Robot Nav Path Spline Updates
- Robots now generate the spline based on their input type - There is now a curve generated with the spline with speed values for any distance along the spline
This commit is contained in:
Vyktori
parent
b0fec0cc7a
commit
a028ed8caf
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Content/Developers/Wdev/Robots/NewBlueprint.uasset
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Content/Developers/Wdev/Robots/NewBlueprint.uasset
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@ -3,14 +3,13 @@
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#include "Gameplay/Robot/Components/Movement/LRMC_Stretch.h"
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#include "Actors/MujocoVolumeActor.h"
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#include "Gameplay/Robot/LuckyRobotPawnBase.h"
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void ULRMC_Stretch::PerformMovement(float DeltaTime, const ERobotInputHandlingMethod InputHandlingMethod, const ERobotInputType InputType, const FVector2D& InputValues)
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{
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Super::PerformMovement(DeltaTime, InputHandlingMethod, InputType, InputValues);
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constexpr float TurnMod = 0.1f;
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// we can not do this because the rear actuator is not being used, so Turn would always override Move every frame with a value of 0.f
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//Move(InputValues.X);
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//Turn(InputValues.Y * TurnMod);
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@ -38,7 +37,7 @@ void ULRMC_Stretch::PerformMovement(float DeltaTime, const ERobotInputHandlingMe
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}
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else
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{
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Turn(InputValues.Y * TurnMod);
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Turn(InputValues.Y);
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}
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break;
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case ERobotInputType::Pathfinding:
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@ -54,7 +53,7 @@ void ULRMC_Stretch::PerformMovement(float DeltaTime, const ERobotInputHandlingMe
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case ERobotInputType::Turn:
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{
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PreviousInputType = ERobotInputType::Turn;
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Turn(InputValues.Y * TurnMod);
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Turn(InputValues.Y);
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}
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break;
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case ERobotInputType::Pathfinding:
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@ -75,7 +74,8 @@ void ULRMC_Stretch::Turn(const float InValue) const
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{
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if (GetMujocoVolumeActor())
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{
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GetMujocoVolumeActor()->SetActuatorValueByIndex(0, -InValue);
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GetMujocoVolumeActor()->SetActuatorValueByIndex(1, InValue);
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const float TurnMod = GetOwningRobot() ? GetOwningRobot()->GetTurnModifier() : 1.f;
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GetMujocoVolumeActor()->SetActuatorValueByIndex(0, InValue * -TurnMod);
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GetMujocoVolumeActor()->SetActuatorValueByIndex(1, InValue * TurnMod);
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}
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}
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@ -0,0 +1,192 @@
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// Fill out your copyright notice in the Description page of Project Settings.
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#include "Gameplay/Robot/Data/RobotSettings.h"
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#include "Components/SplineComponent.h"
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#include "Gameplay/Robot/LuckyRobotPawnBase.h"
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#include "Kismet/KismetMathLibrary.h"
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void FRobotSplinePath::GenerateSplinePath(ALuckyRobotPawnBase* InRobot, const FRobotNavPath& InNavPath)
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{
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if (IsValid(InRobot) && !InNavPath.NavPoints.IsEmpty())
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{
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Robot = InRobot;
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NavPath = InNavPath;
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if (GetRobot())
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{
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USplineComponent* OldSplinePath = GetSplinePath();
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if (UActorComponent* NewComp = GetRobot()->AddComponentByClass(USplineComponent::StaticClass(), false, FTransform::Identity, false))
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{
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if (USplineComponent* NewSplineComp = Cast<USplineComponent>(NewComp))
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{
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NewSplineComp->ClearSplinePoints();
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NewSplineComp->SetAbsolute(true, true, true);
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int32 PointIndex = 0;
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for (auto const& NavPoint : NavPath.NavPoints)
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{
