/*************************************************************************/ /* navigation_agent.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_agent.h" #include "core/config/engine.h" #include "core/math/geometry.h" #include "scene/3d/navigation.h" #include "scene/3d/navigation_link_3d.h" #include "scene/resources/material.h" #include "scene/resources/mesh.h" #include "scene/resources/world_3d.h" #include "servers/navigation/navigation_path_query_result_3d.h" #include "servers/navigation_server.h" void NavigationAgent::_bind_methods() { ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent::get_rid); ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent::set_avoidance_enabled); ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent::get_avoidance_enabled); ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent::set_path_desired_distance); ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent::get_path_desired_distance); ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent::set_target_desired_distance); ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent::get_target_desired_distance); ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent::set_radius); ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent::get_radius); ClassDB::bind_method(D_METHOD("set_height", "height"), &NavigationAgent::set_height); ClassDB::bind_method(D_METHOD("get_height"), &NavigationAgent::get_height); ClassDB::bind_method(D_METHOD("set_path_height_offset", "path_height_offset"), &NavigationAgent::set_path_height_offset); ClassDB::bind_method(D_METHOD("get_path_height_offset"), &NavigationAgent::get_path_height_offset); ClassDB::bind_method(D_METHOD("set_use_3d_avoidance", "enabled"), &NavigationAgent::set_use_3d_avoidance); ClassDB::bind_method(D_METHOD("get_use_3d_avoidance"), &NavigationAgent::get_use_3d_avoidance); ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent::set_navigation_node); ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent::get_navigation_node); ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent::set_navigation_map); ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent::get_navigation_map); ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent::set_neighbor_distance); ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent::get_neighbor_distance); ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent::set_max_neighbors); ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent::get_max_neighbors); ClassDB::bind_method(D_METHOD("set_time_horizon_agents", "time_horizon"), &NavigationAgent::set_time_horizon_agents); ClassDB::bind_method(D_METHOD("get_time_horizon_agents"), &NavigationAgent::get_time_horizon_agents); ClassDB::bind_method(D_METHOD("set_time_horizon_obstacles", "time_horizon"), &NavigationAgent::set_time_horizon_obstacles); ClassDB::bind_method(D_METHOD("get_time_horizon_obstacles"), &NavigationAgent::get_time_horizon_obstacles); ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent::set_max_speed); ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent::get_max_speed); ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent::set_path_max_distance); ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent::get_path_max_distance); ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent::set_navigation_layers); ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent::get_navigation_layers); 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); 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("set_velocity_forced", "velocity"), &NavigationAgent::set_velocity_forced); ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent::set_velocity); ClassDB::bind_method(D_METHOD("get_velocity"), &NavigationAgent::get_velocity); ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent::distance_to_target); ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent::get_current_navigation_result); ClassDB::bind_method(D_METHOD("get_current_navigation_path"), &NavigationAgent::get_current_navigation_path); ClassDB::bind_method(D_METHOD("get_current_navigation_path_index"), &NavigationAgent::get_current_navigation_path_index); ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent::is_target_reached); ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent::is_target_reachable); ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent::is_navigation_finished); ClassDB::bind_method(D_METHOD("get_final_position"), &NavigationAgent::get_final_position); ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationAgent::set_avoidance_layers); ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationAgent::get_avoidance_layers); ClassDB::bind_method(D_METHOD("set_avoidance_mask", "mask"), &NavigationAgent::set_avoidance_mask); ClassDB::bind_method(D_METHOD("get_avoidance_mask"), &NavigationAgent::get_avoidance_mask); ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationAgent::set_avoidance_layer_value); ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationAgent::get_avoidance_layer_value); ClassDB::bind_method(D_METHOD("set_avoidance_mask_value", "mask_number", "value"), &NavigationAgent::set_avoidance_mask_value); ClassDB::bind_method(D_METHOD("get_avoidance_mask_value", "mask_number"), &NavigationAgent::get_avoidance_mask_value); ClassDB::bind_method(D_METHOD("set_avoidance_priority", "priority"), &NavigationAgent::set_avoidance_priority); ClassDB::bind_method(D_METHOD("get_avoidance_priority"), &NavigationAgent::get_avoidance_priority); ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent::_avoidance_done); ADD_GROUP("Pathfinding", ""); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_target_position", "get_target_position"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,or_greater,suffix:m"), "set_path_desired_distance", "get_path_desired_distance"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,or_greater,suffix:m"), "set_target_desired_distance", "get_target_desired_distance"); 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", ""); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled"); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_velocity", "get_velocity"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "height", PROPERTY_HINT_RANGE, "0.01,100,0.01,or_greater,suffix:m"), "set_height", "get_height"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.1,100,0.01,or_greater,suffix:m"), "set_radius", "get_radius"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,10000,0.01,or_greater,suffix:m"), "set_neighbor_distance", "get_neighbor_distance"); ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1,or_greater"), "set_max_neighbors", "get_max_neighbors"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "time_horizon_agents", PROPERTY_HINT_RANGE, "0.0,10,0.01,or_greater,suffix:s"), "set_time_horizon_agents", "get_time_horizon_agents"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "time_horizon_obstacles", PROPERTY_HINT_RANGE, "0.0,10,0.01,or_greater,suffix:s"), "set_time_horizon_obstacles", "get_time_horizon_obstacles"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "max_speed", PROPERTY_HINT_RANGE, "0.1,1000,0.01,or_greater,suffix:m/s"), "set_max_speed", "get_max_speed"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_3d_avoidance"), "set_use_3d_avoidance", "get_use_3d_avoidance"); ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers"); ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_mask", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_mask", "get_avoidance_mask"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "avoidance_priority", PROPERTY_HINT_RANGE, "0.0,1.0,0.01"), "set_avoidance_priority", "get_avoidance_priority"); #ifdef DEBUG_ENABLED ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent::set_debug_enabled); ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent::get_debug_enabled); ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent::set_debug_use_custom); ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent::get_debug_use_custom); ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent::set_debug_path_custom_color); ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent::get_debug_path_custom_color); ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent::set_debug_path_custom_point_size); ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent::get_debug_path_custom_point_size); ClassDB::bind_method(D_METHOD("_navigation_debug_changed"), &NavigationAgent::_navigation_debug_changed); ADD_GROUP("Debug", "debug_"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom"); ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "debug_path_custom_point_size", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size"); #endif // DEBUG_ENABLED 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"))); } void NavigationAgent::_notification(int p_what) { switch (p_what) { case NOTIFICATION_POST_ENTER_TREE: { // Search the navigation node and set it { Navigation *nav = nullptr; Node *p = get_parent(); while (p != nullptr) { nav = Object::cast_to(p); if (nav != nullptr) { p = nullptr; } else { p = p->get_parent(); } } set_navigation(nav); } // need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready. // cannot use READY as ready does not get called if