RecastQueryFilter.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 "AI/Navigation/NavigationTypes.h"
#include "AI/Navigation/NavQueryFilter.h"
 
#if WITH_RECAST
 
#if UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_4
#include "Detour/DetourNavMesh.h"
#endif
#include "Detour/DetourNavMeshQuery.h"
 
#define RECAST_VERY_SMALL_AGENT_RADIUS 0.0f
 
class UNavigationSystemV1;
 
class FRecastQueryFilter : public INavigationQueryFilterInterface, public dtQueryFilter
{
public:
    NAVIGATIONSYSTEM_API FRecastQueryFilter(bool bIsVirtual = true);
    virtual ~FRecastQueryFilter(){}
 
    NAVIGATIONSYSTEM_API virtual void Reset() override;
 
    NAVIGATIONSYSTEM_API virtual void SetAreaCost(uint8 AreaType, float Cost) override;
    NAVIGATIONSYSTEM_API virtual void SetFixedAreaEnteringCost(uint8 AreaType, float Cost) override;
    NAVIGATIONSYSTEM_API virtual void SetExcludedArea(uint8 AreaType) override;
    NAVIGATIONSYSTEM_API virtual void SetAllAreaCosts(const float* CostArray, const int32 Count) override;
    NAVIGATIONSYSTEM_API virtual void GetAllAreaCosts(float* CostArray, float* FixedCostArray, const int32 Count) const override;
    NAVIGATIONSYSTEM_API virtual void SetBacktrackingEnabled(const bool bBacktracking) override;
    NAVIGATIONSYSTEM_API virtual bool IsBacktrackingEnabled() const override;
    NAVIGATIONSYSTEM_API virtual float GetHeuristicScale() const override;
    NAVIGATIONSYSTEM_API virtual bool IsEqual(const INavigationQueryFilterInterface* Other) const override;
    NAVIGATIONSYSTEM_API virtual void SetIncludeFlags(uint16 Flags) override;
    NAVIGATIONSYSTEM_API virtual uint16 GetIncludeFlags() const override;
    NAVIGATIONSYSTEM_API virtual void SetExcludeFlags(uint16 Flags) override;
    NAVIGATIONSYSTEM_API virtual uint16 GetExcludeFlags() const override;
    virtual FVector GetAdjustedEndLocation(const FVector& EndLocation) const override { return EndLocation; }
    NAVIGATIONSYSTEM_API virtual INavigationQueryFilterInterface* CreateCopy() const override;
 
    const dtQueryFilter* GetAsDetourQueryFilter() const { return this; }
 
    NAVIGATIONSYSTEM_API void SetIsVirtual(bool bIsVirtual);
 
    NAVIGATIONSYSTEM_API void SetShouldIgnoreClosedNodes(const bool bIgnoreClosed);
 
    //----------------------------------------------------------------------//
    // @note you might also want to override following functions from dtQueryFilter 
    // virtual bool passVirtualFilter(const dtPolyRef ref, const dtMeshTile* tile, const dtPoly* poly) const;
    // virtual FVector::FReal getVirtualCost(const FVector::FReal* pa, const FVector::FReal* pb, const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly, const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly, const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
};
 
struct FRecastSpeciaLinkFilter : public dtQuerySpecialLinkFilter
{
    FRecastSpeciaLinkFilter(UNavigationSystemV1* NavSystem, const UObject* Owner) : NavSys(NavSystem), SearchOwner(Owner), CachedOwnerOb(nullptr) {}
    NAVIGATIONSYSTEM_API virtual bool isLinkAllowed(const uint64 UserId) const override;
    NAVIGATIONSYSTEM_API virtual void initialize() override;
 
    UNavigationSystemV1* NavSys;
    FWeakObjectPtr SearchOwner;
    UObject* CachedOwnerOb;
};
 
#endif  // WITH_RECAST