Robot Movement WIP
- Robot Movement semi functional for CombinedInput types
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Vyktori
parent
a028ed8caf
commit
e79570aeae
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@ -4,6 +4,7 @@
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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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#include "Kismet/KismetMathLibrary.h"
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void ULRMC_Stretch::PerformMovement(float DeltaTime, const ERobotInputHandlingMethod InputHandlingMethod, const ERobotInputType InputType, const FVector2D& InputValues)
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@ -19,58 +20,119 @@ void ULRMC_Stretch::PerformMovement(float DeltaTime, const ERobotInputHandlingMe
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switch (PreviousInputType)
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{
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case ERobotInputType::None:
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StopMovement();
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break;
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case ERobotInputType::Move:
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if (FMath::IsNearlyZero(InputValues.X))
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{
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PreviousInputType = ERobotInputType::None;
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StopMovement();
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}
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else
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{
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Move(InputValues.X);
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PreviousInputType = ERobotInputType::Move;
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Move(DeltaTime, InputValues);
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}
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break;
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case ERobotInputType::Turn:
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if (FMath::IsNearlyZero(InputValues.Y))
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{
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PreviousInputType = ERobotInputType::None;
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StopMovement();
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}
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else
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{
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Turn(InputValues.Y);
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PreviousInputType = ERobotInputType::Turn;
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Turn(DeltaTime, InputValues.Y);
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}
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break;
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case ERobotInputType::Pathfinding:
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if (FMath::IsNearlyZero(InputValues.X))
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{
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PreviousInputType = ERobotInputType::None;
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}
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else
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{
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PreviousInputType = ERobotInputType::Move;
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Move(DeltaTime, InputValues);
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}
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break;
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}
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break;
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case ERobotInputType::Move:
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{
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PreviousInputType = ERobotInputType::Move;
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Move(InputValues.X);
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Move(DeltaTime, InputValues);
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}
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break;
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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);
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Turn(DeltaTime, InputValues.Y);
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}
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break;
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case ERobotInputType::Pathfinding:
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break;
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switch (PathfindingInputType) {
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case ERobotInputType::None:
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break;
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case ERobotInputType::Move:
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PreviousInputType = ERobotInputType::Move;
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Move(DeltaTime, InputValues);
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break;
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case ERobotInputType::Turn:
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PreviousInputType = ERobotInputType::Turn;
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Turn(DeltaTime, InputValues.Y);
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break;
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case ERobotInputType::Pathfinding:
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break;
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}
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}
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}
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void ULRMC_Stretch::Move(const float InValue) const
