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Ported from godot4: Add support for emitting a signal when entering a NavLink

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- DarkKilauea
5d8ba2b2d1
This commit is contained in:
Relintai 2023-06-09 19:08:38 +02:00
parent e07fd6da59
commit 160cb38a50
17 changed files with 409 additions and 32 deletions
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31
doc/classes/NavigationAgent.xml
View File

@ -17,6 +17,12 @@
Returns the distance to the target position, using the agent's global position. The user must set [member target_position] in order for this to be accurate.
</description>
</method>
<method name="get_current_navigation_result" qualifiers="const">
<return type="NavigationPathQueryResult3D" />
<description>
Returns the path query result for the path the agent is currently following.
</description>
</method>
<method name="get_final_position">
<return type="Vector3" />
<description>
@ -154,6 +160,9 @@
<member name="path_max_distance" type="float" setter="set_path_max_distance" getter="get_path_max_distance" default="3.0">
The maximum distance the agent is allowed away from the ideal path to the final position. This can happen due to trying to avoid collisions. When the maximum distance is exceeded, it recalculates the ideal path.
</member>
<member name="path_metadata_flags" type="int" setter="set_path_metadata_flags" getter="get_path_metadata_flags" enum="NavigationPathQueryParameters3D.PathMetadataFlags" default="7">
Additional information to return with the navigation path.
</member>
<member name="radius" type="float" setter="set_radius" getter="get_radius" default="1.0">
The radius of the avoidance agent. This is the "body" of the avoidance agent and not the avoidance maneuver starting radius (which is controlled by [member neighbor_dist]).
Does not affect normal pathfinding. To change an actor's pathfinding radius bake [NavigationMesh] resources with a different [member NavigationMesh.agent_radius] property and use different navigation maps for each actor size.
@ -169,6 +178,17 @@
</member>
</members>
<signals>
<signal name="link_reached">
<param index="0" name="details" type="Dictionary" />
<description>
Notifies when a navigation link has been reached.
The details dictionary may contain the following keys depending on the value of [member path_metadata_flags]:
- [code]location[/code]: The start location of the link that was reached.
- [code]type[/code]: Always [constant NavigationPathQueryResult3D.PATH_SEGMENT_TYPE_LINK].
- [code]rid[/code]: The [RID] of the link.
- [code]owner[/code]: The object which manages the link (usually [NavigationLink3D]).
</description>
</signal>
<signal name="navigation_finished">
<description>
Notifies when the final position is reached.
@ -190,6 +210,17 @@
Notifies when the collision avoidance velocity is calculated after a call to [method set_velocity]. Only emitted when [member avoidance_enabled] is true.
</description>
</signal>
<signal name="waypoint_reached">
<param index="0" name="details" type="Dictionary" />
<description>
Notifies when a waypoint along the path has been reached.
The details dictionary may contain the following keys depending on the value of [member path_metadata_flags]:
- [code]location[/code]: The location of the waypoint that was reached.
- [code]type[/code]: The type of navigation primitive (region or link) that contains this waypoint.
- [code]rid[/code]: The [RID] of the containing navigation primitive (region or link).
- [code]owner[/code]: The object which manages the containing navigation primitive (region or link).
</description>
</signal>
</signals>
<constants>
</constants>

31
doc/classes/NavigationAgent2D.xml
View File

@ -17,6 +17,12 @@
Returns the distance to the target position, using the agent's global position. The user must set [member target_position] in order for this to be accurate.
</description>
</method>
<method name="get_current_navigation_result" qualifiers="const">
<return type="NavigationPathQueryResult2D" />
<description>
Returns the path query result for the path the agent is currently following.
</description>
</method>
<method name="get_final_position">
<return type="Vector2" />
<description>
@ -151,6 +157,9 @@
<member name="path_max_distance" type="float" setter="set_path_max_distance" getter="get_path_max_distance" default="3.0">
The maximum distance the agent is allowed away from the ideal path to the final position. This can happen due to trying to avoid collisions. When the maximum distance is exceeded, it recalculates the ideal path.
</member>
<member name="path_metadata_flags" type="int" setter="set_path_metadata_flags" getter="get_path_metadata_flags" enum="NavigationPathQueryParameters2D.PathMetadataFlags" default="7">
Additional information to return with the navigation path.
</member>
<member name="radius" type="float" setter="set_radius" getter="get_radius" default="0.0">
The radius of the avoidance agent. This is the "body" of the avoidance agent and not the avoidance maneuver starting radius (which is controlled by [member neighbor_dist]).
Does not affect normal pathfinding. To change an actor's pathfinding radius bake [NavigationMesh] resources with a different [member NavigationMesh.agent_radius] property and use different navigation maps for each actor size.
@ -166,6 +175,17 @@
</member>
</members>
<signals>
<signal name="link_reached">
<param index="0" name="details" type="Dictionary" />
<description>
Notifies when a navigation link has been reached.
The details dictionary may contain the following keys depending on the value of [member path_metadata_flags]:
- [code]location[/code]: The start location of the link that was reached.
- [code]type[/code]: Always [constant NavigationPathQueryResult2D.PATH_SEGMENT_TYPE_LINK].
- [code]rid[/code]: The [RID] of the link.
- [code]owner[/code]: The object which manages the link (usually [NavigationLink2D]).
</description>
</signal>
<signal name="navigation_finished">
<description>
Notifies when the final position is reached.
@ -187,6 +207,17 @@
Notifies when the collision avoidance velocity is calculated after a call to [method set_velocity]. Only emitted when [member avoidance_enabled] is true.
</description>
</signal>
<signal name="waypoint_reached">
<param index="0" name="details" type="Dictionary" />
<description>
Notifies when a waypoint along the path has been reached.
The details dictionary may contain the following keys depending on the value of [member path_metadata_flags]:
- [code]location[/code]: The location of the waypoint that was reached.
- [code]type[/code]: The type of navigation primitive (region or link) that contains this waypoint.
- [code]rid[/code]: The [RID] of the containing navigation primitive (region or link).
- [code]owner[/code]: The object which manages the containing navigation primitive (region or link).
</description>
</signal>
</signals>
<constants>
</constants>