Node is readded to SceneTree set_agent_parent(get_parent()); set_physics_process_internal(true); if (agent_parent && avoidance_enabled) { NavigationServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin); } #ifdef DEBUG_ENABLED if (NavigationServer::get_singleton()->get_debug_enabled()) { debug_path_dirty = true; } #endif // DEBUG_ENABLED } break; case NOTIFICATION_PARENTED: { if (is_inside_tree() && (get_parent() != agent_parent)) { // only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around // PARENTED notification fires also when Node is added in scripts to a parent // this would spam transforms fails and world fails while Node is outside SceneTree // when node gets reparented when joining the tree POST_ENTER_TREE takes care of this set_agent_parent(get_parent()); set_physics_process_internal(true); } } break; case NOTIFICATION_UNPARENTED: { // if agent has no parent no point in processing it until reparented set_agent_parent(nullptr); set_physics_process_internal(false); } break; case NOTIFICATION_EXIT_TREE: { set_agent_parent(nullptr); set_navigation(nullptr); set_physics_process_internal(false); #ifdef DEBUG_ENABLED if (debug_path_instance.is_valid()) { RS::get_singleton()->instance_set_visible(debug_path_instance, false); } #endif // DEBUG_ENABLED } break; case NOTIFICATION_PAUSED: { if (agent_parent && !agent_parent->can_process()) { map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid()); NavigationServer::get_singleton()->agent_set_map(get_rid(), RID()); } else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) { NavigationServer::get_singleton()->agent_set_map(get_rid(), map_before_pause); map_before_pause = RID(); } } break; case NOTIFICATION_UNPAUSED: { if (agent_parent && !agent_parent->can_process()) { map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid()); NavigationServer::get_singleton()->agent_set_map(get_rid(), RID()); } else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) { NavigationServer::get_singleton()->agent_set_map(get_rid(), map_before_pause); map_before_pause = RID(); } } break; case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { if (agent_parent && target_position_submitted) { if (velocity_submitted) { velocity_submitted = false; if (avoidance_enabled) { NavigationServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin); if (!use_3d_avoidance) { stored_y_velocity = velocity.y; velocity.y = 0.0; } NavigationServer::get_singleton()->agent_set_velocity(agent, velocity); } } if (velocity_forced_submitted) { velocity_forced_submitted = false; if (avoidance_enabled) { NavigationServer::get_singleton()->agent_set_velocity_forced(agent, velocity_forced); } } _check_distance_to_target(); } #ifdef DEBUG_ENABLED if (debug_path_dirty) { _update_debug_path(); } #endif // DEBUG_ENABLED } break; } } NavigationAgent::NavigationAgent() { agent_parent = nullptr; navigation = nullptr; avoidance_enabled = false; use_3d_avoidance = false; avoidance_layers = 1; 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; target_desired_distance = 1.0; height = 1.0; radius = 0.5; path_height_offset = 0.0; neighbor_distance = 50.0; max_neighbors = 10; time_horizon_agents = 1.0; time_horizon_obstacles = 0.0; max_speed = 10.0; path_max_distance = 5.0; target_position_submitted = false; nav_path_index = 0; velocity_submitted = false; velocity_forced_submitted = false; stored_y_velocity = 0.0; target_reached = false; navigation_finished = true; update_frame_id = 0; agent = NavigationServer::get_singleton()->agent_create(); NavigationServer::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance); NavigationServer::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); NavigationServer::get_singleton()->agent_set_time_horizon_agents(agent, time_horizon_agents); NavigationServer::get_singleton()->agent_set_time_horizon_obstacles(agent, time_horizon_obstacles); NavigationServer::get_singleton()->agent_set_radius(agent, radius); NavigationServer::get_singleton()->agent_set_height(agent, height); NavigationServer::get_singleton()->agent_set_max_speed(agent, max_speed); navigation_query.instance(); navigation_result.instance(); set_avoidance_layers(avoidance_layers); set_avoidance_mask(avoidance_mask); set_avoidance_priority(avoidance_priority); set_use_3d_avoidance(use_3d_avoidance); set_avoidance_enabled(avoidance_enabled); #ifdef DEBUG_ENABLED debug_enabled = false; debug_path_dirty = true; debug_path_custom_point_size = 4.0; debug_use_custom = false; debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0); NavigationServer::get_singleton()->connect("navigation_debug_changed", this, "_navigation_debug_changed"); #endif // DEBUG_ENABLED } NavigationAgent::~NavigationAgent() { ERR_FAIL_NULL(NavigationServer::get_singleton()); NavigationServer::get_singleton()->free(agent); agent = RID(); // Pointless #ifdef DEBUG_ENABLED NavigationServer::get_singleton()->disconnect("navigation_debug_changed", this, "_navigation_debug_changed"); ERR_FAIL_NULL(RenderingServer::get_singleton()); if (debug_path_instance.is_valid()) { RenderingServer::get_singleton()->free(debug_path_instance); } if (debug_path_mesh.is_valid()) { RenderingServer::get_singleton()->free(debug_path_mesh->get_rid()); } #endif // DEBUG_ENABLED } void NavigationAgent::set_avoidance_enabled(bool p_enabled) { avoidance_enabled = p_enabled; if (avoidance_enabled) { NavigationServer::get_singleton()->agent_set_avoidance_enabled(agent, true); NavigationServer::get_singleton()->agent_set_avoidance_callback(agent, get_instance_id(), "_avoidance_done"); } else { NavigationServer::get_singleton()->agent_set_avoidance_enabled(agent, false); NavigationServer::get_singleton()->agent_set_avoidance_callback(agent, ObjectID(), "_avoidance_done"); } } bool NavigationAgent::get_avoidance_enabled() const { return avoidance_enabled; } void NavigationAgent::set_navigation(Navigation *p_nav) { if (navigation == p_nav) { return; // Pointless } navigation = p_nav; NavigationServer::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid()); } void NavigationAgent::set_navigation_node(Node *p_nav) { Navigation *nav = Object::cast_to(p_nav); ERR_FAIL_NULL(nav); set_navigation(nav); } Node *NavigationAgent::get_navigation_node() const { return Object::cast_to(navigation); } void NavigationAgent::set_agent_parent(Node *p_agent_parent) { // remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map NavigationServer::get_singleton()->agent_set_avoidance_callback(agent, ObjectID(), "_avoidance_done"); if (Object::cast_to(p_agent_parent) != nullptr) { // place agent on navigation map first or else the RVO agent callback creation fails silently later agent_parent = Object::cast_to(p_agent_parent); NavigationServer::get_singleton()->agent_set_map(get_rid(), get_navigation_map()); // create new avoidance callback if enabled set_avoidance_enabled(avoidance_enabled); } else { agent_parent = nullptr; NavigationServer::get_singleton()->agent_set_map(get_rid(), get_navigation_map()); } } void NavigationAgent::set_navigation_layers(uint32_t p_layers) { bool _navigation_layers_changed = navigation_layers != p_layers; navigation_layers = p_layers; if (_navigation_layers_changed) { _request_repath(); } } uint32_t NavigationAgent::get_navigation_layers() const { return navigation_layers; } void NavigationAgent::set_navigation_layer_value(int p_layer_number, bool p_value) { ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive."); ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive."); uint32_t _navigation_layers = get_navigation_layers(); if (p_value) { _navigation_layers |= 1 << (p_layer_number - 1); } else { _navigation_layers &= ~(1 << (p_layer_number - 1)); } set_navigation_layers(_navigation_layers); } bool NavigationAgent::get_navigation_layer_value(int p_layer_number) const { ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive."); ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive."); 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; } 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); _request_repath(); } RID NavigationAgent::get_navigation_map() const { if (navigation) { return navigation->get_rid(); } else if (map_override.is_valid()) { return map_override; } else if (agent_parent != nullptr) { return agent_parent->get_world_3d()->get_navigation_map(); } return RID(); } void NavigationAgent::set_path_desired_distance(real_t p_dd) { path_desired_distance = p_dd; } void NavigationAgent::set_target_desired_distance(real_t p_dd) { target_desired_distance = p_dd; } void NavigationAgent::set_radius(real_t p_radius) { ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive."); radius = p_radius; NavigationServer::get_singleton()->agent_set_radius(agent, radius); } void NavigationAgent::set_height(real_t p_height) { ERR_FAIL_COND_MSG(p_height < 0.0, "Height must be positive."); if (Math::is_equal_approx(height, p_height)) { return; } height = p_height; NavigationServer::get_singleton()->agent_set_height(agent, height); } void NavigationAgent::set_path_height_offset(real_t p_path_height_offset) { path_height_offset = p_path_height_offset; } void NavigationAgent::set_use_3d_avoidance(bool p_use_3d_avoidance) { use_3d_avoidance = p_use_3d_avoidance; NavigationServer::get_singleton()->agent_set_use_3d_avoidance(agent, use_3d_avoidance); property_list_changed_notify(); } void