Collection of fixes & UE4.27 + UE5 early access support

.gitignore

@@ -1,6 +1,8 @@
 # Windows image file caches
 Thumbs.db
 ehthumbs.db
+Binaries/
+Intermediate/
 
 # Folder config file
 Desktop.ini

DonAINavigation.uplugin

@@ -1,17 +1,13 @@
 {
 	"FileVersion" : 3,	
 	"FriendlyName" : "DoN AI Navigation Plugin (Flying AI /3D Aerial Pathfinding)",
-	"Version" : 10,
-	"VersionName" : "1.10",
-	"EngineVersion" : "4.19.0",
+	"Version" : 11,
+	"VersionName" : "1.12",
+	"EngineVersion" : "5.4.0",
 	"Category" : "AI Navigation",
 	"CreatedBy" : "Venugopalan Sreedharan",
 	"CreatedByURL" : "http://www.drunkonnectar.com/3d-pathfinding-ue4/",
-	"Description" : "This plugin is a solution for 3D pathfinding for flying creatures. 
-
-	It uses voxel based navigation, supports dynamic collision updates and comes with a behavior tree task 'Fly to' which you may directly use in your behavior trees.
-
-	Also provided is an API with pathfinding functions for custom navigation queries",	
+	"Description" : "This plugin is a solution for 3D pathfinding for flying creatures. It uses voxel based navigation, supports dynamic collision updates and comes with a behavior tree task 'Fly to' which you may directly use in your behavior trees. Also provided is an API with pathfinding functions for custom navigation queries",
 	"MarketplaceURL" : "com.epicgames.launcher://ue/marketplace/content/81b4bd085c8c41508edfeb160b6ddf62",
 	"SupportURL" : "https://forums.unrealengine.com/showthread.php?102933-DoN-s-3D-Pathfinding-Flying-AI-system-(with-full-source!)/",
 	"DocsURL" : "https://www.youtube.com/watch?v=6Tr_K551zvI",
@@ -26,7 +22,6 @@
 			"WhitelistPlatforms" :
 			[
 				"Win64",
-				"Win32",
 				"Linux"
 			]
 		}

README.md

@@ -1,10 +1,7 @@
-=============================================
-DoN AI Navigation Plugin for Unreal Engine 4
-=============================================
+# DoN AI Navigation Plugin for Unreal Engine 4
+This plugin provides a 3D dynamic pathfinding system for use with Unreal Engine 4 **(UE5 should work too now, if not open an Issue)**. This system was first developed for [DoN The Nature Game](http://www.drunkonnectar.com/) and the owner decided to make a plugin out of the navigation module as a gift to the Unreal community. He abandoned the project some years back and I started to collect various fixes and pull requests after I updated it to the current version.
 
-This plugin provides a 3D dynamic pathfinding system for use with Unreal Engine 4. This system was first developed for my game [DoN The Nature Game](http://www.drunkonnectar.com/) and I decided to make a plugin out of the navigation module as a gift to the Unreal community.
-
-It's primarly designed for Flying AI creatures based in dynamic or procedural worlds that need to solve complex pathfinding tasks and other behavior that cannot be readily solved  by Unreal's native AI navigation system and also for maps that are too complex to be solved by simple ray-tracing/sweeping heuristics or by waypoint systems. 
+The plugin is primarly designed for Flying AIs based in dynamic or procedural worlds, which need to solve complex pathfinding tasks and other behavior not covered by Unreal's native AI navigation system or maps, which are too complex to be solved by simple ray-tracing/sweeping heuristics or a waypoint system.
 
 Where possible, I recommend that you use Unreal's native AI navigation or simpler navigation strategies; use this system when the more conventional strategies cannot solve your pathfinding usecases.
 