18
doc/classes/NavigationPathQueryParameters2D.xml
View File

@ -16,6 +16,9 @@
<member name="metadata_flags" type="int" setter="set_metadata_flags" getter="get_metadata_flags" enum="NavigationPathQueryParameters2D.PathMetadataFlags" default="7">
Additional information to include with the navigation path.
</member>
<member name="metadata_flags" type="int" setter="set_metadata_flags" getter="get_metadata_flags" enum="NavigationPathQueryParameters2D.PathMetadataFlags" default="7">
Additional information to include with the navigation path.
</member>
<member name="navigation_layers" type="int" setter="set_navigation_layers" getter="get_navigation_layers" default="1">
The navigation layers the query will use (as a bitmask).
</member>
@ -57,5 +60,20 @@
<constant name="PATH_METADATA_INCLUDE_ALL" value="7" enum="PathMetadataFlags" is_bitfield="true">
Include all available metadata about the returned path.
</constant>
<constant name="PATH_METADATA_INCLUDE_NONE" value="0" enum="PathMetadataFlags" is_bitfield="true">
Don't include any additional metadata about the returned path.
</constant>
<constant name="PATH_METADATA_INCLUDE_TYPES" value="1" enum="PathMetadataFlags" is_bitfield="true">
Include the type of navigation primitive (region or link) that each point of the path goes through.
</constant>
<constant name="PATH_METADATA_INCLUDE_RIDS" value="2" enum="PathMetadataFlags" is_bitfield="true">
Include the [RID]s of the regions and links that each point of the path goes through.
</constant>
<constant name="PATH_METADATA_INCLUDE_OWNERS" value="4" enum="PathMetadataFlags" is_bitfield="true">
Include the [code]ObjectID[/code]s of the [Object]s which manage the regions and links each point of the path goes through.
</constant>
<constant name="PATH_METADATA_INCLUDE_ALL" value="7" enum="PathMetadataFlags" is_bitfield="true">
Include all available metadata about the returned path.
</constant>
</constants>
</class>

15
doc/classes/NavigationPathQueryParameters3D.xml
View File

@ -57,5 +57,20 @@
<constant name="PATH_METADATA_INCLUDE_ALL" value="7" enum="PathMetadataFlags" is_bitfield="true">
Include all available metadata about the returned path.
</constant>
<constant name="PATH_METADATA_INCLUDE_NONE" value="0" enum="PathMetadataFlags" is_bitfield="true">
Don't include any additional metadata about the returned path.
</constant>
<constant name="PATH_METADATA_INCLUDE_TYPES" value="1" enum="PathMetadataFlags" is_bitfield="true">
Include the type of navigation primitive (region or link) that each point of the path goes through.
</constant>
<constant name="PATH_METADATA_INCLUDE_RIDS" value="2" enum="PathMetadataFlags" is_bitfield="true">
Include the [RID]s of the regions and links that each point of the path goes through.
</constant>
<constant name="PATH_METADATA_INCLUDE_OWNERS" value="4" enum="PathMetadataFlags" is_bitfield="true">
Include the [code]ObjectID[/code]s of the [Object]s which manage the regions and links each point of the path goes through.
</constant>
<constant name="PATH_METADATA_INCLUDE_ALL" value="7" enum="PathMetadataFlags" is_bitfield="true">
Include all available metadata about the returned path.
</constant>
</constants>
</class>