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void ULRMC_Stretch::Move(const float DeltaTime, const FVector2D& InputValues) const
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{
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if (GetMujocoVolumeActor())
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if (GetOwningRobot() && 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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float Input_0 = InputValues.X;
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float Input_1 = InputValues.X;
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const float TargetSpeed = GetTargetSpeed();
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const FVector Forward = GetRobotForwardVector();
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const FVector DirectionToTarget = (PathfindingTargetLocation - GetRobotLocation()).GetSafeNormal();
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const float DirectionDot = FVector::DotProduct(Forward, DirectionToTarget);
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const bool bRight = FVector::DotProduct(DirectionToTarget, GetRobotRightVector()) >= 0.f;
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const float DirectionDelta = FMath::Abs<float>(1.f - DirectionDot);
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const float DirectionOffset = FMath::Min<float>(DirectionDelta * TargetSpeed * 10.f, TargetSpeed) * 2.f;
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UE_LOG(LogTemp, Warning, TEXT("RobotMove :: DirectionOffset (%f)"), DirectionOffset);
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if (!FMath::IsNearlyZero(DirectionOffset, 0.01f))
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{
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if (bRight)
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{
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Input_1 -= DirectionOffset;
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}
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else
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{
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Input_0 -= DirectionOffset;
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}
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}
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const float TargetSpeedMod = GetTargetSpeedMod() * 0.5f;
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Input_0 = FMath::Min<float>(Input_0, GetTargetSpeed()) * TargetSpeedMod;
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Input_1 = FMath::Min<float>(Input_1, GetTargetSpeed()) * TargetSpeedMod;
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UE_LOG(LogTemp, Warning, TEXT("RobotMove Inputs :: Left [%f] :: Right [%f]"), Input_0, Input_1);
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GetMujocoVolumeActor()->SetActuatorValueByIndex(0, Input_0);
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GetMujocoVolumeActor()->SetActuatorValueByIndex(1, Input_1);
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}
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}
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void ULRMC_Stretch::Turn(const float InValue) const
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void ULRMC_Stretch::Turn(const float DeltaTime, const float InValue) const
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{
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if (GetMujocoVolumeActor())
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{
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@ -79,3 +141,12 @@ void ULRMC_Stretch::Turn(const float InValue) const
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GetMujocoVolumeActor()->SetActuatorValueByIndex(1, InValue * TurnMod);
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}
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}
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void ULRMC_Stretch::StopMovement()
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{
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if (GetMujocoVolumeActor())
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{
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GetMujocoVolumeActor()->SetActuatorValueByIndex(0, 0.f);
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GetMujocoVolumeActor()->SetActuatorValueByIndex(1, 0.f);
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}
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}
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@ -3,6 +3,7 @@
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#include "Gameplay/Robot/Components/Movement/LuckyRobotMovementComponent.h"
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#include "Actors/MujocoVolumeActor.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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@ -19,8 +20,20 @@ void ULuckyRobotMovementComponent::TickComponent(float DeltaTime, enum ELevelTic
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if (GetOwningRobot())
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{
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const FVector CurrentLocation = GetRobotLocation();
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CurrentRobotSpeed = UKismetMathLibrary::SafeDivide(FVector::Distance(CurrentLocation, PreviousLocation), DeltaTime);
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if (IsPathfinding())
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{
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HandlePathfindingInputs(DeltaTime);
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}
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InterpolateSpeedValues(DeltaTime, GetOwningRobot()->GetAccelerationRate(), GetOwningRobot()->GetDecelerationRate());
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PerformMovement(DeltaTime, RobotSettings.InputHandlingMethod, GetOwningRobot()->GetCurrentInputType(), CurrentSpeedValues);
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PreviousLocation = CurrentLocation;