@@ -14,23 +11,13 @@ The plugin provides the following:
 * Nodes for managing dynamic collision and pathfinding in your scene.
 * A pathfinding API that advanced users can use for custom navigation queries from either Blueprints or C++
 
-=============================================
-Download Sample Project
-=============================================
-I've created a sample project for you to quickly test the system and understand the different usecases it covers. 
-
-Please visit the following page to grab it:
-
-http://www.drunkonnectar.com/3d-pathfinding-ue4/
+# Sample Project
+There is still is an old [sample project](http://www.drunkonnectar.com/3d-pathfinding-ue4/) to quickly test the system and understand the different usecases it covers.
 
-=============================================
-Overview and Tutorial
-=============================================
-[![Youtube video - Overview and Tutorial](http://www.drunkonnectar.com/wp-content/uploads/2016/03/ThumbnailWithYoutubeIcon.jpg)](https://www.youtube.com/watch?v=6Tr_K551zvI)
+# Overviews and Tutorials
+* [Article describing how to build the plugin from source and apply a basic use case](https://medium.com/anti-clickbait-coalition/3d-pathfinding-in-unreal-engine-9b04f58ca50c?source=friends_link&sk=aeb7269c3c85841f87bb7ca99658c176)
+* [![Youtube video - Overview and Tutorial](http://www.drunkonnectar.com/wp-content/uploads/2016/03/ThumbnailWithYoutubeIcon.jpg)](https://www.youtube.com/watch?v=6Tr_K551zvI)
 
-=============================================
-Technical Overview
-=============================================
-For a technical overview of the project, please visit this link:<br>
-http://www.drunkonnectar.com/3d-pathfinding-ue4/#TechnicalOverview
+# Technical Overview
+For a technical overview of the project, please visit this [link](http://www.drunkonnectar.com/3d-pathfinding-ue4/#TechnicalOverview)
 

Source/DonAINavigation/Classes/DonNavigationCommon.h

@@ -19,7 +19,7 @@
 #include <vector>
 
 #if PLATFORM_WINDOWS
-#include "AllowWindowsPlatformTypes.h"
+#include "Windows/AllowWindowsPlatformTypes.h"
 #elif PLATFORM_XBOXONE
 #include "XboxOneAllowPlatformTypes.h"
 #endif
@@ -95,5 +95,5 @@ namespace DoNNavigation
 }
 
 #if PLATFORM_WINDOWS
- #include "HideWindowsPlatformTypes.h"
+ #include "Windows/HideWindowsPlatformTypes.h"
  #endif

Source/DonAINavigation/Classes/DonNavigationManager.h

@@ -18,7 +18,7 @@
 #include "Multithreading/DonDrawDebugThreadSafe.h"
 #include "CollisionQueryParams.h"
 #include "WorldCollision.h"
-#include "Queue.h"
+#include "Containers/Queue.h"
 #include "Components/BoxComponent.h"
 
 #include "DonNavigationManager.generated.h"
@@ -998,17 +998,20 @@ class DONAINAVIGATION_API ADonNavigationManager : public AActor
 		return VolumeAtSafe(x, y, z);
 	}
 
-	/* Clamps a vector to the navigation bounds as defined by the grid configuration of the navigation object you've placed in the map*/
+	/** Clamps a vector within the navigation bounds, as defined by the grid configuration of the navigation object you've placed in the map,
+	 *   brought in by a margin of InnerMarginOffset when clamping downward to prevent rounding errors */
 	UFUNCTION(BlueprintPure, Category = "DoN Navigation")
-	FVector ClampLocationToNavigableWorld(FVector DesiredLocation)
+	FVector ClampLocationToNavigableWorld(FVector DesiredLocation, float InnerMarginOffset = 0.001f)
 	{
 		if (bIsUnbound)
 			return DesiredLocation;
 