86
modules/navigation/nav_map.cpp
View File

@ -40,6 +40,18 @@
#define THREE_POINTS_CROSS_PRODUCT(m_a, m_b, m_c) (((m_c) - (m_a)).cross((m_b) - (m_a)))
// Helper macro
#define APPEND_METADATA(poly) \
if (r_path_types) { \
r_path_types->push_back(poly->owner->get_type()); \
} \
if (r_path_rids) { \
r_path_rids->push_back(poly->owner->get_self()); \
} \
if (r_path_owners) { \
r_path_owners->push_back(poly->owner->get_owner_id()); \
}
void NavMap::set_up(Vector3 p_up) {
if (up == p_up) {
return;
@ -98,7 +110,18 @@ gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
return p;
}
Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const {
Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers, Vector<int32_t> *r_path_types, Array *r_path_rids, Vector<uint64_t> *r_path_owners) const {
// Clear metadata outputs.
if (r_path_types) {
r_path_types->clear();
}
if (r_path_rids) {
r_path_rids->clear();
}
if (r_path_owners) {
r_path_owners->clear();
}
// Find the start poly and the end poly on this map.
const gd::Polygon *begin_poly = nullptr;
const gd::Polygon *end_poly = nullptr;
@ -144,6 +167,24 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
}
if (begin_poly == end_poly) {
if (r_path_types) {
r_path_types->resize(2);
r_path_types->write[0] = begin_poly->owner->get_type();
r_path_types->write[1] = end_poly->owner->get_type();
}
if (r_path_rids) {
r_path_rids->resize(2);
(*r_path_rids)[0] = begin_poly->owner->get_self();
(*r_path_rids)[1] = end_poly->owner->get_self();
}
if (r_path_owners) {
r_path_owners->resize(2);
r_path_owners->write[0] = begin_poly->owner->get_owner_id();
r_path_owners->write[1] = end_poly->owner->get_owner_id();
}
Vector<Vector3> path;
path.resize(2);
path.write[0] = begin_point;
@ -325,6 +366,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
gd::NavigationPoly *p = apex_poly;
path.push_back(end_point);
APPEND_METADATA(end_poly);
while (p) {
// Set left and right points of the pathway between polygons.
@ -341,7 +383,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
left_poly = p;
left_portal = left;
} else {
clip_path(navigation_polys, path, apex_poly, right_portal, right_poly);
clip_path(navigation_polys, path, apex_poly, right_portal, right_poly, r_path_types, r_path_rids, r_path_owners);
apex_point = right_portal;
p = right_poly;
@ -349,7 +391,9 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
apex_poly = p;
left_portal = apex_point;
right_portal = apex_point;
path.push_back(apex_point);
APPEND_METADATA(apex_poly->poly);
skip = true;
}
}
@ -360,7 +404,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
right_poly = p;
right_portal = right;
} else {
clip_path(navigation_polys, path, apex_poly, left_portal, left_poly);
clip_path(navigation_polys, path, apex_poly, left_portal, left_poly, r_path_types, r_path_rids, r_path_owners);
apex_point = left_portal;
p = left_poly;
@ -368,7 +412,9 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
apex_poly = p;
right_portal = apex_point;
left_portal = apex_point;
path.push_back(apex_point);
APPEND_METADATA(apex_poly->poly);
}
}
@ -384,12 +430,24 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
// If the last point is not the begin point, add it to the list.
if (path[path.size() - 1] != begin_point) {
path.push_back(begin_point);
APPEND_METADATA(begin_poly);
}
path.invert();
if (r_path_types) {
r_path_types->invert();
}
if (r_path_rids) {
r_path_rids->invert();
}
if (r_path_owners) {
r_path_owners->invert();
}
} else {
path.push_back(end_point);
APPEND_METADATA(end_poly);
// Add mid points
int np_id = least_cost_id;
@ -398,18 +456,37 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
int prev = navigation_polys[np_id].back_navigation_edge;
int prev_n = (navigation_polys[np_id].back_navigation_edge + 1) % navigation_polys[np_id].poly->points.size();
Vector3 point = (navigation_polys[np_id].poly->points[prev].pos + navigation_polys[np_id].poly->points[prev_n].pos) * 0.5;
path.push_back(point);
APPEND_METADATA(navigation_polys[np_id].poly);
} else {
path.push_back(navigation_polys[np_id].entry);
APPEND_METADATA(navigation_polys[np_id].poly);
}
np_id = navigation_polys[np_id].back_navigation_poly_id;
}
path.push_back(begin_point);
APPEND_METADATA(begin_poly);
path.invert();
if (r_path_types) {
r_path_types->invert();
}
if (r_path_rids) {
r_path_rids->invert();
}
if (r_path_owners) {
r_path_owners->invert();
}
}
// Ensure post conditions (path arrays MUST match in size).
CRASH_COND(r_path_types && path.size() != r_path_types->size());
CRASH_COND(r_path_rids && path.size() != r_path_rids->size());
CRASH_COND(r_path_owners && path.size() != r_path_owners->size());
return path;
}
@ -922,7 +999,7 @@ void NavMap::dispatch_callbacks() {
}
}
void NavMap::clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly) const {
void NavMap::clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly, Vector<int32_t> *r_path_types, Array *r_path_rids, Vector<uint64_t> *r_path_owners) const {
Vector3 from = path[path.size() - 1];
if (from.is_equal_approx(p_to_point)) {
@ -951,6 +1028,7 @@ void NavMap::clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys
if (cut_plane.intersects_segment(pathway_start, pathway_end, &inters)) {
if (!inters.is_equal_approx(p_to_point) && !inters.is_equal_approx(path[path.size() - 1])) {
path.push_back(inters);
APPEND_METADATA(from_poly->poly);
}
}
}

