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Headquarters",bSharedProfile=True,bIsEngineDefaultProfile=True,bUseSkyLighting=True,DirectionalLightIntensity=1.000000,DirectionalLightColor=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),SkyLightIntensity=1.000000,bRotateLightingRig=False,bShowEnvironment=True,bShowFloor=True,bShowGrid=False,EnvironmentColor=(R=0.200000,G=0.200000,B=0.200000,A=1.000000),EnvironmentIntensity=1.000000,EnvironmentCubeMapPath="/Engine/EditorMaterials/AssetViewer/EpicQuadPanorama_CC+EV1.EpicQuadPanorama_CC+EV1",bPostProcessingEnabled=True,PostProcessingSettings=(bOverride_TemperatureType=False,bOverride_WhiteTemp=False,bOverride_WhiteTint=False,bOverride_ColorSaturation=False,bOverride_ColorContrast=False,bOverride_ColorGamma=False,bOverride_ColorGain=False,bOverride_ColorOffset=False,bOverride_ColorSaturationShadows=False,bOverride_ColorContrastShadows=False,bOverride_ColorGammaShadows=False,bOverride_ColorGainShadows=False,bOverride_ColorOffsetShadows=False,bOverride_ColorSaturationMidtones=False,bOverride_ColorContrastMidtones=False,bOverride_ColorGammaMidtones=False,bOverride_ColorGainMidtones=False,bOverride_ColorOffsetMidtones=False,bOverride_ColorSaturationHighlights=False,bOverride_ColorContrastHighlights=False,bOverride_ColorGammaHighlights=False,bOverride_ColorGainHighlights=False,bOverride_ColorOffsetHighlights=False,bOverride_ColorCorrectionShadowsMax=False,bOverride_ColorCorrectionHighlightsMin=False,bOverride_ColorCorrectionHighlightsMax=False,bOverride_BlueCorrection=False,bOverride_ExpandGamut=False,bOverride_ToneCurveAmount=False,bOverride_FilmSlope=False,bOverride_FilmToe=False,bOverride_FilmShoulder=False,bOverride_FilmBlackClip=False,bOverride_FilmWhiteClip=False,bOverride_SceneColorTint=False,bOverride_SceneFringeIntensity=False,bOverride_ChromaticAberrationStartOffset=False,bOverride_bMegaLights=False,bOverride_AmbientCubemapTint=False,bOverride_AmbientCubemapIntensity=False,bOverride_BloomMethod=False,bOverride_BloomIntensity=False,bOverride_BloomThreshold=False,bOverride_Bloom1Tint=False,bOverride_Bloom1Size=False,bOverride_Bloom2Size=False,bOverride_Bloom2Tint=False,bOverride_Bloom3Tint=False,bOverride_Bloom3Size=False,bOverride_Bloom4Tint=False,bOverride_Bloom4Size=False,bOverride_Bloom5Tint=False,bOverride_Bloom5Size=False,bOverride_Bloom6Tint=False,bOverride_Bloom6Size=False,bOverride_BloomSizeScale=False,bOverride_BloomConvolutionTexture=False,bOverride_BloomConvolutionScatterDispersion=False,bOverride_BloomConvolutionSize=False,bOverride_BloomConvolutionCenterUV=False,bOverride_BloomConvolutionPreFilterMin=False,bOverride_BloomConvolutionPreFilterMax=False,bOverride_BloomConvolutionPreFilterMult=False,bOverride_BloomConvolutionBufferScale=False,bOverride_BloomDirtMaskIntensity=False,bOverride_BloomDirtMaskTint=False,bOverride_BloomDirtMask=False,bOverride_CameraShutterSpeed=False,bOverride_CameraISO=False,bOverride_AutoExposureMethod=False,bOverride_AutoExposureLowPercent=False,bOverride_AutoExposureHighPercent=False,bOverride_AutoExposureMinBrightness=False,bOverride_AutoExposureMaxBrightness=False,bOverride_AutoExposureSpeedUp=False,bOverride_AutoExposureSpeedDown=False,bOverride_AutoExposureBias=False,bOverride_AutoExposureBiasCurve=False,bOverride_AutoExposureMeterMask=False,bOverride_AutoExposureApplyPhysicalCameraExposure=False,bOverride_HistogramLogMin=False,bOverride_HistogramLogMax=False,bOverride_LocalExposureMethod=False,bOverride_LocalExposureHighlightContrastScale=False,bOverride_LocalExposureShadowContrastScale=False,bOverride_LocalExposureHighlightContrastCurve=False,bOverride_LocalExposureShadowContrastCurve=False,bOverride_LocalExposureHighlightThreshold=False,bOverride_LocalExposureShadowThreshold=False,bOverride_LocalExposureDetailStrength=False,bOverride_LocalExposureBlurredLuminanceBlend=False,bOverride_LocalExposureBlurredLuminanceKernelSizePercent=False,bOverride_LocalExposureMiddleGreyBias=False,bOverride_LensFlareIntensity=False,bOverride_LensFlareTint=False,bOverride_LensFlareTints=False,bOverride_LensFlareBokehSize=False,bOverride_LensFlareBokehShape=False,bOverride_LensFlareThreshold=False,bOverride_VignetteIntensity=False,bOverride_Sharpen=False,bOverride_FilmGrainIntensity=False,bOverride_FilmGrainIntensityShadows=False,bOverride_FilmGrainIntensityMidtones=False,bOverride_FilmGrainIntensityHighlights=False,bOverride_FilmGrainShadowsMax=False,bOverride_FilmGrainHighlightsMin=False,bOverride_FilmGrainHighlightsMax=False,bOverride_FilmGrainTexelSize=False,bOverride_FilmGrainTexture=False,bOverride_AmbientOcclusionIntensity=False,bOverride_AmbientOcclusionStaticFraction=False,bOverride_AmbientOcclusionRadius=False,bOverride_AmbientOcclusionFadeDistance=False,bOverride_AmbientOcclusionFadeRadius=False,bOverride_AmbientOcclusionRadiusInWS=False,bOverride_AmbientOcclusionPower=False,bOverride_AmbientOcclusionBias=False,bOverride_AmbientOcclusionQuality=False,bOverride_AmbientOcclusionMipBlend=False,bOverride_AmbientOcclusionMipScale=False,bOverride_AmbientOcclusionMipThreshold=False,bOverride_AmbientOcclusionTemporalBlendWeight=False,bOverride_RayTracingAO=False,bOverride_RayTracingAOSamplesPerPixel=False,bOverride_RayTracingAOIntensity=False,bOverride_RayTracingAORadius=False,bOverride_IndirectLightingColor=False,bOverride_IndirectLightingIntensity=False,bOverride_ColorGradingIntensity=False,bOverride_ColorGradingLUT=False,bOverride_DepthOfFieldFocalDistance=False,bOverride_DepthOfFieldFstop=False,bOverride_DepthOfFieldMinFstop=False,bOverride_DepthOfFieldBladeCount=False,bOverride_DepthOfFieldSensorWidth=False,bOverride_DepthOfFieldSqueezeFactor=False,bOverride_DepthOfFieldDepthBlurRadius=False,bOverride_DepthOfFieldUseHairDepth=False,bOverride_DepthOfFieldDepthBlurAmount=False,bOverride_DepthOfFieldFocalRegion=False,bOverride_DepthOfFieldNearTransitionRegion=False,bOverride_DepthOfFieldFarTransitionRegion=False,bOverride_DepthOfFieldScale=False,bOverride_DepthOfFieldNearBlurSize=False,bOverride_DepthOfFieldFarBlurSize=False,bOverride_MobileHQGaussian=False,bOverride_DepthOfFieldOcclusion=False,bOverride_DepthOfFieldSkyFocusDistance=False,bOverride_DepthOfFieldVignetteSize=False,bOverride_MotionBlurAmount=False,bOverride_MotionBlurMax=False,bOverride_MotionBlurTargetFPS=False,bOverride_MotionBlurPerObjectSize=False,bOverride_ReflectionMethod=False,bOverride_LumenReflectionQuality=False,bOverride_ScreenSpaceReflectionIntensity=False,bOverride_ScreenSpaceReflectionQuality=False,bOverride_ScreenSpaceReflectionMaxRoughness=False,bOverride_ScreenSpaceReflectionRoughnessScale=False,bOverride_UserFlags=False,bOverride_RayTracingReflectionsMaxRoughness=False,bOverride_RayTracingReflectionsMaxBounces=False,bOverride_RayTracingReflectionsSamplesPerPixel=False,bOverride_RayTracingReflectionsShadows=False,bOverride_RayTracingReflectionsTranslucency=False,bOverride_TranslucencyType=False,bOverride_RayTracingTranslucencyMaxRoughness=False,bOverride_RayTracingTranslucencyRefractionRays=False,bOverride_RayTracingTranslucencySamplesPerPixel=False,bOverride_RayTracingTranslucencyShadows=False,bOverride_RayTracingTranslucencyRefraction=False,bOverride_DynamicGlobalIlluminationMethod=False,bOverride_LumenSceneLightingQuality=False,bOverride_LumenSceneDetail=False,bOverride_LumenSceneViewDistance=False,bOverride_LumenSceneLightingUpdateSpeed=False,bOverride_LumenFinalGatherQuality=False,bOverride_LumenFinalGatherLightingUpdateSpeed=False,bOverride_LumenFinalGatherScreenTraces=False,bOverride_LumenMaxTraceDistance=False,bOverride_LumenDiffuseColorBoost=False,bOverride_LumenSkylightLeaking=False,bOverride_LumenFullSkylightLeakingDistance=False,bOverride_LumenRayLightingMode=False,bOverride_LumenReflectionsScreenTraces=False,bOverride_LumenFrontLayerTranslucencyReflections=False,bOverride_LumenMaxRoughnessToTraceReflections=False,bOverride_LumenMaxReflectionBounces=False,bOverride_LumenMaxRefractionBounces=False,bOverride_LumenSurfaceCacheResolution=False,bOverride_RayTracingGI=False,bOverride_RayTracingGIMaxBounces=False,bOverride_RayTracingGISamplesPerPixel=False,bOverride_PathTracingMaxBounces=False,bOverride_PathTracingSamplesPerPixel=False,bOverride_PathTracingMaxPathIntensity=False,bOverride_PathTracingEnableEmissiveMaterials=False,bOverride_PathTracingEnableReferenceDOF=False,bOverride_PathTracingEnableReferenceAtmosphere=False,bOverride_PathTracingEnableDenoiser=False,bOverride_PathTracingIncludeEmissive=False,bOverride_PathTracingIncludeDiffuse=False,bOverride_PathTracingIncludeIndirectDiffuse=False,bOverride_PathTracingIncludeSpecular=False,bOverride_PathTracingIncludeIndirectSpecular=False,bOverride_PathTracingIncludeVolume=False,bOverride_PathTracingIncludeIndirectVolume=False,bMobileHQGaussian=False,BloomMethod=BM_SOG,AutoExposureMethod=AEM_Histogram,TemperatureType=TEMP_WhiteBalance,WhiteTemp=6500.000000,WhiteTint=0.000000,ColorSaturation=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrast=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGamma=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGain=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffset=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorSaturationShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrastShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGammaShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGainShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffsetShadows=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorSaturationMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrastMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGammaMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGainMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffsetMidtones=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorSaturationHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrastHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGammaHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGainHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffsetHighlights=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorCorrectionHighlightsMin=0.500000,ColorCorrectionHighlightsMax=1.000000,ColorCorrectionShadowsMax=0.090000,BlueCorrection=0.600000,ExpandGamut=1.000000,ToneCurveAmount=1.000000,FilmSlope=0.880000,FilmToe=0.550000,FilmShoulder=0.260000,FilmBlackClip=0.000000,FilmWhiteClip=0.040000,SceneColorTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),SceneFringeIntensity=0.000000,ChromaticAberrationStartOffset=0.000000,BloomIntensity=0.675000,BloomThreshold=-1.000000,BloomSizeScale=4.000000,Bloom1Size=0.300000,Bloom2Size=1.000000,Bloom3Size=2.000000,Bloom4Size=10.000000,Bloom5Size=30.000000,Bloom6Size=64.000000,Bloom1Tint=(R=0.346500,G=0.346500,B=0.346500,A=1.000000),Bloom2Tint=(R=0.138000,G=0.138000,B=0.138000,A=1.000000),Bloom3Tint=(R=0.117600,G=0.117600,B=0.117600,A=1.000000),Bloom4Tint=(R=0.066000,G=0.066000,B=0.066000,A=1.000000),Bloom5Tint=(R=0.066000,G=0.066000,B=0.066000,A=1.000000),Bloom6Tint=(R=0.061000,G=0.061000,B=0.061000,A=1.000000),BloomConvolutionScatterDispersion=1.000000,BloomConvolutionSize=1.000000,BloomConvolutionTexture=None,BloomConvolutionCenterUV=(X=0.500000,Y=0.500000),BloomConvolutionPreFilterMin=7.000000,BloomConvolutionPreFilterMax=15000.000000,BloomConvolutionPreFilterMult=15.000000,BloomConvolutionBufferScale=0.133000,BloomDirtMask=None,BloomDirtMaskIntensity=0.000000,BloomDirtMaskTint=(R=0.500000,G=0.500000,B=0.500000,A=1.000000),DynamicGlobalIlluminationMethod=Lumen,IndirectLightingColor=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),IndirectLightingIntensity=1.000000,LumenRayLightingMode=Default,LumenSceneLightingQuality=1.000000,LumenSceneDetail=1.000000,LumenSceneViewDistance=20000.000000,LumenSceneLightingUpdateSpeed=1.000000,LumenFinalGatherQuality=1.000000,LumenFinalGatherLightingUpdateSpeed=1.000000,LumenFinalGatherScreenTraces=True,LumenMaxTraceDistance=20000.000000,LumenDiffuseColorBoost=1.000000,LumenSkylightLeaking=0.000000,LumenFullSkylightLeakingDistance=1000.000000,LumenSurfaceCacheResolution=1.000000,ReflectionMethod=Lumen,LumenReflectionQuality=1.000000,LumenReflectionsScreenTraces=True,LumenFrontLayerTranslucencyReflections=False,LumenMaxRoughnessToTraceReflections=0.400000,LumenMaxReflectionBounces=1,LumenMaxRefractionBounces=0,ScreenSpaceReflectionIntensity=100.000000,ScreenSpaceReflectionQuality=50.000000,ScreenSpaceReflectionMaxRoughness=0.600000,bMegaLights=True,AmbientCubemapTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),AmbientCubemapIntensity=1.000000,AmbientCubemap=None,CameraShutterSpeed=60.000000,CameraISO=100.000000,DepthOfFieldFstop=4.000000,DepthOfFieldMinFstop=1.200000,DepthOfFieldBladeCount=5,AutoExposureBias=1.000000,AutoExposureBiasBackup=0.000000,bOverride_AutoExposureBiasBackup=False,AutoExposureApplyPhysicalCameraExposure=True,AutoExposureBiasCurve=None,AutoExposureMeterMask=None,AutoExposureLowPercent=10.000000,AutoExposureHighPercent=90.000000,AutoExposureMinBrightness=-10.000000,AutoExposureMaxBrightness=20.000000,AutoExposureSpeedUp=3.000000,AutoExposureSpeedDown=1.000000,HistogramLogMin=-10.000000,HistogramLogMax=20.000000,LocalExposureMethod=Bilateral,LocalExposureHighlightContrastScale=1.000000,LocalExposureShadowContrastScale=1.000000,LocalExposureHighlightContrastCurve=None,LocalExposureShadowContrastCurve=None,LocalExposureHighlightThreshold=0.000000,LocalExposureShadowThreshold=0.000000,LocalExposureDetailStrength=1.000000,LocalExposureBlurredLuminanceBlend=0.600000,LocalExposureBlurredLuminanceKernelSizePercent=50.000000,LocalExposureMiddleGreyBias=0.000000,LensFlareIntensity=1.000000,LensFlareTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),LensFlareBokehSize=3.000000,LensFlareThreshold=8.000000,LensFlareBokehShape=None,LensFlareTints[0]=(R=1.000000,G=0.800000,B=0.400000,A=0.600000),LensFlareTints[1]=(R=1.000000,G=1.000000,B=0.600000,A=0.530000),LensFlareTints[2]=(R=0.800000,G=0.800000,B=1.000000,A=0.460000),LensFlareTints[3]=(R=0.500000,G=1.000000,B=0.400000,A=0.390000),LensFlareTints[4]=(R=0.500000,G=0.800000,B=1.000000,A=0.310000),LensFlareTints[5]=(R=0.900000,G=1.000000,B=0.800000,A=0.270000),LensFlareTints[6]=(R=1.000000,G=0.800000,B=0.400000,A=0.220000),LensFlareTints[7]=(R=0.900000,G=0.700000,B=0.700000,A=0.150000),VignetteIntensity=0.400000,Sharpen=0.000000,FilmGrainIntensity=0.000000,FilmGrainIntensityShadows=1.000000,FilmGrainIntensityMidtones=1.000000,FilmGrainIntensityHighlights=1.000000,FilmGrainShadowsMax=0.090000,FilmGrainHighlightsMin=0.500000,FilmGrainHighlightsMax=1.000000,FilmGrainTexelSize=1.000000,FilmGrainTexture=None,AmbientOcclusionIntensity=0.500000,AmbientOcclusionStaticFraction=1.000000,AmbientOcclusionRadius=200.000000,AmbientOcclusionRadiusInWS=False,AmbientOcclusionFadeDistance=8000.000000,AmbientOcclusionFadeRadius=5000.000000,AmbientOcclusionPower=2.000000,AmbientOcclusionBias=3.000000,AmbientOcclusionQuality=50.000000,AmbientOcclusionMipBlend=0.600000,AmbientOcclusionMipScale=1.700000,AmbientOcclusionMipThreshold=0.010000,AmbientOcclusionTemporalBlendWeight=0.100000,RayTracingAO=False,RayTracingAOSamplesPerPixel=1,RayTracingAOIntensity=1.000000,RayTracingAORadius=200.000000,ColorGradingIntensity=1.000000,ColorGradingLUT=None,DepthOfFieldSensorWidth=24.576000,DepthOfFieldSqueezeFactor=1.000000,DepthOfFieldFocalDistance=0.000000,DepthOfFieldDepthBlurAmount=1.000000,DepthOfFieldDepthBlurRadius=0.000000,DepthOfFieldUseHairDepth=False,DepthOfFieldFocalRegion=0.000000,DepthOfFieldNearTransitionRegion=300.000000,DepthOfFieldFarTransitionRegion=500.000000,DepthOfFieldScale=0.000000,DepthOfFieldNearBlurSize=15.000000,DepthOfFieldFarBlurSize=15.000000,DepthOfFieldOcclusion=0.400000,DepthOfFieldSkyFocusDistance=0.000000,DepthOfFieldVignetteSize=200.000000,MotionBlurAmount=0.500000,MotionBlurMax=5.000000,MotionBlurTargetFPS=30,MotionBlurPerObjectSize=0.000000,TranslucencyType=Raster,RayTracingTranslucencyMaxRoughness=0.600000,RayTracingTranslucencyRefractionRays=3,RayTracingTranslucencySamplesPerPixel=1,RayTracingTranslucencyShadows=Hard_shadows,RayTracingTranslucencyRefraction=True,PathTracingMaxBounces=32,PathTracingSamplesPerPixel=2048,PathTracingMaxPathIntensity=24.000000,PathTracingEnableEmissiveMaterials=True,PathTracingEnableReferenceDOF=False,PathTracingEnableReferenceAtmosphere=False,PathTracingEnableDenoiser=True,PathTracingIncludeEmissive=True,PathTracingIncludeDiffuse=True,PathTracingIncludeIndirectDiffuse=True,PathTracingIncludeSpecular=True,PathTracingIncludeIndirectSpecular=True,PathTracingIncludeVolume=True,PathTracingIncludeIndirectVolume=True,UserFlags=0,WeightedBlendables=(Array=)),LightingRigRotation=0.000000,RotationSpeed=2.000000,DirectionalLightRotation=(Pitch=-40.000000,Yaw=-67.500000,Roll=0.000000),bEnableToneMapping=True,bShowMeshEdges=False) 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diff --git a/Config/DefaultGameplayTags.ini b/Config/DefaultGameplayTags.ini index 5ce8244a..4036ccc1 100644 --- a/Config/DefaultGameplayTags.ini +++ b/Config/DefaultGameplayTags.ini @@ -5,8 +5,9 @@ ClearInvalidTags=False AllowEditorTagUnloading=True AllowGameTagUnloading=False FastReplication=False +bDynamicReplication=False InvalidTagCharacters="\"\'," -+GameplayTagTableList=/Game/ElectircDream/Audio/Soundscape/SoundscapeStates.SoundscapeStates ++GameplayTagTableList=/Game/Developers/Bhrama/DT_LuckyStateTreeTags.DT_LuckyStateTreeTags NumBitsForContainerSize=6 NetIndexFirstBitSegment=16 diff --git a/Content/Blueprint/Core/BP_NaviSplineCreator.uasset b/Content/Blueprint/Core/BP_NaviSplineCreator.uasset index f844b920..08788db8 100644 --- a/Content/Blueprint/Core/BP_NaviSplineCreator.uasset +++ b/Content/Blueprint/Core/BP_NaviSplineCreator.uasset @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f9dd9b52a77b66ca72d41ff35473c2b626431917f35f7faa4ca5281c73ae7613 -size 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b/Content/Blueprint/Core/BP_RobotArmPlacementVolume.uasset new file mode 100644 index 00000000..683bbeaa --- /dev/null +++ b/Content/Blueprint/Core/BP_RobotArmPlacementVolume.uasset @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e16e2e83fbc54cffdb8c7256f913d690b0866fffeb060321fd094641999d6a8f +size 23653 diff --git a/Content/Blueprint/Core/BP_RobotArmRandomItemsVolume.uasset b/Content/Blueprint/Core/BP_RobotArmRandomItemsVolume.uasset new file mode 100644 index 00000000..1cb81c02 --- /dev/null +++ b/Content/Blueprint/Core/BP_RobotArmRandomItemsVolume.uasset @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e57dc831f9ea296964202194be5c28b0af4d8f772fe2cb3ce6acc512ba0d582 +size 97635 diff --git a/Content/Blueprint/DATA/datatables/DT_Furniture_Table.uasset b/Content/Blueprint/DATA/datatables/DT_Furniture_Table.uasset new file mode 100644 index 00000000..531bf430 --- /dev/null +++ b/Content/Blueprint/DATA/datatables/DT_Furniture_Table.uasset 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b/Plugins/CPathfinding/Content/__ExternalObjects__/Maps/CPathExample_DynamicLabirynthLimitTest/D/EU/95JLTT6J7FBSAGE74EUDVV.uasset @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02b2723acb89065e9b9b77164c3c0f568c44fdda6e19ea02a1b11f9d807750e3 +size 2352 diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDefines.gen.cpp b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDefines.gen.cpp new file mode 100644 index 00000000..660f6db6 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDefines.gen.cpp @@ -0,0 +1,153 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +#include "UObject/GeneratedCppIncludes.h" +#include "CPathfinding/Public/CPathDefines.h" +PRAGMA_DISABLE_DEPRECATION_WARNINGS +void EmptyLinkFunctionForGeneratedCodeCPathDefines() {} + +// Begin Cross Module References +CPATHFINDING_API UEnum* Z_Construct_UEnum_CPathfinding_EAgentShape(); +CPATHFINDING_API UEnum* Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason(); +UPackage* Z_Construct_UPackage__Script_CPathfinding(); +// End Cross Module References + +// Begin Enum EAgentShape +static FEnumRegistrationInfo Z_Registration_Info_UEnum_EAgentShape; +static UEnum* EAgentShape_StaticEnum() +{ + if (!Z_Registration_Info_UEnum_EAgentShape.OuterSingleton) + { + Z_Registration_Info_UEnum_EAgentShape.OuterSingleton = GetStaticEnum(Z_Construct_UEnum_CPathfinding_EAgentShape, (UObject*)Z_Construct_UPackage__Script_CPathfinding(), TEXT("EAgentShape")); + } + return Z_Registration_Info_UEnum_EAgentShape.OuterSingleton; +} +template<> CPATHFINDING_API UEnum* StaticEnum() +{ + return EAgentShape_StaticEnum(); +} +struct Z_Construct_UEnum_CPathfinding_EAgentShape_Statics +{ +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Enum_MetaDataParams[] = { + { "Box.Name", "Box" }, + { "Capsule.Name", "Capsule" }, + { "ModuleRelativePath", "Public/CPathDefines.h" }, + { "Sphere.Name", "Sphere" }, + }; +#endif // WITH_METADATA + static constexpr UECodeGen_Private::FEnumeratorParam Enumerators[] = { + { "Capsule", (int64)Capsule }, + { "Box", (int64)Box }, + { "Sphere", (int64)Sphere }, + }; + static const UECodeGen_Private::FEnumParams EnumParams; +}; +const UECodeGen_Private::FEnumParams Z_Construct_UEnum_CPathfinding_EAgentShape_Statics::EnumParams = { + (UObject*(*)())Z_Construct_UPackage__Script_CPathfinding, + nullptr, + "EAgentShape", + "EAgentShape", + Z_Construct_UEnum_CPathfinding_EAgentShape_Statics::Enumerators, + RF_Public|RF_Transient|RF_MarkAsNative, + UE_ARRAY_COUNT(Z_Construct_UEnum_CPathfinding_EAgentShape_Statics::Enumerators), + EEnumFlags::None, + (uint8)UEnum::ECppForm::Regular, + METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UEnum_CPathfinding_EAgentShape_Statics::Enum_MetaDataParams), Z_Construct_UEnum_CPathfinding_EAgentShape_Statics::Enum_MetaDataParams) +}; +UEnum* Z_Construct_UEnum_CPathfinding_EAgentShape() +{ + if (!Z_Registration_Info_UEnum_EAgentShape.InnerSingleton) + { + UECodeGen_Private::ConstructUEnum(Z_Registration_Info_UEnum_EAgentShape.InnerSingleton, Z_Construct_UEnum_CPathfinding_EAgentShape_Statics::EnumParams); + } + return Z_Registration_Info_UEnum_EAgentShape.InnerSingleton; +} +// End Enum EAgentShape + +// Begin Enum ECPathfindingFailReason +static FEnumRegistrationInfo Z_Registration_Info_UEnum_ECPathfindingFailReason; +static UEnum* ECPathfindingFailReason_StaticEnum() +{ + if (!Z_Registration_Info_UEnum_ECPathfindingFailReason.OuterSingleton) + { + Z_Registration_Info_UEnum_ECPathfindingFailReason.OuterSingleton = GetStaticEnum(Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason, (UObject*)Z_Construct_UPackage__Script_CPathfinding(), TEXT("ECPathfindingFailReason")); + } + return Z_Registration_Info_UEnum_ECPathfindingFailReason.OuterSingleton; +} +template<> CPATHFINDING_API UEnum* StaticEnum() +{ + return ECPathfindingFailReason_StaticEnum(); +} +struct Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason_Statics +{ +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Enum_MetaDataParams[] = { +#if !UE_BUILD_SHIPPING + { "Comment", "// Wrong Start and End Location mean that requested location was out of volume, or it was inside an occupied space.\n" }, +#endif + { "EndLocationUnreachable.Name", "EndLocationUnreachable" }, + { "ModuleRelativePath", "Public/CPathDefines.h" }, + { "None.Name", "None" }, + { "Timeout.Name", "Timeout" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Wrong Start and End Location mean that requested location was out of volume, or it was inside an occupied space." }, +#endif + { "UnknownFailure.Name", "UnknownFailure" }, + { "VolumeNotGenerated.Name", "VolumeNotGenerated" }, + { "VolumeNotValid.Name", "VolumeNotValid" }, + { "WrongEndLocation.Name", "WrongEndLocation" }, + { "WrongStartLocation.Name", "WrongStartLocation" }, + }; +#endif // WITH_METADATA + static constexpr UECodeGen_Private::FEnumeratorParam Enumerators[] = { + { "None", (int64)None }, + { "VolumeNotValid", (int64)VolumeNotValid }, + { "VolumeNotGenerated", (int64)VolumeNotGenerated }, + { "Timeout", (int64)Timeout }, + { "WrongStartLocation", (int64)WrongStartLocation }, + { "WrongEndLocation", (int64)WrongEndLocation }, + { "EndLocationUnreachable", (int64)EndLocationUnreachable }, + { "UnknownFailure", (int64)UnknownFailure }, + }; + static const UECodeGen_Private::FEnumParams EnumParams; +}; +const UECodeGen_Private::FEnumParams Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason_Statics::EnumParams = { + (UObject*(*)())Z_Construct_UPackage__Script_CPathfinding, + nullptr, + "ECPathfindingFailReason", + "ECPathfindingFailReason", + Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason_Statics::Enumerators, + RF_Public|RF_Transient|RF_MarkAsNative, + UE_ARRAY_COUNT(Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason_Statics::Enumerators), + EEnumFlags::None, + (uint8)UEnum::ECppForm::Regular, + METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason_Statics::Enum_MetaDataParams), Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason_Statics::Enum_MetaDataParams) +}; +UEnum* Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason() +{ + if (!Z_Registration_Info_UEnum_ECPathfindingFailReason.InnerSingleton) + { + UECodeGen_Private::ConstructUEnum(Z_Registration_Info_UEnum_ECPathfindingFailReason.InnerSingleton, Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason_Statics::EnumParams); + } + return Z_Registration_Info_UEnum_ECPathfindingFailReason.InnerSingleton; +} +// End Enum ECPathfindingFailReason + +// Begin Registration +struct Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDefines_h_Statics +{ + static constexpr FEnumRegisterCompiledInInfo EnumInfo[] = { + { EAgentShape_StaticEnum, TEXT("EAgentShape"), &Z_Registration_Info_UEnum_EAgentShape, CONSTRUCT_RELOAD_VERSION_INFO(FEnumReloadVersionInfo, 3991755297U) }, + { ECPathfindingFailReason_StaticEnum, TEXT("ECPathfindingFailReason"), &Z_Registration_Info_UEnum_ECPathfindingFailReason, CONSTRUCT_RELOAD_VERSION_INFO(FEnumReloadVersionInfo, 778571395U) }, + }; +}; +static FRegisterCompiledInInfo Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDefines_h_3170768491(TEXT("/Script/CPathfinding"), + nullptr, 0, + nullptr, 0, + Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDefines_h_Statics::EnumInfo, UE_ARRAY_COUNT(Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDefines_h_Statics::EnumInfo)); +// End Registration +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDefines.generated.h b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDefines.generated.h new file mode 100644 index 00000000..a13cf268 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDefines.generated.h @@ -0,0 +1,35 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +// IWYU pragma: private, include "CPathDefines.h" +#include "Templates/IsUEnumClass.h" +#include "UObject/ObjectMacros.h" +#include "UObject/ReflectedTypeAccessors.h" + +PRAGMA_DISABLE_DEPRECATION_WARNINGS +#ifdef CPATHFINDING_CPathDefines_generated_h +#error "CPathDefines.generated.h already included, missing '#pragma once' in CPathDefines.h" +#endif +#define CPATHFINDING_CPathDefines_generated_h + +#undef CURRENT_FILE_ID +#define CURRENT_FILE_ID FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDefines_h + + +#define FOREACH_ENUM_EAGENTSHAPE(op) \ + op(Capsule) \ + op(Box) \ + op(Sphere) +#define FOREACH_ENUM_ECPATHFINDINGFAILREASON(op) \ + op(None) \ + op(VolumeNotValid) \ + op(VolumeNotGenerated) \ + op(Timeout) \ + op(WrongStartLocation) \ + op(WrongEndLocation) \ + op(EndLocationUnreachable) \ + op(UnknownFailure) +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDynamicObstacle.gen.cpp b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDynamicObstacle.gen.cpp new file mode 100644 index 00000000..79a3596a --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDynamicObstacle.gen.cpp @@ -0,0 +1,242 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +#include "UObject/GeneratedCppIncludes.h" +#include "CPathfinding/Public/CPathDynamicObstacle.h" +PRAGMA_DISABLE_DEPRECATION_WARNINGS +void EmptyLinkFunctionForGeneratedCodeCPathDynamicObstacle() {} + +// Begin Cross Module References +CPATHFINDING_API UClass* Z_Construct_UClass_UCPathDynamicObstacle(); +CPATHFINDING_API UClass* Z_Construct_UClass_UCPathDynamicObstacle_NoRegister(); +ENGINE_API UClass* Z_Construct_UClass_AActor_NoRegister(); +ENGINE_API UClass* Z_Construct_UClass_UActorComponent(); +UPackage* Z_Construct_UPackage__Script_CPathfinding(); +// End Cross Module References + +// Begin Class UCPathDynamicObstacle Function OnBeginOverlap +struct Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics +{ + struct CPathDynamicObstacle_eventOnBeginOverlap_Parms + { + AActor* Owner; + AActor* OtherActor; + }; +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Function_MetaDataParams[] = { + { "ModuleRelativePath", "Public/CPathDynamicObstacle.h" }, + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FObjectPropertyParams NewProp_Owner; + static const UECodeGen_Private::FObjectPropertyParams NewProp_OtherActor; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static const UECodeGen_Private::FFunctionParams FuncParams; +}; +const UECodeGen_Private::FObjectPropertyParams Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::NewProp_Owner = { "Owner", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Object, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathDynamicObstacle_eventOnBeginOverlap_Parms, Owner), Z_Construct_UClass_AActor_NoRegister, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FObjectPropertyParams Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::NewProp_OtherActor = { "OtherActor", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Object, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathDynamicObstacle_eventOnBeginOverlap_Parms, OtherActor), Z_Construct_UClass_AActor_NoRegister, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::NewProp_Owner, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::NewProp_OtherActor, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::PropPointers) < 2048); +const UECodeGen_Private::FFunctionParams Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::FuncParams = { (UObject*(*)())Z_Construct_UClass_UCPathDynamicObstacle, nullptr, "OnBeginOverlap", nullptr, nullptr, Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::PropPointers, UE_ARRAY_COUNT(Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::PropPointers), sizeof(Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::CPathDynamicObstacle_eventOnBeginOverlap_Parms), RF_Public|RF_Transient|RF_MarkAsNative, (EFunctionFlags)0x00020401, 0, 0, METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::Function_MetaDataParams), Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::Function_MetaDataParams) }; +static_assert(sizeof(Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::CPathDynamicObstacle_eventOnBeginOverlap_Parms) < MAX_uint16); +UFunction* Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap() +{ + static UFunction* ReturnFunction = nullptr; + if (!ReturnFunction) + { + UECodeGen_Private::ConstructUFunction(&ReturnFunction, Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap_Statics::FuncParams); + } + return ReturnFunction; +} +DEFINE_FUNCTION(UCPathDynamicObstacle::execOnBeginOverlap) +{ + P_GET_OBJECT(AActor,Z_Param_Owner); + P_GET_OBJECT(AActor,Z_Param_OtherActor); + P_FINISH; + P_NATIVE_BEGIN; + P_THIS->OnBeginOverlap(Z_Param_Owner,Z_Param_OtherActor); + P_NATIVE_END; +} +// End Class UCPathDynamicObstacle Function OnBeginOverlap + +// Begin Class UCPathDynamicObstacle Function OnEndOverlap +struct Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics +{ + struct CPathDynamicObstacle_eventOnEndOverlap_Parms + { + AActor* Owner; + AActor* OtherActor; + }; +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Function_MetaDataParams[] = { + { "ModuleRelativePath", "Public/CPathDynamicObstacle.h" }, + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FObjectPropertyParams NewProp_Owner; + static const UECodeGen_Private::FObjectPropertyParams NewProp_OtherActor; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static const UECodeGen_Private::FFunctionParams FuncParams; +}; +const UECodeGen_Private::FObjectPropertyParams Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::NewProp_Owner = { "Owner", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Object, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathDynamicObstacle_eventOnEndOverlap_Parms, Owner), Z_Construct_UClass_AActor_NoRegister, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FObjectPropertyParams Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::NewProp_OtherActor = { "OtherActor", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Object, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathDynamicObstacle_eventOnEndOverlap_Parms, OtherActor), Z_Construct_UClass_AActor_NoRegister, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::NewProp_Owner, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::NewProp_OtherActor, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::PropPointers) < 2048); +const UECodeGen_Private::FFunctionParams Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::FuncParams = { (UObject*(*)())Z_Construct_UClass_UCPathDynamicObstacle, nullptr, "OnEndOverlap", nullptr, nullptr, Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::PropPointers, UE_ARRAY_COUNT(Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::PropPointers), sizeof(Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::CPathDynamicObstacle_eventOnEndOverlap_Parms), RF_Public|RF_Transient|RF_MarkAsNative, (EFunctionFlags)0x00020401, 0, 0, METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::Function_MetaDataParams), Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::Function_MetaDataParams) }; +static_assert(sizeof(Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::CPathDynamicObstacle_eventOnEndOverlap_Parms) < MAX_uint16); +UFunction* Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap() +{ + static UFunction* ReturnFunction = nullptr; + if (!ReturnFunction) + { + UECodeGen_Private::ConstructUFunction(&ReturnFunction, Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap_Statics::FuncParams); + } + return ReturnFunction; +} +DEFINE_FUNCTION(UCPathDynamicObstacle::execOnEndOverlap) +{ + P_GET_OBJECT(AActor,Z_Param_Owner); + P_GET_OBJECT(AActor,Z_Param_OtherActor); + P_FINISH; + P_NATIVE_BEGIN; + P_THIS->OnEndOverlap(Z_Param_Owner,Z_Param_OtherActor); + P_NATIVE_END; +} +// End Class UCPathDynamicObstacle Function OnEndOverlap + +// Begin Class UCPathDynamicObstacle +void UCPathDynamicObstacle::StaticRegisterNativesUCPathDynamicObstacle() +{ + UClass* Class = UCPathDynamicObstacle::StaticClass(); + static const FNameNativePtrPair Funcs[] = { + { "OnBeginOverlap", &UCPathDynamicObstacle::execOnBeginOverlap }, + { "OnEndOverlap", &UCPathDynamicObstacle::execOnEndOverlap }, + }; + FNativeFunctionRegistrar::RegisterFunctions(Class, Funcs, UE_ARRAY_COUNT(Funcs)); +} +IMPLEMENT_CLASS_NO_AUTO_REGISTRATION(UCPathDynamicObstacle); +UClass* Z_Construct_UClass_UCPathDynamicObstacle_NoRegister() +{ + return UCPathDynamicObstacle::StaticClass(); +} +struct Z_Construct_UClass_UCPathDynamicObstacle_Statics +{ +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Class_MetaDataParams[] = { + { "BlueprintSpawnableComponent", "" }, + { "ClassGroupNames", "Custom" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// Make sure this actor's collision has Generate Overlaps turned on.\n// Owning actor must be movable.\n// For better performance, call Deactivate() on this component once you dont need it to be updated anymore.\n// bAutoActivate should be left unckecked for this component.\n" }, +#endif + { "IncludePath", "CPathDynamicObstacle.h" }, + { "ModuleRelativePath", "Public/CPathDynamicObstacle.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Make sure this actor's collision has Generate Overlaps turned on.\nOwning actor must be movable.\nFor better performance, call Deactivate() on this component once you dont need it to be updated anymore.\nbAutoActivate should be left unckecked for this component." }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_OverlappigVolumes_MetaData[] = { + { "Category", "CPath" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// CPathVolumes that consider this actor an obstacle.\n" }, +#endif + { "ModuleRelativePath", "Public/CPathDynamicObstacle.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "CPathVolumes that consider this actor an obstacle." }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_ActivateOnBeginPlay_MetaData[] = { + { "Category", "CPath" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// If this actor gets spawned inside a CPathVolume, it will tell the volume about it.\n// If this is left unchecked, you must make sure that this actor spawns outside of a CPathVolume, or do it manually.\n// If you spawn CPathVolume AFTEr this actor, you will need to handle overlaps manually.\n// In case of Level Streaming, CPathVolume should be placed on the same level as each actor it's supposed to track.\n" }, +#endif + { "ModuleRelativePath", "Public/CPathDynamicObstacle.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "If this actor gets spawned inside a CPathVolume, it will tell the volume about it.\nIf this is left unchecked, you must make sure that this actor spawns outside of a CPathVolume, or do it manually.\nIf you spawn CPathVolume AFTEr this actor, you will need to handle overlaps manually.