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250 lines
11 KiB
C++
250 lines
11 KiB
C++
#ifndef PANDEMONIUM_NAVIGATION_SERVER_H
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#define PANDEMONIUM_NAVIGATION_SERVER_H
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/*************************************************************************/
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/* pandemonium_navigation_server.h */
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/*************************************************************************/
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/* This file is part of: */
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/* PANDEMONIUM 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 "servers/navigation_server.h"
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#include "core/containers/rid.h"
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#include "nav_agent.h"
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#include "nav_link.h"
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#include "nav_map.h"
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#include "nav_obstacle.h"
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#include "nav_region.h"
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/// The commands are functions executed during the `sync` phase.
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#define MERGE_INTERNAL(A, B) A##B
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#define MERGE(A, B) MERGE_INTERNAL(A, B)
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#define COMMAND_1(F_NAME, T_0, D_0) \
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virtual void F_NAME(T_0 D_0); \
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void MERGE(_cmd_, F_NAME)(T_0 D_0)
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#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
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virtual void F_NAME(T_0 D_0, T_1 D_1); \
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void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
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#define COMMAND_4_DEF(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, D_3_DEF) \
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virtual void F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3 = D_3_DEF); \
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void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
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class PandemoniumNavigationServer;
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struct SetCommand {
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virtual ~SetCommand() {}
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virtual void exec(PandemoniumNavigationServer *server) = 0;
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};
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class PandemoniumNavigationServer : public NavigationServer {
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Mutex commands_mutex;
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/// Mutex used to make any operation threadsafe.
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Mutex operations_mutex;
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LocalVector<SetCommand *> commands;
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mutable RID_Owner<NavLink> link_owner;
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mutable RID_Owner<NavMap> map_owner;
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mutable RID_Owner<NavRegion> region_owner;
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mutable RID_Owner<NavAgent> agent_owner;
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mutable RID_Owner<NavObstacle> obstacle_owner;
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bool active;
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LocalVector<NavMap *> active_maps;
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LocalVector<uint32_t> active_maps_update_id;
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// Performance Monitor
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int pm_region_count;
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int pm_agent_count;
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int pm_link_count;
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int pm_polygon_count;
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int pm_edge_count;
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int pm_edge_merge_count;
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int pm_edge_connection_count;
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int pm_edge_free_count;
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public:
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PandemoniumNavigationServer();
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virtual ~PandemoniumNavigationServer();
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void add_command(SetCommand *command) const;
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virtual Array get_maps() const;
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virtual RID map_create();
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COMMAND_2(map_set_active, RID, p_map, bool, p_active);
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virtual bool map_is_active(RID p_map) const;
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COMMAND_2(map_set_up, RID, p_map, Vector3, p_up);
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virtual Vector3 map_get_up(RID p_map) const;
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COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size);
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virtual real_t map_get_cell_size(RID p_map) const;
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COMMAND_2(map_set_cell_height, RID, p_map, real_t, p_cell_height);
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virtual real_t map_get_cell_height(RID p_map) const;
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COMMAND_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled);
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virtual bool map_get_use_edge_connections(RID p_map) const;
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COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
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virtual real_t map_get_edge_connection_margin(RID p_map) const;
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COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius);
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virtual real_t map_get_link_connection_radius(RID p_map) const;
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virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const;
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virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const;
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virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const;
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virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const;
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virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const;
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virtual Array map_get_links(RID p_map) const;
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virtual Array map_get_regions(RID p_map) const;
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virtual Array map_get_agents(RID p_map) const;
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virtual Array map_get_obstacles(RID p_map) const;
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virtual void map_force_update(RID p_map);
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virtual RID region_create();
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COMMAND_2(region_set_enabled, RID, p_region, bool, p_enabled);
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virtual bool region_get_enabled(RID p_region) const;
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COMMAND_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled);
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virtual bool region_get_use_edge_connections(RID p_region) const;
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COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost);
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virtual real_t region_get_enter_cost(RID p_region) const;
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COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost);
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virtual real_t region_get_travel_cost(RID p_region) const;
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COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id);
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virtual ObjectID region_get_owner_id(RID p_region) const;