4
modules/navigation/nav_map.h
View File

@ -137,7 +137,7 @@ public:
gd::PointKey get_point_key(const Vector3 &p_pos) const;
Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const;
Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers, Vector<int32_t> *r_path_types, Array *r_path_rids, Vector<uint64_t> *r_path_owners) const;
Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const;
Vector3 get_closest_point(const Vector3 &p_point) const;
Vector3 get_closest_point_normal(const Vector3 &p_point) const;
@ -186,7 +186,7 @@ public:
private:
void compute_single_step(uint32_t index, RvoAgent **agent);
void clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly) const;
void clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly, Vector<int32_t> *r_path_types, Array *r_path_rids, Vector<uint64_t> *r_path_owners) const;
};
#endif // NAV_MAP_H

32
modules/navigation/pandemonium_navigation_server.cpp
View File

@ -38,6 +38,8 @@
#include "scene/resources/navigation_mesh.h"
#endif
using namespace NavigationUtilities;
/// Creates a struct for each function and a function that once called creates
/// an instance of that struct with the submitted parameters.
/// Then, that struct is stored in an array; the `sync` function consume that array.
@ -246,7 +248,7 @@ Vector<Vector3> PandemoniumNavigationServer::map_get_path(RID p_map, Vector3 p_o
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());
return map->get_path(p_origin, p_destination, p_optimize, p_layers);
return map->get_path(p_origin, p_destination, p_optimize, p_layers, nullptr, nullptr, nullptr);
}
Vector3 PandemoniumNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
@ -862,21 +864,35 @@ void PandemoniumNavigationServer::process(real_t p_delta_time) {
pm_edge_free_count = _new_pm_edge_free_count;
}
NavigationUtilities::PathQueryResult PandemoniumNavigationServer::_query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const {
NavigationUtilities::PathQueryResult r_query_result;
PathQueryResult PandemoniumNavigationServer::_query_path(const PathQueryParameters &p_parameters) const {
PathQueryResult r_query_result;
const NavMap *map = map_owner.getornull(p_parameters.map);
ERR_FAIL_COND_V(map == nullptr, r_query_result);
// run the pathfinding
if (p_parameters.pathfinding_algorithm == NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) {
if (p_parameters.pathfinding_algorithm == PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) {
Vector<Vector3> path;
// while postprocessing is still part of map.get_path() need to check and route it here for the correct "optimize" post-processing
if (p_parameters.path_postprocessing == NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) {
path = map->get_path(p_parameters.start_position, p_parameters.target_position, true, p_parameters.navigation_layers);
} else if (p_parameters.path_postprocessing == NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) {
path = map->get_path(p_parameters.start_position, p_parameters.target_position, false, p_parameters.navigation_layers);
if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) {
r_query_result.path = map->get_path(
p_parameters.start_position,
p_parameters.target_position,
true,
p_parameters.navigation_layers,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_TYPES) != 0) ? &r_query_result.path_types : nullptr,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_RIDS) != 0) ? &r_query_result.path_rids : nullptr,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_OWNERS) != 0) ? &r_query_result.path_owner_ids : nullptr);
} else if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) {
r_query_result.path = map->get_path(
p_parameters.start_position,
p_parameters.target_position,
false,
p_parameters.navigation_layers,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_TYPES) != 0) ? &r_query_result.path_types : nullptr,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_RIDS) != 0) ? &r_query_result.path_rids : nullptr,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_OWNERS) != 0) ? &r_query_result.path_owner_ids : nullptr);
}
r_query_result.path.resize(path.size());