\nIn case of Level Streaming, CPathVolume should be placed on the same level as each actor it's supposed to track." }, +#endif + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FObjectPropertyParams NewProp_OverlappigVolumes_ElementProp; + static const UECodeGen_Private::FSetPropertyParams NewProp_OverlappigVolumes; + static void NewProp_ActivateOnBeginPlay_SetBit(void* Obj); + static const UECodeGen_Private::FBoolPropertyParams NewProp_ActivateOnBeginPlay; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static UObject* (*const DependentSingletons[])(); + static constexpr FClassFunctionLinkInfo FuncInfo[] = { + { &Z_Construct_UFunction_UCPathDynamicObstacle_OnBeginOverlap, "OnBeginOverlap" }, // 3236496653 + { &Z_Construct_UFunction_UCPathDynamicObstacle_OnEndOverlap, "OnEndOverlap" }, // 276998941 + }; + static_assert(UE_ARRAY_COUNT(FuncInfo) < 2048); + static constexpr FCppClassTypeInfoStatic StaticCppClassTypeInfo = { + TCppClassTypeTraits::IsAbstract, + }; + static const UECodeGen_Private::FClassParams ClassParams; +}; +const UECodeGen_Private::FObjectPropertyParams Z_Construct_UClass_UCPathDynamicObstacle_Statics::NewProp_OverlappigVolumes_ElementProp = { "OverlappigVolumes", nullptr, (EPropertyFlags)0x0000000000020001, UECodeGen_Private::EPropertyGenFlags::Object, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, 0, Z_Construct_UClass_AActor_NoRegister, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FSetPropertyParams Z_Construct_UClass_UCPathDynamicObstacle_Statics::NewProp_OverlappigVolumes = { "OverlappigVolumes", nullptr, (EPropertyFlags)0x0010000000020015, UECodeGen_Private::EPropertyGenFlags::Set, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(UCPathDynamicObstacle, OverlappigVolumes), METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_OverlappigVolumes_MetaData), NewProp_OverlappigVolumes_MetaData) }; +void Z_Construct_UClass_UCPathDynamicObstacle_Statics::NewProp_ActivateOnBeginPlay_SetBit(void* Obj) +{ + ((UCPathDynamicObstacle*)Obj)->ActivateOnBeginPlay = 1; +} +const UECodeGen_Private::FBoolPropertyParams Z_Construct_UClass_UCPathDynamicObstacle_Statics::NewProp_ActivateOnBeginPlay = { "ActivateOnBeginPlay", nullptr, (EPropertyFlags)0x0010000000000005, UECodeGen_Private::EPropertyGenFlags::Bool | UECodeGen_Private::EPropertyGenFlags::NativeBool, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, sizeof(bool), sizeof(UCPathDynamicObstacle), &Z_Construct_UClass_UCPathDynamicObstacle_Statics::NewProp_ActivateOnBeginPlay_SetBit, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_ActivateOnBeginPlay_MetaData), NewProp_ActivateOnBeginPlay_MetaData) }; +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UClass_UCPathDynamicObstacle_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_UCPathDynamicObstacle_Statics::NewProp_OverlappigVolumes_ElementProp, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_UCPathDynamicObstacle_Statics::NewProp_OverlappigVolumes, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_UCPathDynamicObstacle_Statics::NewProp_ActivateOnBeginPlay, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UClass_UCPathDynamicObstacle_Statics::PropPointers) < 2048); +UObject* (*const Z_Construct_UClass_UCPathDynamicObstacle_Statics::DependentSingletons[])() = { + (UObject* (*)())Z_Construct_UClass_UActorComponent, + (UObject* (*)())Z_Construct_UPackage__Script_CPathfinding, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UClass_UCPathDynamicObstacle_Statics::DependentSingletons) < 16); +const UECodeGen_Private::FClassParams Z_Construct_UClass_UCPathDynamicObstacle_Statics::ClassParams = { + &UCPathDynamicObstacle::StaticClass, + "Engine", + &StaticCppClassTypeInfo, + DependentSingletons, + FuncInfo, + Z_Construct_UClass_UCPathDynamicObstacle_Statics::PropPointers, + nullptr, + UE_ARRAY_COUNT(DependentSingletons), + UE_ARRAY_COUNT(FuncInfo), + UE_ARRAY_COUNT(Z_Construct_UClass_UCPathDynamicObstacle_Statics::PropPointers), + 0, + 0x00B000A4u, + METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UClass_UCPathDynamicObstacle_Statics::Class_MetaDataParams), Z_Construct_UClass_UCPathDynamicObstacle_Statics::Class_MetaDataParams) +}; +UClass* Z_Construct_UClass_UCPathDynamicObstacle() +{ + if (!Z_Registration_Info_UClass_UCPathDynamicObstacle.OuterSingleton) + { + UECodeGen_Private::ConstructUClass(Z_Registration_Info_UClass_UCPathDynamicObstacle.OuterSingleton, Z_Construct_UClass_UCPathDynamicObstacle_Statics::ClassParams); + } + return Z_Registration_Info_UClass_UCPathDynamicObstacle.OuterSingleton; +} +template<> CPATHFINDING_API UClass* StaticClass() +{ + return UCPathDynamicObstacle::StaticClass(); +} +DEFINE_VTABLE_PTR_HELPER_CTOR(UCPathDynamicObstacle); +UCPathDynamicObstacle::~UCPathDynamicObstacle() {} +// End Class UCPathDynamicObstacle + +// Begin Registration +struct Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_Statics +{ + static constexpr FClassRegisterCompiledInInfo ClassInfo[] = { + { Z_Construct_UClass_UCPathDynamicObstacle, UCPathDynamicObstacle::StaticClass, TEXT("UCPathDynamicObstacle"), &Z_Registration_Info_UClass_UCPathDynamicObstacle, CONSTRUCT_RELOAD_VERSION_INFO(FClassReloadVersionInfo, sizeof(UCPathDynamicObstacle), 544616332U) }, + }; +}; +static FRegisterCompiledInInfo Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_1446079531(TEXT("/Script/CPathfinding"), + Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_Statics::ClassInfo, UE_ARRAY_COUNT(Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_Statics::ClassInfo), + nullptr, 0, + nullptr, 0); +// End Registration +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDynamicObstacle.generated.h b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDynamicObstacle.generated.h new file mode 100644 index 00000000..c325e886 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathDynamicObstacle.generated.h @@ -0,0 +1,61 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +// IWYU pragma: private, include "CPathDynamicObstacle.h" +#include "UObject/ObjectMacros.h" +#include "UObject/ScriptMacros.h" + +PRAGMA_DISABLE_DEPRECATION_WARNINGS +class AActor; +#ifdef CPATHFINDING_CPathDynamicObstacle_generated_h +#error "CPathDynamicObstacle.generated.h already included, missing '#pragma once' in CPathDynamicObstacle.h" +#endif +#define CPATHFINDING_CPathDynamicObstacle_generated_h + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_15_RPC_WRAPPERS_NO_PURE_DECLS \ + DECLARE_FUNCTION(execOnEndOverlap); \ + DECLARE_FUNCTION(execOnBeginOverlap); + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_15_INCLASS_NO_PURE_DECLS \ +private: \ + static void StaticRegisterNativesUCPathDynamicObstacle(); \ + friend struct Z_Construct_UClass_UCPathDynamicObstacle_Statics; \ +public: \ + DECLARE_CLASS(UCPathDynamicObstacle, UActorComponent, COMPILED_IN_FLAGS(0 | CLASS_Config), CASTCLASS_None, TEXT("/Script/CPathfinding"), NO_API) \ + DECLARE_SERIALIZER(UCPathDynamicObstacle) + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_15_ENHANCED_CONSTRUCTORS \ +private: \ + /** Private move- and copy-constructors, should never be used */ \ + UCPathDynamicObstacle(UCPathDynamicObstacle&&); \ + UCPathDynamicObstacle(const UCPathDynamicObstacle&); \ +public: \ + DECLARE_VTABLE_PTR_HELPER_CTOR(NO_API, UCPathDynamicObstacle); \ + DEFINE_VTABLE_PTR_HELPER_CTOR_CALLER(UCPathDynamicObstacle); \ + DEFINE_DEFAULT_CONSTRUCTOR_CALL(UCPathDynamicObstacle) \ + NO_API virtual ~UCPathDynamicObstacle(); + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_12_PROLOG +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_15_GENERATED_BODY \ +PRAGMA_DISABLE_DEPRECATION_WARNINGS \ +public: \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_15_RPC_WRAPPERS_NO_PURE_DECLS \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_15_INCLASS_NO_PURE_DECLS \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h_15_ENHANCED_CONSTRUCTORS \ +private: \ +PRAGMA_ENABLE_DEPRECATION_WARNINGS + + +template<> CPATHFINDING_API UClass* StaticClass(); + +#undef CURRENT_FILE_ID +#define CURRENT_FILE_ID FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathDynamicObstacle_h + + +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathFindPath.gen.cpp b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathFindPath.gen.cpp new file mode 100644 index 00000000..606237aa --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathFindPath.gen.cpp @@ -0,0 +1,266 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +#include "UObject/GeneratedCppIncludes.h" +#include "CPathfinding/Public/CPathFindPath.h" +#include "CPathfinding/Public/CPathNode.h" +PRAGMA_DISABLE_DEPRECATION_WARNINGS +void EmptyLinkFunctionForGeneratedCodeCPathFindPath() {} + +// Begin Cross Module References +COREUOBJECT_API UScriptStruct* Z_Construct_UScriptStruct_FVector(); +CPATHFINDING_API UClass* Z_Construct_UClass_ACPathVolume_NoRegister(); +CPATHFINDING_API UClass* Z_Construct_UClass_UCPathAsyncFindPath(); +CPATHFINDING_API UClass* Z_Construct_UClass_UCPathAsyncFindPath_NoRegister(); +CPATHFINDING_API UEnum* Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason(); +CPATHFINDING_API UFunction* Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature(); +CPATHFINDING_API UScriptStruct* Z_Construct_UScriptStruct_FCPathNode(); +ENGINE_API UClass* Z_Construct_UClass_UBlueprintAsyncActionBase(); +UPackage* Z_Construct_UPackage__Script_CPathfinding(); +// End Cross Module References + +// Begin Delegate FResponseDelegate +struct Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics +{ + struct _Script_CPathfinding_eventResponseDelegate_Parms + { + TArray Path; + TEnumAsByte FailReason; + }; +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Function_MetaDataParams[] = { + { "ModuleRelativePath", "Public/CPathFindPath.h" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_Path_MetaData[] = { + { "NativeConst", "" }, + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FStructPropertyParams NewProp_Path_Inner; + static const UECodeGen_Private::FArrayPropertyParams NewProp_Path; + static const UECodeGen_Private::FBytePropertyParams NewProp_FailReason; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static const UECodeGen_Private::FFunctionParams FuncParams; +}; +const UECodeGen_Private::FStructPropertyParams Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::NewProp_Path_Inner = { "Path", nullptr, (EPropertyFlags)0x0000000000000000, UECodeGen_Private::EPropertyGenFlags::Struct, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, 0, Z_Construct_UScriptStruct_FCPathNode, METADATA_PARAMS(0, nullptr) }; // 694981785 +const UECodeGen_Private::FArrayPropertyParams Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::NewProp_Path = { "Path", nullptr, (EPropertyFlags)0x0010000008000182, UECodeGen_Private::EPropertyGenFlags::Array, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(_Script_CPathfinding_eventResponseDelegate_Parms, Path), EArrayPropertyFlags::None, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_Path_MetaData), NewProp_Path_MetaData) }; // 694981785 +const UECodeGen_Private::FBytePropertyParams Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::NewProp_FailReason = { "FailReason", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Byte, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(_Script_CPathfinding_eventResponseDelegate_Parms, FailReason), Z_Construct_UEnum_CPathfinding_ECPathfindingFailReason, METADATA_PARAMS(0, nullptr) }; // 778571395 +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::NewProp_Path_Inner, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::NewProp_Path, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::NewProp_FailReason, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::PropPointers) < 2048); +const UECodeGen_Private::FFunctionParams Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::FuncParams = { (UObject*(*)())Z_Construct_UPackage__Script_CPathfinding, nullptr, "ResponseDelegate__DelegateSignature", nullptr, nullptr, Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::PropPointers, UE_ARRAY_COUNT(Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::PropPointers), sizeof(Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::_Script_CPathfinding_eventResponseDelegate_Parms), RF_Public|RF_Transient|RF_MarkAsNative, (EFunctionFlags)0x00130000, 0, 0, METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::Function_MetaDataParams), Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::Function_MetaDataParams) }; +static_assert(sizeof(Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::_Script_CPathfinding_eventResponseDelegate_Parms) < MAX_uint16); +UFunction* Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature() +{ + static UFunction* ReturnFunction = nullptr; + if (!ReturnFunction) + { + UECodeGen_Private::ConstructUFunction(&ReturnFunction, Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature_Statics::FuncParams); + } + return ReturnFunction; +} +void FResponseDelegate_DelegateWrapper(const FMulticastScriptDelegate& ResponseDelegate, TArray const& Path, ECPathfindingFailReason FailReason) +{ + struct _Script_CPathfinding_eventResponseDelegate_Parms + { + TArray Path; + TEnumAsByte FailReason; + }; + _Script_CPathfinding_eventResponseDelegate_Parms Parms; + Parms.Path=Path; + Parms.FailReason=FailReason; + ResponseDelegate.ProcessMulticastDelegate(&Parms); +} +// End Delegate FResponseDelegate + +// Begin Class UCPathAsyncFindPath Function FindPathAsync +struct Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics +{ + struct CPathAsyncFindPath_eventFindPathAsync_Parms + { + ACPathVolume* Volume; + FVector StartLocation; + FVector EndLocation; + int32 SmoothingPasses; + int32 UserData; + float TimeLimit; + UCPathAsyncFindPath* ReturnValue; + }; +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Function_MetaDataParams[] = { + { "BlueprintInternalUseOnly", "true" }, + { "Category", "CPath" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// On success, returns a path from Start to End location. Both start and end must be inside the given Volume.\n// If start or end is unreachable (or time limit was exceeded) returns nothing.\n// SmoothingPasses - During a smoothing pass, every other node is potentially removed, as long as there is an empty space to the next one.\n// With SmoothingPasses=0, the path will be very jagged since the graph is Discrete.\n// With SmoothingPasses > 2 there is a potential loss of data, especially if a custom Cost function is used.\n" }, +#endif + { "CPP_Default_SmoothingPasses", "2" }, + { "CPP_Default_TimeLimit", "0.200000" }, + { "CPP_Default_UserData", "0" }, + { "ModuleRelativePath", "Public/CPathFindPath.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "On success, returns a path from Start to End location. Both start and end must be inside the given Volume.\nIf start or end is unreachable (or time limit was exceeded) returns nothing.\nSmoothingPasses - During a smoothing pass, every other node is potentially removed, as long as there is an empty space to the next one.\nWith SmoothingPasses=0, the path will be very jagged since the graph is Discrete.\nWith SmoothingPasses > 2 there is a potential loss of data, especially if a custom Cost function is used." }, +#endif + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FObjectPropertyParams NewProp_Volume; + static const UECodeGen_Private::FStructPropertyParams NewProp_StartLocation; + static const UECodeGen_Private::FStructPropertyParams NewProp_EndLocation; + static const UECodeGen_Private::FIntPropertyParams NewProp_SmoothingPasses; + static const UECodeGen_Private::FIntPropertyParams NewProp_UserData; + static const UECodeGen_Private::FFloatPropertyParams NewProp_TimeLimit; + static const UECodeGen_Private::FObjectPropertyParams NewProp_ReturnValue; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static const UECodeGen_Private::FFunctionParams FuncParams; +}; +const UECodeGen_Private::FObjectPropertyParams Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_Volume = { "Volume", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Object, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathAsyncFindPath_eventFindPathAsync_Parms, Volume), Z_Construct_UClass_ACPathVolume_NoRegister, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FStructPropertyParams Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_StartLocation = { "StartLocation", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Struct, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathAsyncFindPath_eventFindPathAsync_Parms, StartLocation), Z_Construct_UScriptStruct_FVector, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FStructPropertyParams Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_EndLocation = { "EndLocation", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Struct, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathAsyncFindPath_eventFindPathAsync_Parms, EndLocation), Z_Construct_UScriptStruct_FVector, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FIntPropertyParams Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_SmoothingPasses = { "SmoothingPasses", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Int, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathAsyncFindPath_eventFindPathAsync_Parms, SmoothingPasses), METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FIntPropertyParams Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_UserData = { "UserData", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Int, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathAsyncFindPath_eventFindPathAsync_Parms, UserData), METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FFloatPropertyParams Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_TimeLimit = { "TimeLimit", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Float, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathAsyncFindPath_eventFindPathAsync_Parms, TimeLimit), METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FObjectPropertyParams Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_ReturnValue = { "ReturnValue", nullptr, (EPropertyFlags)0x0010000000000580, UECodeGen_Private::EPropertyGenFlags::Object, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathAsyncFindPath_eventFindPathAsync_Parms, ReturnValue), Z_Construct_UClass_UCPathAsyncFindPath_NoRegister, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_Volume, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_StartLocation, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_EndLocation, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_SmoothingPasses, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_UserData, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_TimeLimit, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::NewProp_ReturnValue, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::PropPointers) < 2048); +const UECodeGen_Private::FFunctionParams Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::FuncParams = { (UObject*(*)())Z_Construct_UClass_UCPathAsyncFindPath, nullptr, "FindPathAsync", nullptr, nullptr, Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::PropPointers, UE_ARRAY_COUNT(Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::PropPointers), sizeof(Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::CPathAsyncFindPath_eventFindPathAsync_Parms), RF_Public|RF_Transient|RF_MarkAsNative, (EFunctionFlags)0x04822401, 0, 0, METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::Function_MetaDataParams), Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::Function_MetaDataParams) }; +static_assert(sizeof(Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::CPathAsyncFindPath_eventFindPathAsync_Parms) < MAX_uint16); +UFunction* Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync() +{ + static UFunction* ReturnFunction = nullptr; + if (!ReturnFunction) + { + UECodeGen_Private::ConstructUFunction(&ReturnFunction, Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync_Statics::FuncParams); + } + return ReturnFunction; +} +DEFINE_FUNCTION(UCPathAsyncFindPath::execFindPathAsync) +{ + P_GET_OBJECT(ACPathVolume,Z_Param_Volume); + P_GET_STRUCT(FVector,Z_Param_StartLocation); + P_GET_STRUCT(FVector,Z_Param_EndLocation); + P_GET_PROPERTY(FIntProperty,Z_Param_SmoothingPasses); + P_GET_PROPERTY(FIntProperty,Z_Param_UserData); + P_GET_PROPERTY(FFloatProperty,Z_Param_TimeLimit); + P_FINISH; + P_NATIVE_BEGIN; + *(UCPathAsyncFindPath**)Z_Param__Result=UCPathAsyncFindPath::FindPathAsync(Z_Param_Volume,Z_Param_StartLocation,Z_Param_EndLocation,Z_Param_SmoothingPasses,Z_Param_UserData,Z_Param_TimeLimit); + P_NATIVE_END; +} +// End Class UCPathAsyncFindPath Function FindPathAsync + +// Begin Class UCPathAsyncFindPath +void UCPathAsyncFindPath::StaticRegisterNativesUCPathAsyncFindPath() +{ + UClass* Class = UCPathAsyncFindPath::StaticClass(); + static const FNameNativePtrPair Funcs[] = { + { "FindPathAsync", &UCPathAsyncFindPath::execFindPathAsync }, + }; + FNativeFunctionRegistrar::RegisterFunctions(Class, Funcs, UE_ARRAY_COUNT(Funcs)); +} +IMPLEMENT_CLASS_NO_AUTO_REGISTRATION(UCPathAsyncFindPath); +UClass* Z_Construct_UClass_UCPathAsyncFindPath_NoRegister() +{ + return UCPathAsyncFindPath::StaticClass(); +} +struct Z_Construct_UClass_UCPathAsyncFindPath_Statics +{ +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Class_MetaDataParams[] = { +#if !UE_BUILD_SHIPPING + { "Comment", "/**\n Accessing this class through ANY MEANS other than delegates is UNSAFE.\n */" }, +#endif + { "IncludePath", "CPathFindPath.h" }, + { "ModuleRelativePath", "Public/CPathFindPath.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Accessing this class through ANY MEANS other than delegates is UNSAFE." }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_Success_MetaData[] = { + { "ModuleRelativePath", "Public/CPathFindPath.h" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_Failure_MetaData[] = { + { "ModuleRelativePath", "Public/CPathFindPath.h" }, + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FMulticastDelegatePropertyParams NewProp_Success; + static const UECodeGen_Private::FMulticastDelegatePropertyParams NewProp_Failure; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static UObject* (*const DependentSingletons[])(); + static constexpr FClassFunctionLinkInfo FuncInfo[] = { + { &Z_Construct_UFunction_UCPathAsyncFindPath_FindPathAsync, "FindPathAsync" }, // 372811194 + }; + static_assert(UE_ARRAY_COUNT(FuncInfo) < 2048); + static constexpr FCppClassTypeInfoStatic StaticCppClassTypeInfo = { + TCppClassTypeTraits::IsAbstract, + }; + static const UECodeGen_Private::FClassParams ClassParams; +}; +const UECodeGen_Private::FMulticastDelegatePropertyParams Z_Construct_UClass_UCPathAsyncFindPath_Statics::NewProp_Success = { "Success", nullptr, (EPropertyFlags)0x0010000010080000, UECodeGen_Private::EPropertyGenFlags::InlineMulticastDelegate, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(UCPathAsyncFindPath, Success), Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_Success_MetaData), NewProp_Success_MetaData) }; // 3158436130 +const UECodeGen_Private::FMulticastDelegatePropertyParams Z_Construct_UClass_UCPathAsyncFindPath_Statics::NewProp_Failure = { "Failure", nullptr, (EPropertyFlags)0x0010000010080000, UECodeGen_Private::EPropertyGenFlags::InlineMulticastDelegate, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(UCPathAsyncFindPath, Failure), Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_Failure_MetaData), NewProp_Failure_MetaData) }; // 3158436130 +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UClass_UCPathAsyncFindPath_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_UCPathAsyncFindPath_Statics::NewProp_Success, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_UCPathAsyncFindPath_Statics::NewProp_Failure, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UClass_UCPathAsyncFindPath_Statics::PropPointers) < 2048); +UObject* (*const Z_Construct_UClass_UCPathAsyncFindPath_Statics::DependentSingletons[])() = { + (UObject* (*)())Z_Construct_UClass_UBlueprintAsyncActionBase, + (UObject* (*)())Z_Construct_UPackage__Script_CPathfinding, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UClass_UCPathAsyncFindPath_Statics::DependentSingletons) < 16); +const UECodeGen_Private::FClassParams Z_Construct_UClass_UCPathAsyncFindPath_Statics::ClassParams = { + &UCPathAsyncFindPath::StaticClass, + nullptr, + &StaticCppClassTypeInfo, + DependentSingletons, + FuncInfo, + Z_Construct_UClass_UCPathAsyncFindPath_Statics::PropPointers, + nullptr, + UE_ARRAY_COUNT(DependentSingletons), + UE_ARRAY_COUNT(FuncInfo), + UE_ARRAY_COUNT(Z_Construct_UClass_UCPathAsyncFindPath_Statics::PropPointers), + 0, + 0x009000A0u, + METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UClass_UCPathAsyncFindPath_Statics::Class_MetaDataParams), Z_Construct_UClass_UCPathAsyncFindPath_Statics::Class_MetaDataParams) +}; +UClass* Z_Construct_UClass_UCPathAsyncFindPath() +{ + if (!Z_Registration_Info_UClass_UCPathAsyncFindPath.OuterSingleton) + { + UECodeGen_Private::ConstructUClass(Z_Registration_Info_UClass_UCPathAsyncFindPath.OuterSingleton, Z_Construct_UClass_UCPathAsyncFindPath_Statics::ClassParams); + } + return Z_Registration_Info_UClass_UCPathAsyncFindPath.OuterSingleton; +} +template<> CPATHFINDING_API UClass* StaticClass() +{ + return UCPathAsyncFindPath::StaticClass(); +} +UCPathAsyncFindPath::UCPathAsyncFindPath(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer) {} +DEFINE_VTABLE_PTR_HELPER_CTOR(UCPathAsyncFindPath); +UCPathAsyncFindPath::~UCPathAsyncFindPath() {} +// End Class UCPathAsyncFindPath + +// Begin Registration +struct Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_Statics +{ + static constexpr FClassRegisterCompiledInInfo ClassInfo[] = { + { Z_Construct_UClass_UCPathAsyncFindPath, UCPathAsyncFindPath::StaticClass, TEXT("UCPathAsyncFindPath"), &Z_Registration_Info_UClass_UCPathAsyncFindPath, CONSTRUCT_RELOAD_VERSION_INFO(FClassReloadVersionInfo, sizeof(UCPathAsyncFindPath), 836603476U) }, + }; +}; +static FRegisterCompiledInInfo Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_1682395970(TEXT("/Script/CPathfinding"), + Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_Statics::ClassInfo, UE_ARRAY_COUNT(Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_Statics::ClassInfo), + nullptr, 0, + nullptr, 0); +// End Registration +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathFindPath.generated.h b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathFindPath.generated.h new file mode 100644 index 00000000..8fe3434c --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathFindPath.generated.h @@ -0,0 +1,68 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +// IWYU pragma: private, include "CPathFindPath.h" +#include "UObject/ObjectMacros.h" +#include "UObject/ScriptMacros.h" + +PRAGMA_DISABLE_DEPRECATION_WARNINGS +class ACPathVolume; +class UCPathAsyncFindPath; +struct FCPathNode; +#ifdef CPATHFINDING_CPathFindPath_generated_h +#error "CPathFindPath.generated.h already included, missing '#pragma once' in CPathFindPath.h" +#endif +#define CPATHFINDING_CPathFindPath_generated_h + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_89_DELEGATE \ +CPATHFINDING_API void FResponseDelegate_DelegateWrapper(const FMulticastScriptDelegate& ResponseDelegate, TArray const& Path, ECPathfindingFailReason FailReason); + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_97_RPC_WRAPPERS_NO_PURE_DECLS \ + DECLARE_FUNCTION(execFindPathAsync); + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_97_INCLASS_NO_PURE_DECLS \ +private: \ + static void StaticRegisterNativesUCPathAsyncFindPath(); \ + friend struct Z_Construct_UClass_UCPathAsyncFindPath_Statics; \ +public: \ + DECLARE_CLASS(UCPathAsyncFindPath, UBlueprintAsyncActionBase, COMPILED_IN_FLAGS(0), CASTCLASS_None, TEXT("/Script/CPathfinding"), NO_API) \ + DECLARE_SERIALIZER(UCPathAsyncFindPath) + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_97_ENHANCED_CONSTRUCTORS \ + /** Standard constructor, called after all reflected properties have been initialized */ \ + NO_API UCPathAsyncFindPath(const FObjectInitializer& ObjectInitializer = FObjectInitializer::Get()); \ +private: \ + /** Private move- and copy-constructors, should never be used */ \ + UCPathAsyncFindPath(UCPathAsyncFindPath&&); \ + UCPathAsyncFindPath(const UCPathAsyncFindPath&); \ +public: \ + DECLARE_VTABLE_PTR_HELPER_CTOR(NO_API, UCPathAsyncFindPath); \ + DEFINE_VTABLE_PTR_HELPER_CTOR_CALLER(UCPathAsyncFindPath); \ + DEFINE_DEFAULT_OBJECT_INITIALIZER_CONSTRUCTOR_CALL(UCPathAsyncFindPath) \ + NO_API virtual ~UCPathAsyncFindPath(); + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_94_PROLOG +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_97_GENERATED_BODY \ +PRAGMA_DISABLE_DEPRECATION_WARNINGS \ +public: \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_97_RPC_WRAPPERS_NO_PURE_DECLS \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_97_INCLASS_NO_PURE_DECLS \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h_97_ENHANCED_CONSTRUCTORS \ +private: \ +PRAGMA_ENABLE_DEPRECATION_WARNINGS + + +template<> CPATHFINDING_API UClass* StaticClass(); + +#undef CURRENT_FILE_ID +#define CURRENT_FILE_ID FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathFindPath_h + + +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathNode.gen.cpp b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathNode.gen.cpp new file mode 100644 index 00000000..71c893b0 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathNode.gen.cpp @@ -0,0 +1,105 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +#include "UObject/GeneratedCppIncludes.h" +#include "CPathfinding/Public/CPathNode.h" +PRAGMA_DISABLE_DEPRECATION_WARNINGS +void EmptyLinkFunctionForGeneratedCodeCPathNode() {} + +// Begin Cross Module References +COREUOBJECT_API UScriptStruct* Z_Construct_UScriptStruct_FVector(); +CPATHFINDING_API UScriptStruct* Z_Construct_UScriptStruct_FCPathNode(); +UPackage* Z_Construct_UPackage__Script_CPathfinding(); +// End Cross Module References + +// Begin ScriptStruct FCPathNode +static FStructRegistrationInfo Z_Registration_Info_UScriptStruct_CPathNode; +class UScriptStruct* FCPathNode::StaticStruct() +{ + if (!Z_Registration_Info_UScriptStruct_CPathNode.OuterSingleton) + { + Z_Registration_Info_UScriptStruct_CPathNode.OuterSingleton = GetStaticStruct(Z_Construct_UScriptStruct_FCPathNode, (UObject*)Z_Construct_UPackage__Script_CPathfinding(), TEXT("CPathNode")); + } + return Z_Registration_Info_UScriptStruct_CPathNode.OuterSingleton; +} +template<> CPATHFINDING_API UScriptStruct* StaticStruct() +{ + return FCPathNode::StaticStruct(); +} +struct Z_Construct_UScriptStruct_FCPathNode_Statics +{ +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Struct_MetaDataParams[] = { + { "BlueprintType", "true" }, + { "ModuleRelativePath", "Public/CPathNode.h" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_WorldLocation_MetaData[] = { + { "Category", "CPath" }, + { "ModuleRelativePath", "Public/CPathNode.h" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_Normal_MetaData[] = { + { "Category", "CPath" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// Normalized vector pointing to next node. ZeroVector on last node.\n" }, +#endif + { "ModuleRelativePath", "Public/CPathNode.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Normalized vector pointing to next node. ZeroVector on last node." }, +#endif + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FStructPropertyParams NewProp_WorldLocation; + static const UECodeGen_Private::FStructPropertyParams NewProp_Normal; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static void* NewStructOps() + { + return (UScriptStruct::ICppStructOps*)new UScriptStruct::TCppStructOps(); + } + static const UECodeGen_Private::FStructParams StructParams; +}; +const UECodeGen_Private::FStructPropertyParams Z_Construct_UScriptStruct_FCPathNode_Statics::NewProp_WorldLocation = { "WorldLocation", nullptr, (EPropertyFlags)0x0010000000020015, UECodeGen_Private::EPropertyGenFlags::Struct, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(FCPathNode, WorldLocation), Z_Construct_UScriptStruct_FVector, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_WorldLocation_MetaData), NewProp_WorldLocation_MetaData) }; +const UECodeGen_Private::FStructPropertyParams Z_Construct_UScriptStruct_FCPathNode_Statics::NewProp_Normal = { "Normal", nullptr, (EPropertyFlags)0x0010000000020015, UECodeGen_Private::EPropertyGenFlags::Struct, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(FCPathNode, Normal), Z_Construct_UScriptStruct_FVector, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_Normal_MetaData), NewProp_Normal_MetaData) }; +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UScriptStruct_FCPathNode_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UScriptStruct_FCPathNode_Statics::NewProp_WorldLocation, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UScriptStruct_FCPathNode_Statics::NewProp_Normal, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UScriptStruct_FCPathNode_Statics::PropPointers) < 2048); +const UECodeGen_Private::FStructParams Z_Construct_UScriptStruct_FCPathNode_Statics::StructParams = { + (UObject* (*)())Z_Construct_UPackage__Script_CPathfinding, + nullptr, + &NewStructOps, + "CPathNode", + Z_Construct_UScriptStruct_FCPathNode_Statics::PropPointers, + UE_ARRAY_COUNT(Z_Construct_UScriptStruct_FCPathNode_Statics::PropPointers), + sizeof(FCPathNode), + alignof(FCPathNode), + RF_Public|RF_Transient|RF_MarkAsNative, + EStructFlags(0x00000001), + METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UScriptStruct_FCPathNode_Statics::Struct_MetaDataParams), Z_Construct_UScriptStruct_FCPathNode_Statics::Struct_MetaDataParams) +}; +UScriptStruct* Z_Construct_UScriptStruct_FCPathNode() +{ + if (!Z_Registration_Info_UScriptStruct_CPathNode.InnerSingleton) + { + UECodeGen_Private::ConstructUScriptStruct(Z_Registration_Info_UScriptStruct_CPathNode.InnerSingleton, Z_Construct_UScriptStruct_FCPathNode_Statics::StructParams); + } + return Z_Registration_Info_UScriptStruct_CPathNode.InnerSingleton; +} +// End ScriptStruct FCPathNode + +// Begin Registration +struct Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathNode_h_Statics +{ + static constexpr FStructRegisterCompiledInInfo ScriptStructInfo[] = { + { FCPathNode::StaticStruct, Z_Construct_UScriptStruct_FCPathNode_Statics::NewStructOps, TEXT("CPathNode"), &Z_Registration_Info_UScriptStruct_CPathNode, CONSTRUCT_RELOAD_VERSION_INFO(FStructReloadVersionInfo, sizeof(FCPathNode), 694981785U) }, + }; +}; +static FRegisterCompiledInInfo Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathNode_h_867364488(TEXT("/Script/CPathfinding"), + nullptr, 0, + Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathNode_h_Statics::ScriptStructInfo, UE_ARRAY_COUNT(Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathNode_h_Statics::ScriptStructInfo), + nullptr, 0); +// End Registration +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathNode.generated.h b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathNode.generated.h new file mode 100644 index 00000000..5c45f98f --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathNode.generated.h @@ -0,0 +1,28 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +// IWYU pragma: private, include "CPathNode.h" +#include "UObject/ObjectMacros.h" +#include "UObject/ScriptMacros.h" + +PRAGMA_DISABLE_DEPRECATION_WARNINGS +#ifdef CPATHFINDING_CPathNode_generated_h +#error "CPathNode.generated.h already included, missing '#pragma once' in CPathNode.h" +#endif +#define CPATHFINDING_CPathNode_generated_h + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathNode_h_73_GENERATED_BODY \ + friend struct Z_Construct_UScriptStruct_FCPathNode_Statics; \ + CPATHFINDING_API static class UScriptStruct* StaticStruct(); + + +template<> CPATHFINDING_API UScriptStruct* StaticStruct(); + +#undef CURRENT_FILE_ID +#define CURRENT_FILE_ID FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathNode_h + + +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolume.gen.cpp b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolume.gen.cpp new file mode 100644 index 00000000..b7b2fd78 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolume.gen.cpp @@ -0,0 +1,593 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +#include "UObject/GeneratedCppIncludes.h" +#include "CPathfinding/Public/CPathVolume.h" +#include "CPathfinding/Public/CPathNode.h" +PRAGMA_DISABLE_DEPRECATION_WARNINGS +void EmptyLinkFunctionForGeneratedCodeCPathVolume() {} + +// Begin Cross Module References +COREUOBJECT_API UScriptStruct* Z_Construct_UScriptStruct_FColor(); +COREUOBJECT_API UScriptStruct* Z_Construct_UScriptStruct_FVector(); +CPATHFINDING_API UClass* Z_Construct_UClass_ACPathVolume(); +CPATHFINDING_API UClass* Z_Construct_UClass_ACPathVolume_NoRegister(); +CPATHFINDING_API UEnum* Z_Construct_UEnum_CPathfinding_EAgentShape(); +CPATHFINDING_API UScriptStruct* Z_Construct_UScriptStruct_FCPathNode(); +ENGINE_API UClass* Z_Construct_UClass_AActor(); +ENGINE_API UClass* Z_Construct_UClass_UBoxComponent_NoRegister(); +ENGINE_API UEnum* Z_Construct_UEnum_Engine_ECollisionChannel(); +UPackage* Z_Construct_UPackage__Script_CPathfinding(); +// End Cross Module References + +// Begin Class ACPathVolume Function DebugDrawNeighbours +struct Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics +{ + struct CPathVolume_eventDebugDrawNeighbours_Parms + { + FVector WorldLocation; + }; +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Function_MetaDataParams[] = { + { "Category", "CPath|Render" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// Draws FREE neighbouring leafs\n" }, +#endif + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Draws FREE neighbouring leafs" }, +#endif + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FStructPropertyParams NewProp_WorldLocation; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static const UECodeGen_Private::FFunctionParams FuncParams; +}; +const UECodeGen_Private::FStructPropertyParams Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::NewProp_WorldLocation = { "WorldLocation", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Struct, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathVolume_eventDebugDrawNeighbours_Parms, WorldLocation), Z_Construct_UScriptStruct_FVector, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::NewProp_WorldLocation, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::PropPointers) < 2048); +const UECodeGen_Private::FFunctionParams Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::FuncParams = { (UObject*(*)())Z_Construct_UClass_ACPathVolume, nullptr, "DebugDrawNeighbours", nullptr, nullptr, Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::PropPointers, UE_ARRAY_COUNT(Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::PropPointers), sizeof(Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::CPathVolume_eventDebugDrawNeighbours_Parms), RF_Public|RF_Transient|RF_MarkAsNative, (EFunctionFlags)0x04820401, 0, 0, METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::Function_MetaDataParams), Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::Function_MetaDataParams) }; +static_assert(sizeof(Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::CPathVolume_eventDebugDrawNeighbours_Parms) < MAX_uint16); +UFunction* Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours() +{ + static UFunction* ReturnFunction = nullptr; + if (!ReturnFunction) + { + UECodeGen_Private::ConstructUFunction(&ReturnFunction, Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours_Statics::FuncParams); + } + return ReturnFunction; +} +DEFINE_FUNCTION(ACPathVolume::execDebugDrawNeighbours) +{ + P_GET_STRUCT(FVector,Z_Param_WorldLocation); + P_FINISH; + P_NATIVE_BEGIN; + P_THIS->DebugDrawNeighbours(Z_Param_WorldLocation); + P_NATIVE_END; +} +// End Class ACPathVolume Function DebugDrawNeighbours + +// Begin Class ACPathVolume Function DrawDebugNodesAroundLocation +struct Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics +{ + struct CPathVolume_eventDrawDebugNodesAroundLocation_Parms + { + FVector WorldLocation; + int32 VoxelLimit; + float Duration; + }; +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Function_MetaDataParams[] = { + { "Category", "CPath|Render" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// Draws the octree structure around WorldLocation, up tp VoxelLlimit\n" }, +#endif + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Draws the octree structure around WorldLocation, up tp VoxelLlimit" }, +#endif + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FStructPropertyParams NewProp_WorldLocation; + static const UECodeGen_Private::FIntPropertyParams NewProp_VoxelLimit; + static const UECodeGen_Private::FFloatPropertyParams NewProp_Duration; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static const UECodeGen_Private::FFunctionParams FuncParams; +}; +const UECodeGen_Private::FStructPropertyParams Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::NewProp_WorldLocation = { "WorldLocation", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Struct, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathVolume_eventDrawDebugNodesAroundLocation_Parms, WorldLocation), Z_Construct_UScriptStruct_FVector, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FIntPropertyParams Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::NewProp_VoxelLimit = { "VoxelLimit", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Int, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathVolume_eventDrawDebugNodesAroundLocation_Parms, VoxelLimit), METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FFloatPropertyParams Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::NewProp_Duration = { "Duration", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Float, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathVolume_eventDrawDebugNodesAroundLocation_Parms, Duration), METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::NewProp_WorldLocation, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::NewProp_VoxelLimit, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::NewProp_Duration, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::PropPointers) < 2048); +const UECodeGen_Private::FFunctionParams Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::FuncParams = { (UObject*(*)())Z_Construct_UClass_ACPathVolume, nullptr, "DrawDebugNodesAroundLocation", nullptr, nullptr, Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::PropPointers, UE_ARRAY_COUNT(Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::PropPointers), sizeof(Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::CPathVolume_eventDrawDebugNodesAroundLocation_Parms), RF_Public|RF_Transient|RF_MarkAsNative, (EFunctionFlags)0x04820401, 0, 0, METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::Function_MetaDataParams), Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::Function_MetaDataParams) }; +static_assert(sizeof(Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::CPathVolume_eventDrawDebugNodesAroundLocation_Parms) < MAX_uint16); +UFunction* Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation() +{ + static UFunction* ReturnFunction = nullptr; + if (!ReturnFunction) + { + UECodeGen_Private::ConstructUFunction(&ReturnFunction, Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation_Statics::FuncParams); + } + return ReturnFunction; +} +DEFINE_FUNCTION(ACPathVolume::execDrawDebugNodesAroundLocation) +{ + P_GET_STRUCT(FVector,Z_Param_WorldLocation); + P_GET_PROPERTY(FIntProperty,Z_Param_VoxelLimit); + P_GET_PROPERTY(FFloatProperty,Z_Param_Duration); + P_FINISH; + P_NATIVE_BEGIN; + P_THIS->DrawDebugNodesAroundLocation(Z_Param_WorldLocation,Z_Param_VoxelLimit,Z_Param_Duration); + P_NATIVE_END; +} +// End Class ACPathVolume Function DrawDebugNodesAroundLocation + +// Begin Class ACPathVolume Function DrawDebugPath +struct Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics +{ + struct CPathVolume_eventDrawDebugPath_Parms + { + TArray Path; + float Duration; + bool DrawPoints; + FColor Color; + }; +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Function_MetaDataParams[] = { + { "Category", "CPath|Render" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// Draws path with points, for visualization only\n// Duration == 0 - draw for one frame\n// Duration < 0 - persistent\n" }, +#endif + { "CPP_Default_Color", "(R=255,G=0,B=255,A=255)" }, + { "CPP_Default_DrawPoints", "true" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Draws path with points, for visualization only\nDuration == 0 - draw for one frame\nDuration < 0 - persistent" }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_Path_MetaData[] = { + { "NativeConst", "" }, + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FStructPropertyParams NewProp_Path_Inner; + static const UECodeGen_Private::FArrayPropertyParams NewProp_Path; + static const UECodeGen_Private::FFloatPropertyParams NewProp_Duration; + static void NewProp_DrawPoints_SetBit(void* Obj); + static const UECodeGen_Private::FBoolPropertyParams NewProp_DrawPoints; + static const UECodeGen_Private::FStructPropertyParams NewProp_Color; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static const UECodeGen_Private::FFunctionParams FuncParams; +}; +const UECodeGen_Private::FStructPropertyParams Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_Path_Inner = { "Path", nullptr, (EPropertyFlags)0x0000000000000000, UECodeGen_Private::EPropertyGenFlags::Struct, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, 0, Z_Construct_UScriptStruct_FCPathNode, METADATA_PARAMS(0, nullptr) }; // 694981785 +const UECodeGen_Private::FArrayPropertyParams Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_Path = { "Path", nullptr, (EPropertyFlags)0x0010000008000182, UECodeGen_Private::EPropertyGenFlags::Array, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathVolume_eventDrawDebugPath_Parms, Path), EArrayPropertyFlags::None, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_Path_MetaData), NewProp_Path_MetaData) }; // 694981785 +const UECodeGen_Private::FFloatPropertyParams Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_Duration = { "Duration", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Float, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathVolume_eventDrawDebugPath_Parms, Duration), METADATA_PARAMS(0, nullptr) }; +void Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_DrawPoints_SetBit(void* Obj) +{ + ((CPathVolume_eventDrawDebugPath_Parms*)Obj)->DrawPoints = 1; +} +const UECodeGen_Private::FBoolPropertyParams Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_DrawPoints = { "DrawPoints", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Bool | UECodeGen_Private::EPropertyGenFlags::NativeBool, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, sizeof(bool), sizeof(CPathVolume_eventDrawDebugPath_Parms), &Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_DrawPoints_SetBit, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FStructPropertyParams Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_Color = { "Color", nullptr, (EPropertyFlags)0x0010000000000080, UECodeGen_Private::EPropertyGenFlags::Struct, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(CPathVolume_eventDrawDebugPath_Parms, Color), Z_Construct_UScriptStruct_FColor, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_Path_Inner, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_Path, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_Duration, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_DrawPoints, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::NewProp_Color, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::PropPointers) < 2048); +const UECodeGen_Private::FFunctionParams Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::FuncParams = { (UObject*(*)())Z_Construct_UClass_ACPathVolume, nullptr, "DrawDebugPath", nullptr, nullptr, Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::PropPointers, UE_ARRAY_COUNT(Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::PropPointers), sizeof(Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::CPathVolume_eventDrawDebugPath_Parms), RF_Public|RF_Transient|RF_MarkAsNative, (EFunctionFlags)0x04C20401, 0, 0, METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::Function_MetaDataParams), Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::Function_MetaDataParams) }; +static_assert(sizeof(Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::CPathVolume_eventDrawDebugPath_Parms) < MAX_uint16); +UFunction* Z_Construct_UFunction_ACPathVolume_DrawDebugPath() +{ + static UFunction* ReturnFunction = nullptr; + if (!ReturnFunction) + { + UECodeGen_Private::ConstructUFunction(&ReturnFunction, Z_Construct_UFunction_ACPathVolume_DrawDebugPath_Statics::FuncParams); + } + return ReturnFunction; +} +DEFINE_FUNCTION(ACPathVolume::execDrawDebugPath) +{ + P_GET_TARRAY_REF(FCPathNode,Z_Param_Out_Path); + P_GET_PROPERTY(FFloatProperty,Z_Param_Duration); + P_GET_UBOOL(Z_Param_DrawPoints); + P_GET_STRUCT(FColor,Z_Param_Color); + P_FINISH; + P_NATIVE_BEGIN; + P_THIS->DrawDebugPath(Z_Param_Out_Path,Z_Param_Duration,Z_Param_DrawPoints,Z_Param_Color); + P_NATIVE_END; +} +// End Class ACPathVolume Function DrawDebugPath + +// Begin Class ACPathVolume +void ACPathVolume::StaticRegisterNativesACPathVolume() +{ + UClass* Class = ACPathVolume::StaticClass(); + static const FNameNativePtrPair Funcs[] = { + { "DebugDrawNeighbours", &ACPathVolume::execDebugDrawNeighbours }, + { "DrawDebugNodesAroundLocation", &ACPathVolume::execDrawDebugNodesAroundLocation }, + { "DrawDebugPath", &ACPathVolume::execDrawDebugPath }, + }; + FNativeFunctionRegistrar::RegisterFunctions(Class, Funcs, UE_ARRAY_COUNT(Funcs)); +} +IMPLEMENT_CLASS_NO_AUTO_REGISTRATION(ACPathVolume); +UClass* Z_Construct_UClass_ACPathVolume_NoRegister() +{ + return ACPathVolume::StaticClass(); +} +struct Z_Construct_UClass_ACPathVolume_Statics +{ +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Class_MetaDataParams[] = { + { "IncludePath", "CPathVolume.h" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_VolumeBox_MetaData[] = { + { "Category", "Components" }, +#if !UE_BUILD_SHIPPING + { "Comment", "//Box to mark the area to generate graph in. It should not be rotated, the rotation will be ignored.