godot/scene/3d/navigation_obstacle.cpp

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/*  navigation_obstacle.cpp                                              */
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
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#include "navigation_obstacle.h"

#include "scene/3d/collision_shape.h"
#include "scene/3d/navigation.h"
#include "scene/3d/physics_body.h"
#include "servers/navigation_server.h"

void NavigationObstacle::_bind_methods() {
	ClassDB::bind_method(D_METHOD("get_rid"), &NavigationObstacle::get_rid);

	ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle::set_navigation_node);
	ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle::get_navigation_node);
	ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle::is_radius_estimated);
	ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle::set_estimate_radius);
	ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle::set_radius);
	ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle::get_radius);

	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
	ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_radius", "get_radius");
}

void NavigationObstacle::_validate_property(PropertyInfo &p_property) const {
	if (p_property.name == "radius") {
		if (estimate_radius) {
			p_property.usage = PROPERTY_USAGE_NOEDITOR;
		}
	}
}

void NavigationObstacle::_notification(int p_what) {
	switch (p_what) {
		case NOTIFICATION_ENTER_TREE: {
			parent_spatial = Object::cast_to<Spatial>(get_parent());
			reevaluate_agent_radius();

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

				set_navigation(nav);
			}

			set_physics_process_internal(true);
		} break;
		case NOTIFICATION_PAUSED: {
			if (parent_spatial && !parent_spatial->can_process()) {
				map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid());
				NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
			} else if (parent_spatial && parent_spatial->can_process() && !(map_before_pause == RID())) {
				NavigationServer::get_singleton()->agent_set_map(get_rid(), map_before_pause);
				map_before_pause = RID();
			}
		} break;
		case NOTIFICATION_UNPAUSED: {
			if (parent_spatial && !parent_spatial->can_process()) {
				map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid());
				NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
			} else if (parent_spatial && parent_spatial->can_process() && !(map_before_pause == RID())) {
				NavigationServer::get_singleton()->agent_set_map(get_rid(), map_before_pause);
				map_before_pause = RID();
			}
		} break;
		case NOTIFICATION_EXIT_TREE: {
			set_navigation(nullptr);
			set_physics_process_internal(false);
			request_ready(); // required to solve an issue with losing the navigation
		} break;
		case NOTIFICATION_PARENTED: {
			parent_spatial = Object::cast_to<Spatial>(get_parent());
			reevaluate_agent_radius();
		} break;
		case NOTIFICATION_UNPARENTED: {
			parent_spatial = nullptr;
		} break;
		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
			if (parent_spatial && parent_spatial->is_inside_tree()) {
				NavigationServer::get_singleton()->agent_set_position(agent, parent_spatial->get_global_transform().origin);
			}

			PhysicsBody *rigid = Object::cast_to<PhysicsBody>(get_parent());
			if (rigid) {
				Vector3 v = rigid->get_linear_velocity();
				NavigationServer::get_singleton()->agent_set_velocity(agent, v);
				NavigationServer::get_singleton()->agent_set_target_velocity(agent, v);
			}

		} break;
	}
}

NavigationObstacle::NavigationObstacle() :
		navigation(nullptr),
		agent(RID()) {
	agent = NavigationServer::get_singleton()->agent_create();
	initialize_agent();
}

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

void NavigationObstacle::set_navigation(Navigation *p_nav) {
	if (navigation == p_nav) {
		return; // Pointless
	}

	navigation = p_nav;

	if (navigation != nullptr) {
		NavigationServer::get_singleton()->agent_set_map(agent, navigation->get_rid());
	} else if (parent_spatial && parent_spatial->is_inside_tree()) {
		NavigationServer::get_singleton()->agent_set_map(agent, parent_spatial->get_world()->get_navigation_map());
	}
}

void NavigationObstacle::set_navigation_node(Node *p_nav) {
	Navigation *nav = Object::cast_to<Navigation>(p_nav);
	ERR_FAIL_NULL(nav);
	set_navigation(nav);
}

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

String NavigationObstacle::get_configuration_warning() const {
	if (!Object::cast_to<Spatial>(get_parent())) {
		return TTR("The NavigationObstacle only serves to provide collision avoidance to a Spatial inheriting parent object.");
	}

	if (Object::cast_to<StaticBody>(get_parent())) {
		return TTR("The NavigationObstacle is intended for constantly moving bodies like KinematicBody3D or RigidBody3D as it creates only an RVO avoidance radius and does not follow scene geometry exactly."
				   "\nNot constantly moving or complete static objects should be (re)baked to a NavigationMesh so agents can not only avoid them but also move along those objects outline at high detail");
	}

	return String();
}

void NavigationObstacle::initialize_agent() {
	NavigationServer::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
	NavigationServer::get_singleton()->agent_set_max_neighbors(agent, 0);
	NavigationServer::get_singleton()->agent_set_time_horizon(agent, 0.0);
	NavigationServer::get_singleton()->agent_set_max_speed(agent, 0.0);
}

void NavigationObstacle::reevaluate_agent_radius() {
	if (!estimate_radius) {
		NavigationServer::get_singleton()->agent_set_radius(agent, radius);
	} else if (parent_spatial && parent_spatial->is_inside_tree()) {
		NavigationServer::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
	}
}

real_t NavigationObstacle::estimate_agent_radius() const {
	if (parent_spatial && parent_spatial->is_inside_tree()) {
		// Estimate the radius of this physics body
		real_t radius = 0.0;
		for (int i(0); i < parent_spatial->get_child_count(); i++) {
			// For each collision shape
			CollisionShape *cs = Object::cast_to<CollisionShape>(parent_spatial->get_child(i));
			if (cs && cs->is_inside_tree()) {
				// 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);
			} else if (cs && !cs->is_inside_tree()) {
				WARN_PRINT("A CollisionShape of the NavigationObstacle parent node was not inside the SceneTree when estimating the obstacle radius."
						   "\nMove the NavigationObstacle to a child position below any CollisionShape node of the parent node so the CollisionShape is already inside the SceneTree.");
			}
		}
		Vector3 s = parent_spatial->get_global_transform().basis.get_scale();
		radius *= MAX(s.x, MAX(s.y, s.z));
	}

	if (radius > 0.0) {
		return radius;
	}

	return 1.0; // Never a 0 radius
}

void NavigationObstacle::set_estimate_radius(bool p_estimate_radius) {
	estimate_radius = p_estimate_radius;
	_change_notify();
	reevaluate_agent_radius();
}

void NavigationObstacle::set_radius(real_t p_radius) {
	ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
	radius = p_radius;
	reevaluate_agent_radius();
}