65
scene/2d/navigation_agent_2d.cpp
View File

@ -77,6 +77,9 @@ void NavigationAgent2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent2D::set_navigation_layer_value);
ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent2D::get_navigation_layer_value);
ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent2D::set_path_metadata_flags);
ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent2D::get_path_metadata_flags);
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent2D::set_navigation_map);
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent2D::get_navigation_map);
@ -86,6 +89,7 @@ void NavigationAgent2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_next_position"), &NavigationAgent2D::get_next_position);
ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent2D::distance_to_target);
ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent2D::set_velocity);
ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent2D::get_current_navigation_result);
ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent2D::get_nav_path);
ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent2D::get_nav_path_index);
ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent2D::is_target_reached);
@ -101,6 +105,7 @@ void NavigationAgent2D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::REAL, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_target_desired_distance", "get_target_desired_distance");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "10,100,1"), "set_path_max_distance", "get_path_max_distance");
ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
@ -134,6 +139,8 @@ void NavigationAgent2D::_bind_methods() {
ADD_SIGNAL(MethodInfo("path_changed"));
ADD_SIGNAL(MethodInfo("target_reached"));
ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details")));
ADD_SIGNAL(MethodInfo("navigation_finished"));
ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR2, "safe_velocity")));
}
@ -237,6 +244,7 @@ NavigationAgent2D::NavigationAgent2D() {
avoidance_enabled = false;
navigation_layers = 1;
path_metadata_flags = NavigationPathQueryParameters2D::PATH_METADATA_INCLUDE_ALL;
path_desired_distance = 1.0;
target_desired_distance = 1.0;
@ -370,6 +378,13 @@ bool NavigationAgent2D::get_navigation_layer_value(int p_layer_number) const {
return get_navigation_layers() & (1 << (p_layer_number - 1));
}
void NavigationAgent2D::set_path_metadata_flags(const int p_flags) {
path_metadata_flags = p_flags;
}
int NavigationAgent2D::get_path_metadata_flags() const {
return path_metadata_flags;
}
void NavigationAgent2D::set_navigation_map(RID p_navigation_map) {
map_override = p_navigation_map;
Navigation2DServer::get_singleton()->agent_set_map(agent, map_override);
@ -449,6 +464,10 @@ Vector2 NavigationAgent2D::get_next_position() {
}
}
Ref<NavigationPathQueryResult2D> NavigationAgent2D::get_current_navigation_result() const {
return navigation_result;
}
const Vector<Vector2> &NavigationAgent2D::get_nav_path() const {
return navigation_result->get_path();
}
@ -550,6 +569,7 @@ void NavigationAgent2D::update_navigation() {
navigation_query->set_start_position(origin);
navigation_query->set_target_position(target_position);
navigation_query->set_navigation_layers(navigation_layers);
navigation_query->set_metadata_flags(path_metadata_flags);
if (map_override.is_valid()) {
navigation_query->set_map(map_override);
@ -578,8 +598,53 @@ void NavigationAgent2D::update_navigation() {
if (navigation_finished == false) {
// Advances to the next far away position.
const Vector<Vector2> &navigation_path = navigation_result->get_path();
const Vector<int32_t> &navigation_path_types = navigation_result->get_path_types();
const Array &navigation_path_rids = navigation_result->get_path_rids();
const Vector<uint64_t> &navigation_path_owners = navigation_result->get_path_owner_ids();
while (origin.distance_to(navigation_path[nav_path_index]) < path_desired_distance) {
Dictionary details;
const Vector2 waypoint = navigation_path[nav_path_index];
details["location"] = waypoint;
int waypoint_type = -1;
if ((path_metadata_flags & NavigationPathQueryParameters2D::PATH_METADATA_INCLUDE_TYPES) != 0) {
const NavigationPathQueryResult2D::PathSegmentType type = NavigationPathQueryResult2D::PathSegmentType(navigation_path_types[nav_path_index]);
details["type"] = type;
waypoint_type = type;
}
if ((path_metadata_flags & NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_RIDS) != 0) {
details["rid"] = navigation_path_rids[nav_path_index];
}
if ((path_metadata_flags & NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_OWNERS) != 0) {
const ObjectID waypoint_owner_id = ObjectID(navigation_path_owners[nav_path_index]);
// Get a reference to the owning object.
Object *owner = nullptr;
if (waypoint_owner_id != 0) {
owner = ObjectDB::get_instance(waypoint_owner_id);
}
details["owner"] = owner;
}
// Emit a signal for the waypoint
emit_signal("waypoint_reached", details);
// Emit a signal if we've reached a navigation link
if (waypoint_type == NavigationPathQueryResult2D::PATH_SEGMENT_TYPE_LINK) {
emit_signal("link_reached", details);
}
// Move to the next waypoint on the list
nav_path_index += 1;
// Check to see if we've finished our route
if (nav_path_index == navigation_path.size()) {
_check_distance_to_target();
nav_path_index -= 1;