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NewSplineComp->AddSplinePointAtIndex(NavPoint.Location, PointIndex, ESplineCoordinateSpace::World, false);
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PointIndex++;
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}
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NewSplineComp->UpdateSpline();
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SplinePath = NewSplineComp;
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RegenerateSplinePathValues();
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// begin debug
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if (GetSplinePath())
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{
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GetSplinePath()->SetVisibility(true);
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GetSplinePath()->SetHiddenInGame(false);
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}
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// end debug
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}
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}
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if (IsValid(OldSplinePath))
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{
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OldSplinePath->DestroyComponent();
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}
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}
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}
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}
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void FRobotSplinePath::RegenerateSplinePathValues()
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{
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if (GetRobot() && GetSplinePath())
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{
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constexpr float SplinePredictionTime = 1.f;
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constexpr float SplinePredictionDistanceMin = 64.f;
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const float SpeedLimit = GetRobot()->RobotSettings.SpeedLimit;
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const float TargetSpeed = FMath::Min<float>(GetRobot()->GetTargetSpeed(), SpeedLimit);
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const float SplinePredictionDistance = FMath::Max<float>(SplinePredictionTime * TargetSpeed, SplinePredictionDistanceMin);
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constexpr float TangentClamp = 128.f;
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const int32 SplinePoints = GetSplinePath()->GetNumberOfSplinePoints();
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const bool bSingleInput = GetRobot()->RobotSettings.InputHandlingMethod == ERobotInputHandlingMethod::SingleInput;
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if (bSingleInput)
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{
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for (int32 x = 0; x < SplinePoints; x++)
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{
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GetSplinePath()->SetTangentAtSplinePoint(x, FVector::ZeroVector, ESplineCoordinateSpace::Local, false);
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}
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}
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else
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{
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for (int32 x = 0; x < SplinePoints; x++)
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{
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if (x < SplinePoints)
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{
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GetSplinePath()->SetSplinePointType(x, ESplinePointType::CurveCustomTangent, false);
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const FVector PointLoc1 = GetSplinePath()->GetSplinePointAt(x - 1, ESplineCoordinateSpace::World).Position;
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const FVector PointLoc2 = GetSplinePath()->GetSplinePointAt(x, ESplineCoordinateSpace::World).Position;
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const FVector PointLoc3 = GetSplinePath()->GetSplinePointAt(x + 1, ESplineCoordinateSpace::World).Position;
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const float Distance1 = FVector::Dist(PointLoc1, PointLoc2);
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const float Distance2 = FVector::Dist(PointLoc2, PointLoc3);
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constexpr float PointDistanceMod = 0.33f;
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const float TangentMin = FMath::Min<float>(SplinePredictionDistance * 10.f, TangentClamp);
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const FVector ArriveTangent = (PointLoc3 - PointLoc1).GetSafeNormal() * FMath::Min<float>(Distance1 * PointDistanceMod, TangentMin);
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const FVector LeaveTangent = (PointLoc3 - PointLoc1).GetSafeNormal() * FMath::Min<float>(Distance2 * PointDistanceMod, TangentMin);
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UE_LOG(LogTemp, Warning, TEXT("RegenerateSplinePathValues ArriveTangent (%s)"), *ArriveTangent.ToString());
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UE_LOG(LogTemp, Warning, TEXT("RegenerateSplinePathValues LeaveTangent (%s)"), *LeaveTangent.ToString());
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GetSplinePath()->SetTangentsAtSplinePoint(x, ArriveTangent, LeaveTangent, ESplineCoordinateSpace::World, false);
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}
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}
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}
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GetSplinePath()->UpdateSpline();
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const float SplineLength = GetSplinePath()->GetSplineLength();
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SplinePathSpeedModifier.EditorCurveData.Reset();
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constexpr float MinSpeedMod = 0.2f;
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constexpr float SplinePrecision = 10.f;
