Backported from godot4: Expose NavigationAgent path postprocessing and pathfinding algorithm options

Exposes the path postprocessing and pathfinding algorithm options of the NavigationAgent internal NavigationPathQueryParameters object.
- smix8
6e324bb341

doc/classes/NavigationAgent.xml

@@ -201,6 +201,12 @@
 		<member name="path_metadata_flags" type="int" setter="set_path_metadata_flags" getter="get_path_metadata_flags" default="7">
 			Additional information to return with the navigation path.
 		</member>
+		<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters3D.PathPostProcessing" default="0">
+			The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
+		</member>
+		<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters3D.PathfindingAlgorithm" default="0">
+			The pathfinding algorithm used in the path query.
+		</member>
 		<member name="radius" type="float" setter="set_radius" getter="get_radius" default="0.5">
 			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_distance]).
 			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.

doc/classes/NavigationAgent2D.xml

@@ -198,6 +198,12 @@
 		<member name="path_metadata_flags" type="int" setter="set_path_metadata_flags" getter="get_path_metadata_flags" default="7">
 			Additional information to return with the navigation path.
 		</member>
+		<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters2D.PathPostProcessing" default="0">
+			The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
+		</member>
+		<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters2D.PathfindingAlgorithm" default="0">
+			The pathfinding algorithm used in the path query.
+		</member>
 		<member name="radius" type="float" setter="set_radius" getter="get_radius" default="10.0">
 			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_distance]).
 			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.

scene/2d/navigation_agent_2d.cpp

@@ -35,7 +35,6 @@
 #include "scene/2d/navigation_2d.h"
 #include "scene/2d/navigation_link_2d.h"
 #include "scene/resources/world_2d.h"
-#include "servers/navigation/navigation_path_query_parameters_2d.h"
 #include "servers/navigation/navigation_path_query_result_2d.h"
 #include "servers/navigation_2d_server.h"
 
@@ -81,6 +80,12 @@ 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_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent2D::set_pathfinding_algorithm);
+	ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent2D::get_pathfinding_algorithm);
+
+	ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent2D::set_path_postprocessing);
+	ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent2D::get_path_postprocessing);
+
 	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);
 
@@ -124,6 +129,8 @@ void NavigationAgent2D::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,1000,0.01,or_greater,suffix:px"), "set_target_desired_distance", "get_target_desired_distance");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "10,1000,1,or_greater,suffix:px"), "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, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
 	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", "");
@@ -283,6 +290,8 @@ NavigationAgent2D::NavigationAgent2D() {
 	avoidance_mask = 1;
 	avoidance_priority = 1.0;
 	navigation_layers = 1;
+	pathfinding_algorithm = NavigationPathQueryParameters2D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+	path_postprocessing = NavigationPathQueryParameters2D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
 	path_metadata_flags = NavigationPathQueryParameters2D::PATH_METADATA_INCLUDE_ALL;
 
 	path_desired_distance = 20.0;
@@ -499,6 +508,26 @@ real_t NavigationAgent2D::get_avoidance_priority() const {
 	return avoidance_priority;
 }
 
+void NavigationAgent2D::set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm) {
+	if (pathfinding_algorithm == p_pathfinding_algorithm) {
+		return;
+	}
+
+	pathfinding_algorithm = p_pathfinding_algorithm;
+
+	navigation_query->set_pathfinding_algorithm(pathfinding_algorithm);
+}
+
+void NavigationAgent2D::set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing) {
+	if (path_postprocessing == p_path_postprocessing) {
+		return;
+	}
+
+	path_postprocessing = p_path_postprocessing;
+
+	navigation_query->set_path_postprocessing(path_postprocessing);
+}
+
 void NavigationAgent2D::set_path_metadata_flags(const int p_flags) {
 	path_metadata_flags = p_flags;
 }

scene/2d/navigation_agent_2d.h

@@ -32,6 +32,8 @@
 
 #include "scene/main/node.h"
 
