#include <NavLocalGridData.h>

Inheritance diagram for FNavLocalGridData:

Public Types
typedef int32	FNodeRef

Public Types inherited from TSimpleCellGrid< uint8, MAX_uint8 >
typedef uint8	FCellType

Public Member Functions
	FNavLocalGridData ()

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

bool	HasObstacleUnsafe (int32 LocationX, int32 LocationY) const

FIntVector	GetGlobalCoords (int32 CellIdx) const

AIMODULE_API int32	GetCellIndexFromGlobalCoords2D (const FIntVector &WorldCoords) const

FVector	GetProjectedCellCenter (int32 CellIdx) const

FVector	GetProjectedCellCenter (int32 LocationX, int32 LocationY) const

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)

int32	GetNeighbourCount (FNodeRef NodeRef) const

bool	IsValidRef (FNodeRef NodeRef) const

AIMODULE_API FNodeRef	GetNeighbour (const FNodeRef NodeRef, const int32 NeiIndex) const

Public Member Functions inherited from TSimpleCellGrid< uint8, MAX_uint8 >
	TSimpleCellGrid ()

bool	Init (const float InCellSize, const FBox &Bounds)

bool	Init (const float InCellSize, const FGridSize2D &InGridSize, const FVector &InOrigin, const float VerticalBoundSize)

void	SetVerticalInterval (const FFloatInterval &VerticalInterval)

void	UpdateWorldBounds ()

bool	IsValid () const

bool	IsValidIndex (const int32 CellIndex) const

bool	IsValidCoord (int32 LocationX, int32 LocationY) const

bool	IsValidCoord (const FIntVector &CellCoords) const

uint32	GetAllocatedSize () const

FIntVector	GetCellCoordsUnsafe (const FVector &WorldLocation) const

FIntVector	GetCellCoords (const FVector &WorldLocation) const

FIntVector	GetCellCoords (int32 CellIndex) const

int32	GetCellCoordX (int32 CellIndex) const

int32	GetCellCoordY (int32 CellIndex) const

int32	GetCellIndexUnsafe (const FVector &WorldLocation) const

int32	GetCellIndexUnsafe (const FIntVector &CellCoords) const

int32	GetCellIndexUnsafe (int32 LocationX, int32 LocationY) const

int32	GetCellIndex (int32 LocationX, int32 LocationY) const

int32	GetCellIndex (const FVector &WorldLocation) const

FBox	GetWorldCellBox (int32 CellIndex) const

FBox	GetWorldCellBox (int32 LocationX, int32 LocationY) const

FBox2D	GetWorldCellBox2D (int32 CellIndex) const

FBox2D	GetWorldCellBox2D (int32 LocationX, int32 LocationY) const

FBox	GetWorldCellRectangleBox (const FIntRect &CellRect) const

FIntRect	GetCellRectangleFromBox (const FBox &WorldBox) const

FIntRect	GetGridRectangle () const

FVector	GetWorldCellCenter (int32 CellIndex) const

FVector	GetWorldCellCenter (int32 LocationX, int32 LocationY) const

const FCellType &	GetCellAtWorldLocationUnsafe (const FVector &WorldLocation) const

const FCellType &	GetCellAtWorldLocation (const FVector &WorldLocation) const

FCellType &	operator[] (int32 CellIndex)

const FCellType &	operator[] (int32 CellIndex) const

FCellType &	GetCellAtIndexUnsafe (int32 CellIndex)

const FCellType &	GetCellAtIndexUnsafe (int32 CellIndex) const

FCellType &	GetCellAtCoordsUnsafe (int32 LocationX, int32 LocationY)

const FCellType &	GetCellAtCoordsUnsafe (int32 LocationX, int32 LocationY) const

int32	GetCellsCount () const

int32	Num () const

void	Serialize (FArchive &Ar)

void	AllocateMemory ()

void	FreeMemory ()

void	Zero ()

void	CleanUp ()

Protected Member Functions
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)

Protected Attributes
TArray< FVector::FReal >	CellZ

double	LastAccessTime

Protected Attributes inherited from TSimpleCellGrid< uint8, MAX_uint8 >
TArray< FCellType >	Cells

Friends
class	UNavLocalGridManager

Additional Inherited Members
Public Attributes inherited from TSimpleCellGrid< uint8, MAX_uint8 >
float	GridCellSize

FBox	WorldBounds

FVector	Origin

FVector	BoundsSize

FGridSize2D	GridSize

Detailed Description

Local navigation grid - simple 2D grid used for navigation.

Cell can be either free or marked as obstacle, connected with 8 neighbors (no walls in between)

When used as source for UNavLocalGridManager, each obstacle should define its own grid data. Corresponding category in gameplay debugger is hidden by default, please adjust project configs to change that.

TODO: helpers for marking different basic shapes TODO: serialization (with maps?) TODO: FNavigationPath support?

