexUnsafe(LocationX, LocationY)) > 0;
    }
 
    FIntVector GetGlobalCoords(int32 CellIdx) const
    {
        return FIntVector(GetCellCoordX(CellIdx) + OriginWorldCoord.X, GetCellCoordY(CellIdx) + OriginWorldCoord.Y, OriginWorldCoord.Z); 
    }
 
    AIMODULE_API int32 GetCellIndexFromGlobalCoords2D(const FIntVector& WorldCoords) const;
 
    FVector GetProjectedCellCenter(int32 CellIdx) const 
    {
        return GetProjectedCellCenter(GetCellCoordX(CellIdx), GetCellCoordY(CellIdx));
    }
 
    FVector GetProjectedCellCenter(int32 LocationX, int32 LocationY) const
    {
        const FVector WorldCoords = GetWorldCellCenter(LocationX, LocationY);
        return FVector(WorldCoords.X, WorldCoords.Y, CellZ[GetCellIndexUnsafe(LocationX, LocationY)]);
    }
 
    AIMODULE_API void FindPathForMovingAgent(const FNavigationPath& SourcePath, const FVector& EntryLocation, int32 EntrySegmentStart, TArray<FVector>& PathPointsInside, int32& NextSegmentStart) const;
 
    AIMODULE_API bool FindPath(const FIntVector& StartCoords, const FIntVector& EndCoords, TArray<FIntVector>& PathCoords) const;
 
    AIMODULE_API 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); }
    AIMODULE_API FNodeRef GetNeighbour(const FNodeRef NodeRef, const int32 NeiIndex) const;
 
protected:
    friend class UNavLocalGridManager;
    TArray<FVector::FReal> CellZ;
    double LastAccessTime;
 
    AIMODULE_API void PostProcessPath(const FIntVector& StartCoords, const FIntVector& EndCoords, const TArray<int32>& PathIndices, TArray<FIntVector>& PathCoords) const;
 
    AIMODULE_API bool IsLineObstructed(const FIntVector& StartCoords, const FIntVector& EndCoords) const;
 
    AIMODULE_API void SetGridId(int32 NewId);
 
private:
    int32 GridId;
    FIntVector OriginWorldCoord;
};