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UE_LOG(LogTemp, Warning, TEXT("CurrentRobotSpeed (%f)"), CurrentRobotSpeed);
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}
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}
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@ -39,6 +52,7 @@ void ULuckyRobotMovementComponent::InitializeMovementComponent(ALuckyRobotPawnBa
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{
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RobotSettings = GetOwningRobot()->RobotSettings;
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MujocoVolumeActor = GetOwningRobot()->GetMujocoVolumeActor();
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PreviousLocation = GetRobotLocation();
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}
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SetComponentTickEnabled(true);
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@ -85,10 +99,30 @@ FVector ULuckyRobotMovementComponent::GetRobotRightVector() const
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return FVector::ZeroVector;
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}
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FRobotSplinePath ULuckyRobotMovementComponent::GetNavPath() const
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{
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if (GetOwningRobot())
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{
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return GetOwningRobot()->GetCurrentNavPath();
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}
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return FRobotSplinePath();
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}
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bool ULuckyRobotMovementComponent::IsPathfinding() const
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{
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if (GetOwningRobot())
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{
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return GetOwningRobot()->IsPathfinding();
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}
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return false;
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}
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void ULuckyRobotMovementComponent::PerformMovement(float DeltaTime, const ERobotInputHandlingMethod InputHandlingMethod, const ERobotInputType InputType, const FVector2D& SpeedValues)
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{
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//UE_LOG(LogTemp, Warning, TEXT("ULuckyRobotMovementComponent::PerformMovement IS NOT IMPLEMENTED"));
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UE_LOG(LogTemp, Warning, TEXT("ULuckyRobotMovementComponent::PerformMovement [ DeltaTime (%f) :: InputHandlingMethod (%s) :: InputType (%s) :: InputValues (%s) ]"), DeltaTime, *UEnum::GetValueAsString(InputHandlingMethod), *UEnum::GetValueAsString(InputType), *SpeedValues.ToString());
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//UE_LOG(LogTemp, Warning, TEXT("ULuckyRobotMovementComponent::PerformMovement [ DeltaTime (%f) :: InputHandlingMethod (%s) :: InputType (%s) :: InputValues (%s) ]"), DeltaTime, *UEnum::GetValueAsString(InputHandlingMethod), *UEnum::GetValueAsString(InputType), *SpeedValues.ToString());
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}
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void ULuckyRobotMovementComponent::InterpolateSpeedValues(const float DeltaTime, const float Acceleration, const float Deceleration)
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@ -98,7 +132,9 @@ void ULuckyRobotMovementComponent::InterpolateSpeedValues(const float DeltaTime,
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FVector2D TargetSpeedValues = GetOwningRobot()->GetMovementInputValues() * GetOwningRobot()->GetTargetSpeed();
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const FVector Current = FVector(CurrentSpeedValues.X, CurrentSpeedValues.Y, 0.f);
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FVector Target = FVector(TargetSpeedValues.X, TargetSpeedValues.Y, 0.f);
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const FVector RawTarget = FVector(TargetSpeedValues.X, TargetSpeedValues.Y, 0.f);
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FVector Target = IsPathfinding() ? RawTarget.GetClampedToMaxSize(PathfindingTargetSpeed) : RawTarget;
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UE_LOG(LogTemp, Warning, TEXT("PathfindingTargetSpeed (%f)"), PathfindingTargetSpeed);
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if (RobotSettings.InputHandlingMethod == ERobotInputHandlingMethod::SingleInput)
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{
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@ -124,6 +160,161 @@ void ULuckyRobotMovementComponent::InterpolateSpeedValues(const float DeltaTime,
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CurrentSpeedValues = FVector2D(MoveRate, TurnRate);
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UE_LOG(LogTemp, Warning, TEXT("ULuckyRobotMovementComponent::InterpolateSpeedValues (%s)"), *CurrentSpeedValues.ToString());
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UE_LOG(LogTemp, Warning, TEXT("ULuckyRobotMovementComponent::InterpolatedSpeedValues (%s)"), *CurrentSpeedValues.ToString());
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}
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}
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void ULuckyRobotMovementComponent::HandlePathfindingInputs(const float DeltaTime)
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{
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if (GetOwningRobot())
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{
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if (USplineComponent* SplineComp = GetNavPath().GetSplinePath())
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{
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constexpr float SplineDistanceTolerance = 15.f;