6
scene/2d/navigation_agent_2d.h
View File

@ -49,6 +49,7 @@ class NavigationAgent2D : public Node {
bool avoidance_enabled;
uint32_t navigation_layers;
int path_metadata_flags;
real_t path_desired_distance;
real_t target_desired_distance;
@ -118,6 +119,9 @@ public:
void set_navigation_layer_value(int p_layer_number, bool p_value);
bool get_navigation_layer_value(int p_layer_number) const;
void set_path_metadata_flags(const int p_flags);
int get_path_metadata_flags() const;
void set_navigation_map(RID p_navigation_map);
RID get_navigation_map() const;
@ -164,6 +168,8 @@ public:
Vector2 get_next_position();
Ref<NavigationPathQueryResult2D> get_current_navigation_result() const;
const Vector<Vector2> &get_nav_path() const;
int get_nav_path_index() const {

66
scene/3d/navigation_agent.cpp
View File

@ -88,12 +88,16 @@ void NavigationAgent::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent::set_navigation_layer_value);
ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent::get_navigation_layer_value);
ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent::set_path_metadata_flags);
ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent::get_path_metadata_flags);
ClassDB::bind_method(D_METHOD("set_target_position", "position"), &NavigationAgent::set_target_position);
ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent::get_target_position);
ClassDB::bind_method(D_METHOD("get_next_position"), &NavigationAgent::get_next_position);
ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent::distance_to_target);
ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent::set_velocity);
ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent::get_current_navigation_result);
ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent::get_nav_path);
ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent::get_nav_path_index);
ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent::is_target_reached);
@ -110,6 +114,7 @@ void NavigationAgent::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::REAL, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01"), "set_agent_height_offset", "get_agent_height_offset");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1"), "set_path_max_distance", "get_path_max_distance");
ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
@ -140,6 +145,8 @@ void NavigationAgent::_bind_methods() {
ADD_SIGNAL(MethodInfo("path_changed"));
ADD_SIGNAL(MethodInfo("target_reached"));
ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details")));
ADD_SIGNAL(MethodInfo("navigation_finished"));
ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));
}
@ -243,6 +250,7 @@ NavigationAgent::NavigationAgent() {
avoidance_enabled = false;
navigation_layers = 1;
path_metadata_flags = NavigationPathQueryParameters3D::PATH_METADATA_INCLUDE_ALL;
path_desired_distance = 1.0;
target_desired_distance = 1.0;
@ -380,6 +388,13 @@ bool NavigationAgent::get_navigation_layer_value(int p_layer_number) const {
return get_navigation_layers() & (1 << (p_layer_number - 1));
}
void NavigationAgent::set_path_metadata_flags(const int p_flags) {
path_metadata_flags = p_flags;
}
int NavigationAgent::get_path_metadata_flags() const {
return path_metadata_flags;
}
void NavigationAgent::set_navigation_map(RID p_navigation_map) {
map_override = p_navigation_map;
NavigationServer::get_singleton()->agent_set_map(agent, map_override);
@ -466,6 +481,10 @@ Vector3 NavigationAgent::get_next_position() {
}
}
Ref<NavigationPathQueryResult3D> NavigationAgent::get_current_navigation_result() const {
return navigation_result;
}
const Vector<Vector3> &NavigationAgent::get_nav_path() const {
return navigation_result->get_path();
}
@ -573,7 +592,7 @@ void NavigationAgent::update_navigation() {
navigation_query->set_start_position(origin);
navigation_query->set_target_position(target_position);
navigation_query->set_navigation_layers(navigation_layers);
navigation_query->set_metadata_flags(path_metadata_flags);
if (map_override.is_valid()) {
navigation_query->set_map(map_override);
@ -602,8 +621,53 @@ void NavigationAgent::update_navigation() {
if (navigation_finished == false) {
// Advances to the next far away position.
const Vector<Vector3> &navigation_path = navigation_result->get_path();
const Vector<int32_t> &navigation_path_types = navigation_result->get_path_types();
const Array &navigation_path_rids = navigation_result->get_path_rids();
const Vector<uint64_t> &navigation_path_owners = navigation_result->get_path_owner_ids();
while (origin.distance_to(navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) {
Dictionary details;
const Vector3 waypoint = navigation_path[nav_path_index];
details["location"] = waypoint;
int waypoint_type = -1;
if ((path_metadata_flags & NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_TYPES) != 0) {
const NavigationPathQueryResult3D::PathSegmentType type = NavigationPathQueryResult3D::PathSegmentType(navigation_path_types[nav_path_index]);
details["type"] = type;
waypoint_type = type;
}
if ((path_metadata_flags & NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_RIDS) != 0) {
details["rid"] = navigation_path_rids[nav_path_index];
}
if ((path_metadata_flags & NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_OWNERS) != 0) {
const ObjectID waypoint_owner_id = ObjectID(navigation_path_owners[nav_path_index]);
// Get a reference to the owning object.
Object *owner = nullptr;
if (waypoint_owner_id != 0) {
owner = ObjectDB::get_instance(waypoint_owner_id);
}
details["owner"] = owner;
}
// Emit a signal for the waypoint
emit_signal("waypoint_reached", details);
// Emit a signal if we've reached a navigation link
if (waypoint_type == NavigationPathQueryResult3D::PATH_SEGMENT_TYPE_LINK) {
emit_signal("link_reached", details);
}
// Move to the next waypoint on the list
nav_path_index += 1;
// Check to see if we've finished our route
if (nav_path_index == navigation_path.size()) {
_check_distance_to_target();
nav_path_index -= 1;