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virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const;
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COMMAND_2(region_set_map, RID, p_region, RID, p_map);
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virtual RID region_get_map(RID p_region) const;
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COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers);
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virtual uint32_t region_get_navigation_layers(RID p_region) const;
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COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform);
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COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navigation_mesh);
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virtual int region_get_connections_count(RID p_region) const;
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virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const;
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virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const;
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virtual RID link_create();
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COMMAND_2(link_set_map, RID, p_link, RID, p_map);
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virtual RID link_get_map(RID p_link) const;
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COMMAND_2(link_set_enabled, RID, p_link, bool, p_enabled);
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virtual bool link_get_enabled(RID p_link) const;
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COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional);
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virtual bool link_is_bidirectional(RID p_link) const;
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COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers);
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virtual uint32_t link_get_navigation_layers(RID p_link) const;
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COMMAND_2(link_set_start_position, RID, p_link, Vector3, p_position);
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virtual Vector3 link_get_start_position(RID p_link) const;
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COMMAND_2(link_set_end_position, RID, p_link, Vector3, p_position);
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virtual Vector3 link_get_end_position(RID p_link) const;
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COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost);
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virtual real_t link_get_enter_cost(RID p_link) const;
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COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost);
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virtual real_t link_get_travel_cost(RID p_link) const;
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COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id);
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virtual ObjectID link_get_owner_id(RID p_link) const;
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virtual RID agent_create();
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COMMAND_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled);
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virtual bool agent_get_avoidance_enabled(RID p_agent) const;
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COMMAND_2(agent_set_use_3d_avoidance, RID, p_agent, bool, p_enabled);
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virtual bool agent_get_use_3d_avoidance(RID p_agent) const;
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COMMAND_2(agent_set_map, RID, p_agent, RID, p_map);
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virtual RID agent_get_map(RID p_agent) const;
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COMMAND_2(agent_set_paused, RID, p_agent, bool, p_paused);
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virtual bool agent_get_paused(RID p_agent) const;
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COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_dist);
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COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count);
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COMMAND_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon);
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COMMAND_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon);
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COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius);
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COMMAND_2(agent_set_height, RID, p_agent, real_t, p_height);
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COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed);
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COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity);
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COMMAND_2(agent_set_velocity_forced, RID, p_agent, Vector3, p_velocity);
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COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position);
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virtual bool agent_is_map_changed(RID p_agent) const;
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COMMAND_4_DEF(agent_set_avoidance_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata, Variant());
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COMMAND_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers);
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COMMAND_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask);
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COMMAND_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority);
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virtual RID obstacle_create();
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COMMAND_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled);
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virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const;
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COMMAND_2(obstacle_set_use_3d_avoidance, RID, p_obstacle, bool, p_enabled);
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virtual bool obstacle_get_use_3d_avoidance(RID p_obstacle) const;
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COMMAND_2(obstacle_set_map, RID, p_obstacle, RID, p_map);
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virtual RID obstacle_get_map(RID p_obstacle) const;
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COMMAND_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius);
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COMMAND_2(obstacle_set_velocity, RID, p_obstacle, Vector3, p_velocity);
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COMMAND_2(obstacle_set_paused, RID, p_obstacle, bool, p_paused);
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virtual bool obstacle_get_paused(RID p_obstacle) const;
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COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector3, p_position);
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COMMAND_2(obstacle_set_height, RID, p_obstacle, real_t, p_height);
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virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector3> &p_vertices);
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COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers);
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COMMAND_1(free, RID, p_object);
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virtual void set_active(bool p_active);
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void flush_queries();
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virtual void process(real_t p_delta_time);
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virtual int get_process_info(ProcessInfo p_info) const;
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virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const;
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private:
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void internal_free_agent(RID p_object);
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void internal_free_obstacle(RID p_object);
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};
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#undef COMMAND_1
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#undef COMMAND_2
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#undef COMMAND_2N
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#undef COMMAND_4_DEF
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#endif // PANDEMONIUM_NAVIGATION_SERVER_H
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