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constexpr float SplineDirectionTolerance = 0.95f;
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const bool bSingleInput = GetOwningRobot()->RobotSettings.InputHandlingMethod == ERobotInputHandlingMethod::SingleInput;
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const FTransform CurrentTransform = GetOwningRobot()->GetTransform();
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const float SplineDistance = SplineComp->GetDistanceAlongSplineAtLocation(CurrentTransform.GetLocation(), ESplineCoordinateSpace::World);
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const FVector SplineLocation = SplineComp->GetWorldLocationAtDistanceAlongSpline(SplineDistance);
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const float DistanceToSpline = FVector::Distance(CurrentTransform.GetLocation(), SplineLocation);
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PathfindingTargetLocation = bSingleInput ? GetSplineTargetPointLocation(SplineDistance) : GetSplineTargetLocation(SplineDistance);
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PathfindingDestination = GetOwningRobot()->GetPathfindingDestination();
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DrawDebugLine(GetWorld(), PathfindingTargetLocation, PathfindingTargetLocation + FVector(0.f, 0.f, 100.f), bSingleInput ? FColor::Purple : FColor::Yellow, false, 0.02f, 0, 3.f);
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DrawDebugLine(GetWorld(), CurrentTransform.GetLocation(), CurrentTransform.GetLocation() + GetRobotForwardVector() * 100.f, FColor::Green, false, 0.02f, 0, 3.f);
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DrawDebugLine(GetWorld(), CurrentTransform.GetLocation(), CurrentTransform.GetLocation() + GetRobotForwardVector() * -100.f, FColor::Blue, false, 0.02f, 0, 3.f);
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if (FVector::Distance(CurrentTransform.GetLocation(), PathfindingDestination) <= PathfindingDestinationTolerance)
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{
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GetOwningRobot()->PathfindingComplete(true);
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return;
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}
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PathfindingTargetSpeed = GetSplineSpeed(SplineDistance);
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if (DistanceToSpline > SplineDistanceTolerance)
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{
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if (bSingleInput)
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{
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const FVector DirectionToSpline = (SplineLocation - CurrentTransform.GetLocation()).GetSafeNormal();
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const float DirectionDot = FVector::DotProduct(GetRobotForwardVector(), DirectionToSpline);
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if (DirectionDot >= SplineDirectionTolerance)
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{
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GetOwningRobot()->SetPathfindingInputValues(FVector2D(1.f, 0.f));
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PathfindingInputType = ERobotInputType::Move;
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}
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else
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{
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const bool bTurnRight = FVector::DotProduct(GetRobotRightVector(), DirectionToSpline) >= 0.f;
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const float DirectionDiscrepancy = (2.f - DirectionDot + 1.f) * bTurnRight ? -1.f : 1.f;
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const float TurnRate = UKismetMathLibrary::FInterpTo(1.f, DirectionDiscrepancy, DeltaTime, 1.f);
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GetOwningRobot()->SetPathfindingInputValues(FVector2D(0.f, TurnRate));
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PathfindingInputType = ERobotInputType::Turn;
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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 FVector DirectionToPath = (PathfindingTargetLocation - CurrentTransform.GetLocation()).GetSafeNormal();
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const float DirectionDot = FVector::DotProduct(GetRobotForwardVector(), DirectionToPath);
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UE_LOG(LogTemp, Warning, TEXT("DirectionDot :: %f"), DirectionDot);
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const float TurnRate = FVector::DotProduct(GetRobotRightVector(), DirectionToPath) >= 0.f ? -1.f : 1.f;
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if (DirectionDot >= SplineDirectionTolerance)
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{
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const float AdjustedTurnRate = TurnRate * (1.f - DirectionDot);
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GetOwningRobot()->SetPathfindingInputValues(FVector2D(1.f, AdjustedTurnRate));
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PathfindingInputType = ERobotInputType::Move;
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}
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else
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{
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if (bSingleInput)
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{
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GetOwningRobot()->SetPathfindingInputValues(FVector2D(0.f, TurnRate));
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PathfindingInputType = ERobotInputType::Turn;
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}
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else
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{
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const float AdjustedTurnRate = TurnRate * (1.f - DirectionDot);
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GetOwningRobot()->SetPathfindingInputValues(FVector2D(GetOwningRobot()->GetMovementInputValues().X, AdjustedTurnRate));