6
scene/3d/navigation_agent.h
View File

@ -51,6 +51,7 @@ class NavigationAgent : public Node {
bool avoidance_enabled;
uint32_t navigation_layers;
int path_metadata_flags;
real_t path_desired_distance;
real_t target_desired_distance;
@ -124,6 +125,9 @@ public:
void set_navigation_layer_value(int p_layer_number, bool p_value);
bool get_navigation_layer_value(int p_layer_number) const;
void set_path_metadata_flags(const int p_flags);
int get_path_metadata_flags() const;
void set_navigation_map(RID p_navigation_map);
RID get_navigation_map() const;
@ -180,6 +184,8 @@ public:
Vector3 get_next_position();
Ref<NavigationPathQueryResult3D> get_current_navigation_result() const;
const Vector<Vector3> &get_nav_path() const;
int get_nav_path_index() const {

29
servers/navigation/navigation_path_query_result_2d.cpp
View File

@ -54,14 +54,33 @@ Array NavigationPathQueryResult2D::get_path_rids() const {
return path_rids;
}
void NavigationPathQueryResult2D::set_path_owner_ids(const Vector<int> &p_path_owner_ids) {
void NavigationPathQueryResult2D::set_path_owner_ids(const Vector<ObjectID> &p_path_owner_ids) {
path_owner_ids = p_path_owner_ids;
}
const Vector<int> &NavigationPathQueryResult2D::get_path_owner_ids() const {
const Vector<ObjectID> &NavigationPathQueryResult2D::get_path_owner_ids() const {
return path_owner_ids;
}
void NavigationPathQueryResult2D::set_path_owner_ids_bind(const Array p_path_owner_ids) {
path_owner_ids.resize(p_path_owner_ids.size());
for (int i = 0; i < path_owner_ids.size(); ++i) {
path_owner_ids.write[i] = p_path_owner_ids[i];
}
}
Array NavigationPathQueryResult2D::get_path_owner_ids_bind() const {
Array ret;
ret.resize(path_owner_ids.size());
for (int i = 0; i < path_owner_ids.size(); ++i) {
ret[i] = path_owner_ids[i];
}
return ret;
}
void NavigationPathQueryResult2D::reset() {
path.clear();
path_types.clear();
@ -79,15 +98,15 @@ void NavigationPathQueryResult2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_path_rids", "path_rids"), &NavigationPathQueryResult2D::set_path_rids);
ClassDB::bind_method(D_METHOD("get_path_rids"), &NavigationPathQueryResult2D::get_path_rids);
ClassDB::bind_method(D_METHOD("set_path_owner_ids", "path_owner_ids"), &NavigationPathQueryResult2D::set_path_owner_ids);
ClassDB::bind_method(D_METHOD("get_path_owner_ids"), &NavigationPathQueryResult2D::get_path_owner_ids);
ClassDB::bind_method(D_METHOD("set_path_owner_ids", "path_owner_ids"), &NavigationPathQueryResult2D::set_path_owner_ids_bind);
ClassDB::bind_method(D_METHOD("get_path_owner_ids"), &NavigationPathQueryResult2D::get_path_owner_ids_bind);
ClassDB::bind_method(D_METHOD("reset"), &NavigationPathQueryResult2D::reset);
ADD_PROPERTY(PropertyInfo(Variant::POOL_VECTOR2_ARRAY, "path"), "set_path", "get_path");
ADD_PROPERTY(PropertyInfo(Variant::POOL_INT_ARRAY, "path_types"), "set_path_types", "get_path_types");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "path_rids"), "set_path_rids", "get_path_rids");
ADD_PROPERTY(PropertyInfo(Variant::POOL_INT_ARRAY, "path_owner_ids"), "set_path_owner_ids", "get_path_owner_ids");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "path_owner_ids"), "set_path_owner_ids", "get_path_owner_ids");
BIND_ENUM_CONSTANT(PATH_SEGMENT_TYPE_REGION);
BIND_ENUM_CONSTANT(PATH_SEGMENT_TYPE_LINK);

9
servers/navigation/navigation_path_query_result_2d.h
View File

@ -40,7 +40,7 @@ class NavigationPathQueryResult2D : public Reference {
Vector<Vector2> path;
Vector<int> path_types;
Array path_rids;
Vector<int> path_owner_ids;
Vector<ObjectID> path_owner_ids;
protected:
static void _bind_methods();
@ -60,8 +60,11 @@ public:
void set_path_rids(const Array &p_path_rids);
Array get_path_rids() const;
void set_path_owner_ids(const Vector<int> &p_path_owner_ids);
const Vector<int> &get_path_owner_ids() const;
void set_path_owner_ids(const Vector<ObjectID> &p_path_owner_ids);
const Vector<ObjectID> &get_path_owner_ids() const;
void set_path_owner_ids_bind(const Array p_path_owner_ids);
Array get_path_owner_ids_bind() const;
void reset();
};

