<?xml version="1.0" encoding="UTF-8" ?>
<class name="NavigationAgent" inherits="Node" version="4.2">
	<brief_description>
		3D agent used in navigation for collision avoidance.
	</brief_description>
	<description>
		3D agent that is used in navigation to reach a position while avoiding static and dynamic obstacles. The dynamic obstacles are avoided using RVO (Reciprocal Velocity Obstacles) collision avoidance. The agent needs navigation data to work correctly. By default this node will register to the default [World3D] navigation map. If this node is a child of a [Navigation] node it will register to the navigation map of the navigation node or the function [method set_navigation] can be used to set the navigation node directly. [NavigationAgent] is physics safe.
		[b]Note:[/b] After [member target_position] is set, the [method get_next_path_position] function must be used once every physics frame to update the internal path logic of the NavigationAgent. The returned position from this function should be used as the next movement position for the agent's parent node.
	</description>
	<tutorials>
		<link title="Using NavigationAgents">$DOCS_URL/tutorials/navigation/navigation_using_navigationagents.md</link>
	</tutorials>
	<methods>
		<method name="distance_to_target" qualifiers="const">
			<return type="float" />
			<description>
				Returns the distance to the target position, using the agent's global position. The user must set [member target_position] in order for this to be accurate.
			</description>
		</method>
		<method name="get_avoidance_layer_value" qualifiers="const">
			<return type="bool" />
			<argument index="0" name="layer_number" type="int" />
			<description>
				Returns whether or not the specified layer of the [member avoidance_layers] bitmask is enabled, given a [param layer_number] between 1 and 32.
			</description>
		</method>
		<method name="get_avoidance_mask_value" qualifiers="const">
			<return type="bool" />
			<argument index="0" name="mask_number" type="int" />
			<description>
				Returns whether or not the specified mask of the [member avoidance_mask] bitmask is enabled, given a [param mask_number] between 1 and 32.
			</description>
		</method>
		<method name="get_current_navigation_path" qualifiers="const">
			<return type="PoolVector3Array" />
			<description>
				Returns this agent's current path from start to finish in global coordinates. The path only updates when the target position is changed or the agent requires a repath. The path array is not intended to be used in direct path movement as the agent has its own internal path logic that would get corrupted by changing the path array manually. Use the intended [method get_next_position] once every physics frame to receive the next path point for the agents movement as this function also updates the internal path logic.
			</description>
		</method>
		<method name="get_current_navigation_path_index" qualifiers="const">
			<return type="int" />
			<description>
				Returns which index the agent is currently on in the navigation path's [PoolVector3Array].
			</description>
		</method>
		<method name="get_current_navigation_result" qualifiers="const">
			<return type="NavigationPathQueryResult3D" />
			<description>
				Returns the path query result for the path the agent is currently following.
			</description>
		</method>
		<method name="get_final_position">
			<return type="Vector3" />
			<description>
				Returns the reachable final position of the current navigation path in global coordinates. This position can change if the agent needs to update the navigation path which makes the agent emit the [signal path_changed] signal.
			</description>
		</method>
		<method name="get_navigation" qualifiers="const">
			<return type="Node" />
			<description>
				Returns the [Navigation] node that the agent is using for its navigation system.
			</description>
		</method>
		<method name="get_navigation_layer_value" qualifiers="const">
			<return type="bool" />
			<argument index="0" name="layer_number" type="int" />
			<description>
				Returns whether or not the specified layer of the [member navigation_layers] bitmask is enabled, given a [code]layer_number[/code] between 1 and 32.
			</description>
		</method>
		<method name="get_navigation_map" qualifiers="const">
			<return type="RID" />
			<description>
				Returns the [RID] of the navigation map for this NavigationAgent node. This function returns always the map set on the NavigationAgent node and not the map of the abstract agent on the NavigationServer. If the agent map is changed directly with the NavigationServer API the NavigationAgent node will not be aware of the map change. Use [method set_navigation_map] to change the navigation map for the NavigationAgent and also update the agent on the NavigationServer.
			</description>
		</method>
		<method name="get_next_position">
			<return type="Vector3" />
			<description>
				Returns the next position in global coordinates that can be moved to, making sure that there are no static objects in the way. If the agent does not have a navigation path, it will return the position of the agent's parent. The use of this function once every physics frame is required to update the internal path logic of the NavigationAgent.
			</description>
		</method>
		<method name="get_rid" qualifiers="const">
			<return type="RID" />
			<description>
				Returns the [RID] of this agent on the [NavigationServer].