NavigationAgent::set_neighbor_distance(real_t p_dist) { neighbor_distance = p_dist; NavigationServer::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance); } void NavigationAgent::set_max_neighbors(int p_count) { max_neighbors = p_count; NavigationServer::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); } void NavigationAgent::set_time_horizon_agents(real_t p_time_horizon) { ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion must be positive."); if (Math::is_equal_approx(time_horizon_agents, p_time_horizon)) { return; } time_horizon_agents = p_time_horizon; NavigationServer::get_singleton()->agent_set_time_horizon_agents(agent, time_horizon_agents); } void NavigationAgent::set_time_horizon_obstacles(real_t p_time_horizon) { ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion must be positive."); if (Math::is_equal_approx(time_horizon_obstacles, p_time_horizon)) { return; } time_horizon_obstacles = p_time_horizon; NavigationServer::get_singleton()->agent_set_time_horizon_obstacles(agent, time_horizon_obstacles); } void NavigationAgent::set_max_speed(real_t p_max_speed) { ERR_FAIL_COND_MSG(p_max_speed < 0.0, "Max speed must be positive."); max_speed = p_max_speed; NavigationServer::get_singleton()->agent_set_max_speed(agent, max_speed); } void NavigationAgent::set_path_max_distance(real_t p_pmd) { path_max_distance = p_pmd; } real_t NavigationAgent::get_path_max_distance() { return path_max_distance; } void NavigationAgent::set_target_position(Vector3 p_position) { target_position = p_position; target_position_submitted = true; _request_repath(); } Vector3 NavigationAgent::get_target_position() const { return target_position; } Vector3 NavigationAgent::get_next_position() { update_navigation(); const Vector &navigation_path = navigation_result->get_path(); if (navigation_path.size() == 0) { ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent."); return agent_parent->get_global_transform().origin; } else { return navigation_path[nav_path_index] - Vector3(0, path_height_offset, 0); } } Ref NavigationAgent::get_current_navigation_result() const { return navigation_result; } Vector NavigationAgent::get_current_navigation_path() const { return navigation_result->get_path(); } real_t NavigationAgent::distance_to_target() const { ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent."); return agent_parent->get_global_transform().origin.distance_to(target_position); } bool NavigationAgent::is_target_reached() const { return target_reached; } bool NavigationAgent::is_target_reachable() { return target_desired_distance >= get_final_position().distance_to(target_position); } bool NavigationAgent::is_navigation_finished() { update_navigation(); return navigation_finished; } Vector3 NavigationAgent::get_final_position() { update_navigation(); const Vector &navigation_path = navigation_result->get_path(); if (navigation_path.size() == 0) { return Vector3(); } return navigation_path[navigation_path.size() - 1]; } void NavigationAgent::set_velocity_forced(Vector3 p_velocity) { // Intentionally not checking for equality of the parameter. // We need to always submit the velocity to the navigation server, even when it is the same, in order to run avoidance every frame. // Revisit later when the navigation server can update avoidance without users resubmitting the velocity. velocity_forced = p_velocity; velocity_forced_submitted = true; } void NavigationAgent::set_velocity(const Vector3 p_velocity) { velocity = p_velocity; velocity_submitted = true; } void NavigationAgent::_avoidance_done(Vector3 p_new_velocity) { safe_velocity = p_new_velocity; if (!use_3d_avoidance) { safe_velocity.y = stored_y_velocity; } emit_signal("velocity_computed", safe_velocity); } String NavigationAgent::get_configuration_warning() const { if (!Object::cast_to(get_parent())) { return TTR("The NavigationAgent can be used only under a Spatial inheriting parent node."); } return String(); } void NavigationAgent::update_navigation() { if (agent_parent == nullptr) { return; } if (!agent_parent->is_inside_tree()) { return; } if (!target_position_submitted) { return; } if (update_frame_id == Engine::get_singleton()->get_physics_frames()) { return; } update_frame_id = Engine::get_singleton()->get_physics_frames(); Vector3 origin = agent_parent->get_global_transform().origin; bool reload_path = false; if (NavigationServer::get_singleton()->agent_is_map_changed(agent)) { reload_path = true; } else if (navigation_result->get_path().size() == 0) { reload_path = true; } else { // Check if too far from the navigation path if (nav_path_index > 0) { const Vector &navigation_path = navigation_result->get_path(); Vector3 segment[2]; segment[0] = navigation_path[nav_path_index - 1]; segment[1] = navigation_path[nav_path_index]; segment[0].y -= path_height_offset; segment[1].y -= path_height_offset; Vector3 p = Geometry::get_closest_point_to_segment(origin, segment); if (origin.distance_to(p) >= path_max_distance) { // To faraway, reload path reload_path = true; } } } if (reload_path) { 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); navigation_query->set_map(get_navigation_map()); NavigationServer::get_singleton()->query_path(navigation_query, navigation_result); #ifdef DEBUG_ENABLED debug_path_dirty = true; #endif // DEBUG_ENABLED navigation_finished = false; nav_path_index = 0; emit_signal("path_changed"); } if (navigation_result->get_path().size() == 0) { return; } // Check if we can advance the navigation path if (navigation_finished == false) { // Advances to the next far away position. const Vector &navigation_path = navigation_result->get_path(); const Vector &navigation_path_types = navigation_result->get_path_types(); const Array &navigation_path_rids = navigation_result->get_path_rids(); const Vector &navigation_path_owners = navigation_result->get_path_owner_ids(); while (origin.distance_to(navigation_path[nav_path_index] - Vector3(0, path_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; if (waypoint_type == NavigationPathQueryResult3D::PATH_SEGMENT_TYPE_LINK) { const NavigationLink3D *navlink = Object::cast_to(owner); if (navlink) { Vector3 link_global_start_position = navlink->get_global_start_position(); Vector3 link_global_end_position = navlink->get_global_end_position(); if (waypoint.distance_to(link_global_start_position) < waypoint.distance_to(link_global_end_position)) { details["link_entry_position"] = link_global_start_position; details["link_exit_position"] = link_global_end_position; } else { details["link_entry_position"] = link_global_end_position; details["link_exit_position"] = link_global_start_position; } } } } // 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; navigation_finished = true; target_position_submitted = false; emit_signal("navigation_finished"); break; } } } } void NavigationAgent::set_avoidance_layers(uint32_t p_layers) { avoidance_layers = p_layers; NavigationServer::get_singleton()->agent_set_avoidance_layers(get_rid(), avoidance_layers); } uint32_t NavigationAgent::get_avoidance_layers() const { return avoidance_layers; } void NavigationAgent::set_avoidance_mask(uint32_t p_mask) { avoidance_mask = p_mask; NavigationServer::get_singleton()->agent_set_avoidance_mask(get_rid(), avoidance_mask); } uint32_t NavigationAgent::get_avoidance_mask() const { return avoidance_mask; } void NavigationAgent::set_avoidance_layer_value(int p_layer_number, bool p_value) { ERR_FAIL_COND_MSG(p_layer_number < 1, "Avoidance layer number must be between 1 and 32 inclusive."); ERR_FAIL_COND_MSG(p_layer_number > 32, "Avoidance layer number must be between 1 and 32 inclusive."); uint32_t avoidance_layers_new = get_avoidance_layers(); if (p_value) { avoidance_layers_new |= 1 << (p_layer_number - 1); } else { avoidance_layers_new &= ~(1 << (p_layer_number - 1)); } set_avoidance_layers(avoidance_layers_new); } bool NavigationAgent::get_avoidance_layer_value(int p_layer_number) const { ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Avoidance layer number must be between 1 and 32 inclusive."); ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Avoidance layer number must be between 1 and 32 inclusive."); return get_avoidance_layers() & (1 << (p_layer_number - 1)); } void NavigationAgent::set_avoidance_mask_value(int p_mask_number, bool p_value) { ERR_FAIL_COND_MSG(p_mask_number < 1, "Avoidance mask number must be between 1 and 32 inclusive."); ERR_FAIL_COND_MSG(p_mask_number > 32, "Avoidance mask number must be between 1 and 32 inclusive."); uint32_t mask = get_avoidance_mask(); if (p_value) { mask |= 1 << (p_mask_number - 1); } else { mask &= ~(1 << (p_mask_number - 1)); } set_avoidance_mask(mask); } bool NavigationAgent::get_avoidance_mask_value(int p_mask_number) const { ERR_FAIL_COND_V_MSG(p_mask_number < 1, false, "Avoidance mask number must be between 1 and 32 inclusive."); ERR_FAIL_COND_V_MSG(p_mask_number > 32, false, "Avoidance mask number must be between 1 and 32 inclusive."); return get_avoidance_mask() & (1 << (p_mask_number - 1)); } void NavigationAgent::set_avoidance_priority(real_t p_priority) { ERR_FAIL_COND_MSG(p_priority < 0.0, "Avoidance priority must be between 0.0 and 1.0 inclusive."); ERR_FAIL_COND_MSG(p_priority > 1.0, "Avoidance priority