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if (bSingleInput)
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{
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constexpr float SectionSpeedMod = 0.4f;
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const float SectionSpeedClamp = FMath::Min<float>(SpeedLimit * SectionSpeedMod, TargetSpeed);
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const float DecelerationStep = SplinePredictionDistance + SplinePrecision;
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SplinePathSpeedModifier.EditorCurveData.AddKey(0.f, SectionSpeedClamp);
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SplinePathSpeedModifier.EditorCurveData.AddKey(SplineLength, TargetSpeed * MinSpeedMod);
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const float FirstSectionEnd = GetSplinePath()->GetDistanceAlongSplineAtSplinePoint(1);
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if (FirstSectionEnd >= DecelerationStep)
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{
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SplinePathSpeedModifier.EditorCurveData.AddKey(SplinePrecision, TargetSpeed);
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}
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for (int32 y = 1; y < SplinePoints; y++)
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{
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const float SectionStart = GetSplinePath()->GetDistanceAlongSplineAtSplinePoint(y - 1);
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const float SectionEnd = GetSplinePath()->GetDistanceAlongSplineAtSplinePoint(y);
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const float SectionDistance = SectionEnd - SectionStart;
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if (SectionDistance >= DecelerationStep)
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{
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SplinePathSpeedModifier.EditorCurveData.AddKey(SectionEnd - SplinePredictionDistance, SectionSpeedClamp);
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SplinePathSpeedModifier.EditorCurveData.AddKey(SectionEnd - DecelerationStep, TargetSpeed);
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}
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else
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{
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SplinePathSpeedModifier.EditorCurveData.AddKey(SectionStart, SectionSpeedClamp);
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}
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SplinePathSpeedModifier.EditorCurveData.AddKey(SectionEnd, SectionSpeedClamp);
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if (y < SplinePoints)
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{
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const float NextSectionEnd = GetSplinePath()->GetDistanceAlongSplineAtSplinePoint(y + 1);
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const float NextSectionDistance = NextSectionEnd - SectionEnd;
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if (NextSectionDistance >= DecelerationStep)
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{
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SplinePathSpeedModifier.EditorCurveData.AddKey(SectionEnd + SplinePrecision, TargetSpeed);
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}
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}
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}
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}
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else
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{
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const int32 SplineIntervals = UKismetMathLibrary::SafeDivide(SplineLength, SplinePrecision);
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for (int32 z = SplineIntervals; z >= 0; z--)
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{
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if (z == 0)
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{
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SplinePathSpeedModifier.EditorCurveData.AddKey(0.f, TargetSpeed * MinSpeedMod);
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}
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else if (z == SplineIntervals)
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{
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SplinePathSpeedModifier.EditorCurveData.AddKey(SplineLength, TargetSpeed * MinSpeedMod);
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}
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else
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{
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constexpr float MaxSpeedMod = 1.f;
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const float SplineDistance = z * SplinePrecision;
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const float DistanceToPathEnd = SplineLength - SplineDistance;
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const float PathEndMod = DistanceToPathEnd <= SplinePredictionDistance ? FMath::Max<float>(UKismetMathLibrary::SafeDivide(DistanceToPathEnd, SplinePredictionDistance), 0.f) : 1.f;
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const FVector IntervalTangent = GetSplinePath()->GetTangentAtDistanceAlongSpline(SplineDistance, ESplineCoordinateSpace::Local);
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const float IntervalCurve = FMath::Min<float>(IntervalTangent.Length(), TangentClamp);
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const float IntervalAlpha = UKismetMathLibrary::SafeDivide(IntervalCurve, TangentClamp);
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const float SpeedMod = (MaxSpeedMod - IntervalAlpha) * PathEndMod;
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const float ClampedSpeed = FMath::Min<float>(SpeedLimit * SpeedMod, SpeedLimit * MinSpeedMod);
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SplinePathSpeedModifier.EditorCurveData.AddKey(SplineDistance, ClampedSpeed);
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}
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}
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}