\n" }, +#endif + { "EditCondition", "GenerationStarted==false" }, + { "EditInline", "true" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Box to mark the area to generate graph in. It should not be rotated, the rotation will be ignored." }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_TraceChannel_MetaData[] = { + { "Category", "CPath" }, + { "EditCondition", "GenerationStarted==false" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_AgentShape_MetaData[] = { + { "Category", "CPath" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// Spports Capsule, sphere and box.\n" }, +#endif + { "EditCondition", "GenerationStarted==false" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Spports Capsule, sphere and box." }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_AgentRadius_MetaData[] = { + { "Category", "CPath" }, + { "ClampMin", "0" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// In case of a box, this is X and Y extent. Z and Y should be the same, since the actual agent will most likely rotate.\n" }, +#endif + { "EditCondition", "GenerationStarted==false" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "In case of a box, this is X and Y extent. Z and Y should be the same, since the actual agent will most likely rotate." }, +#endif + { "UIMin", "0" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_AgentHalfHeight_MetaData[] = { + { "Category", "CPath" }, + { "ClampMin", "0" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// In case of a box, this is Z extent.\n" }, +#endif + { "EditCondition", "GenerationStarted==false && AgentShape!=EAgentShape::Sphere" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "In case of a box, this is Z extent." }, +#endif + { "UIMin", "0" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_VoxelSize_MetaData[] = { + { "Category", "CPath" }, + { "ClampMin", "0.1" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// Size of the smallest voxel edge.\n// In most cases, setting this to min(AgentRadius, AgentHalfHeight)*2 is enough.\n// For precise (dense) graph - set this to min(AgentRadius, AgentHalfHeight).\n// Small values increase memory cost, and potentially CPU load.\n" }, +#endif + { "EditCondition", "GenerationStarted==false" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Size of the smallest voxel edge.\nIn most cases, setting this to min(AgentRadius, AgentHalfHeight)*2 is enough.\nFor precise (dense) graph - set this to min(AgentRadius, AgentHalfHeight).\nSmall values increase memory cost, and potentially CPU load." }, +#endif + { "UIMin", "0.1" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_DynamicObstaclesUpdateRate_MetaData[] = { + { "Category", "CPath" }, + { "ClampMax", "30" }, + { "ClampMin", "0.01" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// How many times per second do parts of the volume get regenerated based on dynamic obstacles, in seconds.\n// Values higher than 5 are an overkill, but for the purpose of user freedom, I leave it unlocked.\n// If no dynamic obstacles were added, this doesnt have any performance impact\n" }, +#endif + { "EditCondition", "GenerationStarted==false" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "How many times per second do parts of the volume get regenerated based on dynamic obstacles, in seconds.\nValues higher than 5 are an overkill, but for the purpose of user freedom, I leave it unlocked.\nIf no dynamic obstacles were added, this doesnt have any performance impact" }, +#endif + { "UIMax", "30" }, + { "UIMin", "0.01" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_OctreeDepth_MetaData[] = { + { "Category", "CPath" }, + { "ClampMax", "3" }, + { "ClampMin", "0" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// 2 Is optimal in most cases. If you have very large open speces with small amount of obstacles, then 3 will be better.\n// For dense labirynths with little to no open space, 1 or even 0 will be faster.\n// Check documentation for detailed performance guidance.\n" }, +#endif + { "EditCondition", "GenerationStarted==false" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "2 Is optimal in most cases. If you have very large open speces with small amount of obstacles, then 3 will be better.\nFor dense labirynths with little to no open space, 1 or even 0 will be faster.\nCheck documentation for detailed performance guidance." }, +#endif + { "UIMax", "3" }, + { "UIMin", "0" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_GenerateOnBeginPlay_MetaData[] = { + { "Category", "CPath" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// If want to call Generate() later or with some condition.\n// Note that volume wont be usable before it is generated\n" }, +#endif + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "If want to call Generate() later or with some condition.\nNote that volume wont be usable before it is generated" }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_OverwriteMaxGenerationThreads_MetaData[] = { + { "Category", "CPath" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// Set a custom generation thread limit. By default, it's system's Physical Core count - 1.\n" }, +#endif + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Set a custom generation thread limit. By default, it's system's Physical Core count - 1." }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_MaxGenerationThreads_MetaData[] = { + { "Category", "CPath" }, + { "ClampMax", "31" }, + { "ClampMin", "0" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// How many threads can graph generation split into. \n// If left <=0 (RECOMMENDED), it uses system's Physical Core count - 1. \n// Generation threads are allocated dynamically, so it only uses more than 1 thread when necessary.\n" }, +#endif + { "EditCondition", "GenerationStarted==false && OverwriteMaxGenerationThreads==true" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "How many threads can graph generation split into.\nIf left <=0 (RECOMMENDED), it uses system's Physical Core count - 1.\nGeneration threads are allocated dynamically, so it only uses more than 1 thread when necessary." }, +#endif + { "UIMax", "31" }, + { "UIMin", "0" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_DrawFree_MetaData[] = { + { "Category", "CPath|Render" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_DrawOccupied_MetaData[] = { + { "Category", "CPath|Render" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_DepthsToDraw_MetaData[] = { + { "Category", "CPath|Render" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// You can hide selected depths from rendering\n" }, +#endif + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "You can hide selected depths from rendering" }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_DebugBoxesThickness_MetaData[] = { + { "Category", "CPath|Render" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// How thick should the green and red debug boxes be\n" }, +#endif + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "How thick should the green and red debug boxes be" }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_DebugPathThickness_MetaData[] = { + { "Category", "CPath|Render" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_GenerationStarted_MetaData[] = { + { "Category", "CPath|Info" }, + { "ModuleRelativePath", "Public/CPathVolume.h" }, + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_OctreeCountAtDepth_MetaData[] = { + { "Category", "CPath|Info" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// This is a read only info about initially generated graph\n" }, +#endif + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "This is a read only info about initially generated graph" }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_TotalNodeCount_MetaData[] = { + { "Category", "CPath|Info" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// This is a read only info about initially generated graph\n" }, +#endif + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "This is a read only info about initially generated graph" }, +#endif + }; + static constexpr UECodeGen_Private::FMetaDataPairParam NewProp_InitialGenerationFinished_MetaData[] = { + { "Category", "CPath|Info" }, +#if !UE_BUILD_SHIPPING + { "Comment", "// Before this is true, the graph is inoperable\n" }, +#endif + { "ModuleRelativePath", "Public/CPathVolume.h" }, +#if !UE_BUILD_SHIPPING + { "ToolTip", "Before this is true, the graph is inoperable" }, +#endif + }; +#endif // WITH_METADATA + static const UECodeGen_Private::FObjectPropertyParams NewProp_VolumeBox; + static const UECodeGen_Private::FBytePropertyParams NewProp_TraceChannel; + static const UECodeGen_Private::FBytePropertyParams NewProp_AgentShape; + static const UECodeGen_Private::FFloatPropertyParams NewProp_AgentRadius; + static const UECodeGen_Private::FFloatPropertyParams NewProp_AgentHalfHeight; + static const UECodeGen_Private::FFloatPropertyParams NewProp_VoxelSize; + static const UECodeGen_Private::FFloatPropertyParams NewProp_DynamicObstaclesUpdateRate; + static const UECodeGen_Private::FIntPropertyParams NewProp_OctreeDepth; + static void NewProp_GenerateOnBeginPlay_SetBit(void* Obj); + static const UECodeGen_Private::FBoolPropertyParams NewProp_GenerateOnBeginPlay; + static void NewProp_OverwriteMaxGenerationThreads_SetBit(void* Obj); + static const UECodeGen_Private::FBoolPropertyParams NewProp_OverwriteMaxGenerationThreads; + static const UECodeGen_Private::FIntPropertyParams NewProp_MaxGenerationThreads; + static void NewProp_DrawFree_SetBit(void* Obj); + static const UECodeGen_Private::FBoolPropertyParams NewProp_DrawFree; + static void NewProp_DrawOccupied_SetBit(void* Obj); + static const UECodeGen_Private::FBoolPropertyParams NewProp_DrawOccupied; + static const UECodeGen_Private::FBoolPropertyParams NewProp_DepthsToDraw_Inner; + static const UECodeGen_Private::FArrayPropertyParams NewProp_DepthsToDraw; + static const UECodeGen_Private::FFloatPropertyParams NewProp_DebugBoxesThickness; + static const UECodeGen_Private::FFloatPropertyParams NewProp_DebugPathThickness; + static void NewProp_GenerationStarted_SetBit(void* Obj); + static const UECodeGen_Private::FBoolPropertyParams NewProp_GenerationStarted; + static const UECodeGen_Private::FIntPropertyParams NewProp_OctreeCountAtDepth_Inner; + static const UECodeGen_Private::FArrayPropertyParams NewProp_OctreeCountAtDepth; + static const UECodeGen_Private::FIntPropertyParams NewProp_TotalNodeCount; + static void NewProp_InitialGenerationFinished_SetBit(void* Obj); + static const UECodeGen_Private::FBoolPropertyParams NewProp_InitialGenerationFinished; + static const UECodeGen_Private::FPropertyParamsBase* const PropPointers[]; + static UObject* (*const DependentSingletons[])(); + static constexpr FClassFunctionLinkInfo FuncInfo[] = { + { &Z_Construct_UFunction_ACPathVolume_DebugDrawNeighbours, "DebugDrawNeighbours" }, // 3303317174 + { &Z_Construct_UFunction_ACPathVolume_DrawDebugNodesAroundLocation, "DrawDebugNodesAroundLocation" }, // 753473470 + { &Z_Construct_UFunction_ACPathVolume_DrawDebugPath, "DrawDebugPath" }, // 454520681 + }; + static_assert(UE_ARRAY_COUNT(FuncInfo) < 2048); + static constexpr FCppClassTypeInfoStatic StaticCppClassTypeInfo = { + TCppClassTypeTraits::IsAbstract, + }; + static const UECodeGen_Private::FClassParams ClassParams; +}; +const UECodeGen_Private::FObjectPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_VolumeBox = { "VolumeBox", nullptr, (EPropertyFlags)0x001000000008001d, UECodeGen_Private::EPropertyGenFlags::Object, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, VolumeBox), Z_Construct_UClass_UBoxComponent_NoRegister, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_VolumeBox_MetaData), NewProp_VolumeBox_MetaData) }; +const UECodeGen_Private::FBytePropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_TraceChannel = { "TraceChannel", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Byte, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, TraceChannel), Z_Construct_UEnum_Engine_ECollisionChannel, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_TraceChannel_MetaData), NewProp_TraceChannel_MetaData) }; // 756624936 +const UECodeGen_Private::FBytePropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_AgentShape = { "AgentShape", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Byte, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, AgentShape), Z_Construct_UEnum_CPathfinding_EAgentShape, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_AgentShape_MetaData), NewProp_AgentShape_MetaData) }; // 3991755297 +const UECodeGen_Private::FFloatPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_AgentRadius = { "AgentRadius", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Float, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, AgentRadius), METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_AgentRadius_MetaData), NewProp_AgentRadius_MetaData) }; +const UECodeGen_Private::FFloatPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_AgentHalfHeight = { "AgentHalfHeight", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Float, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, AgentHalfHeight), METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_AgentHalfHeight_MetaData), NewProp_AgentHalfHeight_MetaData) }; +const UECodeGen_Private::FFloatPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_VoxelSize = { "VoxelSize", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Float, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, VoxelSize), METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_VoxelSize_MetaData), NewProp_VoxelSize_MetaData) }; +const UECodeGen_Private::FFloatPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_DynamicObstaclesUpdateRate = { "DynamicObstaclesUpdateRate", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Float, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, DynamicObstaclesUpdateRate), METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_DynamicObstaclesUpdateRate_MetaData), NewProp_DynamicObstaclesUpdateRate_MetaData) }; +const UECodeGen_Private::FIntPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_OctreeDepth = { "OctreeDepth", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Int, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, OctreeDepth), METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_OctreeDepth_MetaData), NewProp_OctreeDepth_MetaData) }; +void Z_Construct_UClass_ACPathVolume_Statics::NewProp_GenerateOnBeginPlay_SetBit(void* Obj) +{ + ((ACPathVolume*)Obj)->GenerateOnBeginPlay = 1; +} +const UECodeGen_Private::FBoolPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_GenerateOnBeginPlay = { "GenerateOnBeginPlay", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Bool | UECodeGen_Private::EPropertyGenFlags::NativeBool, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, sizeof(bool), sizeof(ACPathVolume), &Z_Construct_UClass_ACPathVolume_Statics::NewProp_GenerateOnBeginPlay_SetBit, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_GenerateOnBeginPlay_MetaData), NewProp_GenerateOnBeginPlay_MetaData) }; +void Z_Construct_UClass_ACPathVolume_Statics::NewProp_OverwriteMaxGenerationThreads_SetBit(void* Obj) +{ + ((ACPathVolume*)Obj)->OverwriteMaxGenerationThreads = 1; +} +const UECodeGen_Private::FBoolPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_OverwriteMaxGenerationThreads = { "OverwriteMaxGenerationThreads", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Bool | UECodeGen_Private::EPropertyGenFlags::NativeBool, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, sizeof(bool), sizeof(ACPathVolume), &Z_Construct_UClass_ACPathVolume_Statics::NewProp_OverwriteMaxGenerationThreads_SetBit, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_OverwriteMaxGenerationThreads_MetaData), NewProp_OverwriteMaxGenerationThreads_MetaData) }; +const UECodeGen_Private::FIntPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_MaxGenerationThreads = { "MaxGenerationThreads", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Int, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, MaxGenerationThreads), METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_MaxGenerationThreads_MetaData), NewProp_MaxGenerationThreads_MetaData) }; +void Z_Construct_UClass_ACPathVolume_Statics::NewProp_DrawFree_SetBit(void* Obj) +{ + ((ACPathVolume*)Obj)->DrawFree = 1; +} +const UECodeGen_Private::FBoolPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_DrawFree = { "DrawFree", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Bool | UECodeGen_Private::EPropertyGenFlags::NativeBool, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, sizeof(bool), sizeof(ACPathVolume), &Z_Construct_UClass_ACPathVolume_Statics::NewProp_DrawFree_SetBit, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_DrawFree_MetaData), NewProp_DrawFree_MetaData) }; +void Z_Construct_UClass_ACPathVolume_Statics::NewProp_DrawOccupied_SetBit(void* Obj) +{ + ((ACPathVolume*)Obj)->DrawOccupied = 1; +} +const UECodeGen_Private::FBoolPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_DrawOccupied = { "DrawOccupied", nullptr, (EPropertyFlags)0x0010000000000015, UECodeGen_Private::EPropertyGenFlags::Bool | UECodeGen_Private::EPropertyGenFlags::NativeBool, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, sizeof(bool), sizeof(ACPathVolume), &Z_Construct_UClass_ACPathVolume_Statics::NewProp_DrawOccupied_SetBit, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_DrawOccupied_MetaData), NewProp_DrawOccupied_MetaData) }; +const UECodeGen_Private::FBoolPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_DepthsToDraw_Inner = { "DepthsToDraw", nullptr, (EPropertyFlags)0x0000000000000000, UECodeGen_Private::EPropertyGenFlags::Bool | UECodeGen_Private::EPropertyGenFlags::NativeBool, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, sizeof(bool), 0, nullptr, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FArrayPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_DepthsToDraw = { "DepthsToDraw", nullptr, (EPropertyFlags)0x0010000000000055, UECodeGen_Private::EPropertyGenFlags::Array, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, DepthsToDraw), EArrayPropertyFlags::None, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_DepthsToDraw_MetaData), NewProp_DepthsToDraw_MetaData) }; +const UECodeGen_Private::FFloatPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_DebugBoxesThickness = { "DebugBoxesThickness", nullptr, (EPropertyFlags)0x0010000000000005, UECodeGen_Private::EPropertyGenFlags::Float, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, DebugBoxesThickness), METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_DebugBoxesThickness_MetaData), NewProp_DebugBoxesThickness_MetaData) }; +const UECodeGen_Private::FFloatPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_DebugPathThickness = { "DebugPathThickness", nullptr, (EPropertyFlags)0x0010000000000005, UECodeGen_Private::EPropertyGenFlags::Float, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, DebugPathThickness), METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_DebugPathThickness_MetaData), NewProp_DebugPathThickness_MetaData) }; +void Z_Construct_UClass_ACPathVolume_Statics::NewProp_GenerationStarted_SetBit(void* Obj) +{ + ((ACPathVolume*)Obj)->GenerationStarted = 1; +} +const UECodeGen_Private::FBoolPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_GenerationStarted = { "GenerationStarted", nullptr, (EPropertyFlags)0x0010000000020015, UECodeGen_Private::EPropertyGenFlags::Bool | UECodeGen_Private::EPropertyGenFlags::NativeBool, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, sizeof(bool), sizeof(ACPathVolume), &Z_Construct_UClass_ACPathVolume_Statics::NewProp_GenerationStarted_SetBit, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_GenerationStarted_MetaData), NewProp_GenerationStarted_MetaData) }; +const UECodeGen_Private::FIntPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_OctreeCountAtDepth_Inner = { "OctreeCountAtDepth", nullptr, (EPropertyFlags)0x0000000000020000, UECodeGen_Private::EPropertyGenFlags::Int, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, 0, METADATA_PARAMS(0, nullptr) }; +const UECodeGen_Private::FArrayPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_OctreeCountAtDepth = { "OctreeCountAtDepth", nullptr, (EPropertyFlags)0x0010000000020015, UECodeGen_Private::EPropertyGenFlags::Array, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, OctreeCountAtDepth), EArrayPropertyFlags::None, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_OctreeCountAtDepth_MetaData), NewProp_OctreeCountAtDepth_MetaData) }; +const UECodeGen_Private::FIntPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_TotalNodeCount = { "TotalNodeCount", nullptr, (EPropertyFlags)0x0010000000020015, UECodeGen_Private::EPropertyGenFlags::Int, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, STRUCT_OFFSET(ACPathVolume, TotalNodeCount), METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_TotalNodeCount_MetaData), NewProp_TotalNodeCount_MetaData) }; +void Z_Construct_UClass_ACPathVolume_Statics::NewProp_InitialGenerationFinished_SetBit(void* Obj) +{ + ((ACPathVolume*)Obj)->InitialGenerationFinished = 1; +} +const UECodeGen_Private::FBoolPropertyParams Z_Construct_UClass_ACPathVolume_Statics::NewProp_InitialGenerationFinished = { "InitialGenerationFinished", nullptr, (EPropertyFlags)0x0010000000020015, UECodeGen_Private::EPropertyGenFlags::Bool | UECodeGen_Private::EPropertyGenFlags::NativeBool, RF_Public|RF_Transient|RF_MarkAsNative, nullptr, nullptr, 1, sizeof(bool), sizeof(ACPathVolume), &Z_Construct_UClass_ACPathVolume_Statics::NewProp_InitialGenerationFinished_SetBit, METADATA_PARAMS(UE_ARRAY_COUNT(NewProp_InitialGenerationFinished_MetaData), NewProp_InitialGenerationFinished_MetaData) }; +const UECodeGen_Private::FPropertyParamsBase* const Z_Construct_UClass_ACPathVolume_Statics::PropPointers[] = { + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_VolumeBox, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_TraceChannel, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_AgentShape, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_AgentRadius, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_AgentHalfHeight, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_VoxelSize, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_DynamicObstaclesUpdateRate, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_OctreeDepth, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_GenerateOnBeginPlay, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_OverwriteMaxGenerationThreads, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_MaxGenerationThreads, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_DrawFree, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_DrawOccupied, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_DepthsToDraw_Inner, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_DepthsToDraw, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_DebugBoxesThickness, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_DebugPathThickness, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_GenerationStarted, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_OctreeCountAtDepth_Inner, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_OctreeCountAtDepth, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_TotalNodeCount, + (const UECodeGen_Private::FPropertyParamsBase*)&Z_Construct_UClass_ACPathVolume_Statics::NewProp_InitialGenerationFinished, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UClass_ACPathVolume_Statics::PropPointers) < 2048); +UObject* (*const Z_Construct_UClass_ACPathVolume_Statics::DependentSingletons[])() = { + (UObject* (*)())Z_Construct_UClass_AActor, + (UObject* (*)())Z_Construct_UPackage__Script_CPathfinding, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UClass_ACPathVolume_Statics::DependentSingletons) < 16); +const UECodeGen_Private::FClassParams Z_Construct_UClass_ACPathVolume_Statics::ClassParams = { + &ACPathVolume::StaticClass, + "Engine", + &StaticCppClassTypeInfo, + DependentSingletons, + FuncInfo, + Z_Construct_UClass_ACPathVolume_Statics::PropPointers, + nullptr, + UE_ARRAY_COUNT(DependentSingletons), + UE_ARRAY_COUNT(FuncInfo), + UE_ARRAY_COUNT(Z_Construct_UClass_ACPathVolume_Statics::PropPointers), + 0, + 0x009000A4u, + METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UClass_ACPathVolume_Statics::Class_MetaDataParams), Z_Construct_UClass_ACPathVolume_Statics::Class_MetaDataParams) +}; +UClass* Z_Construct_UClass_ACPathVolume() +{ + if (!Z_Registration_Info_UClass_ACPathVolume.OuterSingleton) + { + UECodeGen_Private::ConstructUClass(Z_Registration_Info_UClass_ACPathVolume.OuterSingleton, Z_Construct_UClass_ACPathVolume_Statics::ClassParams); + } + return Z_Registration_Info_UClass_ACPathVolume.OuterSingleton; +} +template<> CPATHFINDING_API UClass* StaticClass() +{ + return ACPathVolume::StaticClass(); +} +DEFINE_VTABLE_PTR_HELPER_CTOR(ACPathVolume); +ACPathVolume::~ACPathVolume() {} +// End Class ACPathVolume + +// Begin Registration +struct Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_Statics +{ + static constexpr FClassRegisterCompiledInInfo ClassInfo[] = { + { Z_Construct_UClass_ACPathVolume, ACPathVolume::StaticClass, TEXT("ACPathVolume"), &Z_Registration_Info_UClass_ACPathVolume, CONSTRUCT_RELOAD_VERSION_INFO(FClassReloadVersionInfo, sizeof(ACPathVolume), 1949314792U) }, + }; +}; +static FRegisterCompiledInInfo Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_1430384995(TEXT("/Script/CPathfinding"), + Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_Statics::ClassInfo, UE_ARRAY_COUNT(Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_Statics::ClassInfo), + nullptr, 0, + nullptr, 0); +// End Registration +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolume.generated.h b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolume.generated.h new file mode 100644 index 00000000..acb8879e --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolume.generated.h @@ -0,0 +1,63 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +// IWYU pragma: private, include "CPathVolume.h" +#include "UObject/ObjectMacros.h" +#include "UObject/ScriptMacros.h" + +PRAGMA_DISABLE_DEPRECATION_WARNINGS +struct FColor; +struct FCPathNode; +#ifdef CPATHFINDING_CPathVolume_generated_h +#error "CPathVolume.generated.h already included, missing '#pragma once' in CPathVolume.h" +#endif +#define CPATHFINDING_CPathVolume_generated_h + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_24_RPC_WRAPPERS_NO_PURE_DECLS \ + DECLARE_FUNCTION(execDrawDebugPath); \ + DECLARE_FUNCTION(execDrawDebugNodesAroundLocation); \ + DECLARE_FUNCTION(execDebugDrawNeighbours); + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_24_INCLASS_NO_PURE_DECLS \ +private: \ + static void StaticRegisterNativesACPathVolume(); \ + friend struct Z_Construct_UClass_ACPathVolume_Statics; \ +public: \ + DECLARE_CLASS(ACPathVolume, AActor, COMPILED_IN_FLAGS(0 | CLASS_Config), CASTCLASS_None, TEXT("/Script/CPathfinding"), NO_API) \ + DECLARE_SERIALIZER(ACPathVolume) + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_24_ENHANCED_CONSTRUCTORS \ +private: \ + /** Private move- and copy-constructors, should never be used */ \ + ACPathVolume(ACPathVolume&&); \ + ACPathVolume(const ACPathVolume&); \ +public: \ + DECLARE_VTABLE_PTR_HELPER_CTOR(NO_API, ACPathVolume); \ + DEFINE_VTABLE_PTR_HELPER_CTOR_CALLER(ACPathVolume); \ + DEFINE_DEFAULT_CONSTRUCTOR_CALL(ACPathVolume) \ + NO_API virtual ~ACPathVolume(); + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_21_PROLOG +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_24_GENERATED_BODY \ +PRAGMA_DISABLE_DEPRECATION_WARNINGS \ +public: \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_24_RPC_WRAPPERS_NO_PURE_DECLS \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_24_INCLASS_NO_PURE_DECLS \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h_24_ENHANCED_CONSTRUCTORS \ +private: \ +PRAGMA_ENABLE_DEPRECATION_WARNINGS + + +template<> CPATHFINDING_API UClass* StaticClass(); + +#undef CURRENT_FILE_ID +#define CURRENT_FILE_ID FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolume_h + + +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolumeGroundPrio.gen.cpp b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolumeGroundPrio.gen.cpp new file mode 100644 index 00000000..74c5ff3d --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolumeGroundPrio.gen.cpp @@ -0,0 +1,94 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +#include "UObject/GeneratedCppIncludes.h" +#include "CPathfinding/Public/CPathVolumeGroundPrio.h" +PRAGMA_DISABLE_DEPRECATION_WARNINGS +void EmptyLinkFunctionForGeneratedCodeCPathVolumeGroundPrio() {} + +// Begin Cross Module References +CPATHFINDING_API UClass* Z_Construct_UClass_ACPathVolume(); +CPATHFINDING_API UClass* Z_Construct_UClass_ACPathVolumeGroundPrio(); +CPATHFINDING_API UClass* Z_Construct_UClass_ACPathVolumeGroundPrio_NoRegister(); +UPackage* Z_Construct_UPackage__Script_CPathfinding(); +// End Cross Module References + +// Begin Class ACPathVolumeGroundPrio +void ACPathVolumeGroundPrio::StaticRegisterNativesACPathVolumeGroundPrio() +{ +} +IMPLEMENT_CLASS_NO_AUTO_REGISTRATION(ACPathVolumeGroundPrio); +UClass* Z_Construct_UClass_ACPathVolumeGroundPrio_NoRegister() +{ + return ACPathVolumeGroundPrio::StaticClass(); +} +struct Z_Construct_UClass_ACPathVolumeGroundPrio_Statics +{ +#if WITH_METADATA + static constexpr UECodeGen_Private::FMetaDataPairParam Class_MetaDataParams[] = { +#if !UE_BUILD_SHIPPING + { "Comment", "/**\n * \n */" }, +#endif + { "IncludePath", "CPathVolumeGroundPrio.h" }, + { "ModuleRelativePath", "Public/CPathVolumeGroundPrio.h" }, + }; +#endif // WITH_METADATA + static UObject* (*const DependentSingletons[])(); + static constexpr FCppClassTypeInfoStatic StaticCppClassTypeInfo = { + TCppClassTypeTraits::IsAbstract, + }; + static const UECodeGen_Private::FClassParams ClassParams; +}; +UObject* (*const Z_Construct_UClass_ACPathVolumeGroundPrio_Statics::DependentSingletons[])() = { + (UObject* (*)())Z_Construct_UClass_ACPathVolume, + (UObject* (*)())Z_Construct_UPackage__Script_CPathfinding, +}; +static_assert(UE_ARRAY_COUNT(Z_Construct_UClass_ACPathVolumeGroundPrio_Statics::DependentSingletons) < 16); +const UECodeGen_Private::FClassParams Z_Construct_UClass_ACPathVolumeGroundPrio_Statics::ClassParams = { + &ACPathVolumeGroundPrio::StaticClass, + "Engine", + &StaticCppClassTypeInfo, + DependentSingletons, + nullptr, + nullptr, + nullptr, + UE_ARRAY_COUNT(DependentSingletons), + 0, + 0, + 0, + 0x009000A4u, + METADATA_PARAMS(UE_ARRAY_COUNT(Z_Construct_UClass_ACPathVolumeGroundPrio_Statics::Class_MetaDataParams), Z_Construct_UClass_ACPathVolumeGroundPrio_Statics::Class_MetaDataParams) +}; +UClass* Z_Construct_UClass_ACPathVolumeGroundPrio() +{ + if (!Z_Registration_Info_UClass_ACPathVolumeGroundPrio.OuterSingleton) + { + UECodeGen_Private::ConstructUClass(Z_Registration_Info_UClass_ACPathVolumeGroundPrio.OuterSingleton, Z_Construct_UClass_ACPathVolumeGroundPrio_Statics::ClassParams); + } + return Z_Registration_Info_UClass_ACPathVolumeGroundPrio.OuterSingleton; +} +template<> CPATHFINDING_API UClass* StaticClass() +{ + return ACPathVolumeGroundPrio::StaticClass(); +} +ACPathVolumeGroundPrio::ACPathVolumeGroundPrio() {} +DEFINE_VTABLE_PTR_HELPER_CTOR(ACPathVolumeGroundPrio); +ACPathVolumeGroundPrio::~ACPathVolumeGroundPrio() {} +// End Class ACPathVolumeGroundPrio + +// Begin Registration +struct Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h_Statics +{ + static constexpr FClassRegisterCompiledInInfo ClassInfo[] = { + { Z_Construct_UClass_ACPathVolumeGroundPrio, ACPathVolumeGroundPrio::StaticClass, TEXT("ACPathVolumeGroundPrio"), &Z_Registration_Info_UClass_ACPathVolumeGroundPrio, CONSTRUCT_RELOAD_VERSION_INFO(FClassReloadVersionInfo, sizeof(ACPathVolumeGroundPrio), 3780043486U) }, + }; +}; +static FRegisterCompiledInInfo Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h_3639440160(TEXT("/Script/CPathfinding"), + Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h_Statics::ClassInfo, UE_ARRAY_COUNT(Z_CompiledInDeferFile_FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h_Statics::ClassInfo), + nullptr, 0, + nullptr, 0); +// End Registration +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolumeGroundPrio.generated.h b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolumeGroundPrio.generated.h new file mode 100644 index 00000000..3acd102f --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathVolumeGroundPrio.generated.h @@ -0,0 +1,56 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +// IWYU pragma: private, include "CPathVolumeGroundPrio.h" +#include "UObject/ObjectMacros.h" +#include "UObject/ScriptMacros.h" + +PRAGMA_DISABLE_DEPRECATION_WARNINGS +#ifdef CPATHFINDING_CPathVolumeGroundPrio_generated_h +#error "CPathVolumeGroundPrio.generated.h already included, missing '#pragma once' in CPathVolumeGroundPrio.h" +#endif +#define CPATHFINDING_CPathVolumeGroundPrio_generated_h + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h_15_INCLASS_NO_PURE_DECLS \ +private: \ + static void StaticRegisterNativesACPathVolumeGroundPrio(); \ + friend struct Z_Construct_UClass_ACPathVolumeGroundPrio_Statics; \ +public: \ + DECLARE_CLASS(ACPathVolumeGroundPrio, ACPathVolume, COMPILED_IN_FLAGS(0 | CLASS_Config), CASTCLASS_None, TEXT("/Script/CPathfinding"), NO_API) \ + DECLARE_SERIALIZER(ACPathVolumeGroundPrio) + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h_15_ENHANCED_CONSTRUCTORS \ + /** Standard constructor, called after all reflected properties have been initialized */ \ + NO_API ACPathVolumeGroundPrio(); \ +private: \ + /** Private move- and copy-constructors, should never be used */ \ + ACPathVolumeGroundPrio(ACPathVolumeGroundPrio&&); \ + ACPathVolumeGroundPrio(const ACPathVolumeGroundPrio&); \ +public: \ + DECLARE_VTABLE_PTR_HELPER_CTOR(NO_API, ACPathVolumeGroundPrio); \ + DEFINE_VTABLE_PTR_HELPER_CTOR_CALLER(ACPathVolumeGroundPrio); \ + DEFINE_DEFAULT_CONSTRUCTOR_CALL(ACPathVolumeGroundPrio) \ + NO_API virtual ~ACPathVolumeGroundPrio(); + + +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h_12_PROLOG +#define FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h_15_GENERATED_BODY \ +PRAGMA_DISABLE_DEPRECATION_WARNINGS \ +public: \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h_15_INCLASS_NO_PURE_DECLS \ + FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h_15_ENHANCED_CONSTRUCTORS \ +private: \ +PRAGMA_ENABLE_DEPRECATION_WARNINGS + + +template<> CPATHFINDING_API UClass* StaticClass(); + +#undef CURRENT_FILE_ID +#define CURRENT_FILE_ID FID_luckyworld_Plugins_CPathfinding_Source_CPathfinding_Public_CPathVolumeGroundPrio_h + + +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathfinding.init.gen.cpp b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathfinding.init.gen.cpp new file mode 100644 index 00000000..6772591c --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathfinding.init.gen.cpp @@ -0,0 +1,33 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +#include "UObject/GeneratedCppIncludes.h" +PRAGMA_DISABLE_DEPRECATION_WARNINGS +void EmptyLinkFunctionForGeneratedCodeCPathfinding_init() {} + CPATHFINDING_API UFunction* Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature(); + static FPackageRegistrationInfo Z_Registration_Info_UPackage__Script_CPathfinding; + FORCENOINLINE UPackage* Z_Construct_UPackage__Script_CPathfinding() + { + if (!Z_Registration_Info_UPackage__Script_CPathfinding.OuterSingleton) + { + static UObject* (*const SingletonFuncArray[])() = { + (UObject* (*)())Z_Construct_UDelegateFunction_CPathfinding_ResponseDelegate__DelegateSignature, + }; + static const UECodeGen_Private::FPackageParams PackageParams = { + "/Script/CPathfinding", + SingletonFuncArray, + UE_ARRAY_COUNT(SingletonFuncArray), + PKG_CompiledIn | 0x00000000, + 0x208C1956, + 0x2ECB748A, + METADATA_PARAMS(0, nullptr) + }; + UECodeGen_Private::ConstructUPackage(Z_Registration_Info_UPackage__Script_CPathfinding.OuterSingleton, PackageParams); + } + return Z_Registration_Info_UPackage__Script_CPathfinding.OuterSingleton; + } + static FRegisterCompiledInInfo Z_CompiledInDeferPackage_UPackage__Script_CPathfinding(Z_Construct_UPackage__Script_CPathfinding, TEXT("/Script/CPathfinding"), Z_Registration_Info_UPackage__Script_CPathfinding, CONSTRUCT_RELOAD_VERSION_INFO(FPackageReloadVersionInfo, 0x208C1956, 0x2ECB748A)); +PRAGMA_ENABLE_DEPRECATION_WARNINGS diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathfindingClasses.h b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathfindingClasses.h new file mode 100644 index 00000000..82953124 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/CPathfindingClasses.h @@ -0,0 +1,10 @@ +// Copyright Epic Games, Inc. All Rights Reserved. +/*=========================================================================== + Generated code exported from UnrealHeaderTool. + DO NOT modify this manually! Edit the corresponding .h files instead! +===========================================================================*/ + +#pragma once + + + diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp new file mode 100644 index 00000000..6e60614b --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/UnrealEditor/Inc/CPathfinding/UHT/Timestamp @@ -0,0 +1,6 @@ +D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathDefines.h +D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathDynamicObstacle.h +D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathFindPath.h +D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathVolumeGroundPrio.h +D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathNode.h +D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public\CPathVolume.h diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathAsyncVolumeGeneration.cpp.dep.json b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathAsyncVolumeGeneration.cpp.dep.json new file mode 100644 index 00000000..d7c5c1c9 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathAsyncVolumeGeneration.cpp.dep.json @@ -0,0 +1,68 @@ +{ + "Version": "1.2", + "Data": { + "Source": "d:\\projects\\luckyworld\\luckyworld\\plugins\\cpathfinding\\source\\cpathfinding\\private\\cpathasyncvolumegeneration.cpp", + "ProvidedModule": "", + "PCH": 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"..\Intermediate\Build\Win64\UnrealEditor\Inc\Localization\UHT" +/I "Developer\Localization\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\AudioEditor\UHT" +/I "Editor\AudioEditor\Classes" +/I "Editor\AudioEditor\Public" +/I "ThirdParty\libSampleRate\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\LevelEditor\UHT" +/I "Editor\LevelEditor\Public" +/I "Editor\CommonMenuExtensions\Public" +/I "Developer\Settings\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\VREditor\UHT" +/I "Editor\VREditor\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\ViewportInteraction\UHT" +/I "Editor\ViewportInteraction\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\HeadMountedDisplay\UHT" +/I "Runtime\HeadMountedDisplay\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\Landscape\UHT" +/I "Runtime\Landscape\Classes" +/I "Runtime\Landscape\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\DetailCustomizations\UHT" +/I "Editor\DetailCustomizations\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\GraphEditor\UHT" +/I "Editor\GraphEditor\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\StructViewer\UHT" +/I "Editor\StructViewer\Public" +/I "Runtime\NetworkFileSystem\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\UMG\UHT" +/I "Runtime\UMG\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\MovieScene\UHT" +/I "Runtime\MovieScene\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\TimeManagement\UHT" +/I "Runtime\TimeManagement\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\UniversalObjectLocator\UHT" +/I "Runtime\UniversalObjectLocator\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\MovieSceneTracks\UHT" +/I "Runtime\MovieSceneTracks\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\Constraints\UHT" +/I "Runtime\Experimental\Animation\Constraints\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\PropertyPath\UHT" +/I "Runtime\PropertyPath\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\NavigationSystem\UHT" +/I "Runtime\NavigationSystem\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\GeometryCollectionEngine\UHT" +/I "Runtime\Experimental\GeometryCollectionEngine\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\FieldSystemEngine\UHT" +/I "Runtime\Experimental\FieldSystem\Source\FieldSystemEngine\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\ChaosSolverEngine\UHT" +/I "Runtime\Experimental\ChaosSolverEngine\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\DataflowCore\UHT" +/I "Runtime\Experimental\Dataflow\Core\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\DataflowEngine\UHT" +/I "Runtime\Experimental\Dataflow\Engine\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\DataflowSimulation\UHT" +/I "Runtime\Experimental\Dataflow\Simulation\Public" +/I "Developer\MeshBuilder\Public" +/I "Runtime\MeshUtilitiesCommon\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\MSQS\UHT" +/I "Runtime\MaterialShaderQualitySettings\Classes" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\ToolMenusEditor\UHT" +/I "Editor\ToolMenusEditor\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\StatusBar\UHT" +/I "Editor\StatusBar\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\InterchangeCore\UHT" +/I "Runtime\Interchange\Core\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\InterchangeEngine\UHT" +/I "Runtime\Interchange\Engine\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\DeveloperToolSettings\UHT" +/I "Developer\DeveloperToolSettings\Classes" +/I "Developer\DeveloperToolSettings\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\SubobjectDataInterface\UHT" +/I "Editor\SubobjectDataInterface\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\SubobjectEditor\UHT" +/I "Editor\SubobjectEditor\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\PhysicsUtilities\UHT" +/I "Developer\PhysicsUtilities\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\WidgetRegistration\UHT" +/I "Developer\WidgetRegistration\Public" +/I "Editor\ActorPickerMode\Public" +/I "Editor\SceneDepthPickerMode\Public" +/I "..