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  3. FNavLocalGridData

FNavLocalGridData

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

API > API/Runtime > API/Runtime/AIModule > API/Runtime/AIModule/Navigation

Inheritance Hierarchy

References

   
Module AIModule
Header /Engine/Source/Runtime/AIModule/Classes/Navigation/NavLocalGridData.h
Include #include "Navigation/NavLocalGridData.h"

Syntax

struct FNavLocalGridData : public TSimpleCellGrid< uint8,((uint8) 0xff) >

Remarks

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?

Variables

  Type Name Description
Protected variable TArray< FVector::FReal > CellZ  
Protected variable double LastAccessTime  

Constructors

  Type Name Description
Public function    
Public function  

FNavLocalGridData ( const TArray< FNavLocalGridData >& SourceGrids
)

  
Public function  

FNavLocalGridData ( const FVector& Center,
float Extent2D
)

  
Public function  

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

  

Functions

  Type Name Description
Public function Const bool

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

 Create path points from StartCoords to EndCoord, returns false when failed
Public function Const void

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

 Creates path points from navigation path going through grid
Public function Const int32

GetCellIndexFromGlobalCoords2D ( const FIntVector& WorldCoords
)

 Convert global world coords to cell index, return -1 if outside
Public function Const FIntVector

GetGlobalCoords ( int32 CellIdx
)

 Convert cell index to global world coords with origin in (0,0,0)
Public function Const const int32 Get unique Id of grid
Public function Const FNodeRef

GetNeighbour ( const FNodeRef NodeRef,
const int32 NeiIndex
)

  
Public function Const int32  
Public function Const FVector

GetProjectedCellCenter ( int32 LocationX,
int32 LocationY
)

 Convert cell coords on grid to world location using projected heights
Public function Const FVector

GetProjectedCellCenter ( int32 CellIdx
)

 Convert cell index to world location using projected heights
Public function Const bool

HasObstacleUnsafe ( int32 LocationX,
int32 LocationY
)

 Check if there's an obstacle at cell coords
Protected function Const bool

IsLineObstructed ( const FIntVector& StartCoords,
const FIntVector& EndCoords
)

 Check if line trace between local coords on grid hits any obstacles, doesn't validate coords!
Public function Const bool

IsValidRef ( FNodeRef NodeRef
)

  
Public function void

MarkBoxObstacle ( const FVector& Center,
const FVector& Extent,
const FQuat& Quat
)

 Mark box (AABB or rotated) shape as obstacle
Public function void

MarkCapsuleObstacle ( const FVector& Center,
float Radius,
float HalfHeight
)

 Mark capsule shape as obstacle
Public function void

MarkPointObstacle ( const FVector& Center
)

 Mark single cell as obstacle
Protected function Const void

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

 Convert PathIndices into pruned PathCoords
Public function void

ProjectCells ( const ANavigationData& NavData
)

 Project cells on navigation data and marks failed ones as obstacles
Protected function void

SetGridId ( int32 NewId
)

 Set unique Id of grid
Public function void

SetHeight ( float ExtentZ
)

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

Typedefs

Name Description
FNodeRef FGraphAStar: TGraph.

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