 		FVector origin = GetActorLocation();
-		float xClamped = FMath::Clamp(DesiredLocation.X, origin.X, origin.X + XGridSize * VoxelSize);
-		float yClamped = FMath::Clamp(DesiredLocation.Y, origin.Y, origin.Y + YGridSize * VoxelSize);
-		float zClamped = FMath::Clamp(DesiredLocation.Z, origin.Z, origin.Z + ZGridSize * VoxelSize);
+		// When clamping down, bring the vector in by an extra InnerMarginOffset cm. Necessary because VolumeIdAt does a float-to-int rounding, and thus clamping
+		//  to a max world dimension would otherwise round to an invalid index (e.g. rounding 100.5 to invalid index 100 instead of 99 in a 100-voxel world)
+		float xClamped = FMath::Clamp(DesiredLocation.X, origin.X, origin.X + XGridSize * VoxelSize - InnerMarginOffset);
+		float yClamped = FMath::Clamp(DesiredLocation.Y, origin.Y, origin.Y + YGridSize * VoxelSize - InnerMarginOffset);
+		float zClamped = FMath::Clamp(DesiredLocation.Z, origin.Z, origin.Z + ZGridSize * VoxelSize - InnerMarginOffset);
 
 		return FVector(xClamped, yClamped, zClamped);
 	}

Source/DonAINavigation/DonAINavigation.Build.cs

@@ -7,7 +7,7 @@ public class DonAINavigation : ModuleRules
 		public DonAINavigation(ReadOnlyTargetRules Target) : base(Target)
 		{
             PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
-            bEnableShadowVariableWarnings = false;
+            ShadowVariableWarningLevel = WarningLevel.Off;
 
             PublicIncludePaths.AddRange(
 				new string[] {
@@ -48,4 +48,4 @@ public DonAINavigation(ReadOnlyTargetRules Target) : base(Target)
 				);
 		}
 	}
-}
+}

Source/DonAINavigation/Private/BehaviorTree/BTTask_FlyTo.cpp

@@ -89,16 +89,26 @@ EBTNodeResult::Type UBTTask_FlyTo::SchedulePathfindingRequest(UBehaviorTreeCompo
 		LastRequestTimestamps.Add(pawn, currentTime); //LastRequestTimestamp = currentTime;
 		*/
 	NavigationManager =  UDonNavigationHelper::DonNavigationManagerForActor(pawn);
-	if (NavigationManager->HasTask(pawn) && !QueryParams.bForceRescheduleQuery)
-		return EBTNodeResult::Failed; // early exit instead of going through the manager's internal checks and fallback via HandleTaskFailure (which isn't appropriate here)
-
 	// Validate internal state:
 	if (!pawn || !myMemory || !blackboard || !NavigationManager)
 	{
-		UE_LOG(DoNNavigationLog, Log, TEXT("BTTask_FlyTo has invalid data for AI Pawn or NodeMemory or NavigationManager. Unable to proceed."));
-
+		if(!pawn){
+			UE_LOG(DoNNavigationLog, Log, TEXT("Pawn invalid"));
+		}
+		if(!myMemory){
+			UE_LOG(DoNNavigationLog, Log, TEXT("NodeMemory invalid"));
+		}
+		if(!blackboard){
+			UE_LOG(DoNNavigationLog, Log, TEXT("Blackboard invalid"));
+		}
+		if(!NavigationManager){
+			UE_LOG(DoNNavigationLog, Log, TEXT("NavigationManager invalid"));
+		}
 		return HandleTaskFailure(OwnerComp, NodeMemory, blackboard);
 	}
+
+	if (NavigationManager->HasTask(pawn) && !QueryParams.bForceRescheduleQuery)
+		return EBTNodeResult::Failed; // early exit instead of going through the manager's internal checks and fallback via HandleTaskFailure (which isn't appropriate here)
 
 	// Validate blackboard key data:
 	if(FlightLocationKey.SelectedKeyType != UBlackboardKeyType_Vector::StaticClass())

Source/DonAINavigation/Private/DonNavigationManager.cpp

@@ -148,9 +148,8 @@ void ADonNavigationManager::ReceiveAsyncResults()
 	{
 		FDonNavigationQueryTask task;
 		CompletedNavigationTasks.Dequeue(task);
-		task.BroadcastResult();
-
 		ActiveNavigationTaskOwners.Remove(task.Data.Actor.Get());
+		task.BroadcastResult();
 