27
servers/navigation/navigation_path_query_result_3d.cpp
View File

@ -54,14 +54,33 @@ Array NavigationPathQueryResult3D::get_path_rids() const {
return path_rids;
}
void NavigationPathQueryResult3D::set_path_owner_ids(const Vector<int> &p_path_owner_ids) {
void NavigationPathQueryResult3D::set_path_owner_ids(const Vector<ObjectID> &p_path_owner_ids) {
path_owner_ids = p_path_owner_ids;
}
const Vector<int> &NavigationPathQueryResult3D::get_path_owner_ids() const {
const Vector<ObjectID> &NavigationPathQueryResult3D::get_path_owner_ids() const {
return path_owner_ids;
}
void NavigationPathQueryResult3D::set_path_owner_ids_bind(const Array p_path_owner_ids) {
path_owner_ids.resize(p_path_owner_ids.size());
for (int i = 0; i < path_owner_ids.size(); ++i) {
path_owner_ids.write[i] = p_path_owner_ids[i];
}
}
Array NavigationPathQueryResult3D::get_path_owner_ids_bind() const {
Array ret;
ret.resize(path_owner_ids.size());
for (int i = 0; i < path_owner_ids.size(); ++i) {
ret[i] = path_owner_ids[i];
}
return ret;
}
void NavigationPathQueryResult3D::reset() {
path.clear();
path_types.clear();
@ -79,8 +98,8 @@ void NavigationPathQueryResult3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_path_rids", "path_rids"), &NavigationPathQueryResult3D::set_path_rids);
ClassDB::bind_method(D_METHOD("get_path_rids"), &NavigationPathQueryResult3D::get_path_rids);
ClassDB::bind_method(D_METHOD("set_path_owner_ids", "path_owner_ids"), &NavigationPathQueryResult3D::set_path_owner_ids);
ClassDB::bind_method(D_METHOD("get_path_owner_ids"), &NavigationPathQueryResult3D::get_path_owner_ids);
ClassDB::bind_method(D_METHOD("set_path_owner_ids", "path_owner_ids"), &NavigationPathQueryResult3D::set_path_owner_ids_bind);
ClassDB::bind_method(D_METHOD("get_path_owner_ids"), &NavigationPathQueryResult3D::get_path_owner_ids_bind);
ClassDB::bind_method(D_METHOD("reset"), &NavigationPathQueryResult3D::reset);

9
servers/navigation/navigation_path_query_result_3d.h
View File

@ -41,7 +41,7 @@ class NavigationPathQueryResult3D : public Reference {
Vector<Vector3> path;
Vector<int> path_types;
Array path_rids;
Vector<int> path_owner_ids;
Vector<ObjectID> path_owner_ids;
protected:
static void _bind_methods();
@ -61,8 +61,11 @@ public:
void set_path_rids(const Array &p_path_rids);
Array get_path_rids() const;
void set_path_owner_ids(const Vector<int> &p_path_owner_ids);
const Vector<int> &get_path_owner_ids() const;
void set_path_owner_ids(const Vector<ObjectID> &p_path_owner_ids);
const Vector<ObjectID> &get_path_owner_ids() const;
void set_path_owner_ids_bind(const Array p_path_owner_ids);
Array get_path_owner_ids_bind() const;
void reset();
};

4
servers/navigation/navigation_utilities.h
View File

@ -85,14 +85,14 @@ struct PathQueryResult {
Vector<Vector3> path;
Vector<int> path_types;
Array path_rids;
Vector<int> path_owner_ids;
Vector<uint64_t> path_owner_ids;
};
struct PathQueryResult2D {
Vector<Vector2> path;
Vector<int> path_types;
Array path_rids;
Vector<int> path_owner_ids;
Vector<uint64_t> path_owner_ids;
};
} //namespace NavigationUtilities

3
servers/navigation_server.cpp
View File

@ -626,6 +626,9 @@ void NavigationServer::query_path(const Ref<NavigationPathQueryParameters3D> &p_
const NavigationUtilities::PathQueryResult _query_result = _query_path(p_query_parameters->get_parameters());
p_query_result->set_path(_query_result.path);
p_query_result->set_path_types(_query_result.path_types);
p_query_result->set_path_rids(_query_result.path_rids);
p_query_result->set_path_owner_ids(_query_result.path_owner_ids);
}
Vector<NavigationServerManager::ClassInfo> NavigationServerManager::navigation_servers;