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// begin debug
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const int32 SplineIntervals = UKismetMathLibrary::SafeDivide(SplineLength, SplinePrecision);
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for (int32 z = SplineIntervals; z >= 0; z--)
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{
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UE_LOG(LogTemp, Warning, TEXT("SpeedCurveValue [%f :: %f]"), z * SplinePrecision, SplinePathSpeedModifier.EditorCurveData.Eval(z * SplinePrecision));
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}
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// end debug
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}
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}
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@ -56,8 +56,6 @@ void ALuckyRobotPawnBase::InitializeMovementComponent()
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void ALuckyRobotPawnBase::BeginPlay()
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{
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Super::BeginPlay();
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InitializeMujocoVolumeActor();
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InitializeMovementComponent();
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@ -66,7 +64,10 @@ void ALuckyRobotPawnBase::BeginPlay()
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GetLuckyWorldSubsystem()->RegisterLuckyRobot(this);
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GetLuckyWorldSubsystem()->TargetSpeedChanged.AddUniqueDynamic(this, &ALuckyRobotPawnBase::SetTargetSpeed);
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GetLuckyWorldSubsystem()->RobotNavPathChanged.AddUniqueDynamic(this, &ALuckyRobotPawnBase::SetRobotNavPath);
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}
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Super::BeginPlay();
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}
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bool ALuckyRobotPawnBase::HasMovementValue() const
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@ -123,6 +124,8 @@ void ALuckyRobotPawnBase::SetupPlayerInputComponent(UInputComponent* PlayerInput
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EnhancedInputComponent->BindAction(TurnAction, ETriggerEvent::Completed, this, &ALuckyRobotPawnBase::TurnStop);
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EnhancedInputComponent->BindAction(LookAction, ETriggerEvent::Triggered, this, &ALuckyRobotPawnBase::Look);
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EnhancedInputComponent->BindAction(TogglePathfindingAction, ETriggerEvent::Started, this, &ALuckyRobotPawnBase::TogglePathfinding);
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}
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}
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@ -250,6 +253,12 @@ void ALuckyRobotPawnBase::Look(const FInputActionValue& Value)
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UE_LOG(LogTemp, Warning, TEXT("ALuckyRobotPawnBase :: Input :: Look (%s)"), *Value.Get<FVector2D>().ToString());
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}
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void ALuckyRobotPawnBase::TogglePathfinding(const FInputActionValue& Value)
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{
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PreviousInputType = ERobotInputType::None;
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CurrentInputType = IsPathfinding() ? ERobotInputType::None : ERobotInputType::Pathfinding;
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}
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void ALuckyRobotPawnBase::RemoveMujocoVolumeActor()
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{
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if (GetMujocoVolumeActor())
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@ -276,6 +285,18 @@ ULuckyWorldSubsystem* ALuckyRobotPawnBase::GetLuckyWorldSubsystem()
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return LuckyWorldSubsystem.Get();
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}
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void ALuckyRobotPawnBase::SetRobotNavPath(const FRobotNavPath& InRobotNavPath)
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{
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CurrentSplinePath.GenerateSplinePath(this, InRobotNavPath);
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Internal_RobotNavPathChanged(CurrentSplinePath);
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}
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void ALuckyRobotPawnBase::Internal_RobotNavPathChanged(const FRobotSplinePath& NewNavPath)
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{
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RobotNavPathChanged(NewNavPath);
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}
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int32 ALuckyRobotPawnBase::GetTaskCount()
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{
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if (GetLuckyRobotsGameInstance())
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@ -344,6 +365,8 @@ void ALuckyRobotPawnBase::SetTargetSpeed(const float InTargetSpeed)
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void ALuckyRobotPawnBase::Internal_TargetSpeedChanged(const float OldValue)
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{
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GetCurrentNavPath().RegenerateSplinePathValues();
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TargetSpeedChanged(TargetSpeed, OldValue);
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}
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@ -72,4 +72,14 @@ void ULuckyWorldSubsystem::UpdateTorqueLimiter(const float InTorqueLimiter)
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{
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TorqueLimiterChanged.Broadcast(Robot_TorqueLimiter);
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}
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}
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}
