Navigation Updates

Source/LuckyWorldV2/Private/Gameplay/Robot/Components/Movement/LRMC_Stretch.cpp

@@ -4,7 +4,7 @@
 #include "Gameplay/Robot/Components/Movement/LRMC_Stretch.h"
 #include "Actors/MujocoVolumeActor.h"
 #include "Gameplay/Robot/LuckyRobotPawnBase.h"
-#include "Kismet/KismetMathLibrary.h"
+//#include "Kismet/KismetMathLibrary.h"
 
 
 void ULRMC_Stretch::PerformMovement(float DeltaTime, const ERobotInputHandlingMethod InputHandlingMethod, const ERobotInputType InputType, const FVector2D& InputValues)
@@ -68,7 +68,8 @@ void ULRMC_Stretch::PerformMovement(float DeltaTime, const ERobotInputHandlingMe
 	case ERobotInputType::Turn:
 		{
 			PreviousInputType = ERobotInputType::Turn;
-			Turn(DeltaTime, InputValues.Y);
+			//Turn(DeltaTime, InputValues.Y);
+			Move(DeltaTime, InputValues);
 		}
 		break;
 	case ERobotInputType::Pathfinding:
@@ -93,39 +94,18 @@ void ULRMC_Stretch::Move(const float DeltaTime, const FVector2D& InputValues) co
 {
 	if (GetOwningRobot() && GetMujocoVolumeActor())
 	{
-		float Input_0 = InputValues.X;
+		const FVector2D InterpolatedInputs = FMath::Vector2DInterpTo(PreviousSpeedValues, InputValues, DeltaTime, 3.f);
-		float Input_1 = InputValues.X;
+		float Input_0 = InterpolatedInputs.X;
+		float Input_1 = InterpolatedInputs.X;
 
 		const float TargetSpeed = GetTargetSpeed();
-				
+		const float TurnMod = GetTurnModifier() * IsPathfinding() ? 2.f : 1.f;
-		const FVector Forward = GetRobotForwardVector();
-		const FVector DirectionToTarget = (PathfindingTargetLocation - GetRobotLocation()).GetSafeNormal();
-		const float DirectionDot = FVector::DotProduct(Forward, DirectionToTarget);
 		
-		const bool bRight = FVector::DotProduct(DirectionToTarget, GetRobotRightVector()) >= 0.f;
+		Input_0 -= InterpolatedInputs.Y * TargetSpeed * TurnMod;
-		const float DirectionDelta = FMath::Abs<float>(1.f - DirectionDot);
+		Input_1 += InterpolatedInputs.Y * TargetSpeed * TurnMod;
-		const float DirectionOffset = FMath::Min<float>(DirectionDelta * TargetSpeed * 10.f, TargetSpeed) * 2.f;
-		UE_LOG(LogTemp, Warning, TEXT("RobotMove :: DirectionOffset (%f)"), DirectionOffset);
 
-		
+		Input_0 = FMath::Min<float>(Input_0, TargetSpeed) * 0.5f;
-		if (!FMath::IsNearlyZero(DirectionOffset, 0.01f))
+		Input_1 = FMath::Min<float>(Input_1, TargetSpeed) * 0.5f;
-		{
-			if (bRight)
-			{
-				Input_1 -= DirectionOffset;
-			}
-			else
-			{
-				Input_0 -= DirectionOffset;
-			}
-		}
-
-		const float TargetSpeedMod = GetTargetSpeedMod() * 0.5f;
-
-		Input_0 = FMath::Min<float>(Input_0, GetTargetSpeed()) * TargetSpeedMod;
-		Input_1 = FMath::Min<float>(Input_1, GetTargetSpeed()) * TargetSpeedMod;
-		
-		UE_LOG(LogTemp, Warning, TEXT("RobotMove Inputs :: Left [%f] :: Right [%f]"), Input_0, Input_1);
 		
 		GetMujocoVolumeActor()->SetActuatorValueByIndex(0, Input_0);
 		GetMujocoVolumeActor()->SetActuatorValueByIndex(1, Input_1);

Source/LuckyWorldV2/Private/Gameplay/Robot/Components/Movement/LuckyRobotMovementComponent.cpp

@@ -32,6 +32,7 @@ void ULuckyRobotMovementComponent::TickComponent(float DeltaTime, enum ELevelTic
 		PerformMovement(DeltaTime, RobotSettings.InputHandlingMethod, GetOwningRobot()->GetCurrentInputType(), CurrentSpeedValues);
 
 		PreviousLocation = CurrentLocation;
+		PreviousSpeedValues = CurrentSpeedValues;
 