\Intermediate\Build\Win64\UnrealEditor\Inc\AnimationEditMode\UHT" +/I "Editor\AnimationEditMode\Public" +/I "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\UnrealEditor\Inc\CPathfinding\UHT" +/I "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source" +/I "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Public" +/external:W0 +/external:I "ThirdParty\GuidelinesSupportLibrary\GSL-1144\include" +/external:I "ThirdParty\RapidJSON\1.1.0" +/external:I "ThirdParty\LibTiff\Source\Win64" +/external:I "ThirdParty\LibTiff\Source" +/external:I "ThirdParty\OpenGL" +/external:I "C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Tools\MSVC\14.42.34433\INCLUDE" +/external:I "C:\Program Files (x86)\Windows Kits\10\include\10.0.22621.0\ucrt" +/external:I "C:\Program Files (x86)\Windows Kits\10\include\10.0.22621.0\shared" +/external:I "C:\Program Files (x86)\Windows Kits\10\include\10.0.22621.0\um" +/external:I "C:\Program Files (x86)\Windows Kits\10\include\10.0.22621.0\winrt" \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.dep.json b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.dep.json new file mode 100644 index 00000000..89b1f2e9 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.dep.json @@ -0,0 +1,14 @@ +{ + "Version": "1.2", + "Data": { + "Source": "d:\\projects\\luckyworld\\luckyworld\\plugins\\cpathfinding\\source\\cpathfinding\\private\\cpathfinding.cpp", + "ProvidedModule": "", + "PCH": "e:\\epicgames\\ue5_5\\engine\\intermediate\\build\\win64\\x64\\unrealeditor\\development\\unrealed\\sharedpch.unrealed.project.valapi.cpp20.inclorderunreal5_3.h.pch", + "Includes": [ + "d:\\projects\\luckyworld\\luckyworld\\plugins\\cpathfinding\\intermediate\\build\\win64\\x64\\unrealeditor\\development\\cpathfinding\\definitions.cpathfinding.h", + "d:\\projects\\luckyworld\\luckyworld\\plugins\\cpathfinding\\source\\cpathfinding\\public\\cpathfinding.h" + ], + "ImportedModules": [], + "ImportedHeaderUnits": [] + } +} \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.obj b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.obj new file mode 100644 index 00000000..d27ed6d8 Binary files /dev/null and b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.obj differ diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.obj.rsp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.obj.rsp new file mode 100644 index 00000000..ef49c165 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.obj.rsp @@ -0,0 +1,53 @@ +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Source\CPathfinding\Private\CPathfinding.cpp" +/FI"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h" +/FI"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\Definitions.CPathfinding.h" +/Yu"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h" +/Fp"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h.pch" +/Fo"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.cpp.obj" +/experimental:log "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.cpp.sarif" +/sourceDependencies "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.cpp.dep.json" +@"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.Shared.rsp" +/d2ssa-cfg-question- +/Zc:inline +/nologo +/Oi +/FC +/c +/Gw +/Gy +/utf-8 +/wd4819 +/DSAL_NO_ATTRIBUTE_DECLARATIONS=1 +/permissive- +/Zc:strictStrings- +/Zc:__cplusplus +/D_CRT_STDIO_LEGACY_WIDE_SPECIFIERS=1 +/D_SILENCE_STDEXT_HASH_DEPRECATION_WARNINGS=1 +/D_WINDLL +/D_DISABLE_EXTENDED_ALIGNED_STORAGE +/Ob2 +/d2ExtendedWarningInfo +/Ox +/Ot +/GF +/errorReport:prompt +/EHsc +/DPLATFORM_EXCEPTIONS_DISABLED=0 +/Z7 +/MD +/bigobj +/fp:fast +/Zo +/Zp8 +/we4456 +/we4458 +/we4459 +/we4668 +/wd4244 +/wd4838 +/TP +/GR- +/W4 +/std:c++20 +/Zc:preprocessor +/wd5054 \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.sarif b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.sarif new file mode 100644 index 00000000..04af628c --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.cpp.sarif @@ -0,0 +1,18 @@ +{ + "version": "2.1.0", + "$schema": "https://schemastore.azurewebsites.net/schemas/json/sarif-2.1.0-rtm.5.json", + "runs": [ + { + "results": [], + "tool": { + "driver": { + "name": "MSVC", + "shortDescription": { + "text": "Microsoft Visual C++ Compiler Warnings/Errors" + }, + "informationUri": "https://docs.microsoft.com/cpp/error-messages/compiler-errors-1/c-cpp-build-errors" + } + } + } + ] +} \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.dep.json b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.dep.json new file mode 100644 index 00000000..ce2d86ca --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.dep.json @@ -0,0 +1,13 @@ +{ + "Version": "1.2", + "Data": { + "Source": "d:\\projects\\luckyworld\\luckyworld\\plugins\\cpathfinding\\intermediate\\build\\win64\\unrealeditor\\inc\\cpathfinding\\uht\\cpathfinding.init.gen.cpp", + "ProvidedModule": "", + "PCH": "e:\\epicgames\\ue5_5\\engine\\intermediate\\build\\win64\\x64\\unrealeditor\\development\\unrealed\\sharedpch.unrealed.project.valapi.cpp20.inclorderunreal5_3.h.pch", + "Includes": [ + "d:\\projects\\luckyworld\\luckyworld\\plugins\\cpathfinding\\intermediate\\build\\win64\\x64\\unrealeditor\\development\\cpathfinding\\definitions.cpathfinding.h" + ], + "ImportedModules": [], + "ImportedHeaderUnits": [] + } +} \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.obj b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.obj new file mode 100644 index 00000000..2792c53b Binary files /dev/null and b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.obj differ diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.obj.rsp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.obj.rsp new file mode 100644 index 00000000..4d687379 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.obj.rsp @@ -0,0 +1,53 @@ +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\UnrealEditor\Inc\CPathfinding\UHT\CPathfinding.init.gen.cpp" +/FI"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h" +/FI"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\Definitions.CPathfinding.h" +/Yu"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h" +/Fp"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h.pch" +/Fo"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.init.gen.cpp.obj" +/experimental:log "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.init.gen.cpp.sarif" +/sourceDependencies "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.init.gen.cpp.dep.json" +@"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.Shared.rsp" +/d2ssa-cfg-question- +/Zc:inline +/nologo +/Oi +/FC +/c +/Gw +/Gy +/utf-8 +/wd4819 +/DSAL_NO_ATTRIBUTE_DECLARATIONS=1 +/permissive- +/Zc:strictStrings- +/Zc:__cplusplus +/D_CRT_STDIO_LEGACY_WIDE_SPECIFIERS=1 +/D_SILENCE_STDEXT_HASH_DEPRECATION_WARNINGS=1 +/D_WINDLL +/D_DISABLE_EXTENDED_ALIGNED_STORAGE +/Ob2 +/d2ExtendedWarningInfo +/Ox +/Ot +/GF +/errorReport:prompt +/EHsc +/DPLATFORM_EXCEPTIONS_DISABLED=0 +/Z7 +/MD +/bigobj +/fp:fast +/Zo +/Zp8 +/we4456 +/we4458 +/we4459 +/we4668 +/wd4244 +/wd4838 +/TP +/GR- +/W4 +/std:c++20 +/Zc:preprocessor +/wd5054 \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.sarif b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.sarif new file mode 100644 index 00000000..04af628c --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/CPathfinding.init.gen.cpp.sarif @@ -0,0 +1,18 @@ +{ + "version": "2.1.0", + "$schema": "https://schemastore.azurewebsites.net/schemas/json/sarif-2.1.0-rtm.5.json", + "runs": [ + { + "results": [], + "tool": { + "driver": { + "name": "MSVC", + "shortDescription": { + "text": "Microsoft Visual C++ Compiler Warnings/Errors" + }, + "informationUri": "https://docs.microsoft.com/cpp/error-messages/compiler-errors-1/c-cpp-build-errors" + } + } + } + ] +} \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/Definitions.CPathfinding.h b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/Definitions.CPathfinding.h new file mode 100644 index 00000000..303ad772 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/Definitions.CPathfinding.h @@ -0,0 +1,20 @@ +// Generated by UnrealBuildTool (UEBuildModuleCPP.cs) : Shared PCH Definitions for CPathfinding +#pragma once +#include "../Intermediate/Build/Win64/x64/UnrealEditor/Development/UnrealEd/SharedDefinitions.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h" +#undef CPATHFINDING_API +#define UE_IS_ENGINE_MODULE 0 +#define UE_DEPRECATED_FORGAME UE_DEPRECATED +#define UE_DEPRECATED_FORENGINE UE_DEPRECATED +#define UE_VALIDATE_FORMAT_STRINGS 1 +#define UE_VALIDATE_INTERNAL_API 1 +#define UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_2 0 +#define UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_3 0 +#define UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_4 1 +#define UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_5 1 +#define UE_PROJECT_NAME Luckyrobots +#define UE_TARGET_NAME LuckyrobotsEditor +#define UE_MODULE_NAME "CPathfinding" +#define UE_PLUGIN_NAME "CPathfinding" +#define IMPLEMENT_ENCRYPTION_KEY_REGISTRATION() UE_REGISTER_ENCRYPTION_KEY(0x60,0xE7,0x8D,0xFE,0x89,0x63,0x2D,0x99,0x2B,0x62,0xF7,0x80,0xD7,0xF8,0xBB,0xDF,0x13,0xEE,0x5E,0x71,0x7E,0xCC,0x13,0x09,0xFB,0x13,0x0A,0xB5,0x6E,0x2C,0xF9,0x69) +#define IMPLEMENT_SIGNING_KEY_REGISTRATION() UE_REGISTER_SIGNING_KEY(UE_LIST_ARGUMENT(0x01,0x00,0x01), UE_LIST_ARGUMENT(0x59,0xC3,0xCF,0xE5,0xEE,0x9B,0xCD,0x4F,0x15,0xAD,0xBC,0x48,0x96,0x87,0x7B,0xC1,0x60,0xE4,0x5B,0x6D,0xCF,0xF3,0x02,0xF6,0x2C,0x71,0x12,0x54,0x35,0x75,0xBE,0x18,0x99,0x49,0xD4,0x45,0xA3,0xF7,0x00,0xA5,0x2B,0x6E,0x97,0x1C,0xFA,0x5E,0x4D,0x3F,0xAB,0xCA,0x23,0x27,0x80,0x8E,0x1E,0x82,0x3A,0x71,0x86,0xDA,0xD0,0xF3,0x6E,0x87,0x80,0x04,0x4B,0x39,0x42,0x79,0xEE,0x41,0xBE,0x39,0xB7,0x73,0xE3,0x57,0x64,0x0C,0x98,0x8C,0x90,0x90,0xC4,0x5C,0x50,0xE8,0x7A,0x24,0xF4,0xB3,0x93,0xFD,0x44,0xE0,0x6B,0x81,0xCF,0xE5,0x86,0x54,0xD9,0x80,0x96,0xA0,0x2B,0xC7,0x9F,0x7F,0x12,0x34,0x22,0xCF,0x7C,0x68,0xD1,0x94,0xE3,0xF9,0x74,0xE0,0x16,0x4E,0xAB,0x3E,0xB6,0xCE,0x78,0x10,0x74,0x32,0x99,0x1D,0xF9,0x04,0x63,0xAE,0x2C,0x7D,0x79,0xB3,0x3A,0x3E,0x44,0x33,0x4E,0xED,0xF8,0x6F,0x32,0x96,0xF4,0x5D,0x2F,0x4F,0x6E,0xE1,0xAC,0x89,0x7B,0x37,0x38,0x2E,0x0D,0x53,0xC5,0xCD,0x08,0xF5,0xA8,0xD8,0x6D,0x68,0xE2,0xDF,0x1C,0xAB,0x35,0xE3,0x4E,0x8F,0x10,0xD5,0x6C,0x27,0xFC,0x5D,0x97,0x69,0x34,0x07,0x63,0x77,0x6F,0x7B,0xAF,0x9F,0x69,0x1D,0xFD,0xF0,0xA2,0x5C,0x1B,0xCF,0x2B,0xFE,0x0D,0xA4,0x20,0x6F,0x2A,0xFE,0xED,0xB7,0x04,0xE5,0x0F,0x92,0x8A,0x59,0xCB,0x61,0xC6,0x08,0xBA,0xC3,0xDC,0xBC,0xD2,0x86,0xD3,0xDB,0xCF,0x13,0x73,0x3F,0xFA,0x3E,0xE5,0x42,0x59,0x66,0x38,0x41,0x02,0x1E,0xAD,0x7D,0x2B,0x53,0x5A,0x2E,0x9D,0x41,0x0B,0xA3,0x47,0x23,0xFD,0x31,0xE2,0x94,0xB9,0x0D,0x62,0x0B,0xA5,0x91,0xE5,0xCC,0x70,0x97,0xCB,0x99,0xF7,0x8D,0xA9,0xC0,0xB8,0xB4,0x73,0x5C,0xD7,0x35,0xFF,0x56,0x93,0x34,0x41,0x73,0xF8,0x93,0xC8,0x39,0x17,0x97,0xFD,0x7D,0xF8,0xB5,0xDB,0xD8,0xF0,0x50,0xCF,0xE7,0xEC,0xAF,0xEF,0xFF,0xA6,0xDD,0xC2,0xBF,0x8C,0xC2,0xF4,0x05,0xE6,0x89,0x71,0xF5,0x54,0x8C,0x06,0x5B,0x84,0x75,0xDC,0xF3,0x50,0x6D,0x54,0x9A,0x59,0x0C,0x35,0x49,0x74,0x9A,0xAC,0xBE,0xA4,0xB3,0x28,0x04,0xC5,0xEA,0x79,0xD9,0xD0,0x17,0xA8,0xBF,0xCC,0xAA,0xD0,0x50,0xDA,0xE6,0xCE,0xEE,0x6C,0xE9,0x7B,0xE4,0xA7,0x45,0x7B,0x13,0xD3,0x4E,0xF9,0xD2,0xBF,0x45,0xF3,0x4E,0x8E,0xFF,0xD1,0xD2,0xF5,0x0E,0x4A,0xC2,0x5B,0xAA,0x05,0x65,0x79,0x32,0x64,0xCE,0xE7,0x79,0xA3,0xF1,0x7E,0x92,0x40,0xC7,0x63,0xA2,0xE7,0xE9,0x15,0x1E,0x2F,0xEA,0x92,0xCE,0x37,0x38,0xD1,0x4B,0x37,0xBF,0x25,0xF0,0x06,0xE5,0x78,0xB0,0x05,0x58,0xC8,0x59,0x15,0xE5,0x2E,0x40,0xFB,0x70,0xA6,0x4C,0x4C,0x50,0x9C,0x8A,0x3D,0x52,0x2A,0x7C,0x9C,0x5C,0x1E,0xEC,0x5D,0x0C,0x5C,0x39,0x84,0xF9,0x9C,0xA1,0xAC,0xCD,0x61,0xBE,0xC2,0x98,0x6D,0xCB,0x6F,0x69,0x42,0x4F,0xB1,0xB1,0xAD,0x83,0x82,0xAB,0x0A,0xD3,0x2A,0xEB,0x5B,0xC8,0xEA,0x92,0x50,0x6B,0xA2,0xAD,0x6D,0x6C,0x0F,0x6F,0x44,0xB6,0x15,0xE4,0xDC,0x34,0x44,0xFA,0x60,0x10,0x56,0x7C,0x44,0x4B,0x50,0xFB,0x17,0x85,0x4C,0xC8)) +#define CPATHFINDING_API DLLEXPORT diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json new file mode 100644 index 00000000..5a2fc05f --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/LiveCodingInfo.json @@ -0,0 +1,5 @@ +{ + "RemapUnityFiles": + { + } +} \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp new file mode 100644 index 00000000..6c08adea --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp @@ -0,0 +1,6 @@ +#if !defined(PER_MODULE_INLINE_FILE) && defined(CORE_API) +#define PER_MODULE_INLINE_FILE "HAL/PerModuleInline.inl" +#endif +#if defined(PER_MODULE_INLINE_FILE) && !defined(SUPPRESS_PER_MODULE_INLINE_FILE) +#include PER_MODULE_INLINE_FILE +#endif \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.dep.json b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.dep.json new file mode 100644 index 00000000..3aae6e19 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.dep.json @@ -0,0 +1,14 @@ +{ + "Version": "1.2", + "Data": { + "Source": "d:\\projects\\luckyworld\\luckyworld\\plugins\\cpathfinding\\intermediate\\build\\win64\\x64\\unrealeditor\\development\\cpathfinding\\permoduleinline.gen.cpp", + "ProvidedModule": "", + "PCH": "e:\\epicgames\\ue5_5\\engine\\intermediate\\build\\win64\\x64\\unrealeditor\\development\\unrealed\\sharedpch.unrealed.project.valapi.cpp20.inclorderunreal5_3.h.pch", + "Includes": [ + "d:\\projects\\luckyworld\\luckyworld\\plugins\\cpathfinding\\intermediate\\build\\win64\\x64\\unrealeditor\\development\\cpathfinding\\definitions.cpathfinding.h", + "e:\\epicgames\\ue5_5\\engine\\source\\runtime\\core\\public\\hal\\permoduleinline.inl" + ], + "ImportedModules": [], + "ImportedHeaderUnits": [] + } +} \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.obj b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.obj new file mode 100644 index 00000000..6185f619 Binary files /dev/null and b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.obj differ diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.obj.rsp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.obj.rsp new file mode 100644 index 00000000..204822ca --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.obj.rsp @@ -0,0 +1,53 @@ +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\PerModuleInline.gen.cpp" +/FI"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h" +/FI"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\Definitions.CPathfinding.h" +/Yu"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h" +/Fp"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h.pch" +/Fo"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\PerModuleInline.gen.cpp.obj" +/experimental:log "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\PerModuleInline.gen.cpp.sarif" +/sourceDependencies "D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\PerModuleInline.gen.cpp.dep.json" +@"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.Shared.rsp" +/d2ssa-cfg-question- +/Zc:inline +/nologo +/Oi +/FC +/c +/Gw +/Gy +/utf-8 +/wd4819 +/DSAL_NO_ATTRIBUTE_DECLARATIONS=1 +/permissive- +/Zc:strictStrings- +/Zc:__cplusplus +/D_CRT_STDIO_LEGACY_WIDE_SPECIFIERS=1 +/D_SILENCE_STDEXT_HASH_DEPRECATION_WARNINGS=1 +/D_WINDLL +/D_DISABLE_EXTENDED_ALIGNED_STORAGE +/Ob2 +/d2ExtendedWarningInfo +/Ox +/Ot +/GF +/errorReport:prompt +/EHsc +/DPLATFORM_EXCEPTIONS_DISABLED=0 +/Z7 +/MD +/bigobj +/fp:fast +/Zo +/Zp8 +/we4456 +/we4458 +/we4459 +/we4668 +/wd4244 +/wd4838 +/TP +/GR- +/W4 +/std:c++20 +/Zc:preprocessor +/wd5054 \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.sarif b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.sarif new file mode 100644 index 00000000..04af628c --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/PerModuleInline.gen.cpp.sarif @@ -0,0 +1,18 @@ +{ + "version": "2.1.0", + "$schema": "https://schemastore.azurewebsites.net/schemas/json/sarif-2.1.0-rtm.5.json", + "runs": [ + { + "results": [], + "tool": { + "driver": { + "name": "MSVC", + "shortDescription": { + "text": "Microsoft Visual C++ Compiler Warnings/Errors" + }, + "informationUri": "https://docs.microsoft.com/cpp/error-messages/compiler-errors-1/c-cpp-build-errors" + } + } + } + ] +} \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp new file mode 100644 index 00000000..cbdd7589 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.dll.rsp @@ -0,0 +1,90 @@ +/MANIFEST:EMBED +/MANIFESTINPUT:"..\Build\Windows\Resources\Default-Win64.manifest" +/NOLOGO +/DEBUG:FULL +/errorReport:prompt +/MACHINE:x64 +/SUBSYSTEM:WINDOWS +/FIXED:No +/NXCOMPAT +/STACK:12000000 +/DELAY:UNLOAD +/DLL +/PDBALTPATH:%_PDB% +/d2:-ExtendedWarningInfo +/OPT:NOREF +/OPT:NOICF +/INCREMENTAL:NO +/ignore:4199 +/ignore:4099 +/ALTERNATENAME:__imp___std_init_once_begin_initialize=__imp_InitOnceBeginInitialize +/ALTERNATENAME:__imp___std_init_once_complete=__imp_InitOnceComplete +/DELAYLOAD:"d3d12.dll" +/DELAYLOAD:"DBGHELP.DLL" +/LIBPATH:"C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Tools\MSVC\14.42.34433\lib\x64" +/LIBPATH:"C:\Program Files (x86)\Windows Kits\10\lib\10.0.22621.0\ucrt\x64" +/LIBPATH:"C:\Program Files (x86)\Windows Kits\10\lib\10.0.22621.0\um\x64" +/NODEFAULTLIB:"LIBCMT" +/NODEFAULTLIB:"LIBCPMT" +/NODEFAULTLIB:"LIBCMTD" +/NODEFAULTLIB:"LIBCPMTD" +/NODEFAULTLIB:"MSVCRTD" +/NODEFAULTLIB:"MSVCPRTD" +/NODEFAULTLIB:"LIBC" +/NODEFAULTLIB:"LIBCP" +/NODEFAULTLIB:"LIBCD" +/NODEFAULTLIB:"LIBCPD" +/FUNCTIONPADMIN:6 +/NOIMPLIB +"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathAsyncVolumeGeneration.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDynamicObstacle.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathNode.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathOctree.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathVolume.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathVolumeGroundPrio.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\PerModuleInline.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDynamicObstacle.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.init.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathNode.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathVolume.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathVolumeGroundPrio.gen.cpp.obj" +"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Default.rc2.res" +"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\CoreUObject\UnrealEditor-CoreUObject.lib" +"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Engine\UnrealEditor-Engine.lib" +"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Slate\UnrealEditor-Slate.lib" +"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\SlateCore\UnrealEditor-SlateCore.lib" +"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Core\UnrealEditor-Core.lib" +"delayimp.lib" +"wininet.lib" +"rpcrt4.lib" +"ws2_32.lib" +"dbghelp.lib" +"comctl32.lib" +"Winmm.lib" +"kernel32.lib" +"user32.lib" +"gdi32.lib" +"winspool.lib" +"comdlg32.lib" +"advapi32.lib" +"shell32.lib" +"ole32.lib" +"oleaut32.lib" +"uuid.lib" +"odbc32.lib" +"odbccp32.lib" +"netapi32.lib" +"iphlpapi.lib" +"setupapi.lib" +"synchronization.lib" +"dwmapi.lib" +"imm32.lib" +/OUT:"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Binaries\Win64\UnrealEditor-CPathfinding.dll" +/PDB:"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Binaries\Win64\UnrealEditor-CPathfinding.pdb" +/ignore:4078 \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.exp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.exp new file mode 100644 index 00000000..c6acdcad Binary files /dev/null and b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.exp differ diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib new file mode 100644 index 00000000..758e3ab3 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63e8419c281fde9b9807c9f027f7223576cb47e6acaee335df5c5dfb215de55f +size 86112 diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib.rsp b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib.rsp new file mode 100644 index 00000000..47b5671d --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditor/Development/CPathfinding/UnrealEditor-CPathfinding.lib.rsp @@ -0,0 +1,28 @@ +/NOLOGO +/errorReport:prompt +/MACHINE:x64 +/SUBSYSTEM:WINDOWS +/DEF +/NAME:"UnrealEditor-CPathfinding.dll" +/IGNORE:4221 +/NODEFAULTLIB +"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\UnrealEd\SharedPCH.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathAsyncVolumeGeneration.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDynamicObstacle.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathNode.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathOctree.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathVolume.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathVolumeGroundPrio.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\PerModuleInline.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDefines.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathDynamicObstacle.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathfinding.init.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathFindPath.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathNode.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathVolume.gen.cpp.obj" +"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\CPathVolumeGroundPrio.gen.cpp.obj" +"..\Intermediate\Build\Win64\x64\UnrealEditor\Development\Default.rc2.res" +/OUT:"D:\Projects\luckyworld\luckyworld\Plugins\CPathfinding\Intermediate\Build\Win64\x64\UnrealEditor\Development\CPathfinding\UnrealEditor-CPathfinding.lib" \ No newline at end of file diff --git a/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditorGPF/Development/CPathfinding/Definitions.CPathfinding.h b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditorGPF/Development/CPathfinding/Definitions.CPathfinding.h new file mode 100644 index 00000000..608ab327 --- /dev/null +++ b/Plugins/CPathfinding/Intermediate/Build/Win64/x64/UnrealEditorGPF/Development/CPathfinding/Definitions.CPathfinding.h @@ -0,0 +1,20 @@ +// Generated by UnrealBuildTool (UEBuildModuleCPP.cs) : Shared PCH Definitions for CPathfinding +#pragma once +#include "../Intermediate/Build/Win64/x64/UnrealEditorGPF/Development/UnrealEd/SharedDefinitions.UnrealEd.Project.ValApi.Cpp20.InclOrderUnreal5_3.h" +#undef CPATHFINDING_API +#define UE_IS_ENGINE_MODULE 0 +#define UE_DEPRECATED_FORGAME UE_DEPRECATED +#define UE_DEPRECATED_FORENGINE UE_DEPRECATED +#define UE_VALIDATE_FORMAT_STRINGS 1 +#define UE_VALIDATE_INTERNAL_API 1 +#define UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_2 0 +#define UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_3 0 +#define UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_4 1 +#define UE_ENABLE_INCLUDE_ORDER_DEPRECATED_IN_5_5 1 +#define UE_PROJECT_NAME Luckyrobots +#define UE_TARGET_NAME LuckyrobotsEditor +#define UE_MODULE_NAME "CPathfinding" +#define UE_PLUGIN_NAME "CPathfinding" +#define IMPLEMENT_ENCRYPTION_KEY_REGISTRATION() UE_REGISTER_ENCRYPTION_KEY(0x60,0xE7,0x8D,0xFE,0x89,0x63,0x2D,0x99,0x2B,0x62,0xF7,0x80,0xD7,0xF8,0xBB,0xDF,0x13,0xEE,0x5E,0x71,0x7E,0xCC,0x13,0x09,0xFB,0x13,0x0A,0xB5,0x6E,0x2C,0xF9,0x69) +#define IMPLEMENT_SIGNING_KEY_REGISTRATION() UE_REGISTER_SIGNING_KEY(UE_LIST_ARGUMENT(0x01,0x00,0x01), UE_LIST_ARGUMENT(0x59,0xC3,0xCF,0xE5,0xEE,0x9B,0xCD,0x4F,0x15,0xAD,0xBC,0x48,0x96,0x87,0x7B,0xC1,0x60,0xE4,0x5B,0x6D,0xCF,0xF3,0x02,0xF6,0x2C,0x71,0x12,0x54,0x35,0x75,0xBE,0x18,0x99,0x49,0xD4,0x45,0xA3,0xF7,0x00,0xA5,0x2B,0x6E,0x97,0x1C,0xFA,0x5E,0x4D,0x3F,0xAB,0xCA,0x23,0x27,0x80,0x8E,0x1E,0x82,0x3A,0x71,0x86,0xDA,0xD0,0xF3,0x6E,0x87,0x80,0x04,0x4B,0x39,0x42,0x79,0xEE,0x41,0xBE,0x39,0xB7,0x73,0xE3,0x57,0x64,0x0C,0x98,0x8C,0x90,0x90,0xC4,0x5C,0x50,0xE8,0x7A,0x24,0xF4,0xB3,0x93,0xFD,0x44,0xE0,0x6B,0x81,0xCF,0xE5,0x86,0x54,0xD9,0x80,0x96,0xA0,0x2B,0xC7,0x9F,0x7F,0x12,0x34,0x22,0xCF,0x7C,0x68,0xD1,0x94,0xE3,0xF9,0x74,0xE0,0x16,0x4E,0xAB,0x3E,0xB6,0xCE,0x78,0x10,0x74,0x32,0x99,0x1D,0xF9,0x04,0x63,0xAE,0x2C,0x7D,0x79,0xB3,0x3A,0x3E,0x44,0x33,0x4E,0xED,0xF8,0x6F,0x32,0x96,0xF4,0x5D,0x2F,0x4F,0x6E,0xE1,0xAC,0x89,0x7B,0x37,0x38,0x2E,0x0D,0x53,0xC5,0xCD,0x08,0xF5,0xA8,0xD8,0x6D,0x68,0xE2,0xDF,0x1C,0xAB,0x35,0xE3,0x4E,0x8F,0x10,0xD5,0x6C,0x27,0xFC,0x5D,0x97,0x69,0x34,0x07,0x63,0x77,0x6F,0x7B,0xAF,0x9F,0x69,0x1D,0xFD,0xF0,0xA2,0x5C,0x1B,0xCF,0x2B,0xFE,0x0D,0xA4,0x20,0x6F,0x2A,0xFE,0xED,0xB7,0x04,0xE5,0x0F,0x92,0x8A,0x59,0xCB,0x61,0xC6,0x08,0xBA,0xC3,0xDC,0xBC,0xD2,0x86,0xD3,0xDB,0xCF,0x13,0x73,0x3F,0xFA,0x3E,0xE5,0x42,0x59,0x66,0x38,0x41,0x02,0x1E,0xAD,0x7D,0x2B,0x53,0x5A,0x2E,0x9D,0x41,0x0B,0xA3,0x47,0x23,0xFD,0x31,0xE2,0x94,0xB9,0x0D,0x62,0x0B,0xA5,0x91,0xE5,0xCC,0x70,0x97,0xCB,0x99,0xF7,0x8D,0xA9,0xC0,0xB8,0xB4,0x73,0x5C,0xD7,0x35,0xFF,0x56,0x93,0x34,0x41,0x73,0xF8,0x93,0xC8,0x39,0x17,0x97,0xFD,0x7D,0xF8,0xB5,0xDB,0xD8,0xF0,0x50,0xCF,0xE7,0xEC,0xAF,0xEF,0xFF,0xA6,0xDD,0xC2,0xBF,0x8C,0xC2,0xF4,0x05,0xE6,0x89,0x71,0xF5,0x54,0x8C,0x06,0x5B,0x84,0x75,0xDC,0xF3,0x50,0x6D,0x54,0x9A,0x59,0x0C,0x35,0x49,0x74,0x9A,0xAC,0xBE,0xA4,0xB3,0x28,0x04,0xC5,0xEA,0x79,0xD9,0xD0,0x17,0xA8,0xBF,0xCC,0xAA,0xD0,0x50,0xDA,0xE6,0xCE,0xEE,0x6C,0xE9,0x7B,0xE4,0xA7,0x45,0x7B,0x13,0xD3,0x4E,0xF9,0xD2,0xBF,0x45,0xF3,0x4E,0x8E,0xFF,0xD1,0xD2,0xF5,0x0E,0x4A,0xC2,0x5B,0xAA,0x05,0x65,0x79,0x32,0x64,0xCE,0xE7,0x79,0xA3,0xF1,0x7E,0x92,0x40,0xC7,0x63,0xA2,0xE7,0xE9,0x15,0x1E,0x2F,0xEA,0x92,0xCE,0x37,0x38,0xD1,0x4B,0x37,0xBF,0x25,0xF0,0x06,0xE5,0x78,0xB0,0x05,0x58,0xC8,0x59,0x15,0xE5,0x2E,0x40,0xFB,0x70,0xA6,0x4C,0x4C,0x50,0x9C,0x8A,0x3D,0x52,0x2A,0x7C,0x9C,0x5C,0x1E,0xEC,0x5D,0x0C,0x5C,0x39,0x84,0xF9,0x9C,0xA1,0xAC,0xCD,0x61,0xBE,0xC2,0x98,0x6D,0xCB,0x6F,0x69,0x42,0x4F,0xB1,0xB1,0xAD,0x83,0x82,0xAB,0x0A,0xD3,0x2A,0xEB,0x5B,0xC8,0xEA,0x92,0x50,0x6B,0xA2,0xAD,0x6D,0x6C,0x0F,0x6F,0x44,0xB6,0x15,0xE4,0xDC,0x34,0x44,0xFA,0x60,0x10,0x56,0x7C,0x44,0x4B,0x50,0xFB,0x17,0x85,0x4C,0xC8)) +#define CPATHFINDING_API DLLEXPORT diff --git a/Plugins/CPathfinding/Resources/Icon128.png b/Plugins/CPathfinding/Resources/Icon128.png new file mode 100644 index 00000000..26245f6a --- /dev/null +++ b/Plugins/CPathfinding/Resources/Icon128.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7239efaeefbd82de33ebe18518e50de075ea4188a468a9e4991396433d2275f +size 12699 diff --git a/Plugins/CPathfinding/Source/CPathfinding/CPathfinding.Build.cs b/Plugins/CPathfinding/Source/CPathfinding/CPathfinding.Build.cs new file mode 100644 index 00000000..f0a753f4 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/CPathfinding.Build.cs @@ -0,0 +1,53 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +using UnrealBuildTool; + +public class CPathfinding : ModuleRules +{ + public CPathfinding(ReadOnlyTargetRules Target) : base(Target) + { + PCHUsage = ModuleRules.PCHUsageMode.UseExplicitOrSharedPCHs; + + PublicIncludePaths.AddRange( + new string[] { + // ... add public include paths required here ... + } + ); + + + PrivateIncludePaths.AddRange( + new string[] { + // ... add other private include paths required here ... + } + ); + + + PublicDependencyModuleNames.AddRange( + new string[] + { + "Core", + // ... add other public dependencies that you statically link with here ... + } + ); + + + PrivateDependencyModuleNames.AddRange( + new string[] + { + "CoreUObject", + "Engine", + "Slate", + "SlateCore", + // ... add private dependencies that you statically link with here ... + } + ); + + + DynamicallyLoadedModuleNames.AddRange( + new string[] + { + // ... add any modules that your module loads dynamically here ... + } + ); + } +} diff --git a/Plugins/CPathfinding/Source/CPathfinding/Private/CPathAsyncVolumeGeneration.cpp b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathAsyncVolumeGeneration.cpp new file mode 100644 index 00000000..fb738e7b --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathAsyncVolumeGeneration.cpp @@ -0,0 +1,164 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + + +#include "CPathAsyncVolumeGeneration.h" +#include "CPathVolume.h" +#include "Engine/World.h" +#include + +FCPathAsyncVolumeGenerator::FCPathAsyncVolumeGenerator(ACPathVolume* Volume, uint32 StartIndex, uint32 EndIndex, uint8 ThreadID, FString ThreadName, bool Obstacles) + : + FCPathAsyncVolumeGenerator(Volume) +{ + bObstacles = Obstacles; + FirstIndex = StartIndex; + LastIndex = EndIndex; + GenThreadID = ThreadID; + Name = ThreadName; +} + +// Sets default values +FCPathAsyncVolumeGenerator::FCPathAsyncVolumeGenerator(ACPathVolume* Volume) +{ + VolumeRef = Volume; + +} + +FCPathAsyncVolumeGenerator::~FCPathAsyncVolumeGenerator() +{ + bStop = true; + if (ThreadRef) + ThreadRef->Kill(true); +} + +bool FCPathAsyncVolumeGenerator::Init() +{ + return true; +} + +uint32 FCPathAsyncVolumeGenerator::Run() +{ + bIncreasedGenRunning = true; + VolumeRef->GeneratorsRunning++; + + // Waiting for pathfinders to finish. + // Generators have priority over pathfinders, so we block further pathfinders from starting by incrementing GeneratorsRunning first + while (VolumeRef->PathfindersRunning.load() > 0 && !bStop) + std::this_thread::sleep_for(std::chrono::milliseconds(25)); + +#ifdef LOG_GENERATORS + auto GenerationStart = TIMENOW; +#endif + + if (LastIndex > 0) + { + if (bObstacles) + { + auto StartIter = VolumeRef->TreesToRegenerate.begin(); + for (uint32 i = 0; i < FirstIndex; i++) + StartIter++; + + auto EndIter = StartIter; + for (uint32 i = FirstIndex; i < LastIndex; i++) + EndIter++; + + for (auto Iter = StartIter; Iter != EndIter && !bStop; Iter++) + { + RefreshTree(*Iter); + } + } + else + { + for (uint32 OuterIndex = FirstIndex; OuterIndex < LastIndex && !bStop; OuterIndex++) + { + RefreshTree(OuterIndex); + } + } + } + +#ifdef LOG_GENERATORS + auto GenerationTime = TIMEDIFF(GenerationStart, TIMENOW); + + int NodeCount = 0; + for (int i = 0; i <= VolumeRef->OctreeDepth; i++) + { + NodeCount += OctreeCountAtDepth[i]; + } + + UE_LOG(LogTemp, Warning, TEXT("%s generated %d nodes in %lfms"), *Name, NodeCount, GenerationTime); +#endif + + if (bIncreasedGenRunning) + VolumeRef->GeneratorsRunning--; + bIncreasedGenRunning = false; + return 0; +} + +void FCPathAsyncVolumeGenerator::Stop() +{ + + // Preventing a potential deadlock if the process is killed without waiting + if (bIncreasedGenRunning) + VolumeRef->GeneratorsRunning--; + + bIncreasedGenRunning = false; +} + +void FCPathAsyncVolumeGenerator::Exit() +{ + +} + +void FCPathAsyncVolumeGenerator::RefreshTree(uint32 OuterIndex) +{ + CPathOctree* OctreeRef = &VolumeRef->Octrees[OuterIndex]; + if (!OctreeRef) + { + return; + } + RefreshTreeRec(OctreeRef, 0, VolumeRef->WorldLocationFromTreeID(OuterIndex)); +} + +bool FCPathAsyncVolumeGenerator::RefreshTreeRec(CPathOctree* OctreeRef, uint32 Depth, FVector TreeLocation) +{ + + bool IsFree = VolumeRef->RecheckOctreeAtDepth(OctreeRef, TreeLocation, Depth); + + OctreeCountAtDepth[Depth]++; + + if (IsFree) + { + delete[] OctreeRef->Children; + OctreeRef->Children = nullptr; + return true; + } + else if (++Depth <= (uint32)VolumeRef->OctreeDepth) + { + float HalfSize = VolumeRef->GetVoxelSizeByDepth(Depth) / 2.f; + + if (!OctreeRef->Children) + OctreeRef->Children = new CPathOctree[8]; + uint8 FreeChildren = 0; + // Checking children + for (uint32 ChildIndex = 0; ChildIndex < 8; ChildIndex++) + { + FVector Location = TreeLocation + VolumeRef->LookupTable_ChildPositionOffsetMaskByIndex[ChildIndex] * HalfSize; + FreeChildren += RefreshTreeRec(&OctreeRef->Children[ChildIndex], Depth, Location); + } + + if (FreeChildren) + { + return true; + } + else + { + delete[] OctreeRef->Children; + OctreeRef->Children = nullptr; + return false; + } + + } + return false; +} + + diff --git a/Plugins/CPathfinding/Source/CPathfinding/Private/CPathDefines.cpp b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathDefines.cpp new file mode 100644 index 00000000..d4c966b9 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathDefines.cpp @@ -0,0 +1,5 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + + +#include "CPathDefines.h" + diff --git a/Plugins/CPathfinding/Source/CPathfinding/Private/CPathDynamicObstacle.cpp b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathDynamicObstacle.cpp new file mode 100644 index 00000000..2b7bc153 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathDynamicObstacle.cpp @@ -0,0 +1,151 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#include "CPathDynamicObstacle.h" +#include "CPathVolume.h" + +// Sets default values for this component's properties +UCPathDynamicObstacle::UCPathDynamicObstacle() +{ + // Set this component to be initialized when the game starts, and to be ticked every frame. You can turn these features + // off to improve performance if you don't need them. + PrimaryComponentTick.bCanEverTick = false; + PrimaryComponentTick.bStartWithTickEnabled = false; + bAutoActivate = false; + + if (GetOwner()) + { + if (!GetOwner()->IsRootComponentMovable()) + { + UE_LOG(LogTemp, Warning, TEXT("CPath - Dynamic obstacle '%s' is not Movable."), *GetOwner()->GetName()); + } + if (ActivateOnBeginPlay) + GetOwner()->bGenerateOverlapEventsDuringLevelStreaming = true; + } + + // ... +} + + +void UCPathDynamicObstacle::Activate(bool bReset) +{ + + Super::Activate(); + + TSubclassOf Filter = ACPathVolume::StaticClass(); + GetOwner()->GetOverlappingActors(OverlappigVolumes, ACPathVolume::StaticClass()); + + for (AActor* Volume : OverlappigVolumes) + { + Cast(Volume)->TrackedDynamicObstacles.insert(this); + } + +} + +void UCPathDynamicObstacle::Deactivate() +{ + Super::Deactivate(); + for (AActor* Volume : OverlappigVolumes) + { + auto CastedVolume = Cast(Volume); + if (IsValid(CastedVolume)) + { + CastedVolume->TrackedDynamicObstacles.erase(this); + } + } + OverlappigVolumes.Empty(); +} + +void UCPathDynamicObstacle::AddIndexesToUpdate(ACPathVolume* Volume) +{ + FVector Origin, Extent; + GetOwner()->GetActorBounds(true, Origin, Extent); + + FVector XYZ = Volume->WorldLocationToLocalCoordsInt3(Origin); + if (!Volume->IsInBounds(XYZ)) + { + return; + } + uint32 Index = Volume->LocalCoordsInt3ToIndex(XYZ); + FVector DistanceFromCenter = Origin - Volume->WorldLocationFromTreeID(Index); + + float VoxelSize = Volume->GetVoxelSizeByDepth(0); + float VoxelExtent = VoxelSize / 2.f; + + // How many outer trees should we include in given direction + int MaxOffsetInDirection[6]; + MaxOffsetInDirection[Left] = FMath::CeilToInt((Extent.Y - (VoxelExtent + DistanceFromCenter.Y)) / VoxelSize); + MaxOffsetInDirection[Front] = FMath::CeilToInt((Extent.X - (VoxelExtent + DistanceFromCenter.X)) / VoxelSize); + MaxOffsetInDirection[Right] = FMath::CeilToInt((Extent.Y - (VoxelExtent - DistanceFromCenter.Y)) / VoxelSize); + MaxOffsetInDirection[Behind] = FMath::CeilToInt((Extent.X - (VoxelExtent - DistanceFromCenter.X)) / VoxelSize); + MaxOffsetInDirection[Below] = FMath::CeilToInt((Extent.Z - (VoxelExtent + DistanceFromCenter.Z)) / VoxelSize); + MaxOffsetInDirection[Above] = FMath::CeilToInt((Extent.Z - (VoxelExtent - DistanceFromCenter.Z)) / VoxelSize); + + FVector Offset = FVector::ZeroVector; + for (int X = -MaxOffsetInDirection[Front]; X <= MaxOffsetInDirection[Behind]; X++) + { + Offset.X = X; + for (int Y = -MaxOffsetInDirection[Left]; Y <= MaxOffsetInDirection[Right]; Y++) + { + Offset.Y = Y; + for (int Z = -MaxOffsetInDirection[Below]; Z <= MaxOffsetInDirection[Above]; Z++) + { + Offset.Z = Z; + + FVector CurrXYZ = XYZ + Offset; + if (Volume->IsInBounds(CurrXYZ)) + { + Index = Volume->LocalCoordsInt3ToIndex(CurrXYZ); + Volume->TreesToRegenerate.insert(Index); + Volume->TreesToRegeneratePreviousUpdate.insert(Index); + } + } + } + } +} + +void UCPathDynamicObstacle::EndPlay(EEndPlayReason::Type Reason) +{ + Super::EndPlay(Reason); + Deactivate(); +} + + +void UCPathDynamicObstacle::BeginPlay() +{ + Super::BeginPlay(); + GetOwner()->OnActorBeginOverlap.AddDynamic(this, &UCPathDynamicObstacle::OnBeginOverlap); + GetOwner()->OnActorEndOverlap.AddDynamic(this, &UCPathDynamicObstacle::OnBeginOverlap); + if (ActivateOnBeginPlay) + { + Activate(); + } +} + + + +void UCPathDynamicObstacle::OnBeginOverlap(AActor* Owner, AActor* OtherActor) +{ + if (IsActive()) + { + ACPathVolume* Volume = Cast(OtherActor); + if (Volume) + { + Volume->TrackedDynamicObstacles.insert(this); + OverlappigVolumes.Add(Volume); + } + } +} + +void UCPathDynamicObstacle::OnEndOverlap(AActor* Owner, AActor* OtherActor) +{ + if (IsActive()) + { + ACPathVolume* Volume = Cast(OtherActor); + if (Volume) + { + Volume->TrackedDynamicObstacles.erase(this); + OverlappigVolumes.Remove(Volume); + } + } +} + diff --git a/Plugins/CPathfinding/Source/CPathfinding/Private/CPathFindPath.cpp b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathFindPath.cpp new file mode 100644 index 00000000..ac869439 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathFindPath.cpp @@ -0,0 +1,423 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#include "CPathFindPath.h" +#include "CPathVolume.h" +#include +#include +#include +#include +#include +#include +#include "Algo/Reverse.h" +#include "TimerManager.h" +#include "Engine/World.h" + + +CPathAStar::CPathAStar() +{ +} + +CPathAStar::CPathAStar(ACPathVolume* VolumeRef, FVector Start, FVector End, uint32 SmoothingPasses, int32 UserData, float TimeLimit) + : + Volume(VolumeRef), + PathStart(Start), + PathEnd(End), + Smoothing(SmoothingPasses), + UsrData(UserData), + SearchTimeLimit(TimeLimit) +{ +} + +CPathAStar::~CPathAStar() +{ + +} + +CPathAStarNode* CPathAStar::FindPath(ACPathVolume* VolumeRef, FVector Start, FVector End, uint32 SmoothingPasses, int32 UserData, float TimeLimit, TArray* RawNodes) +{ + if (!IsValid(VolumeRef)) + { + FailReason = VolumeNotValid; + return nullptr; + } + if (!VolumeRef->InitialGenerationCompleteAtom.load()) + { + FailReason = VolumeNotGenerated; + return nullptr; + } + + Volume = VolumeRef; + SearchTimeLimit = TimeLimit; + UsrData = UserData; + auto TimeStart = TIMENOW; + + // time limit in miliseconds + double TimeLimitMS = SearchTimeLimit * 1000; + + // The A* priority queue + std::priority_queue, std::greater> Pq; + + // Nodes visited OR added to priority queue + std::unordered_set VisitedNodes; + + // In case someome called FindPath on the same AStar instance + ProcessedNodes.clear(); + + + // Finding start and end node + uint32 TempID; + if (!Volume->FindClosestFreeLeaf(Start, TempID)) + { + FailReason = WrongStartLocation; + return nullptr; + } + + CPathAStarNode StartNode(TempID); + StartNode.WorldLocation = Start; + + if (!Volume->FindClosestFreeLeaf(End, TempID)) + { + FailReason = WrongEndLocation; + return nullptr; + } + + // Initializing priority queue + CPathAStarNode TargetNode(TempID); + TargetLocation = Volume->WorldLocationFromTreeID(TargetNode.TreeID); + TargetNode.WorldLocation = TargetLocation; + CalcFitness(TargetNode); + CalcFitness(StartNode); + Pq.push(StartNode); + VisitedNodes.insert(StartNode); + CPathAStarNode* FoundPathEnd = nullptr; + + // A* loop + while (Pq.size() > 0 && !bStop) + { + CPathAStarNode CurrentNode = Pq.top(); + Pq.pop(); + ProcessedNodes.push_back(std::make_unique(CurrentNode)); + + if (CurrentNode == TargetNode) + { + FoundPathEnd = ProcessedNodes.back().get(); + break; + } + + std::vector Neighbours = VolumeRef->FindFreeNeighbourLeafs(CurrentNode); + for (CPathAStarNode NewTreeNode : Neighbours) + { + if (bStop) + break; + + if (!VisitedNodes.count(NewTreeNode)) + { + NewTreeNode.PreviousNode = ProcessedNodes.back().get(); + NewTreeNode.WorldLocation = Volume->WorldLocationFromTreeID(NewTreeNode.TreeID); + + // CalcFitness(NewNode); - this is inline and not virtual so in theory faster, but not extendable. + // Also from my testing, the speed difference between the two was unnoticeable at 150000 nodes processed. + + VolumeRef->CalcFitness(NewTreeNode, TargetLocation, UserData); + VisitedNodes.insert(NewTreeNode); + Pq.push(NewTreeNode); + } + } + + auto CurrDuration = TIMEDIFF(TimeStart, TIMENOW); + if (CurrDuration >= TimeLimitMS) + { + bStop = true; + FailReason = ECPathfindingFailReason::Timeout; + } + } + + // Pathfinidng has been interrupted due to premature thread kill, so we dont want to return an incomplete path + if (bStop) + { + if (FailReason != Timeout) + FailReason = UnknownFailure; + + return nullptr; + } + + + if (FoundPathEnd) + { + // Adding last node that exactly reflects user's requested location + uint32 LastTreeID; + if (Volume->FindLeafByWorldLocation(End, LastTreeID, false)) + { + ProcessedNodes.push_back(std::make_unique(CPathAStarNode(LastTreeID))); + ProcessedNodes.back()->WorldLocation = End; + ProcessedNodes.back()->PreviousNode = FoundPathEnd; + FoundPathEnd = ProcessedNodes.back().get(); + } + + // For debugging + if (RawNodes) + { + auto CurrNode = FoundPathEnd; + while (CurrNode) + { + RawNodes->Add(*CurrNode); + CurrNode = CurrNode->PreviousNode; + } + } + + // Post processing to remove unnecessary nodes + for (uint32 i = 0; i < SmoothingPasses; i++) + { + SmoothenPath(FoundPathEnd); + } + FailReason = None; + } + else + { + FailReason = EndLocationUnreachable; + } + +#ifdef LOG_PATHFINDERS + auto CurrDuration = TIMEDIFF(TimeStart, TIMENOW); + UE_LOG(LogTemp, Warning, TEXT("FindPath: time= %lfms NodesVisited= %d NodesProcessed= %d"), CurrDuration, VisitedNodes.size(), ProcessedNodes.size()); +#endif + + return FoundPathEnd; +} + +bool CPathAStar::FindPath() +{ + if (!IsValid(Volume)) + { + FailReason = VolumeNotValid; + return false; + } + + + RawPathNodes.Empty(); + UserPath.Empty(); + + auto FoundPathEnd = FindPath(Volume, PathStart, PathEnd, Smoothing, UsrData, SearchTimeLimit, &RawPathNodes); + + if (FoundPathEnd) + { + TransformToUserPath(FoundPathEnd, UserPath); + return true; + } + return false; +} + + +void CPathAStar::TransformToUserPath(CPathAStarNode* PathEndNode, TArray& InUserPath, bool bReverse) +{ + float Tolerance = FMath::Cos(FMath::DegreesToRadians(LineAngleToleranceDegrees)); + if (!PathEndNode) + return; + + CPathAStarNode* CurrNode = PathEndNode; + + // Initializing variables for loop + FVector Normal = CurrNode->WorldLocation - CurrNode->PreviousNode->WorldLocation; + Normal.Normalize(); + InUserPath.Add(FCPathNode(CurrNode->WorldLocation)); + + while (CurrNode->PreviousNode && CurrNode->PreviousNode->PreviousNode) + { + FVector NextNormal = CurrNode->PreviousNode->WorldLocation - CurrNode->PreviousNode->PreviousNode->WorldLocation; + NextNormal.Normalize(); + + + if (FVector::DotProduct(Normal, NextNormal) >= Tolerance) + { + CurrNode->PreviousNode = CurrNode->PreviousNode->PreviousNode; + Normal = CurrNode->WorldLocation - CurrNode->PreviousNode->WorldLocation; + Normal.Normalize(); + } + else + { + InUserPath.Add(FCPathNode(CurrNode->PreviousNode->WorldLocation)); + InUserPath.Last().Normal = Normal; + + CurrNode = CurrNode->PreviousNode; + Normal = NextNormal; + } + } + if (CurrNode->PreviousNode) + { + InUserPath.Add(FCPathNode(CurrNode->PreviousNode->WorldLocation)); + InUserPath.Last().Normal = Normal; + } + if (bReverse) + Algo::Reverse(InUserPath); + + +} + +float CPathAStar::EucDistance(CPathAStarNode& Node, FVector Target) const +{ + return FVector::Distance(Node.WorldLocation, Target); +} + +void CPathAStar::CalcFitness(CPathAStarNode& Node) +{ + if (Node.PreviousNode) + { + Node.DistanceSoFar = Node.PreviousNode->DistanceSoFar + EucDistance(*Node.PreviousNode, Node.WorldLocation); + } + Node.FitnessResult = Node.DistanceSoFar + 3.5f * EucDistance(Node, TargetLocation); +} + +inline bool CPathAStar::CanSkip(FVector Start, FVector End) +{ + FHitResult HitResult; + Volume->GetWorld()->SweepSingleByChannel(HitResult, Start, End, FQuat(FRotator(0, 0, 0)), Volume->TraceChannel, Volume->TraceShapesByDepth.back().back()); + + return !HitResult.bBlockingHit; +} + +void CPathAStar::SmoothenPath(CPathAStarNode* PathEndNode) +{ + if (!PathEndNode) + return; + CPathAStarNode* CurrNode = PathEndNode; + while (CurrNode->PreviousNode && CurrNode->PreviousNode->PreviousNode && !bStop) + { + if (CanSkip(CurrNode->WorldLocation, CurrNode->PreviousNode->PreviousNode->WorldLocation)) + { + CurrNode->PreviousNode = CurrNode->PreviousNode->PreviousNode; + } + + CurrNode = CurrNode->PreviousNode; + } +} + +UCPathAsyncFindPath* UCPathAsyncFindPath::FindPathAsync(ACPathVolume* Volume, FVector StartLocation, FVector EndLocation, int SmoothingPasses, int32 UserData, float TimeLimit) +{ +#if WITH_EDITOR + checkf(IsValid(Volume), TEXT("CPATH - FindPathAsync:::Volume was invalid")); +#endif + + UCPathAsyncFindPath* Instance = NewObject(); + Instance->RunnableFindPath = new FCPathRunnableFindPath(Instance); + Instance->AStar = new CPathAStar(Volume, StartLocation, EndLocation, SmoothingPasses, UserData, TimeLimit); + Instance->RegisterWithGameInstance(Volume->GetGameInstance()); + + return Instance; +} + +void UCPathAsyncFindPath::Activate() +{ + if (!IsValid(AStar->Volume)) + { + Failure.Broadcast(AStar->UserPath, TEnumAsByte(AStar->FailReason)); + SetReadyToDestroy(); + RemoveFromRoot(); + } + else + { + CurrentThread = FRunnableThread::Create(RunnableFindPath, TEXT("CPath Pathfinding Thread")); + AStar->Volume->GetWorld()->GetTimerManager().SetTimer(CheckThreadTimerHandle, this, &UCPathAsyncFindPath::CheckThreadStatus, 1.f / 30.f, true); + } +} + +void UCPathAsyncFindPath::BeginDestroy() +{ + Super::BeginDestroy(); + if (CurrentThread) + { + CurrentThread->Suspend(true); + if (RunnableFindPath && AStar) + { + AStar->bStop = true; + } + CurrentThread->Suspend(false); + CurrentThread->WaitForCompletion(); + CurrentThread->Kill(); + } + + delete AStar; + delete RunnableFindPath; +} + +void UCPathAsyncFindPath::CheckThreadStatus() +{ + if (ThreadResponse >= 0) + { + if (ThreadResponse == 1) + { + Success.Broadcast(AStar->UserPath, TEnumAsByte(AStar->FailReason)); + } + else + Failure.Broadcast(AStar->UserPath, TEnumAsByte(AStar->FailReason)); + + if (IsValid(AStar->Volume)) + { + AStar->Volume->GetWorld()->GetTimerManager().ClearTimer(CheckThreadTimerHandle); + } + + SetReadyToDestroy(); + RemoveFromRoot(); + } +} + + + +FCPathRunnableFindPath::FCPathRunnableFindPath(UCPathAsyncFindPath* AsyncNode) +{ + AsyncActionRef = AsyncNode; +} + +bool FCPathRunnableFindPath::Init() +{ + return true; +} + +uint32 FCPathRunnableFindPath::Run() +{ + // Waiting for the volume to finish generating + while ((AsyncActionRef->AStar->Volume->GeneratorsRunning.load() > 0 || !AsyncActionRef->AStar->Volume->InitialGenerationCompleteAtom.load()) && !AsyncActionRef->AStar->bStop) + { + std::this_thread::sleep_for(std::chrono::milliseconds(25)); + SleepCounter += 25; + + // Cancel request for path if idled for 5 seconds or more + if (SleepCounter >= 5000) + { + AsyncActionRef->AStar->FailReason = VolumeNotGenerated; + AsyncActionRef->ThreadResponse.store(0); + } + } + + // Preventing further generation while we search for a path + bIncreasedPathfRunning = true; + AsyncActionRef->AStar->Volume->PathfindersRunning++; + + auto FoundPath = AsyncActionRef->AStar->FindPath(); + if (FoundPath) + { + AsyncActionRef->ThreadResponse.store(1); + } + else + { + AsyncActionRef->ThreadResponse.store(0); + } + + if (bIncreasedPathfRunning) + AsyncActionRef->AStar->Volume->PathfindersRunning--; + bIncreasedPathfRunning = false; + return 0; +} + +void FCPathRunnableFindPath::Stop() +{ + // Preventing a potential deadlock if the process is killed without waiting + if (bIncreasedPathfRunning) + AsyncActionRef->AStar->Volume->PathfindersRunning--; + bIncreasedPathfRunning = false; + +} + +void FCPathRunnableFindPath::Exit() +{ + +} diff --git a/Plugins/CPathfinding/Source/CPathfinding/Private/CPathNode.cpp b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathNode.cpp new file mode 100644 index 00000000..4755bbcf --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathNode.cpp @@ -0,0 +1,11 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#include "CPathNode.h" + +CPathAStarNode::CPathAStarNode() +{ +} + +CPathAStarNode::~CPathAStarNode() +{ +} diff --git a/Plugins/CPathfinding/Source/CPathfinding/Private/CPathOctree.cpp b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathOctree.cpp new file mode 100644 index 00000000..e41d0ac9 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathOctree.cpp @@ -0,0 +1,9 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#include "CPathOctree.h" + +CPathOctree::CPathOctree() +{ +} + + diff --git a/Plugins/CPathfinding/Source/CPathfinding/Private/CPathVolume.cpp b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathVolume.cpp new file mode 100644 index 00000000..4f2fa262 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathVolume.cpp @@ -0,0 +1,1089 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#include "CPathVolume.h" + +#include "DrawDebugHelpers.h" +#include "Components/BoxComponent.h" +#include +#include +#include +#include +#include "CPathDynamicObstacle.h" +#include "CPathNode.h" +#include "TimerManager.h" +#include "Engine/Selection.h" +#include "GenericPlatform/GenericPlatformAtomics.h" + + + + + +ACPathVolume::ACPathVolume() +{ + // Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it. + PrimaryActorTick.bCanEverTick = true; + VolumeBox = CreateDefaultSubobject("VolumeBox"); + RootComponent = VolumeBox; + VolumeBox->InitBoxExtent(FVector(VoxelSize)); + +#if WITH_EDITOR + + +#endif + DepthsToDraw = { true, true, true, true }; + + + FVector Location = GetActorLocation() - VolumeBox->GetScaledBoxExtent() + VoxelSize; + DrawDebugBox(GetWorld(), Location, FVector(VoxelSize), FColor::White, true); + +} + +void ACPathVolume::DebugDrawNeighbours(FVector WorldLocation) +{ + uint32 LeafID; + if (FindLeafByWorldLocation(WorldLocation, LeafID)) + { + DrawDebugBox(GetWorld(), WorldLocationFromTreeID(LeafID), FVector(GetVoxelSizeByDepth(ExtractDepth(LeafID)) / 2.f), FColor::Emerald, false, 5, 10, DebugBoxesThickness*1.3); + auto Neighbours = FindNeighbourLeafs(LeafID, true); + + for (auto N : Neighbours) + { + DrawDebugBox(GetWorld(), WorldLocationFromTreeID(N), FVector(GetVoxelSizeByDepth(ExtractDepth(N)) / 2.f), FColor::Yellow, false, 5, 0U, DebugBoxesThickness*1.4); + } + } +} + +bool ACPathVolume::DrawDebugVoxel(uint32 TreeID, bool DrawIfNotLeaf, float Duration, FColor Color, CPathVoxelDrawData* OutDrawData) +{ + + uint32 Depth; + float Thickness = DebugBoxesThickness; + auto Tree = FindTreeByID(TreeID, Depth); + if (Tree->Children && !DrawIfNotLeaf) + return false; + bool IsFree = Tree->GetIsFree(); + if (IsFree) + { + if (!DrawFree) + return false; + } + else + { + if (!DrawOccupied) + return false; + if (Color == FColor::Green) + { + Color = FColor::Red; + Thickness *= 1.5; + } + } + + + bool Persistent = false; + if (Duration < 0) + Persistent = true; + + if (DepthsToDraw[Depth]) + { + float Extent = GetVoxelSizeByDepth(ExtractDepth(TreeID)) / 2.f; + FVector Location = WorldLocationFromTreeID(TreeID); + DrawDebugBox(GetWorld(), Location, FVector(Extent), Color, Persistent, Duration, 0U, Thickness); + if (OutDrawData) + { + OutDrawData->Extent = Extent; + OutDrawData->Free = IsFree; + OutDrawData->Location = Location; + } + + return true; + } + + return false; +} + +void ACPathVolume::DrawDebugVoxel(const CPathVoxelDrawData& DrawData, float Duration) const +{ + float Thickness = DebugBoxesThickness; + FColor Color = FColor::Green; + if (!DrawData.Free) + { + Color = FColor::Red; + Thickness *= 1.5; + } + + bool Persistent = false; + if (Duration < 0) + Persistent = true; + + DrawDebugBox(GetWorld(), DrawData.Location, FVector(DrawData.Extent), Color, Persistent, Duration, 0U, Thickness); +} + +void ACPathVolume::DrawDebugNodesAroundLocation(FVector WorldLocation, int VoxelLimit, float Duration) +{ + // We dont want to get new data while its generating + if (GeneratorsRunning.load()) + { + for (auto Data : PreviousDrawAroundLocationData) + { + DrawDebugVoxel(Data, Duration); + } + return; + } + PreviousDrawAroundLocationData.clear(); + + uint32 OriginTreeID = 0xFFFFFFFF; + CPathOctree* OriginTree = FindLeafByWorldLocation(WorldLocation, OriginTreeID, false); + if (!OriginTree) + return; + + std::list IndexList; + std::unordered_set VisitedIndexes; + + CPathAStarNode StartNode(OriginTreeID); + StartNode.FitnessResult = 0; + + + // Ordered by neighbours, first come first served + IndexList.push_back(StartNode.TreeID); + + + + while (!IndexList.empty() && VoxelLimit > 0) + { + uint32 CurrID = IndexList.front(); + IndexList.pop_front(); + CPathVoxelDrawData DrawData; + if (DrawDebugVoxel(CurrID, true, Duration, FColor::Green, &DrawData)) + { + VoxelLimit--; + PreviousDrawAroundLocationData.push_back(DrawData); + } + + + std::vector Neighbours = FindNeighbourLeafs(CurrID, !DrawOccupied); + for (uint32 NewTreeID : Neighbours) + { + + // We dont want to redraw nodes + if (!VisitedIndexes.count(NewTreeID)) + { + IndexList.push_back(NewTreeID); + VisitedIndexes.insert(NewTreeID); + } + } + } +} + +void ACPathVolume::DrawDebugPath(const TArray& Path, float Duration, bool DrawPoints, FColor Color) +{ + bool Persistent = Duration < 0; + for (int i = 0; i < Path.Num() - 1; i++) + { + DrawDebugLine(GetWorld(), Path[i].WorldLocation, Path[i + 1].WorldLocation, Color, Persistent, Duration, 0U, DebugPathThickness); + if (DrawPoints) + DrawDebugPoint(GetWorld(), Path[i].WorldLocation, 10, FColor::Cyan, Persistent, Duration); + } +} + + +void ACPathVolume::BeginPlay() +{ + Super::BeginPlay(); + + VolumeBox->SetCollisionResponseToChannel(TraceChannel, ECR_Ignore); + + if (GenerateOnBeginPlay) + GenerateGraph(); +} + +bool ACPathVolume::GenerateGraph() +{ + GenerationStarted = true; + PrintGenerationTime = true; + + UBoxComponent* tempBox = Cast(GetRootComponent()); + tempBox->UpdateOverlaps(); + + + float Divider = VoxelSize * FMath::Pow(2.f, OctreeDepth); + + NodeCount[0] = FMath::CeilToInt(VolumeBox->GetScaledBoxExtent().X * 2.0 / Divider); + NodeCount[1] = FMath::CeilToInt(VolumeBox->GetScaledBoxExtent().Y * 2.0 / Divider); + NodeCount[2] = FMath::CeilToInt(VolumeBox->GetScaledBoxExtent().Z * 2.0 / Divider); + + checkf(OctreeDepth <= MAX_DEPTH && OctreeDepth >= 0, TEXT("CPATH - Graph Generation:::OctreeDepth must be within 0 and MAX_DEPTH")); + //checkf(AgentShape == ECollisionShapeType::Capsule || AgentShape == ECollisionShapeType::Sphere || AgentShape == ECollisionShapeType::Box, TEXT("CPATH - Graph Generation:::Agent shape must be Capsule, Sphere or Box")); + + + for (int i = 0; i <= OctreeDepth; i++) + { + + LookupTable_VoxelSizeByDepth[i] = VoxelSize * FMath::Pow(2.f, OctreeDepth - i); + TraceShapesByDepth.emplace_back(); + TraceShapesByDepth.back().push_back(FCollisionShape::MakeBox(FVector(GetVoxelSizeByDepth(i) / 2.f))); + + float CurrSize = GetVoxelSizeByDepth(i); + if (AgentRadius * 2 > CurrSize || AgentHalfHeight * 2 > CurrSize) + { + switch (AgentShape) + { + case Capsule: + TraceShapesByDepth.back().push_back(FCollisionShape::MakeCapsule(AgentRadius, AgentHalfHeight)); + case Box: + TraceShapesByDepth.back().push_back(FCollisionShape::MakeBox(FVector(AgentRadius, AgentRadius, AgentHalfHeight))); + case Sphere: + TraceShapesByDepth.back().push_back(FCollisionShape::MakeSphere(AgentRadius)); + default: + break; + } + } + } + + StartPosition = GetActorLocation() - VolumeBox->GetScaledBoxExtent() + GetVoxelSizeByDepth(0) / 2; + + uint32 OuterNodeCount = NodeCount[0] * NodeCount[1] * NodeCount[2]; + checkf(OuterNodeCount < DEPTH_0_LIMIT, TEXT("CPATH - Graph Generation:::Depth 0 is too dense, increase OctreeDepth and/or voxel size, or decrease volume area.")); + Octrees = new CPathOctree[OuterNodeCount]; + + // If we use all logical threads in the system, the rest of the game + // will have no computing power to work with. From my small test sample + // Using hyper threads barely increased performance so its not worth it + /*if (FPlatformMisc::NumberOfCoresIncludingHyperthreads() > FPlatformMisc::NumberOfCores()) + ThreadCount = FPlatformMisc::NumberOfCores() + (FPlatformMisc::NumberOfCoresIncludingHyperthreads() - FPlatformMisc::NumberOfCores()) / 3; + else + ThreadCount = FPlatformMisc::NumberOfCores() - 1;*/ + if (MaxGenerationThreads <= 0) + MaxGenerationThreads = FPlatformMisc::NumberOfCores() - 1; + + MaxGenerationThreads = FMath::Min(MaxGenerationThreads, 31); + + uint32 NodesPerThread = OuterNodeCount / MaxGenerationThreads; + + for (int i = 0; i < 64; i++) + { + ThreadIDs[1] = false; + } + + + for (int CurrentThread = 0; CurrentThread < MaxGenerationThreads; CurrentThread++) + { + uint32 LastIndex = NodesPerThread * (CurrentThread + 1); + if (CurrentThread == MaxGenerationThreads - 1) + LastIndex += OuterNodeCount % MaxGenerationThreads; + + int ThreadID = GetFreeThreadID(); + FString ThreadName = "CPathGenerator Initial, ID: "; + ThreadName.AppendInt(ThreadID); + GeneratorThreads.push_back(std::make_unique(this, NodesPerThread * CurrentThread, LastIndex, ThreadID, ThreadName)); + GeneratorThreads.back()->ThreadRef = FRunnableThread::Create(GeneratorThreads.back().get(), *ThreadName); + if (GeneratorThreads.back()->ThreadRef) + { + ThreadIDs[ThreadID] = true; + } + else + { + GeneratorThreads.pop_back(); + } + + } + OuterIndexesPerThread = 5 * (5 + OctreeDepth) * FMath::Pow(8.f, MAX_DEPTH - OctreeDepth); + // Setting timer for dynamic generation and garbage collection + GetWorld()->GetTimerManager().SetTimer(GenerationTimerHandle, this, &ACPathVolume::InitialGenerationUpdate, 1.f / 60.f, true); + return true; +} + +void ACPathVolume::Tick(float DeltaTime) +{ + Super::Tick(DeltaTime); +} + +void ACPathVolume::BeginDestroy() +{ + Super::BeginDestroy(); + + GeneratorThreads.clear(); + delete[] Octrees; +} + + +inline FVector ACPathVolume::WorldLocationToLocalCoordsInt3(FVector WorldLocation) const +{ + FVector RelativePos = WorldLocation - StartPosition; + RelativePos = RelativePos / GetVoxelSizeByDepth(0); + return FVector(FMath::RoundToFloat(RelativePos.X), + FMath::RoundToFloat(RelativePos.Y), + FMath::RoundToFloat(RelativePos.Z)); + +} + +inline int ACPathVolume::WorldLocationToIndex(FVector WorldLocation) const +{ + FVector XYZ = WorldLocationToLocalCoordsInt3(WorldLocation); + return LocalCoordsInt3ToIndex(XYZ); +} + +inline bool ACPathVolume::IsInBounds(FVector XYZ) const +{ + if (XYZ.X < 0 || XYZ.X >= NodeCount[0]) + return false; + + if (XYZ.Y < 0 || XYZ.Y >= NodeCount[1]) + return false; + + if (XYZ.Z < 0 || XYZ.Z >= NodeCount[2]) + return false; + + return true; +} + +inline float ACPathVolume::LocalCoordsInt3ToIndex(FVector V) const +{ + return (V.X * (NodeCount[1] * NodeCount[2])) + (V.Y * NodeCount[2]) + V.Z; +} + +inline float ACPathVolume::GetVoxelSizeByDepth(int Depth) const +{ +#if WITH_EDITOR + checkf(Depth <= OctreeDepth, TEXT("CPATH - Graph Generation:::DEPTH was higher than OctreeDepth")); +#endif + + return LookupTable_VoxelSizeByDepth[Depth]; +} + +inline uint32 ACPathVolume::CreateTreeID(uint32 Index, uint32 Depth) const +{ +#if WITH_EDITOR + checkf(Depth <= MAX_DEPTH, TEXT("CPATH - Graph Generation:::DEPTH can be up to MAX_DEPTH")); +#endif + Index |= Depth << DEPTH_0_BITS; + + return Index; +} + +inline uint32 ACPathVolume::ExtractOuterIndex(uint32 TreeID) const +{ + return TreeID & DEPTH_0_MASK; +} + +inline void ACPathVolume::ReplaceDepth(uint32& TreeID, uint32 NewDepth) +{ +#if WITH_EDITOR + checkf(NewDepth <= MAX_DEPTH, TEXT("CPATH - Graph Generation:::DEPTH can be up to MAX_DEPTH")); +#endif + + TreeID &= ~DEPTH_MASK; + TreeID |= NewDepth << DEPTH_0_BITS; +} + +inline uint32 ACPathVolume::ExtractDepth(uint32 TreeID) const +{ + return (TreeID & DEPTH_MASK) >> DEPTH_0_BITS; +} + +inline uint32 ACPathVolume::ExtractChildIndex(uint32 TreeID, uint32 Depth) const +{ +#if WITH_EDITOR + checkf(Depth <= MAX_DEPTH && Depth > 0, TEXT("CPATH - Graph Generation:::DEPTH can be up to MAX_DEPTH")); +#endif + uint32 DepthOffset = (Depth - 1) * 3 + DEPTH_0_BITS + 2; + uint32 Mask = 0x00000007 << DepthOffset; + + return (TreeID & Mask) >> DepthOffset; +} + +inline void ACPathVolume::AddChildIndex(uint32& TreeID, uint32 Depth, uint32 ChildIndex) +{ +#if WITH_EDITOR + checkf(Depth <= MAX_DEPTH && Depth > 0, TEXT("CPATH - Graph Generation:::DEPTH can be up to MAX_DEPTH")); + checkf(ChildIndex < 8, TEXT("CPATH - Graph Generation:::Child Index can be up to 7")); +#endif + + ChildIndex <<= (Depth - 1) * 3 + DEPTH_0_BITS + 2; + + TreeID |= ChildIndex; +} + +inline FVector ACPathVolume::WorldLocationFromTreeID(uint32 TreeID) const +{ + uint32 OuterIndex = ExtractOuterIndex(TreeID); + uint32 Depth = ExtractDepth(TreeID); + + FVector CurrPosition = StartPosition + GetVoxelSizeByDepth(0) * LocalCoordsInt3FromOuterIndex(OuterIndex); + + for (uint32 CurrDepth = 1; CurrDepth <= Depth; CurrDepth++) + { + CurrPosition += GetVoxelSizeByDepth(CurrDepth) * 0.5f * LookupTable_ChildPositionOffsetMaskByIndex[ExtractChildIndex(TreeID, CurrDepth)]; + } + + return CurrPosition; +} + +inline FVector ACPathVolume::LocalCoordsInt3FromOuterIndex(uint32 OuterIndex) const +{ + uint32 X = OuterIndex / (NodeCount[1] * NodeCount[2]); + OuterIndex -= X * NodeCount[1] * NodeCount[2]; + return FVector(X, OuterIndex / NodeCount[2], OuterIndex % NodeCount[2]); +} + +inline void ACPathVolume::ReplaceChildIndex(uint32& TreeID, uint32 Depth, uint32 ChildIndex) +{ +#if WITH_EDITOR + checkf(Depth <= MAX_DEPTH && Depth > 0, TEXT("CPATH - Graph Generation:::DEPTH can be up to MAX_DEPTH")); + checkf(ChildIndex < 8, TEXT("CPATH - Graph Generation:::Child Index can be up to 7")); +#endif + + uint32 DepthOffset = (Depth - 1) * 3 + DEPTH_0_BITS + 2; + + // Clearing previous child index + TreeID &= ~(0x00000007 << DepthOffset); + + ChildIndex <<= DepthOffset; + TreeID |= ChildIndex; +} + +inline void ACPathVolume::ReplaceChildIndexAndDepth(uint32& TreeID, uint32 Depth, uint32 ChildIndex) +{ +#if WITH_EDITOR + checkf(Depth <= MAX_DEPTH && Depth > 0, TEXT("CPATH - Graph Generation:::DEPTH can be up to MAX_DEPTH")); + checkf(ChildIndex < 8, TEXT("CPATH - Graph Generation:::Child Index can be up to 7")); +#endif + + uint32 DepthOffset = (Depth - 1) * 3 + DEPTH_0_BITS + 2; + + // Clearing previous child index + TreeID &= ~(0x00000007 << DepthOffset); + + ChildIndex <<= DepthOffset; + TreeID |= ChildIndex; + ReplaceDepth(TreeID, Depth); +} + +inline void ACPathVolume::GetAllSubtrees(uint32 TreeID, std::vector& Container) +{ + uint32 Depth = 0; + CPathOctree* Tree = FindTreeByID(TreeID, Depth); + GetAllSubtreesRec(TreeID, Tree, Container, Depth); +} + +void ACPathVolume::GetAllSubtreesRec(uint32 TreeID, CPathOctree* Tree, std::vector& Container, uint32 Depth) +{ + if (Tree->Children) + { + Depth++; + for (uint32 ChildID = 0; ChildID < 8; ChildID++) + { + uint32 ID = TreeID; + ReplaceChildIndexAndDepth(ID, Depth, ChildID); + GetAllSubtreesRec(ID, &Tree->Children[ChildID], Container, Depth); + Container.push_back(ID); + } + } +} + +inline CPathOctree* ACPathVolume::FindTreeByID(uint32 TreeID) +{ + uint32 Depth = ExtractDepth(TreeID); + CPathOctree* CurrTree = &Octrees[ExtractOuterIndex(TreeID)]; + + + for (uint32 CurrDepth = 1; CurrDepth <= Depth; CurrDepth++) + { + // Child not found, returning the deepest found parent + if (!CurrTree->Children) + { + break; + } + + CurrTree = &CurrTree->Children[ExtractChildIndex(TreeID, CurrDepth)]; + } + return CurrTree; +} + +CPathOctree* ACPathVolume::FindTreeByID(uint32 TreeID, uint32& DepthReached) +{ + uint32 Depth = ExtractDepth(TreeID); + CPathOctree* CurrTree = &Octrees[ExtractOuterIndex(TreeID)]; + DepthReached = 0; + + for (uint32 CurrDepth = 1; CurrDepth <= Depth; CurrDepth++) + { + // Child not found, returning the deepest found parent + if (!CurrTree->Children) + { + break; + } + + CurrTree = &CurrTree->Children[ExtractChildIndex(TreeID, CurrDepth)]; + DepthReached = CurrDepth; + } + return CurrTree; +} + +CPathOctree* ACPathVolume::FindTreeByWorldLocation(FVector WorldLocation, uint32& TreeID) +{ + FVector LocalCoords = WorldLocationToLocalCoordsInt3(WorldLocation); + if (!IsInBounds(LocalCoords)) + return nullptr; + + TreeID = LocalCoordsInt3ToIndex(LocalCoords); + return &Octrees[TreeID]; +} + +inline CPathOctree* ACPathVolume::FindLeafByWorldLocation(FVector WorldLocation, uint32& TreeID, bool MustBeFree) +{ + CPathOctree* CurrentTree = FindTreeByWorldLocation(WorldLocation, TreeID); + CPathOctree* FoundLeaf = nullptr; + if (CurrentTree) + { + FVector RelativeLocation = WorldLocation - GetOuterTreeWorldLocation(TreeID); + + if (CurrentTree->Children) + FoundLeaf = FindLeafRecursive(RelativeLocation, TreeID, 0, CurrentTree); + else + FoundLeaf = CurrentTree; + } + + // Checking if the found leaf is free, and if not returning its free neighbour + if (MustBeFree && FoundLeaf && !FoundLeaf->GetIsFree()) + { + /*CurrentTree = GetParentTree(TreeID); + if (CurrentTree) + { + for (int i = 0; i < 8; i++) + { + if (CurrentTree->Children[i].GetIsFree()) + FoundLeaf = &CurrentTree->Children[i]; + } + } + + if(!FoundLeaf->GetIsFree())*/ + FoundLeaf = nullptr; + } + + return FoundLeaf; +} + +CPathOctree* ACPathVolume::FindClosestFreeLeaf(FVector WorldLocation, uint32& TreeID, float SearchRange) +{ + uint32 OriginTreeID = 0xFFFFFFFF; + CPathOctree* OriginTree = FindLeafByWorldLocation(WorldLocation, OriginTreeID, false); + if (!OriginTree) + return nullptr; + + if (OriginTree->GetIsFree()) + { + TreeID = OriginTreeID; + return OriginTree; + } + + if (SearchRange <= 0) + { + uint32 Depth = FMath::Max((uint32)1, ExtractDepth(OriginTreeID) - 1); + Depth = FMath::Min(Depth, (uint32)OctreeDepth); + SearchRange = GetVoxelSizeByDepth(Depth); + } + + // Nodes visited OR added to priority queue + std::unordered_set VisitedNodes; + + std::priority_queue, std::greater> Pq; + std::priority_queue, std::greater> PqNeighbours; + + + CPathAStarNode StartNode(OriginTreeID); + StartNode.FitnessResult = 0; + VisitedNodes.insert(StartNode); + + // STEP 1 - considering StartNode neighbours only, we dont check range cause neighbours take priority + // (its faster and solves almost all cases without needing to go to the other queue) + + std::vector StartNeighbours = FindFreeNeighbourLeafs(StartNode); + for (CPathAStarNode NewNode : StartNeighbours) + { + NewNode.WorldLocation = WorldLocationFromTreeID(NewNode.TreeID); + + // Fitness function here is distance from WorldLocation - The voxel extent, cause we want distance to the border of the voxel, not to it's center + NewNode.FitnessResult = FVector::Distance(NewNode.WorldLocation, WorldLocation) - GetVoxelSizeByDepth(ExtractDepth(NewNode.TreeID)) / 2.f; + + VisitedNodes.insert(NewNode); + PqNeighbours.push(NewNode); + } + + while (PqNeighbours.size() > 0) + { + CPathAStarNode CurrentNode = PqNeighbours.top(); + PqNeighbours.pop(); + CPathOctree* Tree = FindTreeByID(CurrentNode.TreeID); + if (Tree->GetIsFree()) + { + if (!GetWorld()->LineTraceTestByChannel(WorldLocation, CurrentNode.WorldLocation, TraceChannel)) + { + TreeID = CurrentNode.TreeID; + //DrawDebugLine(GetWorld(), WorldLocation, CurrentNode.WorldLocation, FColor::Green, false, 1); + return Tree; + } + //DrawDebugLine(GetWorld(), WorldLocation, CurrentNode.WorldLocation, FColor::Red, false, 1); + } + + std::vector Neighbours = FindFreeNeighbourLeafs(CurrentNode); + for (CPathAStarNode NewNode : Neighbours) + { + // We dont want to revisit nodes + if (!VisitedNodes.count(NewNode)) + { + NewNode.WorldLocation = WorldLocationFromTreeID(NewNode.TreeID); + // Fitness function here is distance from WorldLocation - The voxel extent, cause we want distance to the border of the voxel, not to it's center + NewNode.FitnessResult = FVector::Distance(NewNode.WorldLocation, WorldLocation) - GetVoxelSizeByDepth(ExtractDepth(NewNode.TreeID)) / 2.f; + + VisitedNodes.insert(NewNode); + // Search range condition + if (NewNode.FitnessResult <= SearchRange) + { + Pq.push(NewNode); + } + } + } + } + + // STEP 2 - If no neighbour was free, we're looking for the closest node in range + // We're putting neighbouring nodes as long as they are in SearchRange, until we find one that is free. + // Priority queue ensures that we find the closest node to the given WorldLocation. + while (Pq.size() > 0) + { + CPathAStarNode CurrentNode = Pq.top(); + Pq.pop(); + CPathOctree* Tree = FindTreeByID(CurrentNode.TreeID); + if (Tree->GetIsFree()) + { + if (!GetWorld()->LineTraceTestByChannel(WorldLocation, CurrentNode.WorldLocation, TraceChannel)) + { + TreeID = CurrentNode.TreeID; + //DrawDebugLine(GetWorld(), WorldLocation, CurrentNode.WorldLocation, FColor::Green, false, 1); + return Tree; + } + //DrawDebugLine(GetWorld(), WorldLocation, CurrentNode.WorldLocation, FColor::Red, false, 1); + } + + std::vector Neighbours = FindFreeNeighbourLeafs(CurrentNode); + + for (CPathAStarNode NewNode : Neighbours) + { + // We dont want to revisit nodes + if (!VisitedNodes.count(NewNode)) + { + NewNode.WorldLocation = WorldLocationFromTreeID(NewNode.TreeID); + // Fitness function here is distance from WorldLocation - The voxel extent, cause we want distance to the border of the voxel, not to it's center + NewNode.FitnessResult = FVector::Distance(NewNode.WorldLocation, WorldLocation) - GetVoxelSizeByDepth(ExtractDepth(NewNode.TreeID)) / 2.f; + + VisitedNodes.insert(NewNode); + // Search range condition + if (NewNode.FitnessResult <= SearchRange) + { + Pq.push(NewNode); + } + } + } + } + return nullptr; +} + +CPathOctree* ACPathVolume::FindLeafRecursive(FVector RelativeLocation, uint32& TreeID, uint32 CurrentDepth, CPathOctree* CurrentTree) +{ + CurrentDepth += 1; + + // Determining which child the RelativeLocation is in + uint32 ChildIndex = 0; + if (RelativeLocation.X > 0.f) + ChildIndex += 4; + if (RelativeLocation.Z > 0.f) + ChildIndex += 2; + if (RelativeLocation.Y > 0.f) + ChildIndex += 1; + + + ReplaceChildIndex(TreeID, CurrentDepth, ChildIndex); + + CPathOctree* ChildTree = &CurrentTree->Children[ChildIndex]; + if (ChildTree->Children) + { + RelativeLocation = RelativeLocation - (LookupTable_ChildPositionOffsetMaskByIndex[ChildIndex] * (GetVoxelSizeByDepth(CurrentDepth) / 2.f)); + return FindLeafRecursive(RelativeLocation, TreeID, CurrentDepth, ChildTree); + } + ReplaceDepth(TreeID, CurrentDepth); + return ChildTree; +} + +FVector ACPathVolume::GetOuterTreeWorldLocation(uint32 TreeID) const +{ + FVector LocalCoords = LocalCoordsInt3FromOuterIndex(ExtractOuterIndex(TreeID)); + LocalCoords *= GetVoxelSizeByDepth(0); + return StartPosition + LocalCoords; +} + +inline CPathOctree* ACPathVolume::GetParentTree(uint32 TreeId) +{ + uint32 Depth = ExtractDepth(TreeId); + if (Depth) + { + ReplaceDepth(TreeId, Depth - 1); + return FindTreeByID(TreeId, Depth); + } + return nullptr; +} + + + +CPathOctree* ACPathVolume::FindNeighbourByID(uint32 TreeID, ENeighbourDirection Direction, uint32& NeighbourID) +{ + + // Depth 0, getting neighbour from Octrees + uint32 Depth = ExtractDepth(TreeID); + if (Depth == 0) + { + int OuterIndex = ExtractOuterIndex(TreeID); + FVector NeighbourLocalCoords = LocalCoordsInt3FromOuterIndex(OuterIndex) + LookupTable_NeighbourOffsetByDirection[Direction]; + + if (!IsInBounds(NeighbourLocalCoords)) + return nullptr; + + NeighbourID = LocalCoordsInt3ToIndex(NeighbourLocalCoords); + return &Octrees[NeighbourID]; + } + + uint8 ChildIndex = ExtractChildIndex(TreeID, Depth); + int8 NeighbourChildIndex = LookupTable_NeighbourChildIndex[ChildIndex][Direction]; + + // The neighbour a is child of the same octree + if (NeighbourChildIndex >= 0) + { + NeighbourID = TreeID; + ReplaceChildIndex(NeighbourID, Depth, NeighbourChildIndex); + CPathOctree* Neighbour = FindTreeByID(NeighbourID, Depth); + ReplaceDepth(NeighbourID, Depth); + return Neighbour; + } + else + { // Getting the neighbour of parent Octree and then its correct child + ReplaceDepth(TreeID, Depth - 1); + CPathOctree* NeighbourOfParent = FindNeighbourByID(TreeID, Direction, NeighbourID); + if (NeighbourOfParent) + { + if (NeighbourOfParent->Children) + { + // Look at the description of LookupTable_NeighbourChildIndex + NeighbourChildIndex = -1 * NeighbourChildIndex - 1; + ReplaceDepth(NeighbourID, Depth); + ReplaceChildIndex(NeighbourID, Depth, NeighbourChildIndex); + return &NeighbourOfParent->Children[NeighbourChildIndex]; + } + else + { + // NeighbourID is already correct from calling FindNeighbourByID + return NeighbourOfParent; + } + } + } + + return nullptr; +} + +std::vector ACPathVolume::FindNeighbourLeafs(uint32 TreeID, bool MustBeFree) +{ + std::vector FreeNeighbours; + + for (int Direction = 0; Direction < 6; Direction++) + { + uint32 NeighbourID = 0; + CPathOctree* Neighbour = FindNeighbourByID(TreeID, (ENeighbourDirection)Direction, NeighbourID); + if (Neighbour) + { + if (Neighbour->GetIsFree()) + FreeNeighbours.push_back(NeighbourID); + else if (Neighbour->Children) + { + FindLeafsOnSide(Neighbour, NeighbourID, (ENeighbourDirection)LookupTable_OppositeSide[Direction], &FreeNeighbours, MustBeFree); + } + else if(!MustBeFree) + FreeNeighbours.push_back(NeighbourID); + } + } + + return FreeNeighbours; +} + +std::vector ACPathVolume::FindFreeNeighbourLeafs(CPathAStarNode& Node) +{ + std::vector FreeNeighbours; + + for (int Direction = 0; Direction < 6; Direction++) + { + uint32 NeighbourID = 0; + CPathOctree* Neighbour = FindNeighbourByID(Node.TreeID, (ENeighbourDirection)Direction, NeighbourID); + if (Neighbour) + { + if (Neighbour->GetIsFree()) + FreeNeighbours.push_back(CPathAStarNode(NeighbourID, Neighbour->Data)); + else if (Neighbour->Children) + { + FindLeafsOnSide(Neighbour, NeighbourID, (ENeighbourDirection)LookupTable_OppositeSide[Direction], &FreeNeighbours); + } + } + } + + + return FreeNeighbours; +} + + +void ACPathVolume::FindLeafsOnSide(uint32 TreeID, ENeighbourDirection Side, std::vector* Vector, bool MustBeFree) +{ + uint32 TempDepthReached; + FindLeafsOnSide(FindTreeByID(TreeID, TempDepthReached), TreeID, Side, Vector, MustBeFree); +} + +void ACPathVolume::FindLeafsOnSide(CPathOctree* Tree, uint32 TreeID, ENeighbourDirection Side, std::vector* Vector, bool MustBeFree) +{ +#if WITH_EDITOR + checkf(Tree->Children, TEXT("CPATH - FindAllLeafsOnSide, requested tree has no children")); +#endif + uint8 NewDepth = ExtractDepth(TreeID) + 1; + for (uint8 i = 0; i < 4; i++) + { + uint8 ChildIndex = LookupTable_ChildrenOnSide[Side][i]; + CPathOctree* Child = &Tree->Children[ChildIndex]; + uint32 ChildTreeID = TreeID; + ReplaceChildIndexAndDepth(ChildTreeID, NewDepth, ChildIndex); + if (Child->Children) + FindLeafsOnSide(Child, ChildTreeID, Side, Vector); + else + { + if (Child->GetIsFree() || !MustBeFree) + Vector->push_back(ChildTreeID); + } + } +} + +void ACPathVolume::FindLeafsOnSide(CPathOctree* Tree, uint32 TreeID, ENeighbourDirection Side, std::vector* Vector, bool MustBeFree) +{ +#if WITH_EDITOR + checkf(Tree->Children, TEXT("CPATH - FindAllLeafsOnSide, requested tree has no children")); +#endif + uint8 NewDepth = ExtractDepth(TreeID) + 1; + for (uint8 i = 0; i < 4; i++) + { + uint8 ChildIndex = LookupTable_ChildrenOnSide[Side][i]; + CPathOctree* Child = &Tree->Children[ChildIndex]; + uint32 ChildTreeID = TreeID; + ReplaceChildIndexAndDepth(ChildTreeID, NewDepth, ChildIndex); + if (Child->Children) + FindLeafsOnSide(Child, ChildTreeID, Side, Vector); + else + { + if (Child->GetIsFree() || !MustBeFree) + Vector->push_back(CPathAStarNode(ChildTreeID, Child->Data)); + } + } +} + + + +inline uint32 ACPathVolume::GetFreeThreadID() const +{ + for (int ID = 0; ID < 64; ID++) + { + if (!ThreadIDs[ID]) + return ID; + } + + // This will never return as max number of generation threads is always less than 64 + return 0; +} + +void ACPathVolume::CleanFinishedGenerators() +{ + for (auto Generator = GeneratorThreads.begin(); Generator != GeneratorThreads.end(); Generator++) + { + ThreadIDs[(*Generator)->GenThreadID] = false; + if (!(*Generator)->ThreadRef) + { + Generator = GeneratorThreads.erase(Generator); + } + } + +} + +void ACPathVolume::InitialGenerationUpdate() +{ + if (GeneratorsRunning.load() <= 0) + { + InitialGenerationCompleteAtom.store(true); + InitialGenerationFinished = true; + + for (auto Generator = GeneratorThreads.begin(); Generator != GeneratorThreads.end(); Generator++) + { + for (int Depth = 0; Depth <= OctreeDepth; Depth++) + { + OctreeCountAtDepth[Depth] += Generator->get()->OctreeCountAtDepth[Depth]; + + } + } + for (int Depth = 0; Depth <= OctreeDepth; Depth++) + { + TotalNodeCount += OctreeCountAtDepth[Depth]; + } + + + CleanFinishedGenerators(); + GetWorld()->GetTimerManager().ClearTimer(GenerationTimerHandle); + if (DynamicObstaclesUpdateRate > 0) + GetWorld()->GetTimerManager().SetTimer(GenerationTimerHandle, this, &ACPathVolume::GenerationUpdate, 1.f / DynamicObstaclesUpdateRate, true); + } + +} + +void ACPathVolume::GenerationUpdate() +{ +#if WITH_EDITOR + checkf(GeneratorsRunning.load() >= 0, TEXT("CPATH - Graph Generation:::GenerationUpdate - GeneratorsRunning was negative!!!!!")); +#endif + // Garbage collecting generators that finished their job + CleanFinishedGenerators(); + + + + // We skip this update if generation from previous update is still running + // This can be the cause if we set DynamicObstaclesUpdateRate too high, or when it's initial generation, + // or if there were a lot of pathfinding requests and generators are waiting for them to finish. + if (GeneratorsRunning.load() == 0 && TrackedDynamicObstacles.size()) + { + + //Drawing previously updated trees + /*for (auto TreeID : TreesToRegenerate) + { + std::vector Subtrees; + Subtrees.push_back(TreeID); + GetAllSubtrees(TreeID, Subtrees); + for (auto SubID : Subtrees) + { + DrawDebugVoxel(SubID, false, 1.f / DynamicObstaclesUpdateRate); + } + }*/ + + // Adding indexes from previous update + TreesToRegenerate = TreesToRegeneratePreviousUpdate; + TreesToRegeneratePreviousUpdate.clear(); + + // Adding new indexes + for (auto Obstacle : TrackedDynamicObstacles) + { + if (IsValid(Obstacle)) + { + Obstacle->AddIndexesToUpdate(this); + } + } + + // Creating threads + // In case there is a lot of trees to update, we split the work into multiple threads to make it faster + if (TreesToRegenerate.size()) + { + + uint32 ThreadCount = FMath::Min(FMath::Min(FPlatformMisc::NumberOfCores(), (int)TreesToRegenerate.size() / OuterIndexesPerThread), MaxGenerationThreads); + ThreadCount = FMath::Max(ThreadCount, (uint32)1); + uint32 NodesPerThread = (uint32)TreesToRegenerate.size() / ThreadCount; + + // Starting generation + for (uint32 CurrentThread = 0; CurrentThread < ThreadCount; CurrentThread++) + { + uint32 LastIndex = NodesPerThread * (CurrentThread + 1); + if (CurrentThread == ThreadCount - 1) + LastIndex += TreesToRegenerate.size() % ThreadCount; + + int ThreadID = GetFreeThreadID(); + FString ThreadName = "CPathGenerator Dynamic, ID: "; + ThreadName.AppendInt(ThreadID); + GeneratorThreads.push_back(std::make_unique(this, NodesPerThread * CurrentThread, LastIndex, ThreadID, ThreadName, true)); + GeneratorThreads.back()->ThreadRef = FRunnableThread::Create(GeneratorThreads.back().get(), *ThreadName); + if (GeneratorThreads.back()->ThreadRef) + { + ThreadIDs[ThreadID] = true; + } + else + { + GeneratorThreads.pop_back(); + } + } + //UE_LOG(LogTemp, Warning, TEXT("GENERATION UPDATE Tracked - %d, Indexes - %d, Threads - %d"), TrackedDynamicObstacles.size(), TreesToRegenerate.size(), ThreadCount); + } + } +} + +void ACPathVolume::CalcFitness(CPathAStarNode& Node, FVector TargetLocation, int32 UserData) +{ + // Standard weithted A* Heuristic, f(n) = g(n) + e*h(n). (e = 3.5f) + if (Node.PreviousNode) + { + Node.DistanceSoFar = Node.PreviousNode->DistanceSoFar + FVector::Distance(Node.PreviousNode->WorldLocation, Node.WorldLocation); + } + Node.FitnessResult = Node.DistanceSoFar + 3.5f * FVector::Distance(Node.WorldLocation, TargetLocation); +} + +bool ACPathVolume::RecheckOctreeAtDepth(CPathOctree* OctreeRef, FVector TreeLocation, uint32 Depth) +{ + bool IsFree = true; + for (auto Shape : TraceShapesByDepth[Depth]) + { + if (GetWorld()->OverlapAnyTestByChannel(TreeLocation, FQuat(FRotator(0)), TraceChannel, Shape)) + { + IsFree = false; + break; + } + } + + // This is mandatory, as AStar only considers nodes that are free. + OctreeRef->SetIsFree(IsFree); + return IsFree; +} + +const FVector ACPathVolume::LookupTable_ChildPositionOffsetMaskByIndex[8] = { + {-1, -1, -1}, + {-1, 1, -1}, + {-1, -1, 1}, + {-1, 1, 1}, + + {1, -1, -1}, + {1, 1, -1}, + {1, -1, 1}, + {1, 1, 1} +}; + + +const FVector ACPathVolume::LookupTable_NeighbourOffsetByDirection[6] = { + {0, -1, 0}, + {-1, 0, 0}, + {0, 1, 0}, + {1, 0, 0}, + {0, 0, -1}, + {0, 0, 1} }; + +const int8 ACPathVolume::LookupTable_NeighbourChildIndex[8][6] = { + {-2, -5, 1, 4, -3, 2}, + {0, -6, -1, 5, -4, 3}, + {-4, -7, 3, 6, 0, -1}, + {2, -8, -3, 7, 1, -2}, + {-6, 0, 5, -1, -7, 6}, + {4, 1, -5, -2, -8, 7}, + {-8, 2, 7, -3, 4, -5}, + {6, 3, -7, -4, 5, -6}, +}; + +const int8 ACPathVolume::LookupTable_ChildrenOnSide[6][4] = { + {0, 2, 4, 6}, + {0, 1, 2, 3}, + {1, 3, 5, 7}, + {4, 5, 6, 7}, + {0, 1, 4, 5}, + {2, 3, 6, 7} +}; + +const int8 ACPathVolume::LookupTable_OppositeSide[6] = { + 2, 3, 0, 1, 5, 4 }; diff --git a/Plugins/CPathfinding/Source/CPathfinding/Private/CPathVolumeGroundPrio.cpp b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathVolumeGroundPrio.cpp new file mode 100644 index 00000000..ca001e47 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathVolumeGroundPrio.cpp @@ -0,0 +1,46 @@ +// // Copyright Dominik Trautman. All Rights Reserved. + + +#include "CPathVolumeGroundPrio.h" + +void ACPathVolumeGroundPrio::CalcFitness(CPathAStarNode& Node, FVector TargetLocation, int32 UserData) +{ + // Standard weithted A* Heuristic, f(n) = g(n) + e*h(n). (e = 3.5f) + if (Node.PreviousNode) + { + Node.DistanceSoFar = Node.PreviousNode->DistanceSoFar + FVector::Distance(Node.PreviousNode->WorldLocation, Node.WorldLocation); + } + float CurrDistance = FVector::Distance(Node.WorldLocation, TargetLocation); + + + if (CurrDistance > VoxelSize && !ExtractIsGroundFromData(Node.TreeUserData)) + { + Node.DistanceSoFar += UserData; + } + + Node.FitnessResult = Node.DistanceSoFar + 3.5f * CurrDistance; + + + +} + +bool ACPathVolumeGroundPrio::RecheckOctreeAtDepth(CPathOctree* OctreeRef, FVector TreeLocation, uint32 Depth) +{ + // We still want the normal trace to check if the node is free + bool IsFree = Super::RecheckOctreeAtDepth(OctreeRef, TreeLocation, Depth); + + // We dont need to calculate anything if its not free since it won't be searched + if (IsFree) + { + // Checking if this is a ground node + uint32 IsGround = GetWorld()->LineTraceTestByChannel(TreeLocation, FVector(TreeLocation.X, TreeLocation.Y, TreeLocation.Z - VoxelSize*1.49), TraceChannel); + + // Setting IsGround to 2nd bit in tree's data + OctreeRef->Data &= 0xFFFFFFFD; + OctreeRef->Data |= (IsGround << 1); + } + + + return IsFree; + +} diff --git a/Plugins/CPathfinding/Source/CPathfinding/Private/CPathfinding.cpp b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathfinding.cpp new file mode 100644 index 00000000..0c9dba86 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Private/CPathfinding.cpp @@ -0,0 +1,20 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#include "CPathfinding.h" + +#define LOCTEXT_NAMESPACE "FCPathfindingModule" + +void FCPathfindingModule::StartupModule() +{ + // This code will execute after your module is loaded into memory; the exact timing is specified in the .uplugin file per-module +} + +void FCPathfindingModule::ShutdownModule() +{ + // This function may be called during shutdown to clean up your module. For modules that support dynamic reloading, + // we call this function before unloading the module. +} + +#undef LOCTEXT_NAMESPACE + +IMPLEMENT_MODULE(FCPathfindingModule, CPathfinding) \ No newline at end of file diff --git a/Plugins/CPathfinding/Source/CPathfinding/Public/CPathAsyncVolumeGeneration.h b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathAsyncVolumeGeneration.h new file mode 100644 index 00000000..9390e6e2 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathAsyncVolumeGeneration.h @@ -0,0 +1,66 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#pragma once + +#include "CoreMinimal.h" +#include "HAL/Runnable.h" +#include "HAL/RunnableThread.h" + +class ACPathVolume; +class CPathOctree; + + + + +class CPATHFINDING_API FCPathAsyncVolumeGenerator : public FRunnable +{ + + +public: + // Geneated trees in range Start(inclusive) - End(not inclusive). If Obstacles = true, it takes from Volume->TreesToRegenerate, if not, it takes from Volume->Octrees (default) + FCPathAsyncVolumeGenerator(ACPathVolume* Volume, uint32 StartIndex, uint32 EndIndex, uint8 ThreadID, FString ThreadName, bool Obstacles = false); + + // Not used for now + FCPathAsyncVolumeGenerator(ACPathVolume* Volume); + + ~FCPathAsyncVolumeGenerator(); + + virtual bool Init(); + + virtual uint32 Run(); + + virtual void Stop(); + + virtual void Exit(); + + // The main generating function, generated/regenerates the whole octree at given index + void RefreshTree(uint32 OuterIndex); + + bool bStop = false; + bool bObstacles = false; + + FRunnableThread* ThreadRef = nullptr; + + uint8 GenThreadID; + + FString Name = ""; + + uint32 OctreeCountAtDepth[4] = { 0, 0, 0, 0 }; + + +protected: + + ACPathVolume* VolumeRef; + + uint32 FirstIndex = 0; + uint32 LastIndex = 0; + + bool bIncreasedGenRunning = false; + + // Gets called by RefreshTree. Returns true if ANY child is free + bool RefreshTreeRec(CPathOctree* OctreeRef, uint32 Depth, FVector TreeLocation); + + +public: + +}; diff --git a/Plugins/CPathfinding/Source/CPathfinding/Public/CPathDefines.h b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathDefines.h new file mode 100644 index 00000000..3b16c639 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathDefines.h @@ -0,0 +1,56 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#pragma once + +#include "CoreMinimal.h" + +// TreeID settings +// If you change these, you will also need to change some masks in functions like ReplaceDepth, ExtractDepth, etc +#define DEPTH_0_BITS 21 +#define DEPTH_0_LIMIT (uint32)1<(END - BEGIN).count())/1000000.0 + +// Uncomment these or define somwhere else to see performance logs +//#define LOG_GENERATORS 1 +//#define LOG_PATHFINDERS 1 + +enum ENeighbourDirection +{ + Left, // -Y + Front, // -X + Right, // +Y + Behind, // +X + Below, // -Z + Above // +Z +}; + +UENUM() +enum EAgentShape +{ + Capsule = 3, + Box = 2, + Sphere = 0 +}; + +// Wrong Start and End Location mean that requested location was out of volume, or it was inside an occupied space. +UENUM() +enum ECPathfindingFailReason +{ + None, + VolumeNotValid, + VolumeNotGenerated, + Timeout, + WrongStartLocation, + WrongEndLocation, + EndLocationUnreachable, + UnknownFailure +}; + + diff --git a/Plugins/CPathfinding/Source/CPathfinding/Public/CPathDynamicObstacle.h b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathDynamicObstacle.h new file mode 100644 index 00000000..cf7b399a --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathDynamicObstacle.h @@ -0,0 +1,56 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. +#pragma once + +#include "CoreMinimal.h" +#include "Components/ActorComponent.h" +#include "CPathDynamicObstacle.generated.h" + +// Make sure this actor's collision has Generate Overlaps turned on. +// Owning actor must be movable. +// For better performance, call Deactivate() on this component once you dont need it to be updated anymore. +// bAutoActivate should be left unckecked for this component. +UCLASS(ClassGroup = (Custom), meta = (BlueprintSpawnableComponent)) +class CPATHFINDING_API UCPathDynamicObstacle : public UActorComponent +{ + GENERATED_BODY() + +public: + + UCPathDynamicObstacle(); + + UFUNCTION() + void OnBeginOverlap(AActor* Owner, AActor* OtherActor); + + UFUNCTION() + void OnEndOverlap(AActor* Owner, AActor* OtherActor); + + // CPathVolumes that consider this actor an obstacle. + UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = CPath) + TSet OverlappigVolumes; + + // If this actor gets spawned inside a CPathVolume, it will tell the volume about it. + // If this is left unchecked, you must make sure that this actor spawns outside of a CPathVolume, or do it manually. + // If you