 #if DEBUG_DoNAI_THREADS
 		auto owner = task.Data.Actor.Get();
@@ -284,7 +283,7 @@ void ADonNavigationManager::OnConstruction(const FTransform& Transform)
 #if WITH_EDITOR
 void ADonNavigationManager::PostEditChangeProperty(FPropertyChangedEvent& PropertyChangedEvent)
 {	
-	UProperty* PropertyThatChanged = PropertyChangedEvent.Property;
+	FProperty* PropertyThatChanged = PropertyChangedEvent.Property;
 	FName PropertyName = PropertyThatChanged != NULL ? PropertyThatChanged->GetFName() : NAME_None;
 
 	if (PropertyName == GET_MEMBER_NAME_CHECKED(ADonNavigationManager, bDisplayWorldBoundary))
@@ -774,12 +773,9 @@ bool ADonNavigationManager::ScheduleDynamicCollisionUpdate(UPrimitiveComponent*
 	if(bNeedsToScheduleTask)
 		AddDynamicCollisionTask(task);
 
-	return bOverallStatus;	
-
 	UE_LOG(DoNNavigationLog, Verbose, TEXT("Num collision tasks: %d"), ActiveDynamicCollisionTasks.Num());
 
-	return true;
-
+	return bOverallStatus;
 }
 
 bool ADonNavigationManager::IsDynamicCollisionTaskActive(const FDonNavigationDynamicCollisionTask& Task)
@@ -1951,10 +1947,10 @@ bool ADonNavigationManager::FindPathSolution_StressTesting(AActor* Actor, FVecto
 	// Input Validations - I
 	if (!Actor || !CollisionComponent)
 	{
-		FString actorLog               =  Actor ? *Actor->GetName() : *FString("Invalid");
-		FString collisionComponentLog  =  CollisionComponent ? *CollisionComponent->GetName() : *FString("Invalid");
+		FString actorLog = Actor ? *Actor->GetName() : *FString("Invalid");
+		FString collisionComponentLog = CollisionComponent ? *CollisionComponent->GetName() : *FString("Invalid");
 		UE_LOG(DoNNavigationLog, Error, TEXT("%s"), *FString::Printf(TEXT("Invalid input parameters received. Actor: %s CollisionComponent: %s"), *actorLog, *collisionComponentLog));
-			
+
 		return false;
 	}
 
@@ -1977,39 +1973,62 @@ bool ADonNavigationManager::FindPathSolution_StressTesting(AActor* Actor, FVecto
 	// Input Visualization - I
 	if (DebugParams.DrawDebugVolumes)
 	{
-		DrawDebugPoint_Safe(GetWorld(), Origin,      20.f, FColor::White, true, -1.f);
+		DrawDebugPoint_Safe(GetWorld(), Origin, 20.f, FColor::White, true, -1.f);
 		DrawDebugPoint_Safe(GetWorld(), Destination, 20.f, FColor::Green, true, -1.f);
 	}
 
 	uint64 timerVolumeResolution = DoNNavigation::Debug_GetTimer();
 
-	// Resolve origin and destination volumes
-	auto originVolume      = ResolveVolume(Origin,      CollisionComponent, QueryParams.bFlexibleOriginGoal, QueryParams.CollisionShapeInflation);
-	auto destinationVolume = ResolveVolume(Destination, CollisionComponent, QueryParams.bFlexibleOriginGoal, QueryParams.CollisionShapeInflation);
+	FDonNavigationVoxel* originVolume = NULL;
+	FDonNavigationVoxel* destinationVolume = NULL;
+
+	FVector resolvedOriginCenter = VolumeOriginAt(Origin);
+	FVector resolvedDestinationCenter = VolumeOriginAt(Destination);
+
+	bool bResolvedOrigin = false;
+	bool bResolvedDestination = false;
+
+	if (!bIsUnbound)
+	{
+		// Resolve origin and destination volumes
+		originVolume = ResolveVolume(Origin, CollisionComponent, QueryParams.bFlexibleOriginGoal, QueryParams.CollisionShapeInflation);
+		destinationVolume = ResolveVolume(Destination, CollisionComponent, QueryParams.bFlexibleOriginGoal, QueryParams.CollisionShapeInflation);
 
