mirror of
https://github.com/Relintai/pandemonium_engine.git
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Relintai
8b18898609
`const` is used on all methods, even when they cause modification of the server. This reworks the methods of the server to only use `const` on method that don't change the state of the server.
- DarkKilauea
a0715b30f9
839 lines
33 KiB
C++
839 lines
33 KiB
C++
/*************************************************************************/
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/* navigation_agent.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "navigation_agent.h"
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#include "core/config/engine.h"
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#include "core/math/geometry.h"
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#include "scene/3d/navigation.h"
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#include "scene/3d/navigation_link_3d.h"
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#include "scene/resources/material.h"
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#include "scene/resources/mesh.h"
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#include "scene/resources/world_3d.h"
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#include "servers/navigation/navigation_path_query_parameters_3d.h"
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#include "servers/navigation/navigation_path_query_result_3d.h"
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#include "servers/navigation_server.h"
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void NavigationAgent::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent::get_rid);
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ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent::set_avoidance_enabled);
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ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent::get_avoidance_enabled);
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ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent::set_path_desired_distance);
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ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent::get_path_desired_distance);
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ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent::set_target_desired_distance);
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ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent::get_target_desired_distance);
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ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent::set_radius);
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ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent::get_radius);
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ClassDB::bind_method(D_METHOD("set_agent_height_offset", "agent_height_offset"), &NavigationAgent::set_agent_height_offset);
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ClassDB::bind_method(D_METHOD("get_agent_height_offset"), &NavigationAgent::get_agent_height_offset);
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ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent::set_ignore_y);
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ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent::get_ignore_y);
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ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent::set_navigation_node);
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ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent::get_navigation_node);
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ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent::set_navigation_map);
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ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent::get_navigation_map);
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ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent::set_neighbor_dist);
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ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent::get_neighbor_dist);
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ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent::set_max_neighbors);
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ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent::get_max_neighbors);
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ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent::set_time_horizon);
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ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent::get_time_horizon);
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ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent::set_max_speed);
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ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent::get_max_speed);
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ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent::set_path_max_distance);
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ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent::get_path_max_distance);
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ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent::set_navigation_layers);
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ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent::get_navigation_layers);
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ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent::set_navigation_layer_value);
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ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent::get_navigation_layer_value);
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ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent::set_path_metadata_flags);
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ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent::get_path_metadata_flags);
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ClassDB::bind_method(D_METHOD("set_target_position", "position"), &NavigationAgent::set_target_position);
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ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent::get_target_position);
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ClassDB::bind_method(D_METHOD("get_next_position"), &NavigationAgent::get_next_position);
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ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent::distance_to_target);
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ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent::set_velocity);
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ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent::get_current_navigation_result);
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ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent::get_nav_path);
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ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent::get_nav_path_index);
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ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent::is_target_reached);
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ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent::is_target_reachable);
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ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent::is_navigation_finished);
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ClassDB::bind_method(D_METHOD("get_final_position"), &NavigationAgent::get_final_position);
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ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent::_avoidance_done);
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ADD_GROUP("Pathfinding", "");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_target_position", "get_target_position");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_path_desired_distance", "get_path_desired_distance");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_target_desired_distance", "get_target_desired_distance");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01"), "set_agent_height_offset", "get_agent_height_offset");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1"), "set_path_max_distance", "get_path_max_distance");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
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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");
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ADD_GROUP("Avoidance", "");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_radius", "get_radius");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_neighbor_dist", "get_neighbor_dist");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1"), "set_max_neighbors", "get_max_neighbors");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "time_horizon", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_time_horizon", "get_time_horizon");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_max_speed", "get_max_speed");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "ignore_y"), "set_ignore_y", "get_ignore_y");
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#ifdef DEBUG_ENABLED
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ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent::set_debug_enabled);
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ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent::get_debug_enabled);
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ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent::set_debug_use_custom);
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ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent::get_debug_use_custom);
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ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent::set_debug_path_custom_color);
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ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent::get_debug_path_custom_color);
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ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent::set_debug_path_custom_point_size);
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ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent::get_debug_path_custom_point_size);
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ClassDB::bind_method(D_METHOD("_navigation_debug_changed"), &NavigationAgent::_navigation_debug_changed);
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ADD_GROUP("Debug", "");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom");
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ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color");
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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");
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#endif // DEBUG_ENABLED
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ADD_SIGNAL(MethodInfo("path_changed"));
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ADD_SIGNAL(MethodInfo("target_reached"));
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ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
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ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details")));
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ADD_SIGNAL(MethodInfo("navigation_finished"));
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ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));
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}
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void NavigationAgent::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_POST_ENTER_TREE: {
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// Search the navigation node and set it
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{
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Navigation *nav = nullptr;
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Node *p = get_parent();
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while (p != nullptr) {
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nav = Object::cast_to<Navigation>(p);
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if (nav != nullptr) {
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p = nullptr;
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} else {
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p = p->get_parent();
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}
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}
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set_navigation(nav);
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}
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// need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready.