 		UE_LOG(LogTemp, Warning, TEXT("CurrentRobotSpeed (%f)"), CurrentRobotSpeed);
 	}
@@ -187,6 +188,7 @@ void ULuckyRobotMovementComponent::HandlePathfindingInputs(const float DeltaTime
 			if (FVector::Distance(CurrentTransform.GetLocation(), PathfindingDestination) <= PathfindingDestinationTolerance)
 			{
 				GetOwningRobot()->PathfindingComplete(true);
+				GetOwningRobot()->SetPathfindingInputValues();
 				return;
 			}
 
@@ -248,7 +250,8 @@ FVector ULuckyRobotMovementComponent::GetSplineTargetLocation(const float Curren
 {
 	if (GetNavPath().GetSplinePath())
 	{
-		const float ForwardPathCheck = FMath::Clamp<float>(GetTargetSpeed() * 0.5f, 20.f, 50.f);
+		constexpr float ForwardOffset = 10.f;
+		const float ForwardPathCheck = FMath::Clamp<float>(GetTargetSpeed(), 15.f, 50.f) + ForwardOffset;
 		const float SplineCheckDistance = CurrentDistance + ForwardPathCheck;
 		if (SplineCheckDistance >= GetNavPath().GetSplinePath()->GetSplineLength())
 		{
@@ -318,3 +321,13 @@ float ULuckyRobotMovementComponent::GetTargetSpeedMod() const
 {
 	return UKismetMathLibrary::SafeDivide(GetTargetSpeed(), CurrentRobotSpeed);
 }
+
+float ULuckyRobotMovementComponent::GetTurnModifier() const
+{
+	if (GetOwningRobot())
+	{
+		return GetOwningRobot()->GetTurnModifier();
+	}
+
+	return 1.f;
+}

Source/LuckyWorldV2/Private/Subsystems/LuckyWorldSubsystem.cpp

@@ -2,6 +2,8 @@
 
 
 #include "Subsystems/LuckyWorldSubsystem.h"
+
+#include "NavigationPath.h"
 #include "Gameplay/Robot/LuckyRobotPawnBase.h"
 
 void ULuckyWorldSubsystem::CheckSimulationReady()
@@ -83,3 +85,20 @@ void ULuckyWorldSubsystem::UpdateRobotNavPath(const FRobotNavPath& InRobotNavPat
 		RobotNavPathChanged.Broadcast(RobotNavPath);
 	}
 }
+
+FRobotNavPath ULuckyWorldSubsystem::GenerateRobotNavPath_Navigation(UNavigationPath* InNavPath)
+{
+	FRobotNavPath NewNavPath = FRobotNavPath();
+	
+	if (IsValid(InNavPath))
+	{
+		for (auto const& Point : InNavPath->PathPoints)
+		{
+			FRobotNavPoint NewPoint = FRobotNavPoint();
+			NewPoint.Location = Point;
+			NewNavPath.NavPoints.Add(NewPoint);
+		}
+	}
+
+	return NewNavPath;
+}

Source/LuckyWorldV2/Public/Gameplay/Robot/Components/Movement/LuckyRobotMovementComponent.h

@@ -54,6 +54,7 @@ public:
 	virtual void StopMovement();
 	float GetTargetSpeed() const;
 	float GetTargetSpeedMod() const;
+	float GetTurnModifier() const;
 
 protected:
 	virtual void BeginPlay() override;
@@ -68,6 +69,7 @@ protected:
 	virtual void InterpolateSpeedValues(const float DeltaTime, const float Acceleration, const float Deceleration);
 
 	FVector2D CurrentSpeedValues = FVector2D::ZeroVector;
+	FVector2D PreviousSpeedValues = FVector2D::ZeroVector;
 	float PathfindingTargetSpeed = 0.f;
 	float PathfindingDestinationTolerance = 10.f;
 	FVector PathfindingTargetLocation = FVector::ZeroVector;

Source/LuckyWorldV2/Public/Subsystems/LuckyWorldSubsystem.h

@@ -8,6 +8,7 @@
 #include "LuckyWorldSubsystem.generated.h"
 
 
+class UNavigationPath;
 class AMujocoVolumeActor;
 class ALuckyRobotPawnBase;
 
@@ -77,6 +78,9 @@ public:
 
 	UPROPERTY(BlueprintAssignable, Category = "Lucky World Subsystem")
 	FLuckyRobotNavPathChangedDelegate RobotNavPathChanged;
+
+	UFUNCTION(BlueprintCallable, Category = "Lucky World Subsystem")
+	FRobotNavPath GenerateRobotNavPath_Navigation(UNavigationPath* InNavPath);
 	
 protected:
 	TWeakObjectPtr<ALuckyRobotPawnBase> LuckyRobotPawn;