RRFloatingMovementComponent.h

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#pragma once
 
 
 
// UE
 
#include "AI/Navigation/AvoidanceManager.h"
 
#include "GameFramework/FloatingPawnMovement.h"
 
 
 
#include "RRFloatingMovementComponent.generated.h"
 
 
 
#define RAPYUTA_FLOAT_MOVEMENT_DEBUG (0)
 
class RAPYUTASIMULATIONPLUGINS_API URRFloatingMovementComponent : public UFloatingPawnMovement
 
{
 
 
 
public:
 
    URRFloatingMovementComponent();
 
    URRFloatingMovementComponent(const FObjectInitializer& ObjectInitializer);
 
    void SetupDefault();
 
    virtual void SetUpdatedComponent(USceneComponent* InNewUpdatedComponent) override;
 
    void Set2DMovement(bool bEnabled)
 
    {
 
        b2DMovement = bEnabled;
 
    }
 
    FORCEINLINE bool Is2DMovement() const
 
    {
 
        return b2DMovement;
 
    }
 
 
 
 
 
    FVector AngularVelocity = FVector::ZeroVector;
 
 
 
 
 
 
    float MaxAngularSpeed = 360.f;
 
 
 
    void SetUseDecelerationForPaths(bool bEnabled)
 
    {
 
        bUseDecelerationForPaths = bEnabled;
 
    }
 
 
 
    FORCEINLINE bool UseDecelerationForPathFollowing() const
 
    {
 
        return bUseDecelerationForPaths;
 
    }
 
 
 
    void SetUseAccelerationForPaths(bool bEnabled)
 
    {
 
        bUseAccelerationForPaths = bEnabled;
 
    }
 
 
 
    void SetPenetrationPullbackDistance(float PullbackDistance)
 
    {
 
        PenetrationPullbackDistance = PullbackDistance;
 
    }
 
 
 
    virtual void StopMovementImmediately() override;
 
 
 
    // RVO Avoidance
 
    // Ref: UCharacterMovementComponent
 
 
    int32 RVOAvoidanceUID = 0;
 
 
 
    uint8 bUseRVOAvoidance : 1;
 
 
    float RVOAvoidanceWeight = 0.5f;
 
 
    uint8 bRVOAvoidanceRecentlyUpdated : 1;
 
 
    TObjectPtr<UAvoidanceManager> RVOAvoidanceManager = nullptr;
 
    void SetRVOAvoidanceEnabled(bool bEnabled);
 
    void SetRVOAvoidanceVelocityLock(float InDuration);
 
 
 
    FVector RVOAvoidanceLockVelocity = FVector::ZeroVector;
 
 
    float RVOAvoidanceLockTimeout = 0.f;
 
 
 
protected:
 
    virtual void OnRegister() override;
 
    virtual void TickComponent(float InDeltaTime, enum ELevelTick InTickType, FActorComponentTickFunction* InTickFunction) override;
 
    virtual bool IsExceedingMaxSpeed(float InMaxSpeed) const override;
 
    virtual FVector GetPenetrationAdjustment(const FHitResult& Hit) const;
 
#if RAPYUTA_FLOAT_MOVEMENT_DEBUG
 
    virtual bool ResolvePenetrationImpl(const FVector& InProposedAdjustment,
 
                                        const FHitResult& InHit,
 
                                        const FQuat& InNewRotationQuat) override;
 
#endif
 
    void UpdateDefaultAvoidance();
 
    void CalculateRVOAvoidanceVelocity(float InDeltaTime);
 
    virtual void PostProcessRVOAvoidanceVelocity(FVector& InNewVelocity)
 
    {
 
    }
 
 
 
private:
 
 
    uint8 bSweepEnabled : 1;
 
 
 
 
    uint8 b2DMovement : 1;
 
 
 
 
    uint8 bUseDecelerationForPaths : 1;
 
 
 
 
    float PenetrationPullbackDistance = 0.f;
 
};