spawn CPathVolume AFTEr this actor, you will need to handle overlaps manually. + // In case of Level Streaming, CPathVolume should be placed on the same level as each actor it's supposed to track. + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = CPath) + bool ActivateOnBeginPlay = true; + + virtual void Activate(bool bReset = false) override; + + virtual void Deactivate() override; + + void AddIndexesToUpdate(class ACPathVolume* Volume); + + virtual void EndPlay(EEndPlayReason::Type Reason) override; +protected: + // Called when the game starts + virtual void BeginPlay() override; + //TArray OverlappingVolumes; + +public: + + + + + +}; diff --git a/Plugins/CPathfinding/Source/CPathfinding/Public/CPathFindPath.h b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathFindPath.h new file mode 100644 index 00000000..48296595 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathFindPath.h @@ -0,0 +1,155 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#pragma once + + +#include "CoreMinimal.h" +#include "CPathNode.h" +#include "HAL/Runnable.h" +#include "HAL/RunnableThread.h" +#include "Kismet/BlueprintAsyncActionBase.h" +#include +#include +#include +#include +#include +#include "CPathFindPath.generated.h" + + +class ACPathVolume; + +/** +The class for pathfinding, used in UCPathAsyncFindPath. Can also be used on game thread to get the path instantly. +*/ +class CPathAStar +{ +public: + CPathAStar(); + CPathAStar(ACPathVolume* VolumeRef, FVector Start, FVector End, uint32 SmoothingPasses = 1, int32 UserData = 0, float TimeLimit = 1.f / 200.f); + + ~CPathAStar(); + + // Can be called from main thread, but can freeze the game if you increase TimeLimit. + CPathAStarNode* FindPath(ACPathVolume* VolumeRef, FVector Start, FVector End, uint32 SmoothingPasses = 1, int32 UserData = 0, float TimeLimit = 1.f / 200.f, TArray* RawNodes = nullptr); + + // Uses cached data in this class, only working if all the arguments were passed via constructor. + // Returns true on success, result is in UserPath + bool FindPath(); + + // Set this to true to interrupt pathfinding. FindPath returns an empty array. + bool bStop = false; + + // Removes nodes in (nearly)straight sections, transforms to Blueprint exposed struct, optionally reverses it so that the path is from start to end and returns raw nodes. + void TransformToUserPath(CPathAStarNode* PathEndNode, TArray& UserPath, bool bReverse = true); + + // This is used by FindPath if it failed null. + ECPathfindingFailReason FailReason = None; + + // The final usable path + TArray UserPath; + + // The path before preprocessing + TArray RawPathNodes; + + // Cached FindPath parameters + FVector PathStart, PathEnd; + uint32 Smoothing = 2; + int32 UsrData = 0; + float SearchTimeLimit = 1.f / 200.f; + + // Used in removing nodes that lay on the same line. The biger the number, the more nodes will be removed, but the path potentially loses data. + float LineAngleToleranceDegrees = 3; + +protected: + + ACPathVolume* Volume; + + inline float EucDistance(CPathAStarNode& Node, FVector TargetWorldLocation) const; + + inline void CalcFitness(CPathAStarNode& Node); + + // Nodes that were consumed from priority queue + // This is emptied whenever FindPath is called + std::vector> ProcessedNodes; + +private: + FVector TargetLocation; + // Sweeps from Start to End using the tracing shape from volume. Returns true if no obstacles + inline bool CanSkip(FVector Start, FVector End); + + // Iterates over the path from end to start, removing every other node if CanSkip returns true + inline void SmoothenPath(CPathAStarNode* PathEndNode); + + friend class UCPathAsyncFindPath; + friend class FCPathRunnableFindPath; + +}; + + +DECLARE_DYNAMIC_MULTICAST_DELEGATE_TwoParams(FResponseDelegate, const TArray&, Path, TEnumAsByte, FailReason); + +/** + Accessing this class through ANY MEANS other than delegates is UNSAFE. + */ +UCLASS() +class CPATHFINDING_API UCPathAsyncFindPath : public UBlueprintAsyncActionBase +{ + GENERATED_BODY() + +public: + UPROPERTY(BlueprintAssignable) + FResponseDelegate Success; + + UPROPERTY(BlueprintAssignable) + FResponseDelegate Failure; + + // On success, returns a path from Start to End location. Both start and end must be inside the given Volume. + // If start or end is unreachable (or time limit was exceeded) returns nothing. + // SmoothingPasses - During a smoothing pass, every other node is potentially removed, as long as there is an empty space to the next one. + // With SmoothingPasses=0, the path will be very jagged since the graph is Discrete. + // With SmoothingPasses > 2 there is a potential loss of data, especially if a custom Cost function is used. + UFUNCTION(BlueprintCallable, Category = CPath, meta = (BlueprintInternalUseOnly = "true")) + static UCPathAsyncFindPath* FindPathAsync(class ACPathVolume* Volume, FVector StartLocation, FVector EndLocation, int SmoothingPasses = 2, int32 UserData = 0, float TimeLimit = 0.2f); + + virtual void Activate() override; + virtual void BeginDestroy() override; + + // 1 = finished Success + // 0 = finished failed + std::atomic_int ThreadResponse = -1; + FTimerHandle CheckThreadTimerHandle; + void CheckThreadStatus(); + +private: + + // Thread objects + CPathAStar* AStar = nullptr; + class FCPathRunnableFindPath* RunnableFindPath = nullptr; + FRunnableThread* CurrentThread = nullptr; + + friend class FCPathRunnableFindPath; +}; + +// The class used to perform pathfinding on its own thread +class CPATHFINDING_API FCPathRunnableFindPath : public FRunnable +{ +public: + FCPathRunnableFindPath(class UCPathAsyncFindPath* AsyncNode); + + virtual bool Init(); + + virtual uint32 Run(); + + virtual void Stop(); + + virtual void Exit(); + + //bool StopThread = false; + +private: + float SleepCounter = 0; + + bool bIncreasedPathfRunning = false; + + class UCPathAsyncFindPath* AsyncActionRef = nullptr; +}; diff --git a/Plugins/CPathfinding/Source/CPathfinding/Public/CPathNode.h b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathNode.h new file mode 100644 index 00000000..20e7e377 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathNode.h @@ -0,0 +1,90 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#pragma once + +#include "CoreMinimal.h" +#include "CPathNode.generated.h" + +/** + * + */ + + // Internal class used while generating path +class CPATHFINDING_API CPathAStarNode +{ +public: + CPathAStarNode(); + CPathAStarNode(uint32 ID) + : + TreeID(ID) + {} + CPathAStarNode(uint32 ID, uint32 Data) + : + TreeID(ID), + TreeUserData(Data) + {} + + uint32 TreeID = 0xFFFFFFFF; + + // Data from Octree that you may modify by overriding `RecheckOctreeAtDepth` + // and access from `CalcFitness` + uint32 TreeUserData = 0; + + // We want to find a node with minimum fitness, this way distance doesnt have to be inverted + float FitnessResult = 9999999999.f; + float DistanceSoFar = 0; + + // This is NOT always valid. + CPathAStarNode* PreviousNode = nullptr; + + FVector WorldLocation; + + // ------ Operators for containers ---------------------------------------- + bool operator <(const CPathAStarNode& Rhs) const + { + return FitnessResult < Rhs.FitnessResult; + } + + bool operator >(const CPathAStarNode& Rhs) const + { + return FitnessResult > Rhs.FitnessResult; + } + + bool operator ==(const CPathAStarNode& Rhs) const + { + return TreeID == Rhs.TreeID; + } + + struct Hash + { + size_t operator()(const CPathAStarNode& Node) const + { + return Node.TreeID; + } + }; + + ~CPathAStarNode(); +}; + + +USTRUCT(BlueprintType) +struct FCPathNode +{ + GENERATED_BODY() + + FCPathNode() {} + FCPathNode(FVector Location) + : + WorldLocation(Location) + {} + + + UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = CPath) + FVector WorldLocation; + + // Normalized vector pointing to next node. ZeroVector on last node. + UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = CPath) + FVector Normal = FVector(0, 0, 0); + + +}; \ No newline at end of file diff --git a/Plugins/CPathfinding/Source/CPathfinding/Public/CPathOctree.h b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathOctree.h new file mode 100644 index 00000000..6d1d869e --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathOctree.h @@ -0,0 +1,63 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#pragma once + +#include "CoreMinimal.h" + +/** + * + */ + + + + // The Octree representation +class CPATHFINDING_API CPathOctree +{ +public: + CPathOctree(); + + + CPathOctree* Children = nullptr; + + uint32 Data = 0; + + + inline void SetIsFree(bool IsFree) + { + Data &= 0xFFFFFFFE; + Data |= (uint32)IsFree; + } + + inline bool GetIsFree() const + { + return Data << 31; + } + + ~CPathOctree() + { + delete[] Children; + }; +}; + +// Class used to remember data needed to draw a debug voxel +class CPATHFINDING_API CPathVoxelDrawData +{ + +public: + + CPathVoxelDrawData() + {} + + CPathVoxelDrawData(FVector WorldLocation, float VoxelExtent, bool IsFree) + : + Location(WorldLocation), + Extent(VoxelExtent), + Free(IsFree) + {} + + FVector Location; + float Extent; + bool Free = false; + +}; + diff --git a/Plugins/CPathfinding/Source/CPathfinding/Public/CPathVolume.h b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathVolume.h new file mode 100644 index 00000000..60e0d244 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathVolume.h @@ -0,0 +1,344 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. +#pragma once + +#include "CoreMinimal.h" +#include "GameFramework/Actor.h" +#include "WorldCollision.h" +#include +#include +#include +#include +#include +#include +#include "PhysicsInterfaceTypesCore.h" +#include "CPathDefines.h" +#include "CPathOctree.h" +#include "CPathNode.h" +#include "CPathAsyncVolumeGeneration.h" +#include "CPathVolume.generated.h" + + +UCLASS() +class CPATHFINDING_API ACPathVolume : public AActor +{ + GENERATED_BODY() + + friend class FCPathAsyncVolumeGenerator; + friend class UCPathDynamicObstacle; +public: + ACPathVolume(); + + virtual void Tick(float DeltaTime) override; + + virtual void BeginDestroy() override; + + + // ------- EXTENDABLE ------ + + // Overwrite this function to change the priority of nodes as they are selected for the path. + // Note that this is potentially called thousands of times per FindPath call, so it shouldnt be too complex (unless your graph not very dense) + virtual void CalcFitness(CPathAStarNode& Node, FVector TargetLocation, int32 UserData); + + // Overwrite this function to change the default conditions of a tree being free/ocupied. + // You may also save other information in the Data field of an Octree, as only the least significant bit is used. + // This is called during graph generation, for every subtree including leafs, so potentially millions of times. + virtual bool RecheckOctreeAtDepth(CPathOctree* OctreeRef, FVector TreeLocation, uint32 Depth); + + + // -------- BP EXPOSED ---------- + + //Box to mark the area to generate graph in. It should not be rotated, the rotation will be ignored. + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "Components", meta = (EditCondition = "GenerationStarted==false")) + class UBoxComponent* VolumeBox; + + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath", meta = (EditCondition = "GenerationStarted==false")) + TEnumAsByte TraceChannel = ECollisionChannel::ECC_Visibility; + + // Spports Capsule, sphere and box. + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath", meta = (EditCondition = "GenerationStarted==false")) + TEnumAsByte AgentShape = EAgentShape::Capsule; + + // In case of a box, this is X and Y extent. Z and Y should be the same, since the actual agent will most likely rotate. + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath", meta = (EditCondition = "GenerationStarted==false", ClampMin = "0", UIMin = "0")) + float AgentRadius = 0; + + // In case of a box, this is Z extent. + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath", meta = (EditCondition = "GenerationStarted==false && AgentShape!=EAgentShape::Sphere", ClampMin = "0", UIMin = "0")) + float AgentHalfHeight = 0; + + + + + // Size of the smallest voxel edge. + // In most cases, setting this to min(AgentRadius, AgentHalfHeight)*2 is enough. + // For precise (dense) graph - set this to min(AgentRadius, AgentHalfHeight). + // Small values increase memory cost, and potentially CPU load. + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath", meta = (EditCondition = "GenerationStarted==false", ClampMin = "0.1", UIMin = "0.1")) + float VoxelSize = 60; + + // How many times per second do parts of the volume get regenerated based on dynamic obstacles, in seconds. + // Values higher than 5 are an overkill, but for the purpose of user freedom, I leave it unlocked. + // If no dynamic obstacles were added, this doesnt have any performance impact + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath", meta = (EditCondition = "GenerationStarted==false", ClampMin = "0.01", UIMin = "0.01", ClampMax = "30", UIMax = "30")) + float DynamicObstaclesUpdateRate = 3; + + // 2 Is optimal in most cases. If you have very large open speces with small amount of obstacles, then 3 will be better. + // For dense labirynths with little to no open space, 1 or even 0 will be faster. + // Check documentation for detailed performance guidance. + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath", meta = (EditCondition = "GenerationStarted==false", ClampMin = "0", ClampMax = "3", UIMin = "0", UIMax = "3")) + int OctreeDepth = 2; + + + // If want to call Generate() later or with some condition. + // Note that volume wont be usable before it is generated + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath") + bool GenerateOnBeginPlay = true; + + // Set a custom generation thread limit. By default, it's system's Physical Core count - 1. + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath") + bool OverwriteMaxGenerationThreads = false; + + // How many threads can graph generation split into. + // If left <=0 (RECOMMENDED), it uses system's Physical Core count - 1. + // Generation threads are allocated dynamically, so it only uses more than 1 thread when necessary. + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath", meta = (EditCondition = "GenerationStarted==false && OverwriteMaxGenerationThreads==true", ClampMin = "0", ClampMax = "31", UIMin = "0", UIMax = "31")) + int MaxGenerationThreads = 0; + + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath|Render") + bool DrawFree = true; + + UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "CPath|Render") + bool DrawOccupied = false; + + // You can hide selected depths from rendering + UPROPERTY(EditAnywhere, BlueprintReadOnly, EditFixedSize, Category = "CPath|Render") + TArray DepthsToDraw; + + // How thick should the green and red debug boxes be + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "CPath|Render") + float DebugBoxesThickness = 1.f; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "CPath|Render") + float DebugPathThickness = 1.5f; + + UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "CPath|Info") + bool GenerationStarted = false; + + // This is a read only info about initially generated graph + UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "CPath|Info") + TArray OctreeCountAtDepth = { 0, 0, 0, 0 }; + + // This is a read only info about initially generated graph + UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "CPath|Info") + int TotalNodeCount = 0; + + // Draws FREE neighbouring leafs + UFUNCTION(BlueprintCallable, Category = "CPath|Render") + void DebugDrawNeighbours(FVector WorldLocation); + + // Draws the octree structure around WorldLocation, up tp VoxelLlimit + UFUNCTION(BlueprintCallable, Category = "CPath|Render") + void DrawDebugNodesAroundLocation(FVector WorldLocation, int VoxelLimit, float Duration); + + // Draws path with points, for visualization only + // Duration == 0 - draw for one frame + // Duration < 0 - persistent + UFUNCTION(BlueprintCallable, Category = "CPath|Render") + void DrawDebugPath(const TArray& Path, float Duration, bool DrawPoints = true, FColor Color = FColor::Magenta); + + // Before this is true, the graph is inoperable + UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "CPath|Info") + bool InitialGenerationFinished = false; + + // Shapes to use when checking if voxel is free or not + std::vector> TraceShapesByDepth; + + // Returns false if graph couldnt start generating + bool GenerateGraph(); + +protected: + + virtual void BeginPlay() override; + + CPathOctree* Octrees = nullptr; + + +public: + + // Location of the first voxel, set during graph generation + FVector StartPosition; + + // Dimension sizes of the Nodes array, XYZ + uint32 NodeCount[3]; + + //----------- TreeID ------------------------------------------------------------------------ + + // Returns the child with this tree id, or his parent at DepthReached in case the child doesnt exist + CPathOctree* FindTreeByID(uint32 TreeID, uint32& DepthReached); + + inline CPathOctree* FindTreeByID(uint32 TreeID); + + // Returns a tree and its TreeID by world location, returns null if location outside of volume. Only for Outer index + CPathOctree* FindTreeByWorldLocation(FVector WorldLocation, uint32& TreeID); + + // Returns a leaf and its TreeID by world location, returns null if location outside of volume. + inline CPathOctree* FindLeafByWorldLocation(FVector WorldLocation, uint32& TreeID, bool MustBeFree = 1); + + // Returns a free leaf and its TreeID by world location, as long as it exists in provided search range and WorldLocation is in this Volume + // If SearchRange <= 0, it uses a default dynamic search range + // If SearchRange is too large, you might get a free node that is inaccessible from provided WorldLocation + CPathOctree* FindClosestFreeLeaf(FVector WorldLocation, uint32& TreeID, float SearchRange = -1); + + // Returns a neighbour of the tree with TreeID in given direction, also returns TreeID if the neighbour if found + CPathOctree* FindNeighbourByID(uint32 TreeID, ENeighbourDirection Direction, uint32& NeighbourID); + + // Returns a list of adjecent leafs as TreeIDs + std::vector FindNeighbourLeafs(uint32 TreeID, bool MustBeFree = true); + + // Returns a list of adjecent free leafs as CPathAStarNode + std::vector FindFreeNeighbourLeafs(CPathAStarNode& Node); + + // Returns a parent of tree with given TreeID or null if TreeID has depth of 0 + inline CPathOctree* GetParentTree(uint32 TreeId); + + // Returns world location of a voxel at this TreeID. This returns CENTER of the voxel + inline FVector WorldLocationFromTreeID(uint32 TreeID) const; + + inline FVector LocalCoordsInt3FromOuterIndex(uint32 OuterIndex) const; + + // Creates TreeID for AsyncOverlapByChannel + inline uint32 CreateTreeID(uint32 Index, uint32 Depth) const; + + // Extracts Octrees array index from TreeID + inline uint32 ExtractOuterIndex(uint32 TreeID) const; + + // Replaces Depth in the TreeID with NewDepth + inline void ReplaceDepth(uint32& TreeID, uint32 NewDepth); + + // Extracts depth from TreeID + inline uint32 ExtractDepth(uint32 TreeID) const; + + // Returns a number from 0 to 7 - a child index at requested Depth + inline uint32 ExtractChildIndex(uint32 TreeID, uint32 Depth) const; + + // This assumes that child index at Depth is 000, if its not use ReplaceChildIndex + inline void AddChildIndex(uint32& TreeID, uint32 Depth, uint32 ChildIndex); + + // Replaces child index at given depth + inline void ReplaceChildIndex(uint32& TreeID, uint32 Depth, uint32 ChildIndex); + + // Replaces child index at given depth and also replaces depth to the same one + inline void ReplaceChildIndexAndDepth(uint32& TreeID, uint32 Depth, uint32 ChildIndex); + + // Traverses the tree downwards and adds every tree to the container + void GetAllSubtrees(uint32 TreeID, std::vector& Container); + + // Volume is not safe to access as long as this is not 0, pathfinders should wait till this is 0 + std::atomic_int GeneratorsRunning = 0; + + // Volume wont start generating as long as this is not 0 + std::atomic_int PathfindersRunning = 0; + + // This is for other threads to check if graph is accessible + std::atomic_bool InitialGenerationCompleteAtom = false; + + // This is filled by DynamicObstacle component + std::set TrackedDynamicObstacles; + + // ----------- Other helper functions --------------------- + + inline float GetVoxelSizeByDepth(int Depth) const; + + // Draws the voxel, this takes all the drawing options into condition. If Duraiton is below 0, it never disappears. + // If Color = green, free trees are green and occupied are red. + // Returns true if drawn, false otherwise + bool DrawDebugVoxel(uint32 TreeID, bool DrawIfNotLeaf = true, float Duration = 0, FColor Color = FColor::Green, CPathVoxelDrawData* OutDrawData = nullptr); + void DrawDebugVoxel(const CPathVoxelDrawData& DrawData, float Duration) const; + + +protected: + + // Returns an index in the Octree array from world position. NO BOUNDS CHECK + inline int WorldLocationToIndex(FVector WorldLocation) const; + + // Multiplies local integer coordinates into index + inline float LocalCoordsInt3ToIndex(FVector V) const; + + // Returns the X Y and Z relative to StartPosition and divided by VoxelSize. Multiply them to get the index. NO BOUNDS CHECK + inline FVector WorldLocationToLocalCoordsInt3(FVector WorldLocation) const; + + // Returns world location of a tree at depth 0. Extracts only outer index from TreeID + inline FVector GetOuterTreeWorldLocation(uint32 TreeID) const; + + // takes in what `WorldLocationToLocalCoordsInt3` returns and performs a bounds check + inline bool IsInBounds(FVector LocalCoordsInt3) const; + + // Helper function for 'FindLeafByWorldLocation'. Relative location is location relative to the middle of CurrentTree + CPathOctree* FindLeafRecursive(FVector RelativeLocation, uint32& TreeID, uint32 CurrentDepth, CPathOctree* CurrentTree); + + // Returns IDs of all free leafs on chosen side of a tree. Sides are indexed in the same way as neighbours, and adds them to passed Vector. + // ASSUMES THAT PASSED TREE HAS CHILDREN + void FindLeafsOnSide(uint32 TreeID, ENeighbourDirection Side, std::vector* Vector, bool MustBeFree = true); + + // Same as above, but skips the part of getting a tree by TreeID so its faster + void FindLeafsOnSide(CPathOctree* Tree, uint32 TreeID, ENeighbourDirection Side, std::vector* Vector, bool MustBeFree = true); + + // Same as above, but wrapped in CPathAStarNode + void FindLeafsOnSide(CPathOctree* Tree, uint32 TreeID, ENeighbourDirection Side, std::vector* Vector, bool MustBeFree = true); + + // Internal function used in GetAllSubtrees + void GetAllSubtreesRec(uint32 TreeID, CPathOctree* Tree, std::vector& Container, uint32 Depth); + + + // -------- GENERATION ----- + FTimerHandle GenerationTimerHandle; + + std::list> GeneratorThreads; + + // Garbage collection + void CleanFinishedGenerators(); + + // Checking if initial generation has finished + void InitialGenerationUpdate(); + + // Checking if there are any trees to regenerate from dynamic obstacles + void GenerationUpdate(); + + std::set TreesToRegenerate; + + // This is so that when an actor moves, the previous space it was in needs to be regenerated as well + std::set TreesToRegeneratePreviousUpdate; + + // This is set in GenerateGraph() using a formula that estimates total voxel count + int OuterIndexesPerThread; + + bool ThreadIDs[64]; + + inline uint32 GetFreeThreadID() const; + + + // ----- Lookup tables------- + static const FVector LookupTable_ChildPositionOffsetMaskByIndex[8]; + static const FVector LookupTable_NeighbourOffsetByDirection[6]; + + // Positive values = ChildIndex of the same parent, negative values = (-ChildIndex - 1) of neighbour at Direction [6] + static const int8 LookupTable_NeighbourChildIndex[8][6]; + + // First index is side as in ENeighbourDirection, and then you get indices of children on that side (in ascending order) + static const int8 LookupTable_ChildrenOnSide[6][4]; + + // Left returns right, up returns down, Front returns behind, etc + static const int8 LookupTable_OppositeSide[6]; + + // Set in begin play + float LookupTable_VoxelSizeByDepth[MAX_DEPTH + 1]; + + + // -------- DEBUGGING ----- + std::vector PreviousDrawAroundLocationData; + + std::chrono::steady_clock::time_point GenerationStart; + bool PrintGenerationTime = false; + + +}; diff --git a/Plugins/CPathfinding/Source/CPathfinding/Public/CPathVolumeGroundPrio.h b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathVolumeGroundPrio.h new file mode 100644 index 00000000..d323b343 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathVolumeGroundPrio.h @@ -0,0 +1,26 @@ +// // Copyright Dominik Trautman. All Rights Reserved. + +#pragma once + +#include "CoreMinimal.h" +#include "CPathVolume.h" +#include "CPathVolumeGroundPrio.generated.h" + +/** + * + */ +UCLASS() +class CPATHFINDING_API ACPathVolumeGroundPrio : public ACPathVolume +{ + GENERATED_BODY() +public: + virtual void CalcFitness(CPathAStarNode& Node, FVector TargetLocation, int32 UserData) override; + + virtual bool RecheckOctreeAtDepth(CPathOctree* OctreeRef, FVector TreeLocation, uint32 Depth); + + inline bool ExtractIsGroundFromData(uint32 TreeUserData) + { + return TreeUserData & 0x00000002; + } + +}; diff --git a/Plugins/CPathfinding/Source/CPathfinding/Public/CPathfinding.h b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathfinding.h new file mode 100644 index 00000000..96aa8fd2 --- /dev/null +++ b/Plugins/CPathfinding/Source/CPathfinding/Public/CPathfinding.h @@ -0,0 +1,16 @@ +// Copyright Dominik Trautman. Published in 2022. All Rights Reserved. + +#pragma once + +#include "CoreMinimal.h" +#include "Modules/ModuleManager.h" + + +class CPATHFINDING_API FCPathfindingModule : public IModuleInterface +{ +public: + + /** IModuleInterface implementation */ + virtual void StartupModule() override; + virtual void ShutdownModule() override; +}; diff --git a/Plugins/FileHelperPlugin/Binaries/Win64/UnrealEditor.modules b/Plugins/FileHelperPlugin/Binaries/Win64/UnrealEditor.modules new file mode 100644 index 00000000..387ed052 --- /dev/null +++ b/Plugins/FileHelperPlugin/Binaries/Win64/UnrealEditor.modules @@ -0,0 +1,7 @@ +{ + "BuildId": "827e4aed-aff1-4853-85bd-51def0d581c9", + "Modules": + { + "FileHelper": "UnrealEditor-FileHelper.dll" + } +} \ No newline at end of file diff --git a/Plugins/LuckyMujoco/LuckyMujoco.uplugin b/Plugins/LuckyMujoco/LuckyMujoco.uplugin index 98edbfb2..4ac4834a 100644 --- a/Plugins/LuckyMujoco/LuckyMujoco.uplugin +++ b/Plugins/LuckyMujoco/LuckyMujoco.uplugin @@ -30,6 +30,10 @@ { "Name": "EditorScriptingUtilities", "Enabled": true + }, + { + "Name": "CPathfinding", + "Enabled": true } ] } \ No newline at end of file diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/LuckyMujoco.Build.cs b/Plugins/LuckyMujoco/Source/LuckyMujoco/LuckyMujoco.Build.cs index ec93bbb7..fdd76066 100644 --- a/Plugins/LuckyMujoco/Source/LuckyMujoco/LuckyMujoco.Build.cs +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/LuckyMujoco.Build.cs @@ -30,8 +30,11 @@ public class LuckyMujoco : ModuleRules "Mujoco", "CoreUObject", "GameplayTasks", - "Projects" - // ... add other public dependencies that you statically link with here ... + "Projects", + "CPathfinding", + "StateTreeModule", + "GameplayTags" + // ... add other public dependencies that you statically link with here ... } ); @@ -39,6 +42,7 @@ public class LuckyMujoco : ModuleRules PrivateDependencyModuleNames.AddRange( new string[] { + "StateTreeModule", "GameplayStateTreeModule" // ... add private dependencies that you statically link with here ... } ); diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/CameraSensorHandler.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/CameraSensorHandler.cpp new file mode 100644 index 00000000..329a4f6e --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/CameraSensorHandler.cpp @@ -0,0 +1,7 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "AI/CameraSensorHandler.h" + + +// Add default functionality here for any ICameraSensorHandler functions that are not pure virtual. diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/LuckyMovement.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/LuckyMovement.cpp new file mode 100644 index 00000000..a44b5ba8 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/LuckyMovement.cpp @@ -0,0 +1,7 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "AI/LuckyMovement.h" + + +// Add default functionality here for any ILuckyMovement functions that are not pure virtual. diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceManager.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceManager.cpp new file mode 100644 index 00000000..105e898a --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceManager.cpp @@ -0,0 +1,84 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "AI/PickAndPlaceManager.h" + +#include "Components/StateTreeComponent.h" + + +// Sets default values +APickAndPlaceManager::APickAndPlaceManager() +{ + // Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it. + PrimaryActorTick.bCanEverTick = false; + +} + +// Called when the game starts or when spawned +void APickAndPlaceManager::BeginPlay() +{ + Super::BeginPlay(); + +} + +// Called every frame +void APickAndPlaceManager::Tick(float DeltaTime) +{ + Super::Tick(DeltaTime); + +} + +bool APickAndPlaceManager::SetNewTarget_Implementation(AActor* StateTreeOwner, AActor* TargetActor, AActor* PlaceArea) +{ + if (IsValid(TargetActor) && IsValid(PlaceArea) && IsValid(StateTreeOwner)) + { + if (UStateTreeComponent* STC = StateTreeOwner->FindComponentByClass()) + { + FStateTreeEvent Event; + Event.Origin = "PickAndPlaceStart"; + Event.Tag = PickAndPlaceStartTag; + STC->SendStateTreeEvent(Event); + } + CurrentTargetActor = TargetActor; + CurrentPlaceArea = PlaceArea; + if (!CurrentTargetActor->Tags.Contains(PickAndPlaceTag)) + { + CurrentTargetActor->Tags.Add(PickAndPlaceTag); + } + if (OnPickAndPlaceTargetsUpdated.IsBound()) + { + OnPickAndPlaceTargetsUpdated.Broadcast(this); + } + return true; + } + return false; +} + +bool APickAndPlaceManager::PickAndPlaceSuccess_Implementation(AActor* StateTreeOwner) +{ + if (IsValid(StateTreeOwner)) + { + if (UStateTreeComponent* STC = StateTreeOwner->FindComponentByClass()) + { + FStateTreeEvent Event; + Event.Origin = "PickAndPlaceSuccess"; + Event.Tag = PickAndPlaceSuccessTag; + STC->SendStateTreeEvent(Event); + } + } + if (OnPickAndPlaceSuccess.IsBound()) + { + OnPickAndPlaceSuccess.Broadcast(this); + } + return true; +} + +AActor* APickAndPlaceManager::GetCurrentTargetActor() const +{ + return CurrentTargetActor; +} + +AActor* APickAndPlaceManager::GetCurrentPlaceArea() const +{ + return CurrentPlaceArea; +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceUser.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceUser.cpp new file mode 100644 index 00000000..9aaa53da --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/PickAndPlaceUser.cpp @@ -0,0 +1,7 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "AI/PickAndPlaceUser.h" + + +// Add default functionality here for any IPickAndPlaceUser functions that are not pure virtual. diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/Tasks/STT_PickAndPlace.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/Tasks/STT_PickAndPlace.cpp new file mode 100644 index 00000000..b065d109 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/Tasks/STT_PickAndPlace.cpp @@ -0,0 +1,23 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "AI/Tasks/STT_PickAndPlace.h" +#include "StateTreeExecutionContext.h" +#include "AI/PickAndPlaceUser.h" +#include "Lib/LuckyWorldFunctions.h" + +EStateTreeRunStatus FSTT_PickAndPlace::EnterState(FStateTreeExecutionContext& Context, const FStateTreeTransitionResult& Transition) const +{ + if (UObject* Ref = Context.GetOwner()) + { + if (Ref->GetClass()->ImplementsInterface(UPickAndPlaceUser::StaticClass())) + { + if (APickAndPlaceManager* Manager = ULuckyWorldFunctions::GetPickAndPlaceManager(Ref)) + { + IPickAndPlaceUser::Execute_SetPickAndPlaceTargets(Ref,Manager->GetCurrentTargetActor(),Manager->GetCurrentPlaceArea()); + return EStateTreeRunStatus::Running; + } + } + } + return EStateTreeRunStatus::Failed; +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/Tasks/STT_RobotMoveTo.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/Tasks/STT_RobotMoveTo.cpp new file mode 100644 index 00000000..98480f76 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/AI/Tasks/STT_RobotMoveTo.cpp @@ -0,0 +1,83 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "AI/Tasks/STT_RobotMoveTo.h" +#include "StateTreeExecutionContext.h" +#include "AI/LuckyMovement.h" +#include "Components/LuckyCustomMovementComponent.h" +#include "Components/StateTreeComponent.h" + +EStateTreeRunStatus FSTT_RobotMoveTo::EnterState(FStateTreeExecutionContext& Context, const FStateTreeTransitionResult& Transition) const +{ + Actor = Cast(Context.GetOwner()); + { + if (IsValid(Actor)) + { + return EStateTreeRunStatus::Running; + } + } + return EStateTreeRunStatus::Failed; +} + +EStateTreeRunStatus FSTT_RobotMoveTo::Tick(FStateTreeExecutionContext& Context, const float DeltaTime) const +{ + //Since we don't really have a full state tree yet, I'm running this on tick. + //When we have a better system fleshed out we can start to move this away from tick. + if (bIsFinished) + { + return EStateTreeRunStatus::Succeeded; + } + if (IsValid(Actor)) + { + if (ULuckyCustomMovementComponent* Movement = Actor->FindComponentByClass()) + { + FVector TargetLocation = FVector::ZeroVector; + //We start with our movement actor as the Actor, but it can be overriden in the interface. + AActor* MovementProxy = Actor; + if (Actor->GetClass()->ImplementsInterface(ULuckyMovement::StaticClass())) + { + //We get target location from the interface so we don't have to pass it into the state tree via context. + TargetLocation = ILuckyMovement::Execute_GetMovementTargetLocation(Actor); + if (AActor* Temp = ILuckyMovement::Execute_GetMovementProxy(Actor)) + { + //Set actor to movement proxy if we have a valid movement proxy. + MovementProxy = Temp; + } + } + //Start movement. + Movement->OnLuckyMovementFinishedNative.Unbind(); + Movement->OnLuckyMovementFinishedNative.BindRaw(this, &FSTT_RobotMoveTo::OnLuckyMovementFinished); + Movement->OnLuckyMovementFailedNative.Unbind(); + Movement->OnLuckyMovementFailedNative.BindRaw(this, &FSTT_RobotMoveTo::OnLuckyMovementFailed); + Movement->MoveToLocation(TargetLocation,nullptr,MovementProxy); + } + } + return EStateTreeRunStatus::Running; +} + +void FSTT_RobotMoveTo::OnLuckyMovementFinished(ULuckyCustomMovementComponent* Component, ULuckyMovementAlgorithmBase* Algo) const +{ + if (IsValid(Algo) && IsValid(Actor)) + { + if (Actor->GetClass()->ImplementsInterface(ULuckyMovement::StaticClass())) + { + //Send lucky movement call through the interface instead of the component. + //The delegate will still fire, but we don't want to have to check that if we don't need to. + ILuckyMovement::Execute_PerformLuckyMovement(Actor,Algo); + if (UStateTreeComponent* StateTreeComponent = Actor->FindComponentByClass()) + { + const FGameplayTag OnFinishedTag = ILuckyMovement::Execute_GetMovementFinishedTag(Actor); + FStateTreeEvent Event; + Event.Origin = "RobotMoveTo"; + Event.Tag = OnFinishedTag; + StateTreeComponent->SendStateTreeEvent(Event); + } + } + bIsFinished = true; + } +} + +void FSTT_RobotMoveTo::OnLuckyMovementFailed(ULuckyCustomMovementComponent* Component) const +{ + bIsFinished = false; +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp index 2aa1ba5e..dd6a1bb3 100644 --- a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp @@ -11,6 +11,7 @@ #include "LuckyMujoco.h" #include "fstream" #include "filesystem" +#include "Misc/FMujocoSimWorker.h" AMujocoVolumeActor::AMujocoVolumeActor() { @@ -21,7 +22,6 @@ AMujocoVolumeActor::AMujocoVolumeActor() SpriteComponent = CreateDefaultSubobject(TEXT("Sprite")); RootComponent = SpriteComponent; - if (SpriteComponent) { SpriteComponent->bHiddenInGame = true; @@ -118,6 +118,7 @@ void AMujocoVolumeActor::InitializeMujoco() if (auto* World = GetWorld()) { + //GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Green, TEXT("Generating Mujoco model...")); OnMujocoCompileBegin.Broadcast(); @@ -190,7 +191,15 @@ void AMujocoVolumeActor::InitializeMujoco() AssignComponentsToArray(World, TendonComponents); mj_resetData(MujocoModel.Get(), MujocoData.Get()); + if (MujocoModel && MujocoData && bMultithreaded) + { + SimulatedPositions.SetNum(MujocoModel->nbody); + SimulatedRotations.SetNum(MujocoModel->nbody); + SimWorker = MakeUnique( + MujocoModel.Get(), MujocoData.Get(), Options.Get()->Options.TimeStep, + &SimulatedPositions, &SimulatedRotations, &MujocoDataLock); + } //GEngine->AddOnScreenDebugMessage(-1, 5.f, FColor::Green, TEXT("Mujoco model generated!")); OnMujocoCompileSuccess.Broadcast(); } @@ -389,6 +398,31 @@ void AMujocoVolumeActor::PostRegisterAllComponents() void AMujocoVolumeActor::Tick(float DeltaTime) { + // Super::Tick(DeltaTime); + if (bMultithreaded) + { + FScopeLock Lock(&MujocoDataLock); + + for (int32 i = 1; i < BodyComponents.Num(); ++i) + { + if (BodyComponents[i].IsValid() && SimulatedPositions.IsValidIndex(i) && SimulatedRotations.IsValidIndex(i)) + { + if (bUpdatePositions) + { + BodyComponents[i]->SetWorldLocationAndRotation(SimulatedPositions[i], SimulatedRotations[i]); + } + if (bUpdateBounds) + { + BodyComponents[i]->UpdateBounds(); + } + if (bUpdateOverlaps) + { + BodyComponents[i]->UpdateOverlaps(); + } + } + } + return; + } if (MujocoData) { mj_step(MujocoModel.Get(), MujocoData.Get()); @@ -397,7 +431,7 @@ void AMujocoVolumeActor::Tick(float DeltaTime) { mj_step(MujocoModel.Get(), MujocoData.Get()); } - + for (int32 i = 1; i < BodyComponents.Num(); ++i) { if (BodyComponents[i].IsValid()) @@ -408,16 +442,25 @@ void AMujocoVolumeActor::Tick(float DeltaTime) FVector Position = FVector(Pos[0], -Pos[1], Pos[2]) * 100.0f; FQuat Rotation = FQuat(Quat[1], -Quat[2], Quat[3], -Quat[0]); - BodyComponents[i]->SetWorldLocationAndRotation(Position, Rotation); - BodyComponents[i]->UpdateBounds(); - BodyComponents[i]->UpdateOverlaps(); + if (bUpdatePositions) + { + BodyComponents[i]->SetWorldLocationAndRotation(Position, Rotation); + } + if (bUpdateBounds) + { + BodyComponents[i]->UpdateBounds(); + } + if (bUpdateOverlaps) + { + BodyComponents[i]->UpdateOverlaps(); + } } else { UE_LOG(LogMujoco, Warning, TEXT("Invalid body component at index: %d"), i); } } - } + } } void AMujocoVolumeActor::PostInitializeComponents() @@ -427,13 +470,19 @@ void AMujocoVolumeActor::PostInitializeComponents() void AMujocoVolumeActor::BeginPlay() { - Super::BeginPlay(); + Super::BeginPlay(); } void AMujocoVolumeActor::EndPlay(const EEndPlayReason::Type EndPlayReason) { Super::EndPlay(EndPlayReason); + if (SimWorker) + { + SimWorker->EnsureCompletion(); + SimWorker.Reset(); + } + MujocoData.Reset(); MujocoModel.Reset(); } diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Algo/LuckyMovementAlgorithmBase.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Algo/LuckyMovementAlgorithmBase.cpp new file mode 100644 index 00000000..217dbc06 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Algo/LuckyMovementAlgorithmBase.cpp @@ -0,0 +1,48 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "Algo/LuckyMovementAlgorithmBase.h" + + +ULuckyMovementAlgorithmBase::ULuckyMovementAlgorithmBase() +{ + OwningActor = nullptr; + CurrentInputVector = FVector::ZeroVector; +} + +ULuckyMovementAlgorithmBase::~ULuckyMovementAlgorithmBase() +{ +} + +void ULuckyMovementAlgorithmBase::SolveForLeftRight_Implementation(float& Left, float& Right) +{ + if (IsValid(OwningActor)) + { + const FVector Forward = OwningActor->GetActorForwardVector(); + const FVector RightVector = OwningActor->GetActorRightVector(); + + // Project input onto forward and right vectors + const float ForwardComponent = FVector::DotProduct(CurrentInputVector, Forward); + const float TurnComponent = FVector::DotProduct(CurrentInputVector, RightVector); + + // Combine them into differential drive logic + Left = ForwardComponent - TurnComponent; + Right = ForwardComponent + TurnComponent; + + // Optional: normalize torque to stay within [-1, 1] range + const float MaxTorque = FMath::Max(FMath::Abs(Left), FMath::Abs(Right)); + if (MaxTorque > 1.f) + { + Left /= MaxTorque; + Right /= MaxTorque; + } + return; + } + Left = Right = 0.f; +} + +void ULuckyMovementAlgorithmBase::Init_Implementation(AActor* InOwningActor,const FVector& InInputVector) +{ + OwningActor = InOwningActor; + CurrentInputVector = InInputVector; +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Components/LuckyCustomMovementComponent.