/*************************************************************************/ /* navigation_obstacle_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #include "navigation_obstacle_2d.h" #include "scene/2d/collision_shape_2d.h" #include "scene/2d/navigation_2d.h" #include "scene/2d/node_2d.h" #include "scene/2d/physics_body_2d.h" #include "servers/navigation_2d_server.h" void NavigationObstacle2D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle2D::set_navigation_node); ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle2D::get_navigation_node); ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle2D::set_estimate_radius); ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle2D::is_radius_estimated); ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle2D::set_radius); ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle2D::get_radius); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.01,500,0.01"), "set_radius", "get_radius"); } void NavigationObstacle2D::_validate_property(PropertyInfo &p_property) const { if (p_property.name == "radius") { if (estimate_radius) { p_property.usage = PROPERTY_USAGE_NOEDITOR; } } } void NavigationObstacle2D::_notification(int p_what) { switch (p_what) { case NOTIFICATION_ENTER_TREE: { parent_node2d = Object::cast_to<Node2D>(get_parent()); reevaluate_agent_radius(); // Search the navigation node and set it { Navigation2D *nav = nullptr; Node *p = get_parent(); while (p != nullptr) { nav = Object::cast_to<Navigation2D>(p); if (nav != nullptr) { p = nullptr; } else { p = p->get_parent(); } } set_navigation(nav); } set_physics_process_internal(true); } break; case NOTIFICATION_EXIT_TREE: { set_navigation(nullptr); set_physics_process_internal(false); request_ready(); // required to solve an issue with losing the navigation } break; case NOTIFICATION_PARENTED: { parent_node2d = Object::cast_to<Node2D>(get_parent()); reevaluate_agent_radius(); } break; case NOTIFICATION_UNPARENTED: { parent_node2d = nullptr; } break; case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { if (parent_node2d) { Navigation2DServer::get_singleton()->agent_set_position(agent, parent_node2d->get_global_transform().get_origin()); } } break; } } NavigationObstacle2D::NavigationObstacle2D() : navigation(nullptr), agent(RID()) { agent = Navigation2DServer::get_singleton()->agent_create(); initialize_agent(); } NavigationObstacle2D::~NavigationObstacle2D() { Navigation2DServer::get_singleton()->free(agent); agent = RID(); // Pointless } void NavigationObstacle2D::set_navigation(Navigation2D *p_nav) { if (navigation == p_nav) { return; // Pointless } navigation = p_nav; Navigation2DServer::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid()); } void NavigationObstacle2D::set_navigation_node(Node *p_nav) { Navigation2D *nav = Object::cast_to<Navigation2D>(p_nav); ERR_FAIL_COND(nav == nullptr); set_navigation(nav); } Node *NavigationObstacle2D::get_navigation_node() const { return Object::cast_to<Node>(navigation); } String NavigationObstacle2D::get_configuration_warning() const { if (!Object::cast_to<Node2D>(get_parent())) { return TTR("The NavigationObstacle2D only serves to provide collision avoidance to a Node2D object."); } return String(); } void NavigationObstacle2D::initialize_agent() { Navigation2DServer::get_singleton()->agent_set_neighbor_dist(agent, 0.0); Navigation2DServer::get_singleton()->agent_set_max_neighbors(agent, 0); Navigation2DServer::get_singleton()->agent_set_time_horizon(agent, 0.0); Navigation2DServer::get_singleton()->agent_set_max_speed(agent, 0.0); } void NavigationObstacle2D::reevaluate_agent_radius() { if (!estimate_radius) { Navigation2DServer::get_singleton()->agent_set_radius(agent, radius); } else if (parent_node2d && parent_node2d->is_inside_tree()) { Navigation2DServer::get_singleton()->agent_set_radius(agent, estimate_agent_radius()); } } real_t NavigationObstacle2D::estimate_agent_radius() const { if (parent_node2d) { // Estimate the radius of this physics body real_t radius = 0.0; for (int i(0); i < parent_node2d->get_child_count(); i++) { // For each collision shape CollisionShape2D *cs = Object::cast_to<CollisionShape2D>(parent_node2d->get_child(i)); if (cs) { // Take the distance between the Body center to the shape center real_t r = cs->get_transform().get_origin().length(); if (cs->get_shape().is_valid()) { // and add the enclosing shape radius r += cs->get_shape()->get_enclosing_radius(); } Size2 s = cs->get_global_transform().get_scale(); r *= MAX(s.x, s.y); // Takes the biggest radius radius = MAX(radius, r); } } Vector2 s = parent_node2d->get_global_transform().get_scale(); radius *= MAX(s.x, s.y); if (radius > 0.0) { return radius; } } return 1.0; // Never a 0 radius } void NavigationObstacle2D::set_estimate_radius(bool p_estimate_radius) { estimate_radius = p_estimate_radius; _change_notify(); reevaluate_agent_radius(); } void NavigationObstacle2D::set_radius(real_t p_radius) { ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0."); radius = p_radius; reevaluate_agent_radius(); }