NavMeshPath.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 "UObject/ObjectMacros.h"
#include "UObject/Object.h"
#include "NavigationPath.h"
//#include "NavigationPath.generated.h"
 
#define RECAST_STRAIGHTPATH_OFFMESH_CONNECTION 0x04
 
struct FNavMeshNodeFlags
{
    uint8 PathFlags;
    uint8 Area;
    uint16 AreaFlags;
 
    FNavMeshNodeFlags() : PathFlags(0), Area(0), AreaFlags(0) {}
    FNavMeshNodeFlags(const uint32 Flags) : PathFlags((uint8)Flags), Area((uint8)(Flags >> 8)), AreaFlags((uint16)(Flags >> 16)) {}
    uint32 Pack() const { return PathFlags | ((uint32)Area << 8) | ((uint32)AreaFlags << 16); }
    bool IsNavLink() const { return (PathFlags & RECAST_STRAIGHTPATH_OFFMESH_CONNECTION) != 0; }
 
    FNavMeshNodeFlags& AddAreaFlags(const uint16 InAreaFlags)
    {
        AreaFlags = (AreaFlags | InAreaFlags);
        return *this;
    }
};
 
 
struct FNavMeshPath : public FNavigationPath
{
    typedef FNavigationPath Super;
 
    NAVIGATIONSYSTEM_API FNavMeshPath();
    NAVIGATIONSYSTEM_API ~FNavMeshPath();
 
    NAVIGATIONSYSTEM_API FNavMeshPath(const FNavMeshPath&);
    NAVIGATIONSYSTEM_API FNavMeshPath(FNavMeshPath&& Other);
    NAVIGATIONSYSTEM_API FNavMeshPath& operator=(const FNavMeshPath& Other);
    NAVIGATIONSYSTEM_API FNavMeshPath& operator=(FNavMeshPath&& Other);
 
    inline void SetWantsStringPulling(const bool bNewWantsStringPulling) { bWantsStringPulling = bNewWantsStringPulling; }
    inline bool WantsStringPulling() const { return bWantsStringPulling; }
    inline bool IsStringPulled() const { return bStringPulled; }
 
    NAVIGATIONSYSTEM_API void PerformStringPulling(const FVector& StartLoc, const FVector& EndLoc);
 
    inline void SetWantsPathCorridor(const bool bNewWantsPathCorridor) { bWantsPathCorridor = bNewWantsPathCorridor; }
    inline bool WantsPathCorridor() const { return bWantsPathCorridor; }
 
    inline const TArray<FNavigationPortalEdge>& GetPathCorridorEdges() const { return bCorridorEdgesGenerated ? PathCorridorEdges : GeneratePathCorridorEdges(); }
    inline void SetPathCorridorEdges(const TArray<FNavigationPortalEdge>& InPathCorridorEdges) { PathCorridorEdges = InPathCorridorEdges; bCorridorEdgesGenerated = true; }
 
    inline void OnPathCorridorUpdated() { bCorridorEdgesGenerated = false; }
 
    NAVIGATIONSYSTEM_API virtual void DebugDraw(const ANavigationData* NavData, const FColor PathColor, UCanvas* Canvas, const bool bPersistent, const float LifeTime, const uint32 NextPathPointIndex = 0) const override;
 
    NAVIGATIONSYSTEM_API bool ContainsWithSameEnd(const FNavMeshPath* Other) const;
 
    NAVIGATIONSYSTEM_API void OffsetFromCorners(FVector::FReal Distance);
 
    NAVIGATIONSYSTEM_API void ApplyFlags(int32 NavDataFlags);
 
    NAVIGATIONSYSTEM_API virtual void ResetForRepath() override;
 