must be between 0.0 and 1.0 inclusive."); avoidance_priority = p_priority; NavigationServer::get_singleton()->agent_set_avoidance_priority(get_rid(), p_priority); } real_t NavigationAgent::get_avoidance_priority() const { return avoidance_priority; } void NavigationAgent::_request_repath() { navigation_result->reset(); target_reached = false; navigation_finished = false; update_frame_id = 0; } void NavigationAgent::_check_distance_to_target() { if (!target_reached) { if (distance_to_target() < target_desired_distance) { target_reached = true; emit_signal("target_reached"); } } } ////////DEBUG//////////////////////////////////////////////////////////// #ifdef DEBUG_ENABLED void NavigationAgent::set_debug_enabled(bool p_enabled) { debug_enabled = p_enabled; debug_path_dirty = true; } bool NavigationAgent::get_debug_enabled() const { return debug_enabled; } void NavigationAgent::set_debug_use_custom(bool p_enabled) { debug_use_custom = p_enabled; debug_path_dirty = true; } bool NavigationAgent::get_debug_use_custom() const { return debug_use_custom; } void NavigationAgent::set_debug_path_custom_color(Color p_color) { debug_path_custom_color = p_color; debug_path_dirty = true; } Color NavigationAgent::get_debug_path_custom_color() const { return debug_path_custom_color; } void NavigationAgent::set_debug_path_custom_point_size(float p_point_size) { debug_path_custom_point_size = p_point_size; debug_path_dirty = true; } float NavigationAgent::get_debug_path_custom_point_size() const { return debug_path_custom_point_size; } void NavigationAgent::_navigation_debug_changed() { debug_path_dirty = true; } void NavigationAgent::_update_debug_path() { if (!debug_path_dirty) { return; } debug_path_dirty = false; if (!debug_path_instance.is_valid()) { debug_path_instance = RenderingServer::get_singleton()->instance_create(); } if (!debug_path_mesh.is_valid()) { debug_path_mesh = Ref(memnew(ArrayMesh)); } debug_path_mesh->clear_surfaces(); if (!(debug_enabled && NavigationServer::get_singleton()->get_debug_navigation_enable_agent_paths())) { return; } if (!(agent_parent && agent_parent->is_inside_tree())) { return; } const Vector &navigation_path = navigation_result->get_path(); if (navigation_path.size() <= 1) { return; } Vector debug_path_lines_vertex_array; for (int i = 0; i < navigation_path.size() - 1; i++) { debug_path_lines_vertex_array.push_back(navigation_path[i]); debug_path_lines_vertex_array.push_back(navigation_path[i + 1]); } Array debug_path_lines_mesh_array; debug_path_lines_mesh_array.resize(Mesh::ARRAY_MAX); debug_path_lines_mesh_array[Mesh::ARRAY_VERTEX] = debug_path_lines_vertex_array; debug_path_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, debug_path_lines_mesh_array); Ref debug_agent_path_line_material = NavigationServer::get_singleton()->get_debug_navigation_agent_path_line_material(); if (debug_use_custom) { if (!debug_agent_path_line_custom_material.is_valid()) { debug_agent_path_line_custom_material = debug_agent_path_line_material->duplicate(); } debug_agent_path_line_custom_material->set_albedo(debug_path_custom_color); debug_path_mesh->surface_set_material(0, debug_agent_path_line_custom_material); } else { debug_path_mesh->surface_set_material(0, debug_agent_path_line_material); } Vector debug_path_points_vertex_array; for (int i = 0; i < navigation_path.size(); i++) { debug_path_points_vertex_array.push_back(navigation_path[i]); } Array debug_path_points_mesh_array; debug_path_points_mesh_array.resize(Mesh::ARRAY_MAX); debug_path_points_mesh_array[Mesh::ARRAY_VERTEX] = debug_path_lines_vertex_array; debug_path_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_POINTS, debug_path_points_mesh_array); Ref debug_agent_path_point_material = NavigationServer::get_singleton()->get_debug_navigation_agent_path_point_material(); if (debug_use_custom) { if (!debug_agent_path_point_custom_material.is_valid()) { debug_agent_path_point_custom_material = debug_agent_path_point_material->duplicate(); } debug_agent_path_point_custom_material->set_albedo(debug_path_custom_color); debug_agent_path_point_custom_material->set_point_size(debug_path_custom_point_size); debug_path_mesh->surface_set_material(1, debug_agent_path_point_custom_material); } else { debug_path_mesh->surface_set_material(1, debug_agent_path_point_material); } RS::get_singleton()->instance_set_base(debug_path_instance, debug_path_mesh->get_rid()); RS::get_singleton()->instance_set_scenario(debug_path_instance, agent_parent->get_world_3d()->get_scenario()); RS::get_singleton()->instance_set_visible(debug_path_instance, agent_parent->is_visible_in_tree()); } #endif // DEBUG_ENABLED