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// cannot use READY as ready does not get called if Node is readded to SceneTree
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set_agent_parent(get_parent());
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set_physics_process_internal(true);
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#ifdef DEBUG_ENABLED
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if (NavigationServer::get_singleton()->get_debug_enabled()) {
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debug_path_dirty = true;
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}
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#endif // DEBUG_ENABLED
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} break;
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case NOTIFICATION_PARENTED: {
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if (is_inside_tree() && (get_parent() != agent_parent)) {
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// only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around
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// PARENTED notification fires also when Node is added in scripts to a parent
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// this would spam transforms fails and world fails while Node is outside SceneTree
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// when node gets reparented when joining the tree POST_ENTER_TREE takes care of this
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set_agent_parent(get_parent());
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set_physics_process_internal(true);
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}
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} break;
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case NOTIFICATION_UNPARENTED: {
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// if agent has no parent no point in processing it until reparented
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set_agent_parent(nullptr);
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set_physics_process_internal(false);
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} break;
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case NOTIFICATION_EXIT_TREE: {
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set_agent_parent(nullptr);
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set_navigation(nullptr);
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set_physics_process_internal(false);
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#ifdef DEBUG_ENABLED
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if (debug_path_instance.is_valid()) {
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RS::get_singleton()->instance_set_visible(debug_path_instance, false);
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}
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#endif // DEBUG_ENABLED
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} break;
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case NOTIFICATION_PAUSED: {
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if (agent_parent && !agent_parent->can_process()) {
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map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid());
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NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
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NavigationServer::get_singleton()->agent_set_map(get_rid(), map_before_pause);
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map_before_pause = RID();
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}
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} break;
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case NOTIFICATION_UNPAUSED: {
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if (agent_parent && !agent_parent->can_process()) {
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map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid());
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NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
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NavigationServer::get_singleton()->agent_set_map(get_rid(), map_before_pause);
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map_before_pause = RID();
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}
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} break;
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case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
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if (agent_parent) {
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if (avoidance_enabled) {
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// agent_position on NavigationServer is avoidance only and has nothing to do with pathfinding
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// no point in flooding NavigationServer queue with agent position updates that get send to the void if avoidance is not used
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NavigationServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
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}
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_check_distance_to_target();
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}
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#ifdef DEBUG_ENABLED
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if (debug_path_dirty) {
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_update_debug_path();
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}
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#endif // DEBUG_ENABLED
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} break;
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}
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}
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NavigationAgent::NavigationAgent() {
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agent_parent = nullptr;
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navigation = nullptr;
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avoidance_enabled = false;
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navigation_layers = 1;
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path_metadata_flags = NavigationPathQueryParameters3D::PATH_METADATA_INCLUDE_ALL;
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path_desired_distance = 1.0;
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target_desired_distance = 1.0;
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navigation_height_offset = 0.0;
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path_max_distance = 3.0;
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velocity_submitted = false;
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target_reached = false;
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navigation_finished = true;
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agent = NavigationServer::get_singleton()->agent_create();
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set_neighbor_dist(0.0);
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set_max_neighbors(0);
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set_time_horizon(0.0);
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set_radius(1.0);
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set_max_speed(0.0);
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set_ignore_y(false);
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nav_path_index = 0;
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update_frame_id = 0;
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navigation_query.instance();
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navigation_result.instance();
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#ifdef DEBUG_ENABLED
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debug_enabled = false;
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debug_path_dirty = true;
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debug_path_custom_point_size = 4.0;
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debug_use_custom = false;
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debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0);
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NavigationServer::get_singleton()->connect("navigation_debug_changed", this, "_navigation_debug_changed");
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#endif // DEBUG_ENABLED
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}
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NavigationAgent::~NavigationAgent() {
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ERR_FAIL_NULL(NavigationServer::get_singleton());
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NavigationServer::get_singleton()->free(agent);
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agent = RID(); // Pointless
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#ifdef DEBUG_ENABLED
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NavigationServer::get_singleton()->disconnect("navigation_debug_changed", this, "_navigation_debug_changed");