    NAVIGATIONSYSTEM_API bool GetNodeFlags(int32 NodeIdx, FNavMeshNodeFlags& Flags) const;
 
    virtual FVector::FReal GetCostFromNode(NavNodeRef PathNode) const override { return GetCostFromIndex(PathCorridor.Find(PathNode) + 1); }
 
    virtual FVector::FReal GetCostFromIndex(int32 PathPointIndex) const override
    {
        FVector::FReal TotalCost = 0.f;
        const FVector::FReal* Cost = PathCorridorCost.GetData();
        for (int32 PolyIndex = PathPointIndex; PolyIndex < PathCorridorCost.Num(); ++PolyIndex, ++Cost)
        {
            TotalCost += *Cost;
        }
 
        return TotalCost;
    }
 
    inline FVector::FReal GetTotalPathLength() const
    {
        return bStringPulled ? GetStringPulledLength(0) : GetPathCorridorLength(0);
    }
 
    inline int32 GetNodeRefIndex(const NavNodeRef NodeRef) const { return PathCorridor.Find(NodeRef); }
 
    virtual bool ContainsNode(NavNodeRef NodeRef) const override { return PathCorridor.Contains(NodeRef); }
 
    virtual bool ContainsCustomLink(FNavLinkId UniqueLinkId) const override { return CustomNavLinkIds.Contains(UniqueLinkId); }
    virtual bool ContainsAnyCustomLink() const override { return CustomNavLinkIds.Num() > 0; }
 
    NAVIGATIONSYSTEM_API bool IsPathSegmentANavLink(const int32 PathSegmentStartIndex) const;
 
    NAVIGATIONSYSTEM_API virtual bool DoesIntersectBox(const FBox& Box, uint32 StartingIndex = 0, int32* IntersectingSegmentIndex = NULL, FVector* AgentExtent = NULL) const override;
    NAVIGATIONSYSTEM_API virtual bool DoesIntersectBox(const FBox& Box, const FVector& AgentLocation, uint32 StartingIndex = 0, int32* IntersectingSegmentIndex = NULL, FVector* AgentExtent = NULL) const override;
    NAVIGATIONSYSTEM_API virtual FVector GetSegmentDirection(uint32 SegmentEndIndex) const override;
 
    NAVIGATIONSYSTEM_API void Invert();
 
private:
    NAVIGATIONSYSTEM_API bool DoesPathIntersectBoxImplementation(const FBox& Box, const FVector& StartLocation, uint32 StartingIndex, int32* IntersectingSegmentIndex, FVector* AgentExtent) const;
    NAVIGATIONSYSTEM_API void InternalResetNavMeshPath();
 
public:
 
#if ENABLE_VISUAL_LOG
    NAVIGATIONSYSTEM_API virtual void DescribeSelfToVisLog(struct FVisualLogEntry* Snapshot) const override;
    NAVIGATIONSYSTEM_API virtual FString GetDescription() const override;
#endif // ENABLE_VISUAL_LOG
 
protected:
    NAVIGATIONSYSTEM_API FVector::FReal GetStringPulledLength(const int32 StartingPoint) const;
 
    NAVIGATIONSYSTEM_API FVector::FReal GetPathCorridorLength(const int32 StartingEdge) const;
 
    NAVIGATIONSYSTEM_API const TArray<FNavigationPortalEdge>& GeneratePathCorridorEdges() const;
 
public:
 
    TArray<NavNodeRef> PathCorridor;
 
    TArray<FVector::FReal> PathCorridorCost;
 
    UE_DEPRECATED(5.3, "LinkIds are now based on FNavLinkId. Use CustomNavLinkIds instead. CustomLinkIds array is no longer populated or used in the engine")
    TArray<uint32> CustomLinkIds;
 
    TArray<FNavLinkId> CustomNavLinkIds;
 
private:
    mutable TArray<FNavigationPortalEdge> PathCorridorEdges;
 
    mutable uint32 bCorridorEdgesGenerated : 1;
 
public:
    uint32 bDynamic : 1;
 
protected:
    uint32 bStringPulled : 1;
 
    uint32 bWantsStringPulling : 1;
 
    uint32 bWantsPathCorridor : 1;
 
public:
    static NAVIGATIONSYSTEM_API const FNavPathType Type;
};