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void ULuckyWorldSubsystem::UpdateRobotNavPath(const FRobotNavPath& InRobotNavPath)
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{
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RobotNavPath = InRobotNavPath;
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if (RobotNavPathChanged.IsBound())
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{
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RobotNavPathChanged.Broadcast(RobotNavPath);
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}
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}
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@ -48,6 +48,7 @@ protected:
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FRobotSettings RobotSettings = FRobotSettings();
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//virtual void EvaluateRobotPath();
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virtual void InterpolateSpeedValues(const float DeltaTime, const float Acceleration, const float Deceleration);
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FVector2D CurrentSpeedValues = FVector2D::ZeroVector;
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@ -6,6 +6,8 @@
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#include "RobotSettings.generated.h"
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class ALuckyRobotPawnBase;
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class USplineComponent;
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class ULuckyRobotMovementComponent;
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class AMujocoVolumeActor;
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@ -30,6 +32,9 @@ USTRUCT(BlueprintType)
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struct FRobotSettings
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{
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GENERATED_USTRUCT_BODY()
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UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Settings")
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float SpeedLimit = 15.f;
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UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Settings")
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TSubclassOf<AMujocoVolumeActor> MujocoSettings;
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@ -39,4 +44,54 @@ struct FRobotSettings
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UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Settings")
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ERobotInputHandlingMethod InputHandlingMethod = ERobotInputHandlingMethod::CombinedInput;
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};
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USTRUCT(BlueprintType)
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struct FRobotNavPoint
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{
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GENERATED_USTRUCT_BODY()
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UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Nav Point")
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FVector Location = FVector::ZeroVector;
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UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Nav Point")
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bool bDestination = false;
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};
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USTRUCT(BlueprintType)
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struct FRobotNavPath
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{
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GENERATED_USTRUCT_BODY()
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UPROPERTY(BlueprintReadWrite, EditDefaultsOnly, Category = "Robot Nav Path")
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TArray<FRobotNavPoint> NavPoints;
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};
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USTRUCT(BlueprintType)
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struct FRobotSplinePath
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{
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GENERATED_USTRUCT_BODY()
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UPROPERTY(BlueprintReadOnly, Category = "Robot Spline Path")
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TWeakObjectPtr<ALuckyRobotPawnBase> Robot;
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UPROPERTY(BlueprintReadOnly, Category = "Robot Spline Path")
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FRobotNavPath NavPath = FRobotNavPath();
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UPROPERTY(BlueprintReadOnly, Category = "Robot Spline Path")
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TWeakObjectPtr<USplineComponent> SplinePath;
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UPROPERTY(BlueprintReadOnly, Category = "Robot Spline Path")
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FRuntimeFloatCurve SplinePathSpeedModifier = FRuntimeFloatCurve();
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ALuckyRobotPawnBase* GetRobot() const { return Robot.Get(); }
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void GenerateSplinePath(ALuckyRobotPawnBase* InRobot, const FRobotNavPath& InNavPath);
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void RegenerateSplinePathValues();
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USplineComponent* GetSplinePath() const { return SplinePath.Get(); }
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FRobotSplinePath() {}
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FRobotSplinePath(ALuckyRobotPawnBase* InRobot, const FRobotNavPath& InNavPath)
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{
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GenerateSplinePath(InRobot, InNavPath);
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}
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};
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@ -45,11 +45,11 @@ public:
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UFUNCTION(BlueprintPure, Category = "Lucky Robot Pawn")
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float GetFastEndTaskTime();
