failed attempt at succeeding

query thing.cpp

NecroAiTask UNecroAiComponent::MoveToPoint(const FVector Dest, const float AcceptanceRadius = 160.0f) const
{
	auto NavSys = Cast<UNavigationSystemV1>(GetWorld()->GetNavigationSystem());
	check(NavSys);
	
	auto NavProps = FNavAgentProperties(ControlledCharacter->GetSimpleCollisionRadius(), 128.f);
	NavProps.bCanWalk = true;
	NavProps.bCanFly = false;
	auto Query = FPathFindingQuery();
	Query.NavAgentProperties = NavProps;
	Query.StartLocation = ControlledCharacter->GetActorLocation();
	Query.NavData = NavSys->MainNavData;
	Query.QueryFilter = UNavigationQueryFilter::GetQueryFilter<UNavigationQueryFilter>(*NavSys->MainNavData);

	ENavigationQueryResult::Type QueryResult;
	bool QueryComplete;
	TSharedPtr<FNavigationPath> ResultingPath;
	FNavPathQueryDelegate OnPathGenerated;
	OnPathGenerated.BindLambda([&](uint PathId, const ENavigationQueryResult::Type QResultType, TSharedPtr<FNavigationPath> Path)
	{
		QueryResult = QResultType;
		QueryComplete = true;
		ResultingPath = Path;
	});
	NavSys->FindPathAsync(NavProps, Query, OnPathGenerated);

	while(!QueryComplete)
	{
		co_await std::suspend_always{};
	}
	if(QueryResult != ENavigationQueryResult::Type::Success)
	{
		if(QueryResult == ENavigationQueryResult::Type::Error)
		{
			UE_LOG(LogTemp, Warning, TEXT("Error query!"));
		}
		if(QueryResult == ENavigationQueryResult::Type::Invalid)
		{
			UE_LOG(LogTemp, Warning, TEXT("Invalid query!"));
		}
		if(QueryResult == ENavigationQueryResult::Type::Fail)
		{
			UE_LOG(LogTemp, Warning, TEXT("Failed query!"));
		}
		co_return;
	}

	UE_LOG(LogTemp, Warning, TEXT("Successful query!"));
	
	SplineComponent->ClearSplinePoints();
	for (const auto& Point : ResultingPath->GetPathPoints())
	{
		SplineComponent->AddSplinePoint(Point, ESplineCoordinateSpace::World, false);
		DrawDebugSphere(ControlledCharacter->GetWorld(), Point, 8.f, 8, FColor::Red, false, 5.f);
	}
	SplineComponent->UpdateSpline();
	
	while(true)
	{
		const auto ClosestSplinePoint = SplineComponent->FindLocationClosestToWorldLocation(ControlledCharacter->GetActorLocation(), ESplineCoordinateSpace::World);
		const auto SplineDirection = SplineComponent->FindDirectionClosestToWorldLocation(ClosestSplinePoint, ESplineCoordinateSpace::World);
		ControlledCharacter->AddMovementInput(SplineDirection);
		const float DistanceToDest = (ClosestSplinePoint - Dest).Length();
		if(DistanceToDest <= AcceptanceRadius) {
			co_return;
		}
		co_await std::suspend_always{};
	}
}