NavigationTestingActor.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"
#include "Stats/Stats.h"
#endif
#include "UObject/ObjectMacros.h"
#include "Templates/SubclassOf.h"
#include "GameFramework/Actor.h"
#include "AI/Navigation/NavigationTypes.h"
#include "AI/Navigation/NavAgentInterface.h"
#include "NavigationData.h"
#include "Tickable.h"
#include "AI/Navigation/NavPathObserverInterface.h"
#include "NavMesh/RecastNavMesh.h"
#include "NavigationTestingActor.generated.h"
 
class ANavigationTestingActor;
class UNavigationInvokerComponent;
 
struct FNavTestTickHelper : FTickableGameObject
{
    TWeakObjectPtr<ANavigationTestingActor> Owner;
 
    FNavTestTickHelper() : Owner(NULL) {}
    virtual void Tick(float DeltaTime);
    virtual bool IsTickable() const { return Owner.IsValid(); }
    virtual bool IsTickableInEditor() const { return true; }
    virtual TStatId GetStatId() const ;
};
 
UENUM()
namespace ENavCostDisplay
{
    enum Type : int
    {
        TotalCost,
        HeuristicOnly,
        RealCostOnly,
    };
}
 
UCLASS(hidecategories=(Object, Actor, Input, Rendering, Replication, HLOD, Cooking), showcategories=("Input|MouseInput", "Input|TouchInput"), Blueprintable, MinimalAPI)
class ANavigationTestingActor : public AActor, public INavAgentInterface, public INavPathObserverInterface
{
    GENERATED_UCLASS_BODY()
 
private:
    UPROPERTY()
    TObjectPtr<class UCapsuleComponent> CapsuleComponent;
 
#if WITH_EDITORONLY_DATA
    UPROPERTY()
    TObjectPtr<class UNavTestRenderingComponent> EdRenderComp;
#endif // WITH_EDITORONLY_DATA
 
    UPROPERTY(EditAnywhere, Category = Navigation, meta=(EditCondition="bActAsNavigationInvoker"))
    TObjectPtr<UNavigationInvokerComponent> InvokerComponent;
 
    UPROPERTY(EditAnywhere, Category = Navigation, meta=(InlineEditConditionToggle))
    uint32 bActAsNavigationInvoker : 1;
 
public:
 
    UPROPERTY(EditAnywhere, Category=Agent)
    FNavAgentProperties NavAgentProps;
 
    UPROPERTY(EditAnywhere, Category=Agent)
    FVector QueryingExtent;
 
    UPROPERTY(transient)
    TObjectPtr<ANavigationData> MyNavData;
 
    UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category=AgentStatus)
    FVector ProjectedLocation;
 
    UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category=AgentStatus)
    uint32 bProjectedLocationValid : 1;
 
    UPROPERTY(EditAnywhere, Category=Pathfinding)
    uint32 bSearchStart : 1;
 
    UPROPERTY(EditAnywhere, Category=Pathfinding, meta = (ClampMin = "0", UIMin = "0"))
    float CostLimitFactor;
 
    UPROPERTY(EditAnywhere, Category = Pathfinding, meta = (ClampMin = "0", UIMin = "0"))
    float MinimumCostLimit;
 
    UPROPERTY(EditAnywhere, Category = Pathfinding)
    uint32 bBacktracking : 1;
 
    UPROPERTY(EditAnywhere, Category=Pathfinding)
    uint32 bUseHierarchicalPathfinding : 1;
 
    UPROPERTY(EditAnywhere, Category=Pathfinding)
    uint32 bGatherDetailedInfo : 1;
 
    UPROPERTY(EditAnywhere, Category=Pathfinding)
    uint32 bRequireNavigableEndLocation : 1;
 
    UPROPERTY(EditAnywhere, Category=Query)
    uint32 bDrawDistanceToWall : 1;
 
    UPROPERTY(EditAnywhere, Category=Query)
    uint32 bDrawIfNavDataIsReadyInRadius : 1;
 
    UPROPERTY(EditAnywhere, Category=Query)
    uint32 bDrawIfNavDataIsReadyToQueryTargetActor : 1;
 
    UPROPERTY(EditAnywhere, Category=Query)
    uint32 bDrawRaycastToQueryTargetActor : 1;
 
    UPROPERTY(EditAnywhere, Category=Query)
    TObjectPtr<AActor> QueryTargetActor;
 
    UPROPERTY(EditAnywhere, Category=Debug)
    uint32 bShowNodePool : 1;
 
    UPROPERTY(EditAnywhere, Category=Debug)
    uint32 bShowBestPath : 1;
 
    UPROPERTY(EditAnywhere, Category=Debug)
    uint32 bShowDiffWithPreviousStep : 1;
 
    UPROPERTY(EditAnywhere, Category=Debug)
    uint32 bShouldBeVisibleInGame : 1;
 
    UPROPERTY(EditAnywhere, Category=Query)
    float RadiusUsedToValidateNavData = 0;
    
    UPROPERTY(EditAnywhere, Category=Debug)
    TEnumAsByte<ENavCostDisplay::Type> CostDisplayMode;
 
    UPROPERTY(EditAnywhere, Category=Debug)
    FVector2D TextCanvasOffset;
 
    UPROPERTY(transient, VisibleAnywhere, BlueprintReadOnly, Category=PathfindingStatus)
    uint32 bPathExist : 1;
 
