godot/scene/3d/navigation_obstacle_3d.cpp

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/*  navigation_obstacle_3d.cpp                                           */
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur.                 */
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#include "navigation_obstacle_3d.h"

#include "scene/3d/collision_shape_3d.h"
#include "scene/3d/navigation_3d.h"
#include "scene/3d/physics_body_3d.h"
#include "servers/navigation_server_3d.h"

void NavigationObstacle3D::_bind_methods() {

	ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle3D::set_navigation_node);
	ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle3D::get_navigation_node);
}

void NavigationObstacle3D::_notification(int p_what) {
	switch (p_what) {
		case NOTIFICATION_READY: {

			update_agent_shape();

			// Search the navigation node and set it
			{
				Navigation3D *nav = NULL;
				Node *p = get_parent();
				while (p != NULL) {
					nav = Object::cast_to<Navigation3D>(p);
					if (nav != NULL)
						p = NULL;
					else
						p = p->get_parent();
				}

				set_navigation(nav);
			}

			set_physics_process_internal(true);
		} break;
		case NOTIFICATION_EXIT_TREE: {
			set_navigation(NULL);
			set_physics_process_internal(false);
		} break;
		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
			Node3D *spatial = Object::cast_to<Node3D>(get_parent());
			if (spatial) {
				NavigationServer3D::get_singleton()->agent_set_position(agent, spatial->get_global_transform().origin);
			}

			PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent());
			if (rigid) {

				Vector3 v = rigid->get_linear_velocity();
				NavigationServer3D::get_singleton()->agent_set_velocity(agent, v);
				NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, v);
			}

		} break;
	}
}

NavigationObstacle3D::NavigationObstacle3D() :
		navigation(NULL),
		agent(RID()) {
	agent = NavigationServer3D::get_singleton()->agent_create();
}

NavigationObstacle3D::~NavigationObstacle3D() {
	NavigationServer3D::get_singleton()->free(agent);
	agent = RID(); // Pointless
}

void NavigationObstacle3D::set_navigation(Navigation3D *p_nav) {
	if (navigation == p_nav)
		return; // Pointless

	navigation = p_nav;
	NavigationServer3D::get_singleton()->agent_set_map(agent, navigation == NULL ? RID() : navigation->get_rid());
}

void NavigationObstacle3D::set_navigation_node(Node *p_nav) {
	Navigation3D *nav = Object::cast_to<Navigation3D>(p_nav);
	ERR_FAIL_COND(nav == NULL);
	set_navigation(nav);
}

Node *NavigationObstacle3D::get_navigation_node() const {
	return Object::cast_to<Node>(navigation);
}

String NavigationObstacle3D::get_configuration_warning() const {
	if (!Object::cast_to<Node3D>(get_parent())) {

		return TTR("The NavigationObstacle3D only serves to provide collision avoidance to a spatial object.");
	}

	return String();
}

void NavigationObstacle3D::update_agent_shape() {
	Node *node = get_parent();

	// Estimate the radius of this physics body
	real_t radius = 0.0;
	for (int i(0); i < node->get_child_count(); i++) {
		// For each collision shape
		CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(node->get_child(i));
		if (cs) {
			// Take the distance between the Body center to the shape center
			real_t r = cs->get_transform().origin.length();
			if (cs->get_shape().is_valid()) {
				// and add the enclosing shape radius
				r += cs->get_shape()->get_enclosing_radius();
			}
			Vector3 s = cs->get_global_transform().basis.get_scale();
			r *= MAX(s.x, MAX(s.y, s.z));
			// Takes the biggest radius
			radius = MAX(radius, r);
		}
	}
	Node3D *spa = Object::cast_to<Node3D>(node);
	if (spa) {
		Vector3 s = spa->get_global_transform().basis.get_scale();
		radius *= MAX(s.x, MAX(s.y, s.z));
	}

	if (radius == 0.0)
		radius = 1.0; // Never a 0 radius

	// Initialize the Agent as an object
	NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
	NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
	NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
	NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
	NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
}