+#include "servers/navigation/navigation_path_query_parameters_2d.h"
+
 class Node2D;
 class Navigation2D;
 class NavigationPathQueryParameters2D;
@@ -52,6 +54,8 @@ class NavigationAgent2D : public Node {
 	uint32_t avoidance_mask;
 	real_t avoidance_priority;
 	uint32_t navigation_layers;
+	NavigationPathQueryParameters2D::PathfindingAlgorithm pathfinding_algorithm;
+	NavigationPathQueryParameters2D::PathPostProcessing path_postprocessing;
 	int path_metadata_flags;
 
 	real_t path_desired_distance;
@@ -130,6 +134,16 @@ 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_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm);
+	NavigationPathQueryParameters2D::PathfindingAlgorithm get_pathfinding_algorithm() const {
+		return pathfinding_algorithm;
+	}
+
+	void set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing);
+	NavigationPathQueryParameters2D::PathPostProcessing get_path_postprocessing() const {
+		return path_postprocessing;
+	}
+
 	void set_avoidance_layers(uint32_t p_layers);
 	uint32_t get_avoidance_layers() const;
 

scene/3d/navigation_agent.cpp

@@ -37,7 +37,6 @@
 #include "scene/resources/material.h"
 #include "scene/resources/mesh.h"
 #include "scene/resources/world_3d.h"
-#include "servers/navigation/navigation_path_query_parameters_3d.h"
 #include "servers/navigation/navigation_path_query_result_3d.h"
 #include "servers/navigation_server.h"
 
@@ -95,6 +94,12 @@ 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_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent::set_pathfinding_algorithm);
+	ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent::get_pathfinding_algorithm);
+
+	ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent::set_path_postprocessing);
+	ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent::get_path_postprocessing);
+
 	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);
 
@@ -138,6 +143,8 @@ void NavigationAgent::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01,or_greater,suffix:m"), "set_path_height_offset", "get_path_height_offset");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1,or_greater,suffix:m"), "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, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
 	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", "");
@@ -300,6 +307,8 @@ NavigationAgent::NavigationAgent() {
 	avoidance_mask = 1;
 	avoidance_priority = 1.0;
 	navigation_layers = 1;
+	pathfinding_algorithm = NavigationPathQueryParameters3D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+	path_postprocessing = NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
 	path_metadata_flags = NavigationPathQueryParameters3D::PATH_METADATA_INCLUDE_ALL;
 
 	path_desired_distance = 1.0;
@@ -453,6 +462,26 @@ bool NavigationAgent::get_navigation_layer_value(int p_layer_number) const {
 	return get_navigation_layers() & (1 << (p_layer_number - 1));
 }
 
+void NavigationAgent::set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm) {
+	if (pathfinding_algorithm == p_pathfinding_algorithm) {
+		return;
+	}
+
+	pathfinding_algorithm = p_pathfinding_algorithm;
+
+	navigation_query->set_pathfinding_algorithm(pathfinding_algorithm);
+}
+
+void NavigationAgent::set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing) {
+	if (path_postprocessing == p_path_postprocessing) {
+		return;
+	}
+
+	path_postprocessing = p_path_postprocessing;
+
+	navigation_query->set_path_postprocessing(path_postprocessing);
+}
+
 void NavigationAgent::set_path_metadata_flags(const int p_flags) {
 	path_metadata_flags = p_flags;
 }

scene/3d/navigation_agent.h

@@ -34,6 +34,7 @@
 #include "core/containers/vector.h"
 
 #include "scene/main/node.h"
+#include "servers/navigation/navigation_path_query_parameters_3d.h"
 
 class Spatial;
 class Navigation;
@@ -57,6 +58,8 @@ class NavigationAgent : public Node {
 	uint32_t avoidance_mask;
 	real_t avoidance_priority;
 	uint32_t navigation_layers;
+	NavigationPathQueryParameters3D::PathfindingAlgorithm pathfinding_algorithm;
+	NavigationPathQueryParameters3D::PathPostProcessing path_postprocessing;
 	int path_metadata_flags;
 
 	real_t path_desired_distance;
@@ -145,6 +148,16 @@ 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_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm);
+	NavigationPathQueryParameters3D::PathfindingAlgorithm get_pathfinding_algorithm() const {
+		return pathfinding_algorithm;
+	}
+
+	void set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing);
+	NavigationPathQueryParameters3D::PathPostProcessing get_path_postprocessing() const {
+		return path_postprocessing;
+	}
+
 	void set_avoidance_layers(uint32_t p_layers);
 	uint32_t get_avoidance_layers() const;