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  3. UAvoidanceManager

UAvoidanceManager

API > API/Runtime > API/Runtime/Engine > API/Runtime/Engine/AI > API/Runtime/Engine/AI/Navigation

Inheritance Hierarchy

References

   
Module Engine
Header /Engine/Source/Runtime/Engine/Classes/AI/Navigation/AvoidanceManager.h
Include #include "AI/Navigation/AvoidanceManager.h"

Syntax

class UAvoidanceManager :  
    public UObject,  
    public FSelfRegisteringExec

Variables

  Type Name Description
Protected variable TArray< FVelocityAvoidanceCone > AllCones Keeping this here to avoid constant allocation
Public variable float ArtificialRadiusExpansion Multiply the radius of all STORED avoidance objects by this value to allow a little extra room for avoidance maneuvers.
Protected variable TMap< int32, FNavAvoidanceData > AvoidanceObjects All objects currently part of the avoidance solution. This is pretty transient stuff.
Protected variable uint32: 1 bAutoPurgeOutdatedObjects If set then UAvoidanceManager::RemoveOutdatedObjects is responsisble for removing dead entries in AvoidanceObjects.
Protected variable bool bDebugAll  
Protected variable uint32: 1 bRequestedUpdateTimer Set when RemoveOutdatedObjects timer is already requested
Protected variable TArray< int32 > DebugUIDs Print out debug information when we predict using any of these IDs as our IgnoreUID
Public variable float DefaultTimeToLive How long an avoidance UID must not be updated before the system will put it back in the pool.
Public variable float DeltaTimeToPredict This is how far forward in time (seconds) we extend our velocity cones and thus our prediction
Protected variable INavEdgeProviderInterface * EdgeProviderInterface  
Protected variable TWeakObjectPtr< UObject > EdgeProviderOb Provider of navigation edges to consider for avoidance
Public variable float HeightCheckMargin Allowable height margin between obstacles and agents.
Public variable float LockTimeAfterAvoid How long to stay on course (barring collision) after making an avoidance move
Public variable float LockTimeAfterClean How long to stay on course (barring collision) after making an unobstructed move (should be > 0.0, but can be less than a full frame)
Protected variable TArray< int32 > NewKeyPool This is a pool of keys to be used when new objects are created.
Protected variable FTimerHandle TimerHandle_RemoveOutdatedObjects Handle for efficient management of RemoveOutdatedObjects timer

Constructors

  Type Name Description
Public function  

UAvoidanceManager ( const FObjectInitializer& ObjectInitializer
)

  

Functions

  Type Name Description
Public function void

AvoidanceDebugForAll ( bool TurnOn
)

  
Public function void

AvoidanceDebugForUID ( int32 AvoidanceUID,
bool TurnOn
)

  
Public function Static void

AvoidanceSystemToggle ( bool TurnOn
)

  
Public function Const const FNavAvoidanceData *

GetAvoidanceObjectForUID ( int32 AvoidanceUID
)

  
Public function FNavAvoidanceData *

GetAvoidanceObjectForUID ( int32 AvoidanceUID
)

 Get your latest data.
Public function FVector

GetAvoidanceVelocity ( const FNavAvoidanceData& AvoidanceData,
float DeltaTime
)

 Only use if you want manual velocity planning.
Protected function FVector

GetAvoidanceVelocity_Internal ( const FNavAvoidanceData& AvoidanceData,
float DeltaTime,
int32* IgnoreThisUID
)

 This is called by our blueprint-accessible functions, and permits the user to ignore self, or not.
Public function FVector Fast-track GetAvoidanceVelocityForComponent(UMovementComponent) implementation for most common case of UCharacterMovementComponent
Public function FVector Calculate avoidance velocity for component (avoids collisions with the supplied component)
Public function FVector

GetAvoidanceVelocityIgnoringUID ( const FNavAvoidanceData& AvoidanceData,
float DeltaTime,
int32 IgnoreThisUID
)

 Only use if you want manual velocity planning.
Public function int32 Get appropriate UID for use when reporting to this function or requesting RVO assistance.
Public function int32 Get the number of avoidance objects currently in the manager.
Public function void

HandleToggleAvoidance ( const TCHAR* Cmd,
FOutputDevice& Ar
)

  
Public function void

HandleToggleDebugAll ( const TCHAR* Cmd,
FOutputDevice& Ar
)

 Exec command handlers
Public function Const bool Returns true if the avoidance objects are auto purged in RemoveOutdatedObjects
Public function bool

IsDebugEnabled ( int32 AvoidanceUID
)

  
Public function bool  
Public function bool

IsDebugOnForUID ( int32 AvoidanceUID
)

  
Public function void

OverrideToMaxWeight ( int32 AvoidanceUID,
float Duration
)

 For Duration seconds, set this object to ignore all others.
Public function bool

RegisterMovementComponent ( UMovementComponent* MovementComp,
float AvoidanceWeight
)

 Register with the given avoidance manager.
Public function bool

RegisterMovementComponent ( UCharacterMovementComponent* MovementComp,
float AvoidanceWeight
)

  
Public function void

RemoveAvoidanceObject ( const int32 AvoidanceUID
)

 Used to manually mark data associated with given ID as 'dead' (and reusable)
Protected function void Cleanup AvoidanceObjects, called by timer
Protected function void Try to set a timer for RemoveOutdatedObjects
Public function void  
Public function void

UpdateRVO ( UMovementComponent* MovementComp
)

 Update the RVO avoidance data for the participating UMovementComponent
Public function void Fast-track UpdateRVO(UMovementComponent) implementation for most common case of UCharacterMovementComponent
Protected function void

UpdateRVO_Internal ( int32 AvoidanceUID,
const FNavAvoidanceData& AvoidanceData
)

 This is called by our blueprint-accessible function after it has packed the data into an object.

Overridden from FExec

  Type Name Description
Protected function Virtual bool

Exec_Dev ( UWorld* InWorld,
const TCHAR* Cmd,
FOutputDevice& Ar
)

 Implementation of Exec that is only called in non-shipping targets

Constants

Name Description
bSystemActive Main switch for avoidance system

Deprecated Variables

  Type Name Description
Protected variable uint32: 1 bAutoPurceOutdatedObjects Please use bAutoPurgeOutdatedObjects instead.
Public variable float TestHeightDifference_DEPRECATED Deprecated - use HeightCheckMargin, generally a much smaller value.

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