			</description>
		</method>
		<method name="is_navigation_finished">
			<return type="bool" />
			<description>
				Returns [code]true[/code] if the end of the currently loaded navigation path has been reached.
				[b]Note:[/b] While true prefer to stop calling update functions like [method get_next_path_position]. This avoids jittering the standing agent due to calling repeated path updates.
			</description>
		</method>
		<method name="is_target_reachable">
			<return type="bool" />
			<description>
				Returns [code]true[/code] if [method get_final_position] is within [member target_desired_distance] of the [member target_position].
			</description>
		</method>
		<method name="is_target_reached" qualifiers="const">
			<return type="bool" />
			<description>
				Returns [code]true[/code] if [member target_position] is reached. It may not always be possible to reach the target position. It should always be possible to reach the final position though. See [method get_final_position].
			</description>
		</method>
		<method name="set_avoidance_layer_value">
			<return type="void" />
			<argument index="0" name="layer_number" type="int" />
			<argument index="1" name="value" type="bool" />
			<description>
				Based on [param value], enables or disables the specified layer in the [member avoidance_layers] bitmask, given a [param layer_number] between 1 and 32.
			</description>
		</method>
		<method name="set_avoidance_mask_value">
			<return type="void" />
			<argument index="0" name="mask_number" type="int" />
			<argument index="1" name="value" type="bool" />
			<description>
				Based on [param value], enables or disables the specified mask in the [member avoidance_mask] bitmask, given a [param mask_number] between 1 and 32.
			</description>
		</method>
		<method name="set_navigation">
			<return type="void" />
			<argument index="0" name="navigation" type="Node" />
			<description>
				Sets the [Navigation] node used by the agent. Useful when you don't want to make the agent a child of a [Navigation] node.
			</description>
		</method>
		<method name="set_navigation_layer_value">
			<return type="void" />
			<argument index="0" name="layer_number" type="int" />
			<argument index="1" name="value" type="bool" />
			<description>
				Based on [code]value[/code], enables or disables the specified layer in the [member navigation_layers] bitmask, given a [code]layer_number[/code] between 1 and 32.
			</description>
		</method>
		<method name="set_navigation_map">
			<return type="void" />
			<argument index="0" name="navigation_map" type="RID" />
			<description>
				Sets the [RID] of the navigation map this NavigationAgent node should use and also updates the [code]agent[/code] on the NavigationServer.
			</description>
		</method>
		<method name="set_velocity_forced">
			<return type="void" />
			<argument index="0" name="velocity" type="Vector3" />
			<description>
				Replaces the internal velocity in the collision avoidance simulation with [param velocity]. When an agent is teleported to a new position this function should be used in the same frame. If called frequently this function can get agents stuck.
			</description>
		</method>
	</methods>
	<members>
		<member name="avoidance_enabled" type="bool" setter="set_avoidance_enabled" getter="get_avoidance_enabled" default="false">
			If [code]true[/code] the agent is registered for an RVO avoidance callback on the [NavigationServer3D]. When [member velocity] is set and the processing is completed a [code]safe_velocity[/code] Vector3 is received with a signal connection to [signal velocity_computed]. Avoidance processing with many registered agents has a significant performance cost and should only be enabled on agents that currently require it.
		</member>
		<member name="avoidance_layers" type="int" setter="set_avoidance_layers" getter="get_avoidance_layers" default="1">
			A bitfield determining the avoidance layers for this NavigationAgent. Other agent's with a matching bit on the [member avoidance_mask] will avoid this agent.
		</member>
		<member name="avoidance_mask" type="int" setter="set_avoidance_mask" getter="get_avoidance_mask" default="1">
			A bitfield determining what other avoidance agents and obstacles this NavigationAgent will avoid when a bit matches at least one of their [member avoidance_layers].
		</member>
		<member name="avoidance_priority" type="float" setter="set_avoidance_priority" getter="get_avoidance_priority" default="1.0">
			The agent does not adjust the velocity for other agents that would match the [member avoidance_mask] but have a lower [member avoidance_priority]. This in turn makes the other agents with lower priority adjust their velocities even more to avoid collision with this agent.
		</member>
		<member name="debug_enabled" type="bool" setter="set_debug_enabled" getter="get_debug_enabled" default="false">
			If [code]true[/code] shows debug visuals for this agent.
		</member>
		<member name="debug_path_custom_color" type="Color" setter="set_debug_path_custom_color" getter="get_debug_path_custom_color" default="Color( 1, 1, 1, 1 )">
			If [member debug_use_custom] is [code]true[/code] uses this color for this agent instead of global color.