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Components/LuckyCustomMovementComponent.cpp new file mode 100644 index 00000000..258b835f --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Components/LuckyCustomMovementComponent.cpp @@ -0,0 +1,280 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "Components/LuckyCustomMovementComponent.h" + +#include "CPathFindPath.h" +#include "AI/LuckyMovement.h" +#include "Kismet/KismetMathLibrary.h" + + +// Sets default values for this component's properties +ULuckyCustomMovementComponent::ULuckyCustomMovementComponent() +{ + // Set this component to be initialized when the game starts, and to be ticked every frame. You can turn these features + // off to improve performance if you don't need them. + PrimaryComponentTick.bCanEverTick = false; +} + + +// Called when the game starts +void ULuckyCustomMovementComponent::BeginPlay() +{ + Super::BeginPlay(); + if (UWorld* W = GetWorld()) + { + //Start draw path handle. Won't draw path if the bools are false, but will constantly run in case we want a user option to toggle it or something. + FTimerHandle Handle; + W->GetTimerManager().SetTimer(Handle,this,&ULuckyCustomMovementComponent::DrawPath,DrawPathDuration,true); + } + if (bAutoScalePathfindingVolume && GetPathfindingVolume() && IsValid(CurrentPathVolume) && !CurrentPathVolume->GenerateOnBeginPlay && IsValid(GetOwner())) + { + Actor = GetOwner(); + if (GetOwner()->GetClass()->ImplementsInterface(ULuckyMovement::StaticClass())) + { + if (AActor* Temp = ILuckyMovement::Execute_GetMovementProxy(GetOwner())) + { + //Set actor to movement proxy if we have a valid movement proxy. + Actor = Temp; + } + } + FVector Origin = FVector::ZeroVector; + FVector BoxExtent = FVector::ZeroVector; + Actor->GetActorBounds(true,Origin,BoxExtent,true); + CurrentPathVolume->AgentRadius = BoxExtent.X; + CurrentPathVolume->AgentHalfHeight = BoxExtent.Z; + CurrentPathVolume->VoxelSize = BoxExtent.X*2; + CurrentPathVolume->GenerateGraph(); + } +} + +// Called every frame +void ULuckyCustomMovementComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) +{ + Super::TickComponent(DeltaTime, TickType, ThisTickFunction); +} + +void ULuckyCustomMovementComponent::MoveToLocation(const FVector& TargetLocation, ACPathVolume* PathVolume, AActor* InOverrideActor) +{ + CurrentNodeIndex = 0; + CurrentTargetLocation = TargetLocation; + Actor = InOverrideActor; + if (!IsValid(Actor)) + { + //If we don't pass through an override actor we just default to GetOwner(). + Actor = GetOwner(); + } + if (IsValid(Actor)) + { + CurrentPathVolume = PathVolume; + //Find path dynamically if we pass through a nullptr. + if (!IsValid(CurrentPathVolume)) + { + GetPathfindingVolume(); + } + if (!IsValid(CurrentPathVolume)) + { + //If we still don't have a path do nothing. + return; + } + bFindingPath = true; + //Start the pathfinding request. + Request = UCPathAsyncFindPath::FindPathAsync(CurrentPathVolume,Actor->GetActorLocation() + LocationZOffset,TargetLocation + LocationZOffset, + PathfindingSmoothingPasses,PathfindingUserData,PathfindingTimeLimit); + Request->Failure.AddDynamic(this, &ULuckyCustomMovementComponent::PathfindingFailed); + Request->Success.AddDynamic(this, &ULuckyCustomMovementComponent::PathfindingSuccess); + Request->Activate(); + } +} + +ACPathVolume* ULuckyCustomMovementComponent::GetPathfindingVolume() +{ + if (!IsValid(Actor)) + { + UE_LOG(LogTemp, Warning, TEXT("GetPathfindingVolume: Actor is null")); + return nullptr; + } + + TArray FoundActors; + Actor->GetOverlappingActors(FoundActors, ACPathVolume::StaticClass()); + + for (AActor* Found : FoundActors) + { + if (ACPathVolume* PathVolume = Cast(Found)) + { + CurrentPathVolume = PathVolume; + break; + } + } + + return CurrentPathVolume; +} + +void ULuckyCustomMovementComponent::PathfindingSuccess(const TArray& Path, TEnumAsByte FailReason) +{ + PathBuffer = Path; + //If we have a valid path, run the movement logic. + if (bRecheckPath && PathRecheckRate > 0) + { + FTimerHandle Handle; + GetWorld()->GetTimerManager().SetTimer(Handle,this,&ULuckyCustomMovementComponent::RecheckPath,PathRecheckRate,false); + } + PerformMovement(); +} + +void ULuckyCustomMovementComponent::PathfindingFailed(const TArray& Path, TEnumAsByte FailReason) +{ + //If we don't have a path, retry if bool is set. + bFindingPath = false; + const FString DebugMessage = FString::Printf(TEXT("LuckyCustomMovementComponent::%s failed to find a path to location %s for reason: %d!"), *Actor->GetFName().ToString(), + *CurrentTargetLocation.ToString(), FailReason.GetValue()); + UE_LOG(LogTemp,Warning,TEXT("%s"),*DebugMessage); + if (GEngine) + { + GEngine->AddOnScreenDebugMessage(0,3.f,FColor::Red,DebugMessage); + } + if (bRetryPathfinding) + { + MoveToLocation(CurrentTargetLocation,CurrentPathVolume); + } + if (OnLuckyMovementFailed.IsBound()) + { + OnLuckyMovementFailed.Broadcast(this); + } + OnLuckyMovementFailedNative.ExecuteIfBound(this); +} + +void ULuckyCustomMovementComponent::RecheckPathfindingSuccess(const TArray& Path, TEnumAsByte FailReason) +{ + PathBuffer = Path; + CurrentNodeIndex = GetNextOptimalNode(0); + if (bRecheckPath && PathRecheckRate > 0) + { + FTimerHandle Handle; + GetWorld()->GetTimerManager().SetTimer(Handle,this,&ULuckyCustomMovementComponent::RecheckPath,PathRecheckRate,false); + } +} + +void ULuckyCustomMovementComponent::RecheckPathfindingFailed(const TArray& Path, TEnumAsByte FailReason) +{ + const FString DebugMessage = FString::Printf(TEXT("LuckyCustomMovementComponent::%s failed to recheck path to location %s for reason: %d!"), *Actor->GetFName().ToString(), + *CurrentTargetLocation.ToString(), FailReason.GetValue()); + UE_LOG(LogTemp,Warning,TEXT("%s"),*DebugMessage); + if (GEngine) + { + GEngine->AddOnScreenDebugMessage(0,3.f,FColor::Red,DebugMessage); + } +} + +int32 ULuckyCustomMovementComponent::GetNextOptimalNode(int32 InNodeIndex) const +{ + int32 BestIndex = CurrentNodeIndex; + if (PathBuffer.IsValidIndex(BestIndex) && IsValid(CurrentPathVolume) && IsValid(Actor)) + { + float BestDot = GetDotToNode(PathBuffer[BestIndex]); + bool bWasHit = false; + while (!bWasHit && BestIndex < PathBuffer.Num()-1) + { + const FCPathNode NodeCheck = PathBuffer[BestIndex+1]; + float CurrentDot = GetDotToNode(NodeCheck); + if (CurrentDot > BestDot) //If false, we already likely have the best dot. + { + FCollisionShape Shape; + Shape.MakeSphere(1.f); + FCollisionQueryParams Params; + FCollisionResponseParams Response; + Params.AddIgnoredActor(Actor); + FHitResult Hit; + bWasHit = GetWorld()->SweepSingleByChannel(Hit,Actor->GetActorLocation(),NodeCheck.WorldLocation,FQuat(),CurrentPathVolume->TraceChannel,Shape,Params,Response); + //Make sure that we aren't hitting something along this path. + if (!bWasHit) + { + //If we aren't then we have a better dot than the last one. + BestDot = CurrentDot; + BestIndex++; + //If we've reached the end of the path buffer then we need to return so we don't crash. + if (BestIndex >= PathBuffer.Num()-2) + { + return BestIndex; + } + } + } + return BestIndex; + } + return BestIndex; + } + return BestIndex; //Ensure we don't crash by returning the current best index which should likely be 0. +} + +float ULuckyCustomMovementComponent::GetDotToNode(const FCPathNode& CurrentNode) const +{ + if (IsValid(Actor)) + { + const FVector NormVelocity = Actor->GetVelocity().GetSafeNormal(); + const FVector NormDirection = (CurrentNode.WorldLocation - Actor->GetActorLocation()).GetSafeNormal(); + return FVector::DotProduct(NormVelocity,NormDirection); + } + return -1.f; +} + +void ULuckyCustomMovementComponent::DrawPath() +{ + if (bDrawPath && IsValid(CurrentPathVolume) && IsValid(Actor)) + { + CurrentPathVolume->DrawDebugPath(PathBuffer,DrawPathDuration,bDrawPathPoints,DebugPathColor); + if (bDrawDebugNodes) + { + CurrentPathVolume->DrawDebugNodesAroundLocation(Actor->GetActorLocation(),DebugNodesVoxelLimit, DrawNodesDuration); + } + } +} + +void ULuckyCustomMovementComponent::PerformMovement() +{ + //Start actual movement logic. + if (PathBuffer.IsValidIndex(CurrentNodeIndex)) + { + const FCPathNode CurrentNode = PathBuffer[CurrentNodeIndex]; + const FVector CurrentLocation = Actor->GetActorLocation() + LocationZOffset; + const FVector Target = CurrentNode.WorldLocation;// + LocationZOffset; + //Only move if we are not within the same octree. + if (FVector::Dist(Target,CurrentLocation) > NodeDistanceTolerance) + { + //Find input target direction. + CurrentInputVector = (Target-CurrentLocation); + CurrentInputVector.Normalize(); + //Construct movement algorithm. + ULuckyMovementAlgorithmBase* Algo = NewObject(MovementAlgorithm.LoadSynchronous()); + Algo->Init(Actor,CurrentInputVector); + //Broadcast event if bound. + if (OnLuckyMovementFinished.IsBound()) + { + OnLuckyMovementFinished.Broadcast(this,Algo); + } + OnLuckyMovementFinishedNative.ExecuteIfBound(this,Algo); + } + //Increment movement index and attempt to move to the next path node. + CurrentNodeIndex++; + if (CurrentNodeIndex < PathBuffer.Num() && bFindingPath) + { + FTimerHandle Handle; + GetWorld()->GetTimerManager().SetTimer(Handle,this,&ULuckyCustomMovementComponent::PerformMovement,NodeDistanceCheckRate,false); + return; + } + bFindingPath = false; + } +} + +void ULuckyCustomMovementComponent::RecheckPath() +{ + if (bRecheckPath && PathRecheckRate > 0 && bFindingPath && IsValid(CurrentPathVolume)) + { + //Start the pathfinding request. + Request = UCPathAsyncFindPath::FindPathAsync(CurrentPathVolume,Actor->GetActorLocation() + LocationZOffset,CurrentTargetLocation + LocationZOffset, + PathfindingSmoothingPasses,PathfindingUserData,PathfindingTimeLimit); + Request->Failure.AddDynamic(this, &ULuckyCustomMovementComponent::RecheckPathfindingFailed); + Request->Success.AddDynamic(this, &ULuckyCustomMovementComponent::RecheckPathfindingSuccess); + Request->Activate(); + } +} + diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Components/MujocoIKControllerComponent.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Components/MujocoIKControllerComponent.cpp new file mode 100644 index 00000000..f0d746ab --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Components/MujocoIKControllerComponent.cpp @@ -0,0 +1,112 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +// MujocoIKControllerComponent.cpp +#include "Components/MujocoIKControllerComponent.h" +#include "GameFramework/Actor.h" +#include "Kismet/KismetMathLibrary.h" + +void UMujocoIKControllerComponent::BeginPlay() +{ + Super::BeginPlay(); + PrimaryComponentTick.bCanEverTick = true; +} + +void UMujocoIKControllerComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) +{ + Super::TickComponent(DeltaTime, TickType, ThisTickFunction); +} + +void UMujocoIKControllerComponent::InitializeChain(UMujocoBodyComponent* Root, USceneComponent* InEndEffector) +{ + JointChain.Empty(); + EndEffector = InEndEffector; + + TArray Stack = { Root }; + + while (Stack.Num() > 0) + { + UMujocoBodyComponent* CurrentBody = Stack.Pop(); + + // Get joint components directly attached to this body + TArray Children; + CurrentBody->GetChildrenComponents(true, Children); + + for (USceneComponent* Child : Children) + { + if (auto* Joint = Cast(Child)) + { + FIKJoint IKJoint; + IKJoint.Joint = Joint; + IKJoint.Axis = Joint->Joint.Axis.GetValue(); + IKJoint.MinRange = Joint->Joint.Range.GetValue().X; + IKJoint.MaxRange = Joint->Joint.Range.GetValue().Y; + + // Find the actuator matching this joint + TArray Actuators; + CurrentBody->GetOwner()->GetComponents(Actuators); + + for (auto* Act : Actuators) + { + if (Act->Actuator.Joint == Joint->GetName()) + { + IKJoint.Actuator = Act; + break; + } + } + + if (IKJoint.Actuator) + { + JointChain.Add(IKJoint); + } + } + } + + // Add next level of child MujocoBodies to stack + for (USceneComponent* Child : Children) + { + if (UMujocoBodyComponent* ChildBody = Cast(Child)) + { + Stack.Add(ChildBody); + } + } + } +} + +void UMujocoIKControllerComponent::SolveIK(const FVector& TargetPosition, int32 Iterations, float Threshold) +{ + if (!EndEffector || JointChain.Num() == 0) + return; + + for (int32 Iter = 0; Iter < Iterations; ++Iter) + { + FVector EffectorPos = EndEffector->GetComponentLocation(); + if (FVector::Dist(EffectorPos, TargetPosition) < Threshold) + break; + + for (int32 i = JointChain.Num() - 1; i >= 0; --i) + { + FIKJoint& Joint = JointChain[i]; + FVector JointPos = Joint.Joint->GetComponentLocation(); + + FVector ToEffector = EffectorPos - JointPos; + FVector ToTarget = TargetPosition - JointPos; + + ToEffector.Normalize(); + ToTarget.Normalize(); + + FVector AxisWorld = Joint.Joint->GetComponentTransform().TransformVectorNoScale(Joint.Axis).GetSafeNormal(); + float Angle = FMath::Acos(FVector::DotProduct(ToEffector, ToTarget)); + FVector RotationAxis = FVector::CrossProduct(ToEffector, ToTarget).GetSafeNormal(); + + if (FVector::DotProduct(RotationAxis, AxisWorld) < 0) + Angle *= -1; + + //float CurrentAngle = Joint.Actuator->GetTargetPosition(); // You may need to track this manually + // float NewAngle = FMath::Clamp(CurrentAngle + Angle, Joint.MinRange, Joint.MaxRange); + // Joint.Actuator->SetControl(NewAngle); + + // EffectorPos = EndEffector->GetComponentLocation(); // Recompute after update + } + } +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Lib/LuckyWorldFunctions.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Lib/LuckyWorldFunctions.cpp new file mode 100644 index 00000000..2416e8c6 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Lib/LuckyWorldFunctions.cpp @@ -0,0 +1,116 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "Lib/LuckyWorldFunctions.h" +#include "EngineUtils.h" +#include "IImageWrapperModule.h" +#include "IImageWrapper.h" +#include "Modules/ModuleManager.h" +#include "Engine/TextureRenderTarget2D.h" +#include "Modules/ModuleManager.h" +#include "Misc/FileHelper.h" +#include "Engine/Texture2D.h" +#include "RenderUtils.h" + +APickAndPlaceManager* ULuckyWorldFunctions::GetPickAndPlaceManager(UObject* WorldContextObject) +{ + if (IsValid(WorldContextObject)) + { + for (TActorIterator Itr(WorldContextObject->GetWorld()); Itr; ++Itr) + { + return *Itr; + } + } + return nullptr; +} + +bool ULuckyWorldFunctions::SaveRenderTargetToDisk(UTextureRenderTarget2D* RenderTarget, const FString& Filename, bool bAsPNG, bool bFlipVertically) +{ + if (!IsValid(RenderTarget)) return false; + + FRenderTarget* RenderTargetResource = RenderTarget->GameThread_GetRenderTargetResource(); + TArray Bitmap; + RenderTargetResource->ReadPixels(Bitmap); + + if (Bitmap.Num() <= 0) return false; + + if (bFlipVertically) + { + for (int32 Row = 0; Row < RenderTarget->SizeY / 2; Row++) + { + int32 IndexA = Row * RenderTarget->SizeX; + int32 IndexB = (RenderTarget->SizeY - Row - 1) * RenderTarget->SizeX; + for (int32 Col = 0; Col < RenderTarget->SizeX; Col++) + { + Bitmap.SwapMemory(IndexA + Col, IndexB + Col); + } + } + } + + FString FullPath = FPaths::ProjectSavedDir() / TEXT("CapturedImages") / Filename; + FPaths::NormalizeFilename(FullPath); + IImageWrapperModule& ImageWrapperModule = FModuleManager::LoadModuleChecked(FName("ImageWrapper")); + EImageFormat Format = bAsPNG ? EImageFormat::PNG : EImageFormat::JPEG; + TSharedPtr ImageWrapper = ImageWrapperModule.CreateImageWrapper(Format); + + ImageWrapper->SetRaw(Bitmap.GetData(), Bitmap.GetAllocatedSize(), RenderTarget->SizeX, RenderTarget->SizeY, ERGBFormat::BGRA, 8); + const TArray64& ImageData = bAsPNG + ? ImageWrapper->GetCompressed(100) + : ImageWrapper->GetCompressed(75); + + return FFileHelper::SaveArrayToFile(ImageData, *FullPath); +} + +bool ULuckyWorldFunctions::SaveTextureToDisk(UTexture2D* Texture, const FString& Filename, bool bAsPNG, bool bFlipVertically) +{ + if (IsValid(Texture) || !Texture->GetPlatformData() || Texture->GetPlatformData()->Mips.Num() == 0) + { + return false; + } + + FTexture2DMipMap& Mip = Texture->GetPlatformData()->Mips[0]; + const void* Data = Mip.BulkData.LockReadOnly(); + + int32 Width = Mip.SizeX; + int32 Height = Mip.SizeY; + TArray Pixels; + Pixels.AddUninitialized(Width * Height); + + if (Texture->GetPlatformData()->PixelFormat == PF_B8G8R8A8) + { + FMemory::Memcpy(Pixels.GetData(), Data, Width * Height * sizeof(FColor)); + } + else + { + Mip.BulkData.Unlock(); + return false; + } + + Mip.BulkData.Unlock(); + + if (bFlipVertically) + { + for (int32 Row = 0; Row < Height / 2; Row++) + { + int32 IndexA = Row * Width; + int32 IndexB = (Height - Row - 1) * Width; + for (int32 Col = 0; Col < Width; Col++) + { + Pixels.SwapMemory(IndexA + Col, IndexB + Col); + } + } + } + + IImageWrapperModule& ImageWrapperModule = FModuleManager::LoadModuleChecked(FName("ImageWrapper")); + EImageFormat Format = bAsPNG ? EImageFormat::PNG : EImageFormat::JPEG; + TSharedPtr ImageWrapper = ImageWrapperModule.CreateImageWrapper(Format); + + ImageWrapper->SetRaw(Pixels.GetData(), Pixels.GetAllocatedSize(), Width, Height, ERGBFormat::BGRA, 8); + const TArray64& ImageData = bAsPNG + ? ImageWrapper->GetCompressed(100) + : ImageWrapper->GetCompressed(75); + + FString FullPath = FPaths::ProjectSavedDir() / TEXT("CapturedImages") / Filename; + FPaths::NormalizeFilename(FullPath); + return FFileHelper::SaveArrayToFile(ImageData, *FullPath); +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/FMujocoSimWorker.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/FMujocoSimWorker.cpp new file mode 100644 index 00000000..5bf45933 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Misc/FMujocoSimWorker.cpp @@ -0,0 +1,72 @@ +// MujocoSimWorker.cpp + +#include "Misc/FMujocoSimWorker.h" +#include "HAL/PlatformProcess.h" + +FMujocoSimWorker::FMujocoSimWorker(mjModel* InModel, mjData* InData, float InTimestep, + TArray* InPositions, TArray* InRotations, FCriticalSection* InLock) + : Model(InModel), Data(InData), Timestep(InTimestep), + Positions(InPositions), Rotations(InRotations), DataLock(InLock), bStopThread(false) +{ + Thread = FRunnableThread::Create(this, TEXT("FMujocoSimWorker"), 0, TPri_AboveNormal); + if (!Thread) + { + UE_LOG(LogTemp, Fatal, TEXT("Failed to create MuJoCo simulation thread!")); + } +} + +FMujocoSimWorker::~FMujocoSimWorker() +{ + if (Thread) + { + Thread->Kill(true); + delete Thread; + Thread = nullptr; + } +} + +bool FMujocoSimWorker::Init() +{ + return true; +} + +uint32 FMujocoSimWorker::Run() +{ + int NumBodies = Model->nbody; + + Positions->SetNum(NumBodies); + Rotations->SetNum(NumBodies); + + while (!bStopThread) + { + mj_step(Model, Data); + + // Lock the buffer + FScopeLock Lock(DataLock); + for (int i = 0; i < NumBodies; ++i) + { + mjtNum* Pos = Data->xpos + 3 * i; + mjtNum* Quat = Data->xquat + 4 * i; + + (*Positions)[i] = FVector(Pos[0], -Pos[1], Pos[2]) * 100.0f; + (*Rotations)[i] = FQuat(Quat[1], -Quat[2], Quat[3], -Quat[0]); + } + FPlatformProcess::Sleep(Timestep); + } + + return 0; +} + +void FMujocoSimWorker::Stop() +{ + bStopThread = true; +} + +void FMujocoSimWorker::EnsureCompletion() +{ + Stop(); + if (Thread) + { + Thread->WaitForCompletion(); + } +} diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/World/LLMWorldManager.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/World/LLMWorldManager.cpp new file mode 100644 index 00000000..aace47c2 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/World/LLMWorldManager.cpp @@ -0,0 +1,58 @@ +// Fill out your copyright notice in the Description page of Project Settings. + + +#include "World/LLMWorldManager.h" +#include "EngineUtils.h" +#include "Components/LightComponent.h" +#include "Engine/DirectionalLight.h" + +// Sets default values +ALLMWorldManager::ALLMWorldManager() +{ + // Set this actor to call Tick() every frame. You can turn this off to improve performance if you don't need it. + PrimaryActorTick.bCanEverTick = false; + +} + +// Called when the game starts or when spawned +void ALLMWorldManager::BeginPlay() +{ + Super::BeginPlay(); + TArray Lights; + for (TActorIterator Itr(GetWorld()); Itr; ++Itr) + { + DefaultLighting.Add(*Itr,Itr->GetLightComponent()->Intensity); + } +} + +// Called every frame +void ALLMWorldManager::Tick(float DeltaTime) +{ + Super::Tick(DeltaTime); + +} + +void ALLMWorldManager::ProcessLLMCommand_Implementation(const FString& Command) +{ + const FString CMD = Command.Replace(*CommandPrefix,*FString("")); + FString Left = ""; + FString Right = ""; + CMD.Split(" ", &Left, &Right); + + if (Left.IsEmpty() || Right.IsEmpty()) + { + return; + } + + if (Left == GlobalLightingCommandPrefix) + { + TArray Lights; + for (TActorIterator Itr(GetWorld()); Itr; ++Itr) + { + //Right == "0" ? 0 : DefaultLighting.FindRef(*Itr) + Itr->GetLightComponent()->SetIntensity(FCString::Atof(*Right)); + } + } + +} + diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/CameraSensorHandler.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/CameraSensorHandler.h new file mode 100644 index 00000000..cc8e4dea --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/CameraSensorHandler.h @@ -0,0 +1,61 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "UObject/Interface.h" + +#include "CameraSensorHandler.generated.h" + +// This class does not need to be modified. +UINTERFACE(MinimalAPI) +class UCameraSensorHandler : public UInterface +{ + GENERATED_BODY() +}; + +/** + * + */ +class LUCKYMUJOCO_API ICameraSensorHandler +{ + GENERATED_BODY() + + // Add interface functions to this class. This is the class that will be inherited to implement this interface. +public: + + /** + * @return - The array of camera sensors. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras") + TArray GetCameraSensors(); + + /** + * Spawn a camera sensor child actor component. + * NOTE::You will need to make sure you set the class in the AddChildActorComponent function or this will return a nullptr. + * @param Transform - The new transform to spawn the camera at. + * @param Value - The return index for the new camera in the array. + * @return - The spawned camera component. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras") + UChildActorComponent* AddCameraSensor(const FTransform& Transform, int32& Value); + + /** + * Move a camera to a new world transform at the given index. + * @param Transform - The new camera transform. + * @param Index - The index for the camera in the array. + * @return - True if valid index. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras") + bool UpdateCameraSensorTransform(const FTransform& Transform, int32 Index); + + /** + * Reset the camera to its original position. + * NOTE::The camera indexes need to be cached in the actor or it will fail. + * @param Index - The camera index. + * @return - True if valid index. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "Cameras") + bool ResetCameraSensorTransform(int32 Index); + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/LuckyMovement.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/LuckyMovement.h new file mode 100644 index 00000000..4610bbdc --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/LuckyMovement.h @@ -0,0 +1,59 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "Algo/LuckyMovementAlgorithmBase.h" +#include "UObject/Interface.h" +#include "GameplayTags.h" +#include "LuckyMovement.generated.h" + +// This class does not need to be modified. +UINTERFACE(MinimalAPI) +class ULuckyMovement : public UInterface +{ + GENERATED_BODY() +}; + +/** + * + */ +class LUCKYMUJOCO_API ILuckyMovement +{ + GENERATED_BODY() + + // Add interface functions to this class. This is the class that will be inherited to implement this interface. +public: + + /** + * If using a state tree, this interface will allow the state tree owner to run through the lucky movement scenario without needing to check for a new algo. + * @param Algo - The input algorithm. + * @return - Dummy value. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "LuckyMovement") + bool PerformLuckyMovement(ULuckyMovementAlgorithmBase* Algo); + + /** + * Return a movement proxy (i.e. the BP_Stretch property in the BP_mujokoStretch actor). + * This is a bit of a hacky solution for handling the proxy actors in the pawns. + * In the generic state tree implementation, if this property is nullptr we just use the context actor. + * @return - The movement proxy. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "LuckyMovement") + AActor* GetMovementProxy(); + + /** + * Return the target location that we are trying to move to. + * @return - The movement target location. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "LuckyMovement") + FVector GetMovementTargetLocation(); + + /** + * Return the state tree finished tag for movement. + * @return - The tag that we use to send finished event to state tree. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "LuckyMovement") + FGameplayTag GetMovementFinishedTag(); + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceManager.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceManager.h new file mode 100644 index 00000000..6ce7914d --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceManager.h @@ -0,0 +1,98 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "GameplayTagContainer.h" +#include "GameFramework/Actor.h" +#include "PickAndPlaceManager.generated.h" + +DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FOnPickAndPlaceTargetsUpdated, APickAndPlaceManager*, Manager); +DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FOnPickAndPlaceSuccess, APickAndPlaceManager*, Manager); + +UCLASS() +class LUCKYMUJOCO_API APickAndPlaceManager : public AActor +{ + GENERATED_BODY() + +public: + // Sets default values for this actor's properties + APickAndPlaceManager(); + + /** + * Notify pick and place has started. + */ + UPROPERTY(BlueprintAssignable,Category = "PickAndPlace") + FOnPickAndPlaceTargetsUpdated OnPickAndPlaceTargetsUpdated; + + /** + * Notify pick and place has succeeded. + */ + UPROPERTY(BlueprintAssignable,Category = "PickAndPlace") + FOnPickAndPlaceSuccess OnPickAndPlaceSuccess; + + /** + * The gameplay tag to send to the state tree to start pick and place. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category = "PickAndPlace") + FGameplayTag PickAndPlaceStartTag; + + /** + * The gameplay tag to send to the state tree to stop pick and place. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category = "PickAndPlace") + FGameplayTag PickAndPlaceSuccessTag; + + /** + * The actor tag that is required to consider an object entering the "box" to be a valid pick and place object. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category = "PickAndPlace") + FName PickAndPlaceTag; + +protected: + // Called when the game starts or when spawned + virtual void BeginPlay() override; + +public: + // Called every frame + virtual void Tick(float DeltaTime) override; + + /** + * Initialize the pick and place logic. + * @param StateTreeOwner - The owner of the state tree so we can send an event to the state tree to continue. + * @param TargetActor - The target to pick and place. + * @param PlaceArea - The area to place the target actor. + * @return - True if both target actor and place area are valid. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "PickAndPlace") + bool SetNewTarget(AActor* StateTreeOwner, AActor* TargetActor, AActor* PlaceArea); + + /** + * For now, this just broadcasts the event and sends a gameplay tag to the owner of the state tree, but more can be done here if needed. + * @param StateTreeOwner - The owner of the state tree so we can send an event to the state tree to continue. + * @return - Dummy value. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category = "PickAndPlace") + bool PickAndPlaceSuccess(AActor* StateTreeOwner); + + /** + * @return - CurrentTargetActor. + */ + UFUNCTION(BlueprintPure,Category = "PickAndPlace") + AActor* GetCurrentTargetActor() const; + + /** + * @return - CurrentPlaceArea. + */ + UFUNCTION(BlueprintPure,Category = "PickAndPlace") + AActor* GetCurrentPlaceArea() const; + +private: + + UPROPERTY() + AActor* CurrentTargetActor; + + UPROPERTY() + AActor* CurrentPlaceArea; + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceUser.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceUser.h new file mode 100644 index 00000000..3acc7faf --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/PickAndPlaceUser.h @@ -0,0 +1,43 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "UObject/Interface.h" + +#include "PickAndPlaceUser.generated.h" + +// This class does not need to be modified. +UINTERFACE(MinimalAPI) +class UPickAndPlaceUser : public UInterface +{ + GENERATED_BODY() +}; + +/** + * + */ +class LUCKYMUJOCO_API IPickAndPlaceUser +{ + GENERATED_BODY() + + // Add interface functions to this class. This is the class that will be inherited to implement this interface. +public: + + /** + * Set pick and place targets. + * @param PickAndPlaceTarget - The target to pick up. + * @param PickAndPlaceArea - The area to drop the location at. + * @return - True if both targets are valid. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category="PickAndPlaceUser") + bool SetPickAndPlaceTargets(AActor* PickAndPlaceTarget, AActor* PickAndPlaceArea); + + /** + * Tell the robot to place the target at the desired location. + * @return - True if both targets are valid. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category="PickAndPlaceUser") + bool PlaceTarget(); + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/Tasks/STT_PickAndPlace.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/Tasks/STT_PickAndPlace.h new file mode 100644 index 00000000..625a4bca --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/Tasks/STT_PickAndPlace.h @@ -0,0 +1,36 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "StateTreeTaskBase.h" +#include "StateTreeExecutionContext.h" +#include "Components/LuckyCustomMovementComponent.h" +#include "STT_PickAndPlace.generated.h" + +USTRUCT(BlueprintType) +struct FSTT_PickAndPlaceInstanceData +{ + GENERATED_BODY() + + UPROPERTY() + bool Dummy = false; +}; + +/** + * Basic pick and place. + */ +USTRUCT(BlueprintType, meta = (DisplayName = "Lucky Pick And Place")) +struct LUCKYMUJOCO_API FSTT_PickAndPlace : public FStateTreeTaskCommonBase + +{ + GENERATED_BODY() + +public: + + using FInstanceData = FSTT_PickAndPlaceInstanceData; + virtual const UStruct* GetInstanceDataType() const override {return FInstanceData::StaticStruct();} + + virtual EStateTreeRunStatus EnterState(FStateTreeExecutionContext& Context, const FStateTreeTransitionResult& Transition) const override; + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/Tasks/STT_RobotMoveTo.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/Tasks/STT_RobotMoveTo.h new file mode 100644 index 00000000..8b42e777 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/AI/Tasks/STT_RobotMoveTo.h @@ -0,0 +1,45 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "StateTreeTaskBase.h" +#include "StateTreeExecutionContext.h" +#include "Components/LuckyCustomMovementComponent.h" +#include "STT_RobotMoveTo.generated.h" + +USTRUCT(BlueprintType) +struct FSTT_RobotMoveToInstanceData +{ + GENERATED_BODY() + + UPROPERTY() + bool Dummy = false; +}; + +/** + * Basic move to using LuckyCustomMovementComponent. + */ +USTRUCT(BlueprintType, meta = (DisplayName = "Lucky Move To")) +struct LUCKYMUJOCO_API FSTT_RobotMoveTo : public FStateTreeTaskCommonBase + +{ + GENERATED_BODY() + +public: + + using FInstanceData = FSTT_RobotMoveToInstanceData; + virtual const UStruct* GetInstanceDataType() const override {return FInstanceData::StaticStruct();} + + virtual EStateTreeRunStatus EnterState(FStateTreeExecutionContext& Context, const FStateTreeTransitionResult& Transition) const override; + virtual EStateTreeRunStatus Tick(FStateTreeExecutionContext& Context, const float DeltaTime) const override; + +private: + + UPROPERTY() + mutable AActor* Actor = nullptr; + mutable bool bIsFinished = false; + void OnLuckyMovementFinished(ULuckyCustomMovementComponent* Component, ULuckyMovementAlgorithmBase* Algo) const; + void OnLuckyMovementFailed(ULuckyCustomMovementComponent* Component) const; + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h index 12b041e8..174f15e3 100644 --- a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h @@ -6,6 +6,7 @@ #include "Components/BillboardComponent.h" #include "Misc/MujocoWrapper.h" #include "Delegates/DelegateCombinations.h" +#include "Misc/FMujocoSimWorker.h" #include "MujocoVolumeActor.generated.h" class UMujocoBodyComponent; @@ -61,6 +62,18 @@ public: UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation", meta = (Min = 0, Max = 100, ClampMin = 0, ClampMax = 100)) int32 FrameSkip = 0; + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation") + bool bMultithreaded = true; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation") + bool bUpdatePositions = true; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation") + bool bUpdateBounds = true; + + UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Mujoco | Simulation") + bool bUpdateOverlaps = true; + UPROPERTY(EditDefaultsOnly, BlueprintReadWrite, Category = "Mujoco") TObjectPtr SpriteComponent; @@ -117,4 +130,12 @@ protected: virtual void BeginPlay() override; virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override; + +private: + TUniquePtr SimWorker; + FCriticalSection MujocoDataLock; + + TArray SimulatedPositions; + TArray SimulatedRotations; + }; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Algo/LuckyMovementAlgorithmBase.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Algo/LuckyMovementAlgorithmBase.h new file mode 100644 index 00000000..da5baf5b --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Algo/LuckyMovementAlgorithmBase.h @@ -0,0 +1,45 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "LuckyMovementAlgorithmBase.generated.h" + +/** + * An algorithm object that will convert a direction vector into left/right tire movement for the MuJoCo simulation. + * TODO::Make sure this algo works for drone movement as well. + */ +UCLASS(BlueprintType,Blueprintable) +class LUCKYMUJOCO_API ULuckyMovementAlgorithmBase : public UObject +{ + + GENERATED_BODY() + +public: + ULuckyMovementAlgorithmBase(); + ~ULuckyMovementAlgorithmBase(); + + /** + * Solve for left/right wheels. + * @param Left - The return left wheel torque. + * @param Right - The return right wheel torque. + */ + UFUNCTION(BlueprintCallable, BlueprintNativeEvent, Category = "Algo") + void SolveForLeftRight(float& Left, float& Right); + + /** + * Base initialization function. + * @param InInputVector - The input vector that we store. + */ + UFUNCTION(BlueprintCallable,BlueprintNativeEvent,Category="Algo") + void Init(AActor* InOwningActor, const FVector& InInputVector); + +private: + + UPROPERTY() + AActor* OwningActor; + + UPROPERTY() + FVector CurrentInputVector; + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Components/LuckyCustomMovementComponent.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Components/LuckyCustomMovementComponent.h new file mode 100644 index 00000000..84445f35 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Components/LuckyCustomMovementComponent.h @@ -0,0 +1,259 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "CPathFindPath.h" +#include "Components/ActorComponent.h" +#include "CPathVolume.h" +#include "Algo/LuckyMovementAlgorithmBase.h" +#include "LuckyCustomMovementComponent.generated.h" + +DECLARE_DYNAMIC_MULTICAST_DELEGATE_TwoParams(FOnLuckyMovementFinished, ULuckyCustomMovementComponent*, Component, ULuckyMovementAlgorithmBase*, Algo); +DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FOnLuckyMovementFailed, ULuckyCustomMovementComponent*, Component); +DECLARE_DELEGATE_TwoParams(FOnLuckyMovementFinishedNative, ULuckyCustomMovementComponent*, ULuckyMovementAlgorithmBase*); +DECLARE_DELEGATE_OneParam(FOnLuckyMovementFailedNative, ULuckyCustomMovementComponent*); + +/** + * Custom movement component that uses the CPathfinding plugin. + * To use the component, call MoveToLocation and pass through your target location. + * When movement is completed OnLuckyMovementFinished will be broadcast with a pointer to the LuckyMovementAlgorithmBase object. + * When the delegate is broadcast, just call the Solve function that you need from the Algo object when the delegate fires and pass the values into the MuJoCo system. + */ +UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) ) +class LUCKYMUJOCO_API ULuckyCustomMovementComponent : public UActorComponent +{ + GENERATED_BODY() + +public: + // Sets default values for this component's properties + ULuckyCustomMovementComponent(); + + /** + * Notify that movement has finished. + * @return Component - The component that called the delegate. I like to do this to make it easier to reference if needed. + * @return Algo - The constructed algorithm that will store the property reference. You can take this reference and call your desired solve function to return the values you need. + */ + UPROPERTY(BlueprintAssignable,Category = "Movement") + FOnLuckyMovementFinished OnLuckyMovementFinished; + + /** + * Notify that movement has failed. + * @return Component - The component that called the delegate. I like to do this to make it easier to reference if needed. + */ + UPROPERTY(BlueprintAssignable,Category = "Movement") + FOnLuckyMovementFailed OnLuckyMovementFailed; + + FOnLuckyMovementFinishedNative OnLuckyMovementFinishedNative; + FOnLuckyMovementFailedNative OnLuckyMovementFailedNative; + + /** + * The movement algorithm for converting the final input vector to a usable left/right torque for the MuJoCo simulation. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + TSoftClassPtr MovementAlgorithm; + + /** + * If true, we scale the volume on begin play. + * If you do this, you need to make sure the volume does not generate itself on play or you will run into major performance issues. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + bool bAutoScalePathfindingVolume = false; + + /** + * If true, we try to find a path if the failed delegate fires. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + bool bRetryPathfinding = true; + + /** + * If true, we will run another pathfinding task in parallel with the PerformMovement() function to make sure we have the best path buffer. + * WARNING::This is dangerous if you are running pathfinding at a constant interval. + * Only set this value if you are running this once between waypoints. + * For example, if this is running on tick, set this to false, but if we are running this in the state tree then it should be fine since the state runs to completion. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + bool bRecheckPath = true; + + /** + * If true, we will draw our current path to the next node. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement|Debug") + bool bDrawPath = true; + + /** + * If true, we will draw our current path points to the next node. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement|Debug") + bool bDrawPathPoints = true; + + /** + * If true, we will draw debug nodes around the Actor location. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement|Debug") + bool bDrawDebugNodes = true; + + /** + * Determines how many times we re-run pathfinding to find the most optimal path. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + int32 PathfindingSmoothingPasses = 5; + + /** + * User data to help with filtering multiple objects. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + int32 PathfindingUserData = 0; + + /** + * The maximum amount of voxels we draw if debugging. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement|Debug") + int32 DebugNodesVoxelLimit = 600; + + /** + * Determines frequently we recheck the current path. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + float PathRecheckRate = 0.5f; + + /** + * Determines how long we have until we "time out" when finding a new path. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + float PathfindingTimeLimit = 0.2f; + + /** + * Determines how far two nodes have to be considered for movement. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + float NodeDistanceTolerance = 60.f; + + /** + * Determines how fast we check out node buffer when building our path. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + float NodeDistanceCheckRate = 0.02f; + + /** + * Determines long our path debug lasts on screen. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement|Debug") + float DrawPathDuration = 0.2f; + + /** + * Determines long our node debug lasts on screen. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement|Debug") + float DrawNodesDuration = 0.2f; + + /** + * The color of our debug path + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement|Debug") + FColor DebugPathColor = FColor::Green; + + /** + * In some cases we might need a Z offset for pathfinding. + * TODO::Find out why this is happening. + */ + UPROPERTY(EditAnywhere,BlueprintReadWrite,Category="Movement") + FVector LocationZOffset = FVector(0.f,0.f,128.f); + +protected: + // Called when the game starts + virtual void BeginPlay() override; + +public: + // Called every frame + virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override; + + /** + * Move to the desired location. + * @param TargetLocation - The location we want to move to. + * @param PathVolume - The path volume we use to compute navigation. If nullptr, we find a path volume that is overlapping the owner pawn. + */ + UFUNCTION(BlueprintCallable,Category = "Movement") + void MoveToLocation(const FVector& TargetLocation, ACPathVolume* PathVolume = nullptr, AActor* InOverrideActor = nullptr); + + UFUNCTION(BlueprintPure,Category = "Movement|Getters") + TArray GetPathBuffer() const{ return PathBuffer;} + + UFUNCTION(BlueprintPure,Category = "Movement|Getters") + ACPathVolume* GetCurrentPathVolume() const{ return CurrentPathVolume; } + + UFUNCTION(BlueprintPure,Category = "Movement|Getters") + ACPathVolume* GetPathfindingVolume(); + + UFUNCTION(BlueprintPure,Category = "Movement|Getters") + AActor* GetActor() const{ return Actor;} + + UFUNCTION(BlueprintPure,Category = "Movement|Getters") + UCPathAsyncFindPath* GetRequest() const{ return Request;} + + UFUNCTION(BlueprintPure,Category = "Movement|Getters") + bool FindingPath() const{ return bFindingPath;} + + UFUNCTION(BlueprintPure,Category = "Movement|Getters") + int32 GetCurrentNodeIndex() const{ return CurrentNodeIndex;} + + UFUNCTION(BlueprintPure,Category = "Movement|Getters") + FVector GetCurrentInputVector() const{ return CurrentInputVector;} + + UFUNCTION(BlueprintPure,Category = "Movement|Getters") + FVector GetCurrentTargetLocation() const{ return CurrentTargetLocation;} + +private: + + UFUNCTION() + void PathfindingSuccess(const TArray& Path, TEnumAsByte FailReason); + + UFUNCTION() + void PathfindingFailed(const TArray& Path, TEnumAsByte FailReason); + + UFUNCTION() + void RecheckPathfindingSuccess(const TArray& Path, TEnumAsByte FailReason); + + UFUNCTION() + void RecheckPathfindingFailed(const TArray& Path, TEnumAsByte FailReason); + + UFUNCTION() + int32 GetNextOptimalNode(int32 InNodeIndex) const; + + UFUNCTION() + float GetDotToNode(const FCPathNode& CurrentNode) const; + + UFUNCTION() + void DrawPath(); + + UFUNCTION() + void PerformMovement(); + + UFUNCTION() + void RecheckPath(); + + UPROPERTY() + TArray PathBuffer; + + UPROPERTY() + ACPathVolume* CurrentPathVolume; + + UPROPERTY() + AActor* Actor; + + UPROPERTY() + UCPathAsyncFindPath* Request; + + UPROPERTY() + bool bFindingPath = false; + + UPROPERTY() + int32 CurrentNodeIndex = 0; + + UPROPERTY() + FVector CurrentInputVector = FVector::ZeroVector; + + UPROPERTY() + FVector CurrentTargetLocation = FVector::ZeroVector; + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Components/MujocoIKControllerComponent.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Components/MujocoIKControllerComponent.h new file mode 100644 index 00000000..e742d649 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Components/MujocoIKControllerComponent.h @@ -0,0 +1,54 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "Components/ActorComponent.h" +#include "MujocoJointComponent.h" +#include "MujocoActuatorComponent.h" +#include "MujocoBodyComponent.h" +#include "MujocoIKControllerComponent.generated.h" + + +USTRUCT() +struct FIKJoint +{ + GENERATED_BODY() + + UPROPERTY() + UMujocoJointComponent* Joint; + + UPROPERTY() + UMujocoActuatorComponent* Actuator; + + UPROPERTY() + FVector Axis; + + float MinRange; + float MaxRange; +}; + +UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) ) +class LUCKYMUJOCO_API UMujocoIKControllerComponent : public UActorComponent +{ + GENERATED_BODY() + +protected: + // Called when the game starts + virtual void BeginPlay() override; + +public: + // Called every frame + virtual void TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override; + + UFUNCTION(BlueprintCallable) + void InitializeChain(UMujocoBodyComponent* Root, USceneComponent* EndEffector); + + UFUNCTION(BlueprintCallable) + void SolveIK(const FVector& TargetPosition, int32 Iterations = 10, float Threshold = 1.0f); + +private: + TArray JointChain; + USceneComponent* EndEffector; + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Lib/LuckyWorldFunctions.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Lib/LuckyWorldFunctions.h new file mode 100644 index 00000000..0e11810d --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Lib/LuckyWorldFunctions.h @@ -0,0 +1,50 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "AI/PickAndPlaceManager.h" +#include "Kismet/BlueprintFunctionLibrary.h" +#include "LuckyWorldFunctions.generated.h" + +/** + * + */ +UCLASS() +class LUCKYMUJOCO_API ULuckyWorldFunctions : public UBlueprintFunctionLibrary +{ + GENERATED_BODY() + +public: + + /** + * Get the pick and place manager. + * @param WorldContextObject - The world context owner. + * @return - The first pick and place manager. + */ + UFUNCTION(BlueprintCallable,Category = "LuckyWorld|PickAndPlace", meta = (WorldContext = "WorldContextObject")) + static APickAndPlaceManager* GetPickAndPlaceManager(UObject* WorldContextObject); + + /** + * Save a render target (texture target from scene capture component 2D) to disk. + * @param RenderTarget - The render target to save to disk. + * @param Filename - The path for the file. + * @param bAsPNG - If true, we write as a png. + * @param bFlipVertically - If true, we will flip the pixels. + * @return - True if saved. + */ + UFUNCTION(BlueprintCallable,Category = "LuckyWorld|Utils|Images") + static bool SaveRenderTargetToDisk(UTextureRenderTarget2D* RenderTarget, const FString& Filename, bool bAsPNG = true, bool bFlipVertically = false); + + /** + * Save a texture to disk. + * @param Texture - The texure to save to disk. + * @param Filename - The path for the file. + * @param bAsPNG - If true, we write as a png. + * @param bFlipVertically - If true, we will flip the pixels. + * @return - True if saved. + */ + UFUNCTION(BlueprintCallable,Category = "LuckyWorld|Utils|Images") + static bool SaveTextureToDisk(UTexture2D* Texture, const FString& Filename, bool bAsPNG = true, bool bFlipVertically = true); + +}; diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/FMujocoSimWorker.