    UPROPERTY(transient, VisibleAnywhere, BlueprintReadOnly, Category=PathfindingStatus)
    uint32 bPathIsPartial : 1;
    
    UPROPERTY(transient, VisibleAnywhere, BlueprintReadOnly, Category=PathfindingStatus)
    uint32 bPathSearchOutOfNodes : 1;
 
    UPROPERTY(transient, VisibleAnywhere, BlueprintReadOnly, Category=PathfindingStatus)
    float PathfindingTime;
 
    UPROPERTY(transient, VisibleAnywhere, BlueprintReadOnly, Category=PathfindingStatus)
    double PathCost;
 
    UPROPERTY(transient, VisibleAnywhere, BlueprintReadOnly, Category=PathfindingStatus)
    int32 PathfindingSteps;
 
    UPROPERTY(EditAnywhere, Category=Pathfinding)
    TObjectPtr<ANavigationTestingActor> OtherActor;
 
    UPROPERTY(EditAnywhere, Category=Query)
    TSubclassOf<class UNavigationQueryFilter> FilterClass;
 
    UPROPERTY(EditInstanceOnly, Category=Debug, meta=(ClampMin="-1", UIMin="-1"))
    int32 ShowStepIndex;
 
    UPROPERTY(EditAnywhere, Category=Pathfinding)
    float OffsetFromCornersDistance;
 
    FVector ClosestWallLocation;
    FVector RaycastHitLocation;
 
    bool bNavDataIsReadyInRadius;
    bool bNavDataIsReadyToQueryTargetActor;
    bool bRaycastToQueryTargetActorResult;
    bool bRaycastToQueryTargetEndsInCorridor;
 
#if WITH_RECAST && WITH_EDITORONLY_DATA
    TArray<struct FRecastDebugPathfindingData> DebugSteps;
 
    FNavTestTickHelper* TickHelper;
#endif
 
    FNavPathSharedPtr LastPath;
    FNavigationPath::FPathObserverDelegate::FDelegate PathObserver;
 
    NAVIGATIONSYSTEM_API virtual ~ANavigationTestingActor();
 
    NAVIGATIONSYSTEM_API virtual void BeginDestroy() override;
 
#if WITH_EDITOR
    NAVIGATIONSYSTEM_API virtual void PreEditChange(FProperty* PropertyThatWillChange) override;
    NAVIGATIONSYSTEM_API virtual void PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent) override;
    NAVIGATIONSYSTEM_API virtual void PostEditMove(bool bFinished) override;
    
    NAVIGATIONSYSTEM_API virtual void PostLoad() override;
    NAVIGATIONSYSTEM_API void TickMe();
#endif // WITH_EDITOR
 
    //~ Begin INavAgentInterface Interface
    virtual const FNavAgentProperties& GetNavAgentPropertiesRef() const override { return NavAgentProps; }
    NAVIGATIONSYSTEM_API virtual FVector GetNavAgentLocation() const override;
    virtual void GetMoveGoalReachTest(const AActor* MovingActor, const FVector& MoveOffset, FVector& GoalOffset, float& GoalRadius, float& GoalHalfHeight) const override {}
    //~ End INavAgentInterface Interface
 
    //~ Begin INavPathObserverInterface Interface
    virtual void OnPathUpdated(class INavigationPathGenerator* PathGenerator) override {};
    virtual void OnPathInvalid(class INavigationPathGenerator* PathGenerator) override {};
    virtual void OnPathFailed(class INavigationPathGenerator* PathGenerator) override {};
    //~ End INavPathObserverInterface Interface 
 
    NAVIGATIONSYSTEM_API void UpdateNavData();
    NAVIGATIONSYSTEM_API void UpdatePathfinding();
    NAVIGATIONSYSTEM_API virtual void SearchPathTo(ANavigationTestingActor* Goal);
 
    /*  Called when given path becomes invalid (via @see PathObserverDelegate)
     *  NOTE: InvalidatedPath doesn't have to be instance's current Path
     */
    NAVIGATIONSYSTEM_API void OnPathEvent(FNavigationPath* InvalidatedPath, ENavPathEvent::Type Event);
 
    // Virtual method to override if you want to customize the query being 
    // constructed for the path find (e.g. change the filter or add 
    // constraints/goal evaluators).
    NAVIGATIONSYSTEM_API virtual FPathFindingQuery BuildPathFindingQuery(const ANavigationTestingActor* Goal) const;
 
    class UCapsuleComponent* GetCapsuleComponent() const { return CapsuleComponent; }
#if WITH_EDITORONLY_DATA
    class UNavTestRenderingComponent* GetEdRenderComp() const { return EdRenderComp; }
#endif
 
protected:
    void UpdateLocalQueries();
    void UpdateTargetActorQueries();
 
    NAVIGATIONSYSTEM_API FVector FindClosestWallLocation() const;
    bool CheckIfNavDataIsReadyInRadius();
    bool CheckIfNavDataIsReadyToActor(const AActor* TargetActor);
    bool CheckRaycastToActor(const AActor* TargetActor, FVector& OutHitLocation, bool& bOutIsRaycastEndInCorridor);
    void OnQueryTargetActorTransformUpdated(USceneComponent* InRootComponent, EUpdateTransformFlags UpdateTransformFlags, ETeleportType Teleport);
};