		</member>
		<member name="debug_path_custom_point_size" type="float" setter="set_debug_path_custom_point_size" getter="get_debug_path_custom_point_size" default="4.0">
			If [member debug_use_custom] is [code]true[/code] uses this rasterized point size for rendering path points for this agent instead of global point size.
		</member>
		<member name="debug_use_custom" type="bool" setter="set_debug_use_custom" getter="get_debug_use_custom" default="false">
			If [code]true[/code] uses the defined [member debug_path_custom_color] for this agent instead of global color.
		</member>
		<member name="height" type="float" setter="set_height" getter="get_height" default="1.0">
			The height of the avoidance agent. Agents will ignore other agents or obstacles that are above or below their current position + height in 2D avoidance. Does nothing in 3D avoidance which uses radius spheres alone.
		</member>
		<member name="max_neighbors" type="int" setter="set_max_neighbors" getter="get_max_neighbors" default="10">
			The maximum number of neighbors for the agent to consider.
		</member>
		<member name="max_speed" type="float" setter="set_max_speed" getter="get_max_speed" default="10.0">
			The maximum speed that an agent can move.
		</member>
		<member name="navigation_layers" type="int" setter="set_navigation_layers" getter="get_navigation_layers" default="1">
			A bitfield determining which navigation layers of navigation regions this agent will use to calculate a path. Changing it during runtime will clear the current navigation path and generate a new one, according to the new navigation layers.
		</member>
		<member name="neighbor_distance" type="float" setter="set_neighbor_distance" getter="get_neighbor_distance" default="50.0">
			The distance to search for other agents.
		</member>
		<member name="path_desired_distance" type="float" setter="set_path_desired_distance" getter="get_path_desired_distance" default="1.0">
			The distance threshold before a path point is considered to be reached. This allows agents to not have to hit a path point on the path exactly, but only to reach its general area. If this value is set too high, the NavigationAgent will skip points on the path, which can lead to leaving the navigation mesh. If this value is set too low, the NavigationAgent will be stuck in a repath loop because it will constantly overshoot or undershoot the distance to the next point on each physics frame update.
		</member>
		<member name="path_height_offset" type="float" setter="set_path_height_offset" getter="get_path_height_offset" default="0.0">
			The height offset is subtracted from the y-axis value of any vector path position for this NavigationAgent. The NavigationAgent height offset does not change or influence the navigation mesh or pathfinding query result. Additional navigation maps that use regions with navigation meshes that the developer baked with appropriate agent radius or height values are required to support different-sized agents.
		</member>
		<member name="path_max_distance" type="float" setter="set_path_max_distance" getter="get_path_max_distance" default="5.0">
			The maximum distance the agent is allowed away from the ideal path to the final position. This can happen due to trying to avoid collisions. When the maximum distance is exceeded, it recalculates the ideal path.
		</member>
		<member name="path_metadata_flags" type="int" setter="set_path_metadata_flags" getter="get_path_metadata_flags" default="7">
			Additional information to return with the navigation path.
		</member>
		<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters3D.PathPostProcessing" default="0">
			The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
		</member>
		<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters3D.PathfindingAlgorithm" default="0">
			The pathfinding algorithm used in the path query.
		</member>
		<member name="radius" type="float" setter="set_radius" getter="get_radius" default="0.5">
			The radius of the avoidance agent. This is the "body" of the avoidance agent and not the avoidance maneuver starting radius (which is controlled by [member neighbor_distance]).
			Does not affect normal pathfinding. To change an actor's pathfinding radius bake [NavigationMesh] resources with a different [member NavigationMesh.agent_radius] property and use different navigation maps for each actor size.
		</member>
		<member name="target_desired_distance" type="float" setter="set_target_desired_distance" getter="get_target_desired_distance" default="1.0">
			The distance threshold before the final target point is considered to be reached. This allows agents to not have to hit the point of the final target exactly, but only to reach its general. If this value is set too low, the NavigationAgent will be stuck in a repath loop because it will constantly overshoot or undershoot the distance to the final target point on each physics frame update.
		</member>
		<member name="target_position" type="Vector3" setter="set_target_position" getter="get_target_position" default="Vector3( 0, 0, 0 )">
			If set a new navigation path from the current agent position to the [member target_position] is requested from the NavigationServer.