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PathfindingInputType = ERobotInputType::Move;
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}
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}
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}
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}
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}
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}
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FVector ULuckyRobotMovementComponent::GetSplineTargetLocation(const float CurrentDistance) const
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{
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if (GetNavPath().GetSplinePath())
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{
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const float ForwardPathCheck = FMath::Clamp<float>(GetTargetSpeed() * 0.5f, 20.f, 50.f);
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const float SplineCheckDistance = CurrentDistance + ForwardPathCheck;
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if (SplineCheckDistance >= GetNavPath().GetSplinePath()->GetSplineLength())
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{
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return PathfindingDestination;
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}
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return GetNavPath().GetSplinePath()->GetWorldLocationAtDistanceAlongSpline(CurrentDistance + ForwardPathCheck);
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}
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return GetRobotLocation();
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}
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FVector ULuckyRobotMovementComponent::GetSplineTargetPointLocation(const float CurrentDistance) const
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{
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if (GetNavPath().GetSplinePath())
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{
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const int32 SplinePoints = GetNavPath().GetSplinePath()->GetNumberOfSplinePoints();
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float NextSplinePointDistance = GetNavPath().GetSplinePath()->GetSplineLength();
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int32 NextSplinePointIndex = 0;
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for (int32 x = 0; x < SplinePoints; x++)
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{
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const float PointDistance = GetNavPath().GetSplinePath()->GetDistanceAlongSplineAtSplinePoint(x);
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if (PointDistance > CurrentDistance && PointDistance < NextSplinePointDistance)
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{
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NextSplinePointDistance = PointDistance;
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NextSplinePointIndex = x;
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}
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}
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return GetNavPath().GetSplinePath()->GetWorldLocationAtSplinePoint(NextSplinePointIndex);
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}
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return GetRobotLocation();
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}
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float ULuckyRobotMovementComponent::GetSplineSpeed(const float CurrentDistance) const
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{
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if (GetOwningRobot())
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{
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return GetOwningRobot()->GetCurrentNavPath().SplinePathSpeedModifier.EditorCurveData.Eval(CurrentDistance);
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}
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return 5.f;
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}
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float ULuckyRobotMovementComponent::GetSpeedLimit() const
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{
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if (GetOwningRobot())
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{
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return GetOwningRobot()->RobotSettings.SpeedLimit;
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}
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return 5.f;
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}
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void ULuckyRobotMovementComponent::StopMovement()
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{
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//
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}
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float ULuckyRobotMovementComponent::GetTargetSpeed() const
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{
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return IsPathfinding() ? PathfindingTargetSpeed : GetSpeedLimit();
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}
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float ULuckyRobotMovementComponent::GetTargetSpeedMod() const
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{
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return UKismetMathLibrary::SafeDivide(GetTargetSpeed(), CurrentRobotSpeed);
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}
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@ -171,14 +171,16 @@ void FRobotSplinePath::RegenerateSplinePathValues()
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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 IntervalAlpha = FMath::Max<float>(1.f - UKismetMathLibrary::SafeDivide(IntervalCurve, TangentClamp), 0.f);