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UFUNCTION(BlueprintCallable, Category = "Lucky Robot Pawn")
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UFUNCTION()
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bool SetActuators(const TArray<FStretchRobotActuator>& InActuators);
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// SPEED CONFIG
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UFUNCTION(BlueprintCallable, Category = "Lucky Robot Pawn")
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UFUNCTION()
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void SetTargetSpeed(const float InTargetSpeed = 0.f);
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UFUNCTION(BlueprintPure, Category = "Lucky Robot Pawn")
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@ -64,7 +64,7 @@ public:
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ULuckyRobotMovementComponent* GetRobotMovementComponent() const { return RobotMovementComponent.Get(); }
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// TORQUE LIMITER
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UFUNCTION(BlueprintCallable, Category = "Lucky Robot Pawn")
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UFUNCTION()
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void SetTorqueLimiter(const float InTorqueLimiter = 0.f);
|
||||
|
||||
UFUNCTION(BlueprintPure, Category = "Lucky Robot Pawn")
|
||||
@ -116,6 +116,18 @@ public:
|
||||
UFUNCTION(BlueprintPure, Category = "Lucky Robot Pawn")
|
||||
ULuckyWorldSubsystem* GetLuckyWorldSubsystem();
|
||||
|
||||
// NAV ROBOT PATH CHANGED
|
||||
UFUNCTION()
|
||||
void SetRobotNavPath(const FRobotNavPath& InRobotNavPath);
|
||||
|
||||
UFUNCTION(BlueprintPure, Category = "Lucky Robot Pawn")
|
||||
FRobotSplinePath& GetCurrentNavPath() { return CurrentSplinePath; }
|
||||
|
||||
void Internal_RobotNavPathChanged(const FRobotSplinePath& NewNavPath);
|
||||
|
||||
UFUNCTION(BlueprintImplementableEvent, Category = "Lucky Robot Pawn")
|
||||
void RobotNavPathChanged(const FRobotSplinePath& NewNavPath);
|
||||
|
||||
// INPUTS
|
||||
UFUNCTION(BlueprintPure, Category = "Lucky Robot Pawn")
|
||||
UEnhancedInputComponent* GetEnhancedInputComponent() const { return EnhancedInputComponent.Get(); }
|
||||
@ -132,6 +144,9 @@ public:
|
||||
UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Input, meta = (AllowPrivateAccess = "true"))
|
||||
UInputAction* LookAction;
|
||||
|
||||
UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = Input, meta = (AllowPrivateAccess = "true"))
|
||||
UInputAction* TogglePathfindingAction;
|
||||
|
||||
void MoveStart(const FInputActionValue& Value);
|
||||
void Move(const FInputActionValue& Value);
|
||||
void MoveStop(const FInputActionValue& Value);
|
||||
@ -142,6 +157,8 @@ public:
|
||||
|
||||
void Look(const FInputActionValue& Value);
|
||||
|
||||
void TogglePathfinding(const FInputActionValue& Value);
|
||||
|
||||
UFUNCTION(BlueprintPure, Category = "Lucky Robot Pawn")
|
||||
ERobotInputType GetCurrentInputType() const { return CurrentInputType; }
|
||||
|
||||
@ -154,6 +171,9 @@ public:
|
||||
UFUNCTION(BlueprintPure, Category = "Lucky Robot Pawn")
|
||||
float GetDecelerationRate() const { return DecelerationRate; }
|
||||
|
||||
UFUNCTION(BlueprintPure, Category = "Lucky Robot Pawn")
|
||||
float GetTurnModifier() const { return TurnModifier; }
|
||||
|
||||
UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "Lucky Robot Pawn")
|
||||
float AccelerationRate = 1.5f;
|
||||
|
||||
@ -163,11 +183,15 @@ public:
|
||||
UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "Input")
|
||||
float TargetSpeed = 0.f;
|
||||
|
||||
UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "Input")
|
||||
float TurnModifier = 1.f;
|
||||
|
||||
protected:
|
||||
virtual void BeginPlay() override;
|
||||
|
||||
bool HasMovementValue() const;
|
||||
bool HasTurnValue() const;
|
||||
bool IsPathfinding() const { return CurrentInputType == ERobotInputType::Pathfinding; }
|
||||
|
||||
void RemoveMujocoVolumeActor();
|
||||
|
||||
@ -187,4 +211,7 @@ protected:
|
||||
float TorqueLimiter = 0.85f;
|
||||
int32 CurrentTaskIndex = -1;
|
||||
float TaskTime = 0.f;
|
||||
|
||||
UPROPERTY()
|
||||
FRobotSplinePath CurrentSplinePath = FRobotSplinePath();
|
||||
};
|
||||
@ -3,6 +3,7 @@
|
||||
#pragma once
|
||||
|
||||
#include "CoreMinimal.h"
|
||||
#include "Gameplay/Robot/Data/RobotSettings.h"
|
||||
#include "Subsystems/WorldSubsystem.h"
|
||||
#include "LuckyWorldSubsystem.generated.h"
|
||||
|
||||
@ -15,6 +16,7 @@ DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FLuckyRobotPawnReadyDelegate, ALucky
|
||||
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FLuckyRobotCurrentTaskChangedDelegate, const int32, NewTaskIndex);
|
||||
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FLuckyRobotTargetSpeedChangedDelegate, const float, NewTargetSpeed);
|
||||
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FLuckyRobotTorqueLimiterChangedDelegate, const float, NewTorqueLimiter);
|
||||
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FLuckyRobotNavPathChangedDelegate, const FRobotNavPath&, NewRobotNavPath);
|
||||
|
||||
UCLASS()
|
||||
class LUCKYWORLDV2_API ULuckyWorldSubsystem : public UWorldSubsystem
|
||||
@ -65,11 +67,24 @@ public:
|
||||
|
||||
UPROPERTY(BlueprintAssignable, Category = "Lucky World Subsystem")
|
||||
FLuckyRobotTorqueLimiterChangedDelegate TorqueLimiterChanged;
|
||||
|
||||
// ROBOT NAV PATH
|
||||
UFUNCTION(BlueprintCallable, Category = "Lucky World Subsystem")
|
||||
void UpdateRobotNavPath(const FRobotNavPath& InRobotNavPath);
|
||||
|
||||
UFUNCTION(BlueprintPure, Category = "Lucky World Subsystem")
|
||||
FRobotNavPath GetRobotNavPath() const { return RobotNavPath; }
|
||||
|
||||
UPROPERTY(BlueprintAssignable, Category = "Lucky World Subsystem")
|
||||
FLuckyRobotNavPathChangedDelegate RobotNavPathChanged;
|
||||
|
||||
protected:
|
||||
TWeakObjectPtr<ALuckyRobotPawnBase> LuckyRobotPawn;
|
||||
TWeakObjectPtr<AMujocoVolumeActor> MujocoVolumeActor;
|
||||
|
||||
UPROPERTY()
|
||||
FRobotNavPath RobotNavPath = FRobotNavPath();
|
||||
|
||||
float Robot_TargetSpeed = 0.f;
|
||||
float Robot_TorqueLimiter = 0.85f;
|
||||
int32 Robot_CurrentTaskIndex = -1;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user