		</member>
		<member name="time_horizon_agents" type="float" setter="set_time_horizon_agents" getter="get_time_horizon_agents" default="1.0">
			The minimal amount of time for which this agent's velocities, that are computed with the collision avoidance algorithm, are safe with respect to other agents. The larger the number, the sooner the agent will respond to other agents, but less freedom in choosing its velocities. A too high value will slow down agents movement considerably. Must be positive.
		</member>
		<member name="time_horizon_obstacles" type="float" setter="set_time_horizon_obstacles" getter="get_time_horizon_obstacles" default="0.0">
			The minimal amount of time for which this agent's velocities, that are computed with the collision avoidance algorithm, are safe with respect to static avoidance obstacles. The larger the number, the sooner the agent will respond to static avoidance obstacles, but less freedom in choosing its velocities. A too high value will slow down agents movement considerably. Must be positive.
		</member>
		<member name="use_3d_avoidance" type="bool" setter="set_use_3d_avoidance" getter="get_use_3d_avoidance" default="false">
			If [code]true[/code], the agent calculates avoidance velocities in 3D omnidirectionally, e.g. for games that take place in air, underwater or space. Agents using 3D avoidance only avoid other agents using 3D avoidance, and react to radius-based avoidance obstacles. They ignore any vertex-based obstacles.
			If [code]false[/code], the agent calculates avoidance velocities in 2D along the x and z-axes, ignoring the y-axis. Agents using 2D avoidance only avoid other agents using 2D avoidance, and react to radius-based avoidance obstacles or vertex-based avoidance obstacles. Other agents using 2D avoidance that are below or above their current position including [member height] are ignored.
		</member>
		<member name="velocity" type="Vector3" setter="set_velocity" getter="get_velocity" default="Vector3( 0, 0, 0 )">
			Sets the new wanted velocity for the agent. The avoidance simulation will try to fulfill this velocity if possible but will modify it to avoid collision with other agents and obstacles. When an agent is teleported to a new position, use [method set_velocity_forced] as well to reset the internal simulation velocity.
		</member>
	</members>
	<signals>
		<signal name="link_reached">
			<argument index="0" name="details" type="Dictionary" />
			<description>
				Notifies when a navigation link has been reached.
				The details dictionary may contain the following keys depending on the value of [member path_metadata_flags]:
				- [code]location[/code]: The start location of the link that was reached.
				- [code]type[/code]: Always [constant NavigationPathQueryResult3D.PATH_SEGMENT_TYPE_LINK].
				- [code]rid[/code]: The [RID] of the link.
				- [code]owner[/code]: The object which manages the link (usually [NavigationLink3D]).
				- [code]link_entry_position[/code]: If [code]owner[/code] is available and the owner is a [NavigationLink2D], it will contain the global position of the link's point the agent is entering.
				- [code]link_exit_position[/code]: If [code]owner[/code] is available and the owner is a [NavigationLink2D], it will contain the global position of the link's point which the agent is exiting.
			</description>
		</signal>
		<signal name="navigation_finished">
			<description>
				Emitted once per loaded path when the agent internal navigation path index reaches the last index of the loaded path array. The agent internal navigation path index can be received with [method get_current_navigation_path_index].
			</description>
		</signal>
		<signal name="path_changed">
			<description>
				Emitted when the agent had to update the loaded path:
				- because path was previously empty.
				- because navigation map has changed.
				- because agent pushed further away from the current path segment than the [member path_max_distance].
			</description>
		</signal>
		<signal name="target_reached">
			<description>
				Emitted once per loaded path when the agent's global position is the first time within [member target_desired_distance] to the [member target_position].
			</description>
		</signal>
		<signal name="velocity_computed">
			<argument index="0" name="safe_velocity" type="Vector3" />
			<description>
				Notifies when the collision avoidance velocity is calculated. Emitted when [member velocity] is set. Only emitted when [member avoidance_enabled] is true.
			</description>
		</signal>
		<signal name="waypoint_reached">
			<argument index="0" name="details" type="Dictionary" />
			<description>
				Notifies when a waypoint along the path has been reached.
				The details dictionary may contain the following keys depending on the value of [member path_metadata_flags]:
				- [code]location[/code]: The location of the waypoint that was reached.
				- [code]type[/code]: The type of navigation primitive (region or link) that contains this waypoint.
				- [code]rid[/code]: The [RID] of the containing navigation primitive (region or link).
				- [code]owner[/code]: The object which manages the containing navigation primitive (region or link).
			</description>
		</signal>
	</signals>
	<constants>
	</constants>
</class>