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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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const float ClampedSpeed = FMath::Max<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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PathfindingDestination = GetSplinePath()->GetWorldLocationAtDistanceAlongSpline(SplineLength);
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// begin debug
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const int32 SplineIntervals = UKismetMathLibrary::SafeDivide(SplineLength, SplinePrecision);
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@ -91,6 +91,8 @@ void ALuckyRobotPawnBase::Tick(float DeltaTime)
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// {
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// IncrementCurrentTask();
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// }
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UE_LOG(LogTemp, Warning, TEXT("ROBOT TARGET SPEED %f"), TargetSpeed);
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}
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void ALuckyRobotPawnBase::NotifyControllerChanged()
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@ -259,6 +261,20 @@ void ALuckyRobotPawnBase::TogglePathfinding(const FInputActionValue& Value)
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CurrentInputType = IsPathfinding() ? ERobotInputType::None : ERobotInputType::Pathfinding;
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}
|
||||
|
||||
void ALuckyRobotPawnBase::BeginPathfinding()
|
||||
{
|
||||
PreviousInputType = ERobotInputType::None;
|
||||
CurrentInputType = ERobotInputType::Pathfinding;
|
||||
}
|
||||
|
||||
void ALuckyRobotPawnBase::PathfindingComplete(const bool bSuccess)
|
||||
{
|
||||
CurrentInputType = ERobotInputType::None;
|
||||
PreviousInputType = ERobotInputType::Pathfinding;
|
||||
|
||||
UE_LOG(LogTemp, Warning, TEXT("ALuckyRobotPawnBase::PathfindingComplete"));
|
||||
}
|
||||
|
||||
void ALuckyRobotPawnBase::RemoveMujocoVolumeActor()
|
||||
{
|
||||
if (GetMujocoVolumeActor())
|
||||
@ -294,6 +310,10 @@ void ALuckyRobotPawnBase::SetRobotNavPath(const FRobotNavPath& InRobotNavPath)
|
||||
|
||||
void ALuckyRobotPawnBase::Internal_RobotNavPathChanged(const FRobotSplinePath& NewNavPath)
|
||||
{
|
||||
// testing
|
||||
BeginPathfinding();
|
||||
//
|
||||
|
||||
RobotNavPathChanged(NewNavPath);
|
||||
}
|
||||
|
||||
|
||||
@ -18,6 +18,7 @@ public:
|
||||
protected:
|
||||
ERobotInputType PreviousInputType = ERobotInputType::None;
|
||||
|
||||
void Move(const float InValue) const;
|
||||
void Turn(const float InValue) const;
|
||||
void Move(const float DeltaTime, const FVector2D& InputValues) const;
|
||||
void Turn(const float DeltaTime, const float InValue) const;
|
||||
virtual void StopMovement() override;
|
||||
};
|
||||
|
||||
@ -40,6 +40,21 @@ public:
|
||||
UFUNCTION(BlueprintPure, Category = "Robot Values")
|
||||
FVector GetRobotRightVector() const;
|
||||
|
||||
UFUNCTION(BlueprintPure, Category = "Robot Values")
|
||||
FRobotSplinePath GetNavPath() const;
|
||||
|
||||
bool IsPathfinding() const;
|
||||
void HandlePathfindingInputs(const float DeltaTime);
|
||||
|
||||
FVector GetSplineTargetLocation(const float CurrentDistance) const;
|
||||
FVector GetSplineTargetPointLocation(const float CurrentDistance) const;
|
||||
float GetSplineSpeed(const float CurrentDistance) const;
|
||||
float GetSpeedLimit() const;
|
||||
|
||||
virtual void StopMovement();
|
||||
float GetTargetSpeed() const;
|
||||
float GetTargetSpeedMod() const;
|
||||
|
||||
protected:
|
||||
virtual void BeginPlay() override;
|
||||
|
||||
@ -48,8 +63,16 @@ protected:
|
||||
|
||||
FRobotSettings RobotSettings = FRobotSettings();
|
||||
|
||||
//virtual void EvaluateRobotPath();
|
||||
ERobotInputType PathfindingInputType = ERobotInputType::None;
|
||||
|
||||
virtual void InterpolateSpeedValues(const float DeltaTime, const float Acceleration, const float Deceleration);
|
||||
|
||||
FVector2D CurrentSpeedValues = FVector2D::ZeroVector;
|
||||
float PathfindingTargetSpeed = 0.f;
|
||||
float PathfindingDestinationTolerance = 10.f;
|
||||
FVector PathfindingTargetLocation = FVector::ZeroVector;
|
||||
FVector PathfindingDestination = FVector::ZeroVector;
|
||||
|
||||
float CurrentRobotSpeed = 0.f;
|
||||
FVector PreviousLocation = FVector::ZeroVector;
|
||||
};
|
||||
@ -84,6 +84,9 @@ struct FRobotSplinePath
|
||||
UPROPERTY(BlueprintReadOnly, Category = "Robot Spline Path")
|
||||
FRuntimeFloatCurve SplinePathSpeedModifier = FRuntimeFloatCurve();
|
||||
|
||||
UPROPERTY(BlueprintReadOnly, Category = "Robot Spline Path")
|
||||
FVector PathfindingDestination = FVector::ZeroVector;
|
||||
|
||||
ALuckyRobotPawnBase* GetRobot() const { return Robot.Get(); }
|
||||
void GenerateSplinePath(ALuckyRobotPawnBase* InRobot, const FRobotNavPath& InNavPath);
|
||||
void RegenerateSplinePathValues();
|
||||
|
||||
@ -158,6 +158,7 @@ public:
|
||||
void Look(const FInputActionValue& Value);
|
||||
|
||||
void TogglePathfinding(const FInputActionValue& Value);
|
||||
void BeginPathfinding();
|
||||
|
||||
UFUNCTION(BlueprintPure, Category = "Lucky Robot Pawn")
|
||||
ERobotInputType GetCurrentInputType() const { return CurrentInputType; }
|
||||
@ -186,12 +187,19 @@ public:
|
||||
UPROPERTY(EditAnywhere, BlueprintReadOnly, Category = "Input")
|
||||
float TurnModifier = 1.f;
|
||||
|
||||
UFUNCTION(BlueprintCallable, Category = "Input")
|
||||
void SetPathfindingInputValues(const FVector2D InValues = FVector2D::ZeroVector) { CachedMovementInputValues = InValues; }
|
||||
|
||||
bool IsPathfinding() const { return CurrentInputType == ERobotInputType::Pathfinding; }
|
||||
FVector GetPathfindingDestination() const { return CurrentSplinePath.PathfindingDestination; }
|
||||
|
||||
void PathfindingComplete(const bool bSuccess = false);
|
||||
|
||||
protected:
|
||||
virtual void BeginPlay() override;
|
||||
|
||||
bool HasMovementValue() const;
|
||||
bool HasTurnValue() const;
|
||||
bool IsPathfinding() const { return CurrentInputType == ERobotInputType::Pathfinding; }
|
||||
|
||||
void RemoveMujocoVolumeActor();
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user