Member Typedef Documentation

◆ FNodeRef

typedef int32 FNavLocalGridData::FNodeRef

Constructor & Destructor Documentation

◆ FNavLocalGridData() [1/4]

FNavLocalGridData::FNavLocalGridData ( )

inline

◆ FNavLocalGridData() [2/4]

FNavLocalGridData::FNavLocalGridData	(	const FVector &	Center,
		float	Extent2D
	)

◆ FNavLocalGridData() [3/4]

FNavLocalGridData::FNavLocalGridData	(	const FVector &	Center,
		const FVector2D &	Extent2D
	)

◆ FNavLocalGridData() [4/4]

FNavLocalGridData::FNavLocalGridData ( const TArray< FNavLocalGridData > & SourceGrids )

Member Function Documentation

◆ FindPath()

bool FNavLocalGridData::FindPath	(	const FIntVector &	StartCoords,
		const FIntVector &	EndCoords,
		TArray< FIntVector > &	PathCoords
	)		const

create path points from StartCoords to EndCoord, returns false when failed

◆ FindPathForMovingAgent()

void FNavLocalGridData::FindPathForMovingAgent	(	const FNavigationPath &	SourcePath,
		const FVector &	EntryLocation,
		int32	EntrySegmentStart,
		TArray< FVector > &	PathPointsInside,
		int32 &	NextSegmentStart
	)		const

creates path points from navigation path going through grid

Parameters

SourcePath	- [in] full navigation path
EntryLocation	- [in] location of agent
EntrySegmentStart	- [in] current move segment on path
PathPointsInside	- [out] points inside grid
NextSegmentStart	- [out] next move segment on path after leaving grid or -1 if path ends inside

◆ GetCellIndexFromGlobalCoords2D()

int32 FNavLocalGridData::GetCellIndexFromGlobalCoords2D ( const FIntVector & WorldCoords ) const

convert global world coords to cell index, return -1 if outside

◆ GetGlobalCoords()

FIntVector FNavLocalGridData::GetGlobalCoords ( int32 CellIdx ) const

inline

convert cell index to global world coords with origin in (0,0,0)

◆ GetGridId()

const int32 FNavLocalGridData::GetGridId ( ) const

inline

get unique Id of grid

◆ GetNeighbour()

int32 FNavLocalGridData::GetNeighbour	(	const FNodeRef	NodeRef,
		const int32	NeiIndex
	)		const

◆ GetNeighbourCount()

int32 FNavLocalGridData::GetNeighbourCount ( FNodeRef NodeRef ) const

inline

◆ GetProjectedCellCenter() [1/2]

FVector FNavLocalGridData::GetProjectedCellCenter ( int32 CellIdx ) const

inline

convert cell index to world location using projected heights

◆ GetProjectedCellCenter() [2/2]

FVector FNavLocalGridData::GetProjectedCellCenter	(	int32	LocationX,
		int32	LocationY
	)		const

inline

convert cell coords on grid to world location using projected heights

◆ HasObstacleUnsafe()

bool FNavLocalGridData::HasObstacleUnsafe	(	int32	LocationX,
		int32	LocationY
	)		const

inline

check if there's an obstacle at cell coords

◆ IsLineObstructed()

bool FNavLocalGridData::IsLineObstructed	(	const FIntVector &	StartCoords,
		const FIntVector &	EndCoords
	)		const

protected

check if line trace between local coords on grid hits any obstacles, doesn't validate coords!

◆ IsValidRef()

bool FNavLocalGridData::IsValidRef ( FNodeRef NodeRef ) const

inline

◆ MarkBoxObstacle()

void FNavLocalGridData::MarkBoxObstacle	(	const FVector &	Center,
		const FVector &	Extent,
		const FQuat &	Quat = `FQuat::Identity`
	)

mark box (AABB or rotated) shape as obstacle

◆ MarkCapsuleObstacle()

void FNavLocalGridData::MarkCapsuleObstacle	(	const FVector &	Center,
		float	Radius,
		float	HalfHeight
	)

mark capsule shape as obstacle

◆ MarkPointObstacle()

void FNavLocalGridData::MarkPointObstacle ( const FVector & Center )

mark single cell as obstacle

◆ PostProcessPath()

void FNavLocalGridData::PostProcessPath	(	const FIntVector &	StartCoords,
		const FIntVector &	EndCoords,
		const TArray< int32 > &	PathIndices,
		TArray< FIntVector > &	PathCoords
	)		const

protected

convert PathIndices into pruned PathCoords

◆ ProjectCells()

void FNavLocalGridData::ProjectCells ( const ANavigationData & NavData )

project cells on navigation data and marks failed ones as obstacles

◆ SetGridId()

void FNavLocalGridData::SetGridId ( int32 NewId )

protected

set unique Id of grid

◆ SetHeight()

void FNavLocalGridData::SetHeight ( float ExtentZ )

set height of bounds, if not set: ProjectCells will use height of default query box

Friends And Related Symbol Documentation

◆ UNavLocalGridManager

friend class UNavLocalGridManager

friend

Member Data Documentation

◆ CellZ

TArray<FVector::FReal> FNavLocalGridData::CellZ

protected

◆ LastAccessTime

double FNavLocalGridData::LastAccessTime

protected

The documentation for this struct was generated from the following files:

Engine/Source/Runtime/AIModule/Classes/Navigation/NavLocalGridData.h
Engine/Source/Runtime/AIModule/Private/Navigation/NavLocalGridData.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ FNodeRef

Constructor & Destructor Documentation

◆ FNavLocalGridData() [1/4]

◆ FNavLocalGridData() [2/4]

◆ FNavLocalGridData() [3/4]

◆ FNavLocalGridData() [4/4]

Member Function Documentation

◆ FindPath()

◆ FindPathForMovingAgent()

◆ GetCellIndexFromGlobalCoords2D()

◆ GetGlobalCoords()

◆ GetGridId()

◆ GetNeighbour()

◆ GetNeighbourCount()

◆ GetProjectedCellCenter() [1/2]

◆ GetProjectedCellCenter() [2/2]

◆ HasObstacleUnsafe()

◆ IsLineObstructed()

◆ IsValidRef()

◆ MarkBoxObstacle()

◆ MarkCapsuleObstacle()

◆ MarkPointObstacle()

◆ PostProcessPath()

◆ ProjectCells()

◆ SetGridId()

◆ SetHeight()

Friends And Related Symbol Documentation

◆ UNavLocalGridManager

Member Data Documentation

◆ CellZ

◆ LastAccessTime