-	DoNNavigation::Debug_StopTimer(timerVolumeResolution);	
-	UE_LOG(DoNNavigationLog, Verbose, TEXT("%s"), *FString::Printf(TEXT("Time spent resolving origin and destination volumes - %f seconds"), timerVolumeResolution / 1000.0));	
+		// Input Visualization - II
+		if (DebugParams.DrawDebugVolumes)
+		{
+			if (originVolume)
+				DrawDebugVoxel_Safe(GetWorld(), originVolume->Location, NavVolumeExtent(), FColor::White, false, 0.13f, 0, DebugVoxelsLineThickness);
+
+			if (destinationVolume)
+				DrawDebugVoxel_Safe(GetWorld(), destinationVolume->Location, NavVolumeExtent(), FColor::Green, false, 0.13f, 0, DebugVoxelsLineThickness);
+		}
+	}
+	else
+	{
+		bResolvedOrigin = ResolveVector(Origin, resolvedOriginCenter, CollisionComponent, QueryParams.bFlexibleOriginGoal, QueryParams.CollisionShapeInflation);
+		bResolvedDestination = ResolveVector(Destination, resolvedDestinationCenter, CollisionComponent, QueryParams.bFlexibleOriginGoal, QueryParams.CollisionShapeInflation);
+	}
 
 	// Input Validations - II
-	if (!originVolume || !destinationVolume)
+	if ((!bIsUnbound && (!originVolume || !destinationVolume)) || (bIsUnbound && (!bResolvedOrigin || !bResolvedDestination)))
 	{
 		InvalidVolumeErrorLog(originVolume, destinationVolume, Origin, Destination);
 
 		return false;
 	}
-	else
+
+	// Flexible Origin adaptation:
+	if (Origin != Actor->GetActorLocation())
 	{
-		if (Origin != Actor->GetActorLocation())
-		{
-			UE_LOG(DoNNavigationLog, Warning, TEXT("Forcibly shifting %s's pathfinding origin to new origin %s for viable pathfinding. (Can be disabled in QueryParams)"), *Actor->GetName());
-			 Actor->SetActorLocation(Origin, false); // New design: We no longer teleport the pawn. If all our calculations have gone right the pawn should be free to travel to the new origin.
-		}
+		UE_LOG(DoNNavigationLog, Warning, TEXT("Forcibly moving %s to new origin for viable pathfinding. (Can be disabled in QueryParams)"), *Actor->GetName());
+		Actor->SetActorLocation(Origin, false);
 	}
 
 	// Input Visualization - II
 	if (DebugParams.DrawDebugVolumes)
 	{
-		DrawDebugVoxel_Safe(GetWorld(), originVolume->Location,      NavVolumeExtent(), FColor::White, false, 0.13f, 0, DebugVoxelsLineThickness);
+		DrawDebugVoxel_Safe(GetWorld(), originVolume->Location, NavVolumeExtent(), FColor::White, false, 0.13f, 0, DebugVoxelsLineThickness);
 		DrawDebugVoxel_Safe(GetWorld(), destinationVolume->Location, NavVolumeExtent(), FColor::Green, false, 0.13f, 0, DebugVoxelsLineThickness);
 	}
 
@@ -2019,31 +2038,22 @@ bool ADonNavigationManager::FindPathSolution_StressTesting(AActor* Actor, FVecto
 	auto voxelCollisionProfile = GetVoxelCollisionProfileFromMesh(FDonMeshIdentifier(CollisionComponent), bResultIsValid, VoxelCollisionProfileCache_GameThread, bIgnoreMeshOriginOccupancy);
 