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ERR_FAIL_NULL(RenderingServer::get_singleton());
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if (debug_path_instance.is_valid()) {
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RenderingServer::get_singleton()->free(debug_path_instance);
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}
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if (debug_path_mesh.is_valid()) {
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RenderingServer::get_singleton()->free(debug_path_mesh->get_rid());
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}
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#endif // DEBUG_ENABLED
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}
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void NavigationAgent::set_avoidance_enabled(bool p_enabled) {
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avoidance_enabled = p_enabled;
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if (avoidance_enabled) {
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NavigationServer::get_singleton()->agent_set_callback(agent, get_instance_id(), "_avoidance_done");
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} else {
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NavigationServer::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done");
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}
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}
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bool NavigationAgent::get_avoidance_enabled() const {
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return avoidance_enabled;
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}
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void NavigationAgent::set_navigation(Navigation *p_nav) {
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if (navigation == p_nav) {
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return; // Pointless
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}
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navigation = p_nav;
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NavigationServer::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
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}
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void NavigationAgent::set_navigation_node(Node *p_nav) {
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Navigation *nav = Object::cast_to<Navigation>(p_nav);
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ERR_FAIL_NULL(nav);
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set_navigation(nav);
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}
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Node *NavigationAgent::get_navigation_node() const {
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return Object::cast_to<Node>(navigation);
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}
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void NavigationAgent::set_agent_parent(Node *p_agent_parent) {
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// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
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NavigationServer::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done");
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if (Object::cast_to<Spatial>(p_agent_parent) != nullptr) {
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// place agent on navigation map first or else the RVO agent callback creation fails silently later
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agent_parent = Object::cast_to<Spatial>(p_agent_parent);
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if (map_override.is_valid()) {
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NavigationServer::get_singleton()->agent_set_map(get_rid(), map_override);
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} else if (navigation != nullptr) {
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NavigationServer::get_singleton()->agent_set_map(get_rid(), navigation->get_rid());
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} else {
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// no navigation node found in parent nodes, use default navigation map from world resource
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NavigationServer::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_3d()->get_navigation_map());
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}
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// create new avoidance callback if enabled
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set_avoidance_enabled(avoidance_enabled);
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} else {
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agent_parent = nullptr;
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NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
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}
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}
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void NavigationAgent::set_navigation_layers(uint32_t p_layers) {
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bool _navigation_layers_changed = navigation_layers != p_layers;
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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_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 (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) {
|
|
radius = p_radius;
|
|
NavigationServer::get_singleton()->agent_set_radius(agent, radius);
|
|
}
|
|
|
|
void NavigationAgent::set_agent_height_offset(real_t p_hh) {
|
|
navigation_height_offset = p_hh;
|
|
}
|
|
|
|
void NavigationAgent::set_ignore_y(bool p_ignore_y) {
|
|
ignore_y = p_ignore_y;
|
|
NavigationServer::get_singleton()->agent_set_ignore_y(agent, ignore_y);
|
|
}
|
|
|
|
void NavigationAgent::set_neighbor_dist(real_t p_dist) {
|
|
neighbor_dist = p_dist;
|
|
NavigationServer::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist);
|
|
}
|
|
|
|
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(real_t p_time) {
|
|
time_horizon = p_time;
|
|
NavigationServer::get_singleton()->agent_set_time_horizon(agent, time_horizon);
|
|
}
|
|
|
|
void NavigationAgent::set_max_speed(real_t p_max_speed) {
|
|
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;
|
|
_request_repath();
|
|
}
|
|
|
|
Vector3 NavigationAgent::get_target_position() const {
|
|
return target_position;
|
|
}
|
|
|
|
Vector3 NavigationAgent::get_next_position() {
|
|
update_navigation();
|
|
|
|
const Vector<Vector3> &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, navigation_height_offset, 0);
|
|
}
|
|
}
|
|
|
|
Ref<NavigationPathQueryResult3D> NavigationAgent::get_current_navigation_result() const {
|
|
return navigation_result;
|
|
}
|
|
|
|
const Vector<Vector3> &NavigationAgent::get_nav_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<Vector3> &navigation_path = navigation_result->get_path();
|
|
|
|
if (navigation_path.size() == 0) {
|
|
return Vector3();
|
|
}
|
|
|
|
return navigation_path[navigation_path.size() - 1];
|
|
}
|
|
|
|
void NavigationAgent::set_velocity(Vector3 p_velocity) {
|
|
target_velocity = p_velocity;
|
|
NavigationServer::get_singleton()->agent_set_target_velocity(agent, target_velocity);
|
|
NavigationServer::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
|
|
velocity_submitted = true;
|
|
}
|
|
|
|
void NavigationAgent::_avoidance_done(Vector3 p_new_velocity) {
|
|
prev_safe_velocity = p_new_velocity;
|
|
|
|
if (!velocity_submitted) {
|
|
target_velocity = Vector3();
|
|
return;
|
|
}
|
|
velocity_submitted = false;
|
|
|
|
emit_signal("velocity_computed", p_new_velocity);
|
|
}
|
|
|
|
String NavigationAgent::get_configuration_warning() const {
|
|
if (!Object::cast_to<Spatial>(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 (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<Vector3> &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 -= navigation_height_offset;
|
|
segment[1].y -= navigation_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);
|
|
|
|
if (map_override.is_valid()) {
|
|
navigation_query->set_map(map_override);
|
|
} else if (navigation != nullptr) {
|
|
navigation_query->set_map(navigation->get_rid());
|
|
} else {
|
|
navigation_query->set_map(agent_parent->get_world_3d()->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<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;
|
|
|
|
if (waypoint_type == NavigationPathQueryResult3D::PATH_SEGMENT_TYPE_LINK) {
|
|
const NavigationLink3D *navlink = Object::cast_to<NavigationLink3D>(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;
|
|
emit_signal("navigation_finished");
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
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<ArrayMesh>(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<Vector3> &navigation_path = navigation_result->get_path();
|
|
|
|
if (navigation_path.size() <= 1) {
|
|
return;
|
|
}
|
|
|
|
Vector<Vector3> 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<SpatialMaterial> 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<Vector3> 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<SpatialMaterial> 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
|