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/FMujocoSimWorker.h new file mode 100644 index 00000000..a4299d18 --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Misc/FMujocoSimWorker.h @@ -0,0 +1,34 @@ +// MujocoSimWorker.h + +#pragma once + +#include "CoreMinimal.h" +#include "HAL/Runnable.h" +#include "HAL/ThreadSafeBool.h" +#include + +class FMujocoSimWorker : public FRunnable +{ +public: + FMujocoSimWorker(mjModel* InModel, mjData* InData, float InTimestep, + TArray* InPositions, TArray* InRotations, FCriticalSection* InLock); + virtual ~FMujocoSimWorker(); + + virtual bool Init() override; + virtual uint32 Run() override; + virtual void Stop() override; + + void EnsureCompletion(); + +private: + FThreadSafeBool bStopThread; + FRunnableThread* Thread; + + mjModel* Model; + mjData* Data; + float Timestep; + TArray* Positions; + TArray* Rotations; + FCriticalSection* DataLock; +}; + diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/World/LLMWorldManager.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/World/LLMWorldManager.h new file mode 100644 index 00000000..1c33decb --- /dev/null +++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/World/LLMWorldManager.h @@ -0,0 +1,40 @@ +// Fill out your copyright notice in the Description page of Project Settings. + +#pragma once + +#include "CoreMinimal.h" +#include "Engine/DirectionalLight.h" +#include "GameFramework/Actor.h" +#include "LLMWorldManager.generated.h" + +UCLASS(BlueprintType,Blueprintable) +class LUCKYMUJOCO_API ALLMWorldManager : public AActor +{ + GENERATED_BODY() + +public: + // Sets default values for this actor's properties + ALLMWorldManager(); + + UPROPERTY(EditAnywhere,BlueprintReadWrite) + FString CommandPrefix = "World:"; + + UPROPERTY(EditAnywhere,BlueprintReadWrite) + FString GlobalLightingCommandPrefix = "Lighting"; + +protected: + // Called when the game starts or when spawned + virtual void BeginPlay() override; + +public: + // Called every frame + virtual void Tick(float DeltaTime) override; + + UFUNCTION(BlueprintCallable,BlueprintNativeEvent) + void ProcessLLMCommand(const FString& Command); + +private: + + TMap DefaultLighting; + +}; diff --git a/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor.modules b/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor.modules new file mode 100644 index 00000000..296a600d --- /dev/null +++ b/Plugins/LuckyTextWrite/Binaries/Win64/UnrealEditor.modules @@ -0,0 +1,7 @@ +{ + "BuildId": "827e4aed-aff1-4853-85bd-51def0d581c9", + "Modules": + { + "LuckyTextWrite": "UnrealEditor-LuckyTextWrite.dll" + } +} \ No newline at end of file diff --git a/Plugins/Marketplace/FSR3-550/FSR3/Binaries/Win64/UnrealEditor-FFXD3D12.dll b/Plugins/Marketplace/FSR3-550/FSR3/Binaries/Win64/UnrealEditor-FFXD3D12.dll index ae25c292..f4c20c79 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b/SourceFiles/mujoco_menagerie-main/.github/ISSUE_TEMPLATE/bug_report.md @@ -0,0 +1,14 @@ +--- +name: Bug report +about: Create a report to help us improve model quality +title: '' +labels: bug +assignees: '' + +--- + +**Which model is the issue affecting?** + +**What is the issue?** + +**Is there any additional context you can provide (e.g., a spec sheet or a URDF to show a value mismatch)?** diff --git a/SourceFiles/mujoco_menagerie-main/.github/ISSUE_TEMPLATE/model_addition.md b/SourceFiles/mujoco_menagerie-main/.github/ISSUE_TEMPLATE/model_addition.md new file mode 100644 index 00000000..5a021149 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/.github/ISSUE_TEMPLATE/model_addition.md @@ -0,0 +1,18 @@ +--- +name: Model Addition +about: Adding a new model to the Menagerie collection +title: '' +labels: new-model +assignees: '' + +--- + +If you would like to see a new model added to the Menagerie collection, please provide us with the following information _before_ sending a pull request. (Ideally, before you start working on converting or tuning the model for MuJoCo.) + +**URL for the existing model source (e.g. URDF)** + +**License terms of the upstream model** + +**What do you think is required to convert and tune this model for MuJoCo?** + +**Are you proposing to help develop and maintain the new model?** diff --git a/SourceFiles/mujoco_menagerie-main/.github/workflows/build.yml b/SourceFiles/mujoco_menagerie-main/.github/workflows/build.yml new file mode 100644 index 00000000..4867bf03 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/.github/workflows/build.yml @@ -0,0 +1,28 @@ +name: build + +on: + push: + branches: [main] + pull_request: + branches: [main] + +jobs: + build: + runs-on: ubuntu-latest + strategy: + matrix: + python-version: ["3.11"] + + steps: + - uses: actions/checkout@v2 + - name: Set up Python ${{ matrix.python-version }} + uses: actions/setup-python@v1 + with: + python-version: ${{ matrix.python-version }} + - name: Install dependencies + run: | + python -m pip install --upgrade pip + pip install -r test/requirements.txt + - name: Test with pytest + run: | + pytest -n auto diff --git a/SourceFiles/mujoco_menagerie-main/CITATION.cff b/SourceFiles/mujoco_menagerie-main/CITATION.cff new file mode 100644 index 00000000..4e54d5a9 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/CITATION.cff @@ -0,0 +1,10 @@ +cff-version: 1.2.0 +message: "If you use this software, please cite it as below." +authors: + - family-names: Zakka + given-names: Kevin + - family-names: Tassa + given-names: Yuval + - name: "MuJoCo Menagerie Contributors" +title: "MuJoCo Menagerie: A collection of high-quality simulation models for MuJoCo" +date-released: 2022-09-07 diff --git a/SourceFiles/mujoco_menagerie-main/CONTRIBUTING.md b/SourceFiles/mujoco_menagerie-main/CONTRIBUTING.md new file mode 100644 index 00000000..a872b8ad --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/CONTRIBUTING.md @@ -0,0 +1,77 @@ +# Contributing to Menagerie + +We want Menagerie to be a true community-driven effort that continuously +improves and grows over time for the benefit of the entire research community. +As such, we welcome contributions that: + +- Fix issues with an existing model +- Improve the realism of a model (e.g. via + [system identification](https://en.wikipedia.org/wiki/System_identification)) +- Add an entirely new model + +Note that Menagerie follows [Google's Open Source Community Guidelines](https://opensource.google/conduct/). + +## How to contribute + +Whether you want to fix an issue with an existing model, improve it, or add a +completely new model, please get in touch with us first (ideally _before_ +starting work if it's something major) by opening a new +[issue](https://github.com/google-deepmind/mujoco_menagerie/issues). +Coordinating up front makes it much easier to avoid frustration later on. + +Once we reach an agreement on the proposed change, please submit a +[pull request](https://github.com/google-deepmind/mujoco_menagerie/pulls) (PR) +so that we can review your implementation. + +## XML Style + +You can browse existing models to get a general sense of the style we adopt for +our MJCF (XML) files. In no particular order, we try to adhere to the following +guidelines: + +- Use 2-space indentation +- Make generous use of default classes to reduce redundancies in the kinematic + tree +- Preserve attribute ordering: compiler, asset and default class definitions + first, then worldbody and actuators, etc. +- Always have a `scene.xml` that includes the model + +Furthermore, we automatically format our XMLs in [Visual Studio Code](https://code.visualstudio.com/) +using the [XML Language Support by Red Hat](https://marketplace.visualstudio.com/items?itemName=redhat.vscode-xml) +extension. Once installed, you will need to edit its settings as follows: + +- View > Command Palette > `Preferences: Open User Settings` +- Search for XML +- `Enforce quote style` → preferred +- `Max line width` → 120 +- `Preserve attribute line breaks` → toggle OFF +- `Xml › Format: Space Before Empty Close Tag` → toggle OFF + +Once installed, you can format an XML file by opening the command palette and +executing `Format Document`. + +## Unit Tests + +Before submitting your PR, you can test your change locally by invoking pytest: + +```bash +pytest test/ +``` + +This same test will run on GitHub CI once you open your PR. Currently, +`model_test.py` simply simulates each robot for a fixed duration of time and +checks that no simulation instabilities occur. In the future, we will likely add +more tests that check for model realism (e.g., that a trajectory in real matches +one in simulation). + +## Contributor License Agreement + +Contributions to this project must be accompanied by a Contributor License +Agreement (CLA). You (or your employer) retain the copyright to your +contribution; this simply gives us permission to use and redistribute your +contributions as part of the project. Head over to +to see your current agreements on file or to sign a new one. + +You generally only need to submit a CLA once, so if you've already submitted one +(even if it was for a different project), you probably don't need to do it +again. diff --git a/SourceFiles/mujoco_menagerie-main/FAQ.md b/SourceFiles/mujoco_menagerie-main/FAQ.md new file mode 100644 index 00000000..d8ed3a24 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/FAQ.md @@ -0,0 +1,49 @@ +# Frequently Asked Questions + +## How do I attach a hand to an arm? + +In Menagerie, the convention is to add a site called `"attachment_site"` to each +arm. This site can subsequently be used to rigidly attach an end-effector, +like a gripper, to the arm. + +If you are using +[PyMJCF](https://github.com/google-deepmind/dm_control/tree/main/dm_control/mjcf), +you can use the following code snippet to do this. Any `qpos` or `ctrl` +keyframes defined in the arm will be automatically modified to account for the +added degrees of freedom. + +```python +def attach_hand_to_arm( + arm_mjcf: mjcf.RootElement, + hand_mjcf: mjcf.RootElement, +) -> None: + """Attaches a hand to an arm. + + The arm must have a site named "attachment_site". + + Args: + arm_mjcf: The mjcf.RootElement of the arm. + hand_mjcf: The mjcf.RootElement of the hand. + + Raises: + ValueError: If the arm does not have a site named "attachment_site". + """ + physics = mjcf.Physics.from_mjcf_model(hand_mjcf) + + attachment_site = arm_mjcf.find("site", "attachment_site") + if attachment_site is None: + raise ValueError("No attachment site found in the arm model.") + + # Expand the ctrl and qpos keyframes to account for the new hand DoFs. + arm_key = arm_mjcf.find("key", "home") + if arm_key is not None: + hand_key = hand_mjcf.find("key", "home") + if hand_key is None: + arm_key.ctrl = np.concatenate([arm_key.ctrl, np.zeros(physics.model.nu)]) + arm_key.qpos = np.concatenate([arm_key.qpos, np.zeros(physics.model.nq)]) + else: + arm_key.ctrl = np.concatenate([arm_key.ctrl, hand_key.ctrl]) + arm_key.qpos = np.concatenate([arm_key.qpos, hand_key.qpos]) + + attachment_site.attach(hand_mjcf) +``` diff --git a/SourceFiles/mujoco_menagerie-main/LICENSE b/SourceFiles/mujoco_menagerie-main/LICENSE new file mode 100644 index 00000000..a100c210 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/LICENSE @@ -0,0 +1,5018 @@ +================================================================================ +License for contents in the directory 'agilex_piper/' +================================================================================ + +MIT License + +Copyright (c) 2024 RosenYin + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 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You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'boston_dynamics_spot/' +================================================================================ + +BSD 3-Clause License + +Copyright (c) 2021, Clearpath Robotics Inc. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + +================================================================================ +License for contents in the directory 'flybody/' +================================================================================ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'franka_emika_panda/' +================================================================================ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + +================================================================================ +License for contents in the directory 'franka_fr3/' +================================================================================ + + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + + +---------------------------- + + + + Software License Agreement (BSD License) + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions + are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above + copyright notice, this list of conditions and the following + disclaimer in the documentation and/or other materials provided + with the distribution. + * Neither the name of Willow Garage, Inc. nor the names of its + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. + + +================================================================================ +License for contents in the directory 'google_barkour_v0/' +================================================================================ + + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'google_barkour_vb/' +================================================================================ + + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'google_robot/' +================================================================================ + + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'hello_robot_stretch/' +================================================================================ + +The Clear BSD License + +Copyright (c) 2022 Hello Robot Inc. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted (subject to the limitations in the disclaimer +below) provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from this + software without specific prior written permission. + +NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY +THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND +CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A +PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR +BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. + + +================================================================================ +License for contents in the directory 'hello_robot_stretch_3/' +================================================================================ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "{}" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright (c) 2020-2024, Hello Robot Inc. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'kinova_gen3/' +================================================================================ + +Copyright (c) 2018, Kinova inc. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + +================================================================================ +License for contents in the directory 'kuka_iiwa_14/' +================================================================================ + +All components of Drake are licensed under the BSD 3-Clause License +shown below. Where noted in the source code, some portions may +be subject to other permissive, non-viral licenses. + +Copyright 2012-2022 Robot Locomotion Group @ CSAIL +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are +met: + +Redistributions of source code must retain the above copyright notice, +this list of conditions and the following disclaimer. Redistributions +in binary form must reproduce the above copyright notice, this list of +conditions and the following disclaimer in the documentation and/or +other materials provided with the distribution. Neither the name of +the Massachusetts Institute of Technology nor the names of its +contributors may be used to endorse or promote products derived from +this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + +================================================================================ +License for contents in the directory 'leap_hand/' +================================================================================ + +Copyright 2023 Ananye Agarwal + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 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. + + +================================================================================ +License for contents in the directory 'pal_talos/' +================================================================================ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + +================================================================================ +License for contents in the directory 'pal_tiago/' +================================================================================ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'pal_tiago_dual/' +================================================================================ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'realsense_d435i/' +================================================================================ + + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2023 Intel Corporation. All Rights Reserved. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'rethink_robotics_sawyer/' +================================================================================ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "{}" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright (c) 2013-2018, Rethink Robotics Inc. + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'robotiq_2f85/' +================================================================================ + +Copyright (c) 2013, ROS-Industrial +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + Redistributions in binary form must reproduce the above copyright notice, this + list of conditions and the following disclaimer in the documentation and/or + other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON +ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + +================================================================================ +License for contents in the directory 'robotiq_2f85_v4/' +================================================================================ + +Copyright (c) 2013, ROS-Industrial +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + Redistributions in binary form must reproduce the above copyright notice, this + list of conditions and the following disclaimer in the documentation and/or + other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR +ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON +ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + +================================================================================ +License for contents in the directory 'robotis_op3/' +================================================================================ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "{}" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright {yyyy} {name of copyright owner} + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'shadow_dexee/' +================================================================================ + + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2022 Shadow Robot Company Ltd + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'shadow_hand/' +================================================================================ + + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2022 Shadow Robot Company Ltd + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + + +================================================================================ +License for contents in the directory 'skydio_x2/' +================================================================================ + + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. 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+ MuJoCo Menagerie +

+ +

+ + + + + + + + PRs + +

+ +**Menagerie** is a collection of high-quality models for the +[MuJoCo](https://github.com/google-deepmind/mujoco) physics engine, curated by +Google DeepMind. + +A physics simulator is only as good as the model it is simulating, and in a +powerful simulator like MuJoCo with many modeling options, it is easy to create +"bad" models which do not behave as expected. The goal of this collection is to +provide the community with a curated library of well-designed models that work +well right out of the gate. + +### Gallery + +|||||| +| :---: | :---: | :---: | :---: | :---: | +|||||| +|||||| +|||||| +|||||| +|||||| +|||||| +|||||| + +- [Getting Started](#getting-started) + - [Prerequisites](#prerequisites) + - [Overview](#overview) + - [Usage](#usage) + - [Via `robot-descriptions`](#via-robot-descriptions) + - [Via `git clone`](#via-git-clone) +- [Model Quality and Contributing](#model-quality-and-contributing) +- [Menagerie Models](#menagerie-models) +- [Citing Menagerie](#citing-menagerie) +- [Acknowledgments](#acknowledgments) +- [License and Disclaimer](#license-and-disclaimer) + +## Getting Started + +### Prerequisites + +The minimum required MuJoCo version for each model is specified in its +respective README. You can download prebuilt binaries for MuJoCo from the GitHub +[releases page](https://github.com/google-deepmind/mujoco/releases/), or if you +are working with Python, you can install the native bindings from +[PyPI](https://pypi.org/project/mujoco/) via `pip install mujoco`. For +alternative installation instructions, see +[here](https://github.com/google-deepmind/mujoco#installation). + +### Overview + +The structure of Menagerie is illustrated below. For brevity, we have only +included one model directory since all others follow the exact same pattern. + +```bash +├── unitree_go2 +│   ├── assets +│   │   ├── base_0.obj +│   │   ├── ... +│   ├── go2.png +│   ├── go2.xml +│   ├── LICENSE +│   ├── README.md +│   └── scene.xml +│   └── go2_mjx.xml +│   └── scene_mjx.xml +``` + +- `assets`: stores the 3D meshes (.stl or .obj) of the model used for visual and + collision purposes +- `LICENSE`: describes the copyright and licensing terms of the model +- `README.md`: contains detailed steps describing how the model's MJCF XML file + was generated +- `.xml`: contains the MJCF definition of the model +- `scene.xml`: includes `.xml` with a plane, a light source and + potentially other objects +- `.png`: a PNG image of `scene.xml` +- `_mjx.xml`: contains an MJX-compatible version of the model. Not all + models have an MJX variant (see [Menagerie Models](#menagerie-models) for more + information). +- `scene_mjx.xml`: same as `scene.xml` but loads the MJX variant + +Note that `.xml` solely describes the model, i.e., no other entity is +defined in the kinematic tree. We leave additional body definitions for the +`scene.xml` file, as can be seen in the Shadow Hand +[`scene.xml`](shadow_hand/scene_right.xml). + +### Usage + +#### Via `robot-descriptions` + +You can use the opensource +[`robot_descriptions`](https://github.com/robot-descriptions/robot_descriptions.py) +package to load any model in Menagerie. It is available on PyPI and can be +installed via `pip install robot_descriptions`. + +Once installed, you can load a model of your choice as follows: + +```python +import mujoco + +# Loading a specific model description as an imported module. +from robot_descriptions import panda_mj_description +model = mujoco.MjModel.from_xml_path(panda_mj_description.MJCF_PATH) + +# Directly loading an instance of MjModel. +from robot_descriptions.loaders.mujoco import load_robot_description +model = load_robot_description("panda_mj_description") + +# Loading a variant of the model, e.g. panda without a gripper. +model = load_robot_description("panda_mj_description", variant="panda_nohand") +``` + +#### Via `git clone` + +You can also directly clone this repository in the directory of your choice: + +```bash +git clone https://github.com/google-deepmind/mujoco_menagerie.git +``` + +You can then interactively explore the model using the Python viewer: + +```bash +python -m mujoco.viewer --mjcf mujoco_menagerie/unitree_go2/scene.xml +``` + +If you have further questions, please check out our [FAQ](FAQ.md). + +## Model Quality and Contributing + +Our goal is to eventually make all Menagerie models as faithful as possible to +the real system they are being modeled after. Improving model quality is an +ongoing effort, and the current state of many models is not necessarily +as good as it could be. + +However, by releasing Menagerie in its current state, we hope to consolidate +and increase visibility for community contributions. To help Menagerie users +set proper expectations around the quality of each model, we introduce the +following grading system: + +| Grade | Description | +|-------|-------------------------------------------------------------| +| A+ | Values are the product of proper system identification | +| A | Values are realistic, but have not been properly identified | +| B | Stable, but some values are unrealistic | +| C | Conditionally stable, can be significantly improved | + +The grading system will be applied to each model once a proper system +identification toolbox is created. We are currently planning to release +this toolbox later this year. + +For more information regarding contributions, for example to add a new model to +Menagerie, see [CONTRIBUTING](CONTRIBUTING.md). + +## Menagerie Models + +**Arms.** + +| Name | Maker | DoFs | License | MJX | +|------|-------|---------|---------|-----| +| PiPER | AgileX | 7 | [MIT](agilex_piper/LICENSE) |✖️| +| FR3 | Franka Robotics | 7 | [Apache-2.0](franka_fr3/LICENSE) |✖️| +| iiwa14 | KUKA | 7 | [BSD-3-Clause](kuka_iiwa_14/LICENSE) |✖️| +| Lite6 | UFACTORY | 6 | [BSD-3-Clause](ufactory_lite6/LICENSE) |✖️| +| Panda | Franka Robotics | 7 | [BSD-3-Clause](franka_emika_panda/LICENSE) |✔️| +| Sawyer | Rethink Robotics | 7 | [Apache-2.0](rethink_robotics_sawyer/LICENSE) |✖️| +| Unitree Z1 | Unitree Robotics | 6 | [BSD-3-Clause](unitree_z1/LICENSE) |✖️| +| UR5e | Universal Robots | 6 | [BSD-3-Clause](universal_robots_ur5e/LICENSE) |✖️| +| UR10e | Universal Robots | 6 | [BSD-3-Clause](universal_robots_ur10e/LICENSE) |✖️| +| ViperX 300 | Trossen Robotics | 8 | [BSD-3-Clause](trossen_vx300s/LICENSE) |✖️| +| WidowX 250 | Trossen Robotics | 8 | [BSD-3-Clause](trossen_wx250s/LICENSE) |✖️| +| xarm7 | UFACTORY | 7 | [BSD-3-Clause](ufactory_xarm7/LICENSE) |✖️| +| Gen3 | Kinova Robotics | 7 | [BSD-3-Clause](kinova_gen3/LICENSE) |✖️| +| SO-ARM100 | The Robot Studio | 5 | [Apache-2.0](trs_so_arm100/LICENSE) |✖️| + +**Bipeds.** + +| Name | Maker | DoFs | License | MJX | +|------|-------|---------|---------|-----| +| Cassie | Agility Robotics | 28 | [BSD-3-Clause](agility_cassie/LICENSE) |✖️| + +**Dual Arms.** + +| Name | Maker | DoFs | License | MJX | +|------|-------|---------|---------|-----| +| ALOHA 2 | Trossen Robotics, Google DeepMind | 16 | [BSD-3-Clause](aloha/LICENSE) |✔️| + +**Drones.** + +| Name | Maker | DoFs | License | MJX | +|------|-------|---------|---------|-----| +| Crazyflie 2 | Bitcraze | 0 | [MIT](bitcraze_crazyflie_2/LICENSE) |✖️| +| Skydio X2 | Skydio | 0 | [Apache-2.0](skydio_x2/LICENSE) |✖️| + +**End-effectors.** + +| Name | Maker | DoFs | License | MJX | +|------|-------|---------|---------|-----| +| Allegro Hand V3 | Wonik Robotics | 16 | [BSD-2-Clause](wonik_allegro/LICENSE) |✖️| +| UMI Gripper | Stanford University | 1 | [MIT](umi_gripper/LICENSE) |✖️| +| LEAP Hand | Carnegie Mellon University | 16 | [MIT](leap_hand/LICENSE) |✖️| +| Robotiq 2F-85 | Robotiq | 8 | [BSD-2-Clause](robotiq_2f85/LICENSE) |✖️| +| Shadow Hand EM35 | Shadow Robot Company | 24 | [Apache-2.0](shadow_hand/LICENSE) |✖️| +| Shadow DEX-EE Hand | Shadow Robot Company | 12 | [Apache-2.0](shadow_dexee/LICENSE) |✖️| + +**Mobile Manipulators.** + +| Name | Maker | DoFs | License | MJX | +|------|-------|---------|---------|-----| +| Google Robot | Google DeepMind | 9 | [Apache-2.0](google_robot/LICENSE) |✖️| +| Stanford TidyBot | Stanford University | 11 | [MIT](stanford_tidybot/LICENSE) |✖️| +| Stretch 2 | Hello Robot | 17 | [Clear BSD](hello_robot_stretch/LICENSE) |✖️| +| Stretch 3 | Hello Robot | 17 | [Apache-2.0](hello_robot_stretch_3/LICENSE) |✖️| +| PAL Tiago | PAL Robotics | 12 | [Apache-2.0](pal_tiago/LICENSE) |✖️| +| PAL Tiago Dual | PAL Robotics | 21 | [Apache-2.0](pal_tiago_dual/LICENSE) |✖️| + +**Humanoids.** + +| Name | Maker | DoFs | License | MJX | +|------|-------|---------|---------|-----| +| Apptronik Apollo | Apptronik | 32 | [Apache-2.0](apptronik_apollo/LICENSE) |✔️| +| Berkeley Humanoid | Hybrid Robotics | 12 | [BSD-3-Clause](berkeley_humanoid/LICENSE) |✖️| +| Booster T1 | Booster Robotics | 23 | [Apache-2.0](booster_t1/LICENSE) |✖️| +| Robotis OP3 | Robotis | 20 | [Apache-2.0](robotis_op3/LICENSE) |✖️| +| Unitree G1 | Unitree Robotics | 37 | [BSD-3-Clause](unitree_g1/LICENSE) |✖️| +| Unitree H1 | Unitree Robotics | 19 | [BSD-3-Clause](unitree_h1/LICENSE) |✖️| +| TALOS | PAL Robotics | 32 | [Apache-2.0](pal_talos/LICENSE) |✖️| + +**Quadrupeds.** + +| Name | Maker | DoFs | License | MJX | +|------|-------|---------|---------|-----| +| ANYmal B | ANYbotics | 12 | [BSD-3-Clause](anybotics_anymal_b/LICENSE) |✖️| +| ANYmal C | ANYbotics | 12 | [BSD-3-Clause](anybotics_anymal_c/LICENSE) |✔️| +| Spot | Boston Dynamics | 12 | [BSD-3-Clause](boston_dynamics_spot/LICENSE) |✖️| +| Unitree A1 | Unitree Robotics | 12 | [BSD-3-Clause](unitree_a1/LICENSE) |✖️| +| Unitree Go1 | Unitree Robotics | 12 | [BSD-3-Clause](unitree_go1/LICENSE) |✖️| +| Unitree Go2 | Unitree Robotics | 12 | [BSD-3-Clause](unitree_go2/LICENSE) |✔️| +| Google Barkour v0 | Google DeepMind | 12 | [Apache-2.0](google_barkour_v0/LICENSE) |✔️| +| Google Barkour vB | Google DeepMind | 12 | [Apache-2.0](google_barkour_vb/LICENSE) |✔️| + +**Biomechanical.** + +| Name | Maker | DoFs | License | MJX | +|------|-------|---------|---------|-----| +| flybody | Google DeepMind, HHMI Janelia Research Campus | 102 | [Apache-2.0](flybody/LICENSE) |✖️| + +**Miscellaneous.** + +| Name | Maker | DoFs | License | MJX | +|------|-------|---------|---------|-----| +| D435i | Intel Realsense | 0 | [Apache-2.0](realsense_d435i/LICENSE) |✖️| + +## Citing Menagerie + +If you use Menagerie in your work, please use the following citation: + +```bibtex +@software{menagerie2022github, + author = {Zakka, Kevin and Tassa, Yuval and {MuJoCo Menagerie Contributors}}, + title = {{MuJoCo Menagerie: A collection of high-quality simulation models for MuJoCo}}, + url = {http://github.com/google-deepmind/mujoco_menagerie}, + year = {2022}, +} +``` + +## Acknowledgments + +The models in this repository are based on third-party models designed by many +talented people, and would not have been possible without their generous +open-source contributions. We would like to acknowledge all the designers +and engineers who made MuJoCo Menagerie possible. + +We'd like to thank Pedro Vergani for his help with visuals and design. + +The main effort required to make this repository publicly available was +undertaken by [Kevin Zakka](https://kzakka.com/), with help from the Robotics +Simulation team at Google DeepMind. + +## License and Disclaimer + +XML and asset files in each individual model directory of this repository are +subject to different license terms. Please consult the `LICENSE` files under +each specific model subdirectory for the relevant license and copyright +information. + +All other content is Copyright 2022 DeepMind Technologies Limited and licensed +under the Apache License, Version 2.0. A copy of this license is provided in the +top-level LICENSE file in this repository. +You can also obtain it from https://www.apache.org/licenses/LICENSE-2.0. + +This is not an officially supported Google product. diff --git a/SourceFiles/mujoco_menagerie-main/agilex_piper/LICENSE b/SourceFiles/mujoco_menagerie-main/agilex_piper/LICENSE new file mode 100644 index 00000000..1ace5a24 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agilex_piper/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2024 RosenYin + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +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. diff --git a/SourceFiles/mujoco_menagerie-main/agilex_piper/README.md b/SourceFiles/mujoco_menagerie-main/agilex_piper/README.md new file mode 100644 index 00000000..fabb0771 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agilex_piper/README.md @@ -0,0 +1,34 @@ +## AgileX PiPER Description (MJCF) + +> Requires MuJoCo 2.3.4 or later. + +### Overview + +This package contains a simplified robot description (MJCF) of the [AgileX PiPER](https://global.agilex.ai/products/piper). It is derived from the publicly available [model](https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha/src/piper_description/urdf). + +

+ +

+ +### Derivation steps + +1. Added ` ` to the URDF's + `` clause in order to preserve visual geometries. +2. Loaded the URDF into MuJoCo and saved a corresponding MJCF. +3. Converted the the .objs to .xmls using [obj2mjcf](https://github.com/kevinzakka/obj2mjcf) and replaced the original stls with them (since each obj in mujoco can have 1 color). +4. Merged similar materials between the .objs +5. Created a `` section to define common properties for joints, actuators, and geoms. +6. Added an equality constraint so that the right finger mimics the position of the left finger. +7. Manually designed box collision geoms for the gripper. +8. Added `exclude` clause to prevent collisions between `base_link` and `link1`. +9. Added position controlled actuators. +10. Added `impratio=10` and `cone=elliptic` for better noslip. +11. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze. + +## License + +This model is released under an [MIT License](LICENSE). + +## Acknowledgement + +This model was graciously contributed by [Omar Rayyan](https://orayyan.com/). diff --git a/SourceFiles/mujoco_menagerie-main/agilex_piper/assets/base_link.stl b/SourceFiles/mujoco_menagerie-main/agilex_piper/assets/base_link.stl new file mode 100644 index 00000000..f9ad9da0 Binary files /dev/null and b/SourceFiles/mujoco_menagerie-main/agilex_piper/assets/base_link.stl differ diff --git a/SourceFiles/mujoco_menagerie-main/agilex_piper/assets/link1.stl b/SourceFiles/mujoco_menagerie-main/agilex_piper/assets/link1.stl new file mode 100644 index 00000000..f29ff262 Binary files /dev/null and b/SourceFiles/mujoco_menagerie-main/agilex_piper/assets/link1.stl differ diff --git a/SourceFiles/mujoco_menagerie-main/agilex_piper/assets/link2.stl b/SourceFiles/mujoco_menagerie-main/agilex_piper/assets/link2.stl 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b/SourceFiles/mujoco_menagerie-main/agilex_piper/piper.png new file mode 100644 index 00000000..62e74f48 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agilex_piper/piper.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3826ccfb2aed85eaeef2f48604fd5059caa764ac47fcf928b5c3a3d8ec02c682 +size 1378578 diff --git a/SourceFiles/mujoco_menagerie-main/agilex_piper/piper.xml b/SourceFiles/mujoco_menagerie-main/agilex_piper/piper.xml new file mode 100644 index 00000000..251af897 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agilex_piper/piper.xml @@ -0,0 +1,275 @@ + + + + diff --git a/SourceFiles/mujoco_menagerie-main/agilex_piper/scene.xml b/SourceFiles/mujoco_menagerie-main/agilex_piper/scene.xml new file mode 100644 index 00000000..02547dde --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agilex_piper/scene.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/SourceFiles/mujoco_menagerie-main/agility_cassie/LICENSE b/SourceFiles/mujoco_menagerie-main/agility_cassie/LICENSE new file mode 100644 index 00000000..ed613251 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agility_cassie/LICENSE @@ -0,0 +1,19 @@ +Copyright (c) 2022 Agility Robotics + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to +deal in the Software without restriction, including without limitation the +rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +sell copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +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. diff --git a/SourceFiles/mujoco_menagerie-main/agility_cassie/README.md b/SourceFiles/mujoco_menagerie-main/agility_cassie/README.md new file mode 100644 index 00000000..bfc4bcfc --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agility_cassie/README.md @@ -0,0 +1,30 @@ +# Agility Cassie Description (MJCF) + +Requires MuJoCo 2.2.2 or later. + +## Overview + +This package contains a simplified robot description (MJCF) of the Cassie +bipedal robot. The original MJCF and assets were provided directly by +[Agility Robotics](http://www.agilityrobotics.com/) under an +[MIT License](LICENSE). + +

+ +

+ +## Modifications made to the original model + +1. Replaced single quotes with double quotes. +2. Made collision geoms visible, put them in hidden group 3. +3. Removed `nuser_actuator` and `nuser_sensor` (automatically inferred since + MuJoCo 2.1.2). +4. Changed solver from PGS to Newton. +5. Removed `` clause. +6. Removed attribute specs which are already default. +7. Improved collision geometry. +8. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze. + +## License + +This model is released under an [MIT License](LICENSE). diff --git a/SourceFiles/mujoco_menagerie-main/agility_cassie/assets/cassie-texture.png b/SourceFiles/mujoco_menagerie-main/agility_cassie/assets/cassie-texture.png new file mode 100644 index 00000000..d1b332f8 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agility_cassie/assets/cassie-texture.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a4f2c50ff2891fb4408d41fbb1c168a88d1f0b5dd30e2afd2fa6e7ba3565e73 +size 4863 diff --git a/SourceFiles/mujoco_menagerie-main/agility_cassie/cassie.png b/SourceFiles/mujoco_menagerie-main/agility_cassie/cassie.png new file mode 100644 index 00000000..978d4a3c --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agility_cassie/cassie.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcbcdfea52fb554b5a4ed25fae83cbd70b5dbd994ef6e2f4d65d5db66aed546b +size 2593867 diff --git a/SourceFiles/mujoco_menagerie-main/agility_cassie/cassie.xml b/SourceFiles/mujoco_menagerie-main/agility_cassie/cassie.xml new file mode 100644 index 00000000..f93246f5 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agility_cassie/cassie.xml @@ -0,0 +1,282 @@ + + + + diff --git a/SourceFiles/mujoco_menagerie-main/agility_cassie/scene.xml b/SourceFiles/mujoco_menagerie-main/agility_cassie/scene.xml new file mode 100644 index 00000000..a4cce504 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/agility_cassie/scene.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/SourceFiles/mujoco_menagerie-main/aloha/LICENSE b/SourceFiles/mujoco_menagerie-main/aloha/LICENSE new file mode 100644 index 00000000..8df4a42c --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/aloha/LICENSE @@ -0,0 +1,27 @@ +Copyright (c) 2023, Trossen Robotics +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/SourceFiles/mujoco_menagerie-main/aloha/README.md b/SourceFiles/mujoco_menagerie-main/aloha/README.md new file mode 100644 index 00000000..92db738c --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/aloha/README.md @@ -0,0 +1,41 @@ +# ALOHA Description (MJCF) + +Requires MuJoCo 3.1.1 or later. + +## Overview + +This package contains a simplified robot description (MJCF) of the bimanual [ALOHA 2](https://aloha-2.github.io/) robot. It is derived from the publicly available [ViperX 300 6DOF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/trossen_vx300s) MJCF model. + +

+ + +

+ +## URDF → MJCF derivation steps + +1. Branched XML from [ViperX 300](../trossen_vx300s/), duplicating robot kinematic tree twice, one for the left arm and one for the right arm. +2. Replaced default ViperX gripper model with the updated ALOHA 2 design and modeled the actuation using a position controlled linear actuator with an equality constraint between the left and right gripper fingers. +3. Performed system identification of actuator gain and torque limits and joint damping, armature and friction parameters as follows: + 1. Collected 11 trajectories in real using the leader arms consisting of sinusoidal motions targeting the control limits of the motors in the follower arms. + 2. Recorded joint positions and velocities on the follower arms. + 3. Solved a box-constrained nonlinear least squares problem that minimizes the residual between real and simulated data. + 4. Updated aforementioned parameters in the MJCF model. +4. Added `scene.xml` which includes the robots mounted on an aluminum extrusion frame bolted to a wooden table. +5. Added 4 cameras: overhead camera, worms-eye camera and left and right wrist cameras. The intrinsic parameters of the simulated cameras are matched with an [Intel RealSense D405](https://www.intelrealsense.com/depth-camera-d405/). + +## License + +This model is released under a [BSD-3-Clause License](LICENSE). + +## Publications + +If you use this model in your work, please use the following citation: + +```bibtex +@misc{aloha2_2024, + title = {ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation}, + url = {https://aloha-2.github.io/}, + author = {ALOHA 2 Team}, + year = {2024}, +} +``` diff --git a/SourceFiles/mujoco_menagerie-main/aloha/aloha.png b/SourceFiles/mujoco_menagerie-main/aloha/aloha.png new file mode 100644 index 00000000..1b7e436d --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/aloha/aloha.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:821b9ba1baf427e4b4cef4279208614ebb4d705eb836bc3685317466554ce809 +size 1623426 diff --git a/SourceFiles/mujoco_menagerie-main/aloha/aloha.xml 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a/SourceFiles/mujoco_menagerie-main/aloha/keyframe_ctrl.xml b/SourceFiles/mujoco_menagerie-main/aloha/keyframe_ctrl.xml new file mode 100644 index 00000000..6b194574 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/aloha/keyframe_ctrl.xml @@ -0,0 +1,10 @@ + + + + + diff --git a/SourceFiles/mujoco_menagerie-main/aloha/keyframe_no_act.xml b/SourceFiles/mujoco_menagerie-main/aloha/keyframe_no_act.xml new file mode 100644 index 00000000..4b771c79 --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/aloha/keyframe_no_act.xml @@ -0,0 +1,7 @@ + + + + + diff --git a/SourceFiles/mujoco_menagerie-main/aloha/mjx_aloha.patch b/SourceFiles/mujoco_menagerie-main/aloha/mjx_aloha.patch new file mode 100644 index 00000000..46c9edbc --- /dev/null +++ b/SourceFiles/mujoco_menagerie-main/aloha/mjx_aloha.patch @@ -0,0 +1,123 @@ +--- aloha.xml 2024-07-24 11:38:17.000000000 -0700 ++++ mjx_aloha.xml 2024-09-25 11:33:18.000000000 -0700 +@@ -1,7 +1,11 @@ + + + +- +@@ -149,6 +161,7 @@ + + + ++ + + +@@ 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