 	uint64 timerPathfinding = DoNNavigation::Debug_GetTimer();
-	
+
 	FDonNavigationQueryTask synchronousTask = FDonNavigationQueryTask(
-		FDoNNavigationQueryData(Actor, CollisionComponent, Origin, Destination, QueryParams, DebugParams, originVolume, destinationVolume, originVolume->Location, destinationVolume->Location, voxelCollisionProfile),
+		FDoNNavigationQueryData(Actor, CollisionComponent, Origin, Destination, QueryParams, DebugParams, originVolume, destinationVolume, resolvedOriginCenter, resolvedDestinationCenter, voxelCollisionProfile),
 		FDoNNavigationResultHandler(),
 		FDonNavigationDynamicCollisionDelegate()
-		);
+	);
 
 	auto& data = synchronousTask.Data;
-
+	float timeSpend = 0;
 	// Core pathfinding algorithm
-	while (!data.Frontier.empty())
+	while (!data.bGoalFound && timeSpend <= QueryParams.QueryTimeout)
 	{
-		auto currentVolume = data.Frontier.get(); // the current volume is the "best neighbor" (highest priority) of the previous volume
-
-		if (currentVolume == destinationVolume)
-		{	
-			data.bGoalFound = true;
-			break;
-		}
-
-		const auto& neighbors = FindOrSetupNeighborsForVolume(currentVolume);
-		for (auto neighbor : neighbors)
-		{	
-			ExpandFrontierTowardsTarget(synchronousTask, currentVolume, neighbor);
-		}
+		uint64 timeoutTimer = DoNNavigation::Debug_GetTimer();
+		TickNavigationSolver(synchronousTask);
+		DoNNavigation::Debug_StopTimer(timeoutTimer);
+		timeSpend += timeoutTimer / 1000.0;
 	}
 
 	// Goal validation:
@@ -2056,15 +2066,16 @@ bool ADonNavigationManager::FindPathSolution_StressTesting(AActor* Actor, FVecto
 	}
 
 	// Translate volume path solution to vector path solution:
-	TArray<FDonNavigationVoxel*> volumeSolution;
-	data.bGoalFound = PathSolutionFromVolumeTrajectoryMap(originVolume, destinationVolume, data.VolumeVsGoalTrajectoryMap, volumeSolution, PathSolutionRaw, Origin, Destination, DebugParams);
+
+	data.bGoalFound = PrepareSolution(synchronousTask);
 	if (!data.bGoalFound)
 	{
 		UE_LOG(DoNNavigationLog, Error, TEXT("%s"), *FString::Printf(TEXT("Goal not found among %d goal trajectory nodes"), data.VolumeVsGoalTrajectoryMap.Num()));
 
 		return false;
 	}
-
+
+	PathSolutionRaw.Append(data.PathSolutionRaw);//synchronousTask.PathSolutionRaw.Num());
 	// Log time spent:
 	DoNNavigation::Debug_StopTimer(timerPathfinding);
 	FString calcTime1 = FString::Printf(TEXT("[DoN Navigation]Time spent calculating best path volumes - %f seconds"), timerPathfinding / 1000.0);
@@ -2836,7 +2847,7 @@ FVector ADonNavigationManager::FindRandomPointAroundOriginInNavWorld(AActor* Nav
 	for (int32 i = 0; i < MaxAttempts; i++)
 	{
 		float maxZAngularDispacement = FMath::Abs(MaxZAngularDispacement);
-		FRotator newDirection = FRotator(FMath::FRandRange(-maxZAngularDispacement, maxZAngularDispacement), FMath::FRandRange(0, 360), FMath::FRandRange(0, 360));
+		FRotator newDirection = FRotator(FMath::FRandRange(-maxZAngularDispacement, maxZAngularDispacement), FMath::FRandRange(0.0, 360.0), FMath::FRandRange(0.0, 360.0));
 		newDestination = Origin + newDirection.RotateVector(baseDisplacement);
 
 		if (MaxDesiredAltitude != -1.f)

Source/DonAINavigation/Private/EnvironmentQuery/DonEnvQueryTest_Navigation.cpp

@@ -14,7 +14,7 @@
 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, 
 // WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
-#include "DonEnvQueryTest_Navigation.h"
+#include "EnvironmentQuery/DonEnvQueryTest_Navigation.h"
 #include "../DonAINavigationPrivatePCH.h"
 
 #include "DonNavigationManager.h"