From a2c53b881b1a54c95036f27577ee7d9b6e583d62 Mon Sep 17 00:00:00 2001 From: Josh Jones Date: Mon, 19 Sep 2022 22:56:54 -0700 Subject: [PATCH] Update NavigationAgent to use query_path This paves the way for having agents respond to link traversal. --- doc/classes/NavigationPathQueryResult2D.xml | 8 ++++ doc/classes/NavigationPathQueryResult3D.xml | 8 ++++ scene/2d/navigation_agent_2d.cpp | 42 +++++++++++++++---- scene/2d/navigation_agent_2d.h | 9 ++-- scene/3d/navigation_agent_3d.cpp | 42 +++++++++++++++---- scene/3d/navigation_agent_3d.h | 9 ++-- .../navigation_path_query_result_2d.cpp | 6 +++ .../navigation_path_query_result_2d.h | 2 + .../navigation_path_query_result_3d.cpp | 6 +++ .../navigation_path_query_result_3d.h | 2 + 10 files changed, 108 insertions(+), 26 deletions(-) diff --git a/doc/classes/NavigationPathQueryResult2D.xml b/doc/classes/NavigationPathQueryResult2D.xml index a9b12d3b947..95b90e93837 100644 --- a/doc/classes/NavigationPathQueryResult2D.xml +++ b/doc/classes/NavigationPathQueryResult2D.xml @@ -8,6 +8,14 @@ + + + + + Reset the result object to its initial state. This is useful to reuse the object across multiple queries. + + + The resulting path array from the navigation query. All path array positions are in global coordinates. Without customized query parameters this is the same path as returned by [method NavigationServer2D.map_get_path]. diff --git a/doc/classes/NavigationPathQueryResult3D.xml b/doc/classes/NavigationPathQueryResult3D.xml index d8336111fc4..b4ca8288dbc 100644 --- a/doc/classes/NavigationPathQueryResult3D.xml +++ b/doc/classes/NavigationPathQueryResult3D.xml @@ -8,6 +8,14 @@ + + + + + Reset the result object to its initial state. This is useful to reuse the object across multiple queries. + + + The resulting path array from the navigation query. All path array positions are in global coordinates. Without customized query parameters this is the same path as returned by [method NavigationServer3D.map_get_path]. diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp index 55cebdaadc7..f077f7f5e6c 100644 --- a/scene/2d/navigation_agent_2d.cpp +++ b/scene/2d/navigation_agent_2d.cpp @@ -178,6 +178,13 @@ NavigationAgent2D::NavigationAgent2D() { set_time_horizon(20.0); set_radius(10.0); set_max_speed(200.0); + + // Preallocate query and result objects to improve performance. + navigation_query = Ref(); + navigation_query.instantiate(); + + navigation_result = Ref(); + navigation_result.instantiate(); } NavigationAgent2D::~NavigationAgent2D() { @@ -314,6 +321,8 @@ Vector2 NavigationAgent2D::get_target_location() const { Vector2 NavigationAgent2D::get_next_location() { update_navigation(); + + const Vector &navigation_path = navigation_result->get_path(); if (navigation_path.size() == 0) { ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector2(), "The agent has no parent."); return agent_parent->get_global_position(); @@ -322,6 +331,10 @@ Vector2 NavigationAgent2D::get_next_location() { } } +const Vector &NavigationAgent2D::get_nav_path() const { + return navigation_result->get_path(); +} + real_t NavigationAgent2D::distance_to_target() const { ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent."); return agent_parent->get_global_position().distance_to(target_location); @@ -342,6 +355,8 @@ bool NavigationAgent2D::is_navigation_finished() { Vector2 NavigationAgent2D::get_final_location() { update_navigation(); + + const Vector &navigation_path = navigation_result->get_path(); if (navigation_path.size() == 0) { return Vector2(); } @@ -391,22 +406,24 @@ void NavigationAgent2D::update_navigation() { update_frame_id = Engine::get_singleton()->get_physics_frames(); - Vector2 o = agent_parent->get_global_position(); + Vector2 origin = agent_parent->get_global_position(); bool reload_path = false; if (NavigationServer2D::get_singleton()->agent_is_map_changed(agent)) { reload_path = true; - } else if (navigation_path.size() == 0) { + } 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 &navigation_path = navigation_result->get_path(); + Vector2 segment[2]; segment[0] = navigation_path[nav_path_index - 1]; segment[1] = navigation_path[nav_path_index]; - Vector2 p = Geometry2D::get_closest_point_to_segment(o, segment); - if (o.distance_to(p) >= path_max_distance) { + Vector2 p = Geometry2D::get_closest_point_to_segment(origin, segment); + if (origin.distance_to(p) >= path_max_distance) { // To faraway, reload path reload_path = true; } @@ -414,24 +431,31 @@ void NavigationAgent2D::update_navigation() { } if (reload_path) { + navigation_query->set_start_position(origin); + navigation_query->set_target_position(target_location); + navigation_query->set_navigation_layers(navigation_layers); + if (map_override.is_valid()) { - navigation_path = NavigationServer2D::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers); + navigation_query->set_map(map_override); } else { - navigation_path = NavigationServer2D::get_singleton()->map_get_path(agent_parent->get_world_2d()->get_navigation_map(), o, target_location, true, navigation_layers); + navigation_query->set_map(agent_parent->get_world_2d()->get_navigation_map()); } + + NavigationServer2D::get_singleton()->query_path(navigation_query, navigation_result); navigation_finished = false; nav_path_index = 0; emit_signal(SNAME("path_changed")); } - if (navigation_path.size() == 0) { + 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 location. - while (o.distance_to(navigation_path[nav_path_index]) < path_desired_distance) { + const Vector &navigation_path = navigation_result->get_path(); + while (origin.distance_to(navigation_path[nav_path_index]) < path_desired_distance) { nav_path_index += 1; if (nav_path_index == navigation_path.size()) { _check_distance_to_target(); @@ -445,7 +469,7 @@ void NavigationAgent2D::update_navigation() { } void NavigationAgent2D::_request_repath() { - navigation_path.clear(); + navigation_result->reset(); target_reached = false; navigation_finished = false; update_frame_id = 0; diff --git a/scene/2d/navigation_agent_2d.h b/scene/2d/navigation_agent_2d.h index 2fbacc4c761..5abd3c03171 100644 --- a/scene/2d/navigation_agent_2d.h +++ b/scene/2d/navigation_agent_2d.h @@ -34,6 +34,8 @@ #include "scene/main/node.h" class Node2D; +class NavigationPathQueryParameters2D; +class NavigationPathQueryResult2D; class NavigationAgent2D : public Node { GDCLASS(NavigationAgent2D, Node); @@ -58,7 +60,8 @@ class NavigationAgent2D : public Node { real_t path_max_distance = 3.0; Vector2 target_location; - Vector navigation_path; + Ref navigation_query; + Ref navigation_result; int nav_path_index = 0; bool velocity_submitted = false; Vector2 prev_safe_velocity; @@ -138,9 +141,7 @@ public: Vector2 get_next_location(); - Vector get_nav_path() const { - return navigation_path; - } + const Vector &get_nav_path() const; int get_nav_path_index() const { return nav_path_index; diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp index 3476ced6ee5..39068fe83c7 100644 --- a/scene/3d/navigation_agent_3d.cpp +++ b/scene/3d/navigation_agent_3d.cpp @@ -185,6 +185,13 @@ NavigationAgent3D::NavigationAgent3D() { set_radius(1.0); set_max_speed(10.0); set_ignore_y(true); + + // Preallocate query and result objects to improve performance. + navigation_query = Ref(); + navigation_query.instantiate(); + + navigation_result = Ref(); + navigation_result.instantiate(); } NavigationAgent3D::~NavigationAgent3D() { @@ -330,6 +337,8 @@ Vector3 NavigationAgent3D::get_target_location() const { Vector3 NavigationAgent3D::get_next_location() { update_navigation(); + + const Vector &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; @@ -338,6 +347,10 @@ Vector3 NavigationAgent3D::get_next_location() { } } +const Vector &NavigationAgent3D::get_nav_path() const { + return navigation_result->get_path(); +} + real_t NavigationAgent3D::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_location); @@ -358,6 +371,8 @@ bool NavigationAgent3D::is_navigation_finished() { Vector3 NavigationAgent3D::get_final_location() { update_navigation(); + + const Vector &navigation_path = navigation_result->get_path(); if (navigation_path.size() == 0) { return Vector3(); } @@ -406,24 +421,26 @@ void NavigationAgent3D::update_navigation() { update_frame_id = Engine::get_singleton()->get_physics_frames(); - Vector3 o = agent_parent->get_global_transform().origin; + Vector3 origin = agent_parent->get_global_transform().origin; bool reload_path = false; if (NavigationServer3D::get_singleton()->agent_is_map_changed(agent)) { reload_path = true; - } else if (navigation_path.size() == 0) { + } 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 &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 = Geometry3D::get_closest_point_to_segment(o, segment); - if (o.distance_to(p) >= path_max_distance) { + Vector3 p = Geometry3D::get_closest_point_to_segment(origin, segment); + if (origin.distance_to(p) >= path_max_distance) { // To faraway, reload path reload_path = true; } @@ -431,24 +448,31 @@ void NavigationAgent3D::update_navigation() { } if (reload_path) { + navigation_query->set_start_position(origin); + navigation_query->set_target_position(target_location); + navigation_query->set_navigation_layers(navigation_layers); + if (map_override.is_valid()) { - navigation_path = NavigationServer3D::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers); + navigation_query->set_map(map_override); } else { - navigation_path = NavigationServer3D::get_singleton()->map_get_path(agent_parent->get_world_3d()->get_navigation_map(), o, target_location, true, navigation_layers); + navigation_query->set_map(agent_parent->get_world_3d()->get_navigation_map()); } + + NavigationServer3D::get_singleton()->query_path(navigation_query, navigation_result); navigation_finished = false; nav_path_index = 0; emit_signal(SNAME("path_changed")); } - if (navigation_path.size() == 0) { + 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 location. - while (o.distance_to(navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) { + const Vector &navigation_path = navigation_result->get_path(); + while (origin.distance_to(navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) { nav_path_index += 1; if (nav_path_index == navigation_path.size()) { _check_distance_to_target(); @@ -462,7 +486,7 @@ void NavigationAgent3D::update_navigation() { } void NavigationAgent3D::_request_repath() { - navigation_path.clear(); + navigation_result->reset(); target_reached = false; navigation_finished = false; update_frame_id = 0; diff --git a/scene/3d/navigation_agent_3d.h b/scene/3d/navigation_agent_3d.h index eed6457f4a0..90ceab02427 100644 --- a/scene/3d/navigation_agent_3d.h +++ b/scene/3d/navigation_agent_3d.h @@ -34,6 +34,8 @@ #include "scene/main/node.h" class Node3D; +class NavigationPathQueryParameters3D; +class NavigationPathQueryResult3D; class NavigationAgent3D : public Node { GDCLASS(NavigationAgent3D, Node); @@ -60,7 +62,8 @@ class NavigationAgent3D : public Node { real_t path_max_distance = 3.0; Vector3 target_location; - Vector navigation_path; + Ref navigation_query; + Ref navigation_result; int nav_path_index = 0; bool velocity_submitted = false; Vector3 prev_safe_velocity; @@ -150,9 +153,7 @@ public: Vector3 get_next_location(); - Vector get_nav_path() const { - return navigation_path; - } + const Vector &get_nav_path() const; int get_nav_path_index() const { return nav_path_index; diff --git a/servers/navigation/navigation_path_query_result_2d.cpp b/servers/navigation/navigation_path_query_result_2d.cpp index 23f001057b0..8a55451e401 100644 --- a/servers/navigation/navigation_path_query_result_2d.cpp +++ b/servers/navigation/navigation_path_query_result_2d.cpp @@ -38,9 +38,15 @@ const Vector &NavigationPathQueryResult2D::get_path() const { return path; } +void NavigationPathQueryResult2D::reset() { + path.clear(); +} + void NavigationPathQueryResult2D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_path", "path"), &NavigationPathQueryResult2D::set_path); ClassDB::bind_method(D_METHOD("get_path"), &NavigationPathQueryResult2D::get_path); + ClassDB::bind_method(D_METHOD("reset"), &NavigationPathQueryResult2D::reset); + ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR2_ARRAY, "path"), "set_path", "get_path"); } diff --git a/servers/navigation/navigation_path_query_result_2d.h b/servers/navigation/navigation_path_query_result_2d.h index c98462016ef..da251ef32d4 100644 --- a/servers/navigation/navigation_path_query_result_2d.h +++ b/servers/navigation/navigation_path_query_result_2d.h @@ -45,6 +45,8 @@ protected: public: void set_path(const Vector &p_path); const Vector &get_path() const; + + void reset(); }; #endif // NAVIGATION_PATH_QUERY_RESULT_2D_H diff --git a/servers/navigation/navigation_path_query_result_3d.cpp b/servers/navigation/navigation_path_query_result_3d.cpp index 8335d70c4b9..1e283529953 100644 --- a/servers/navigation/navigation_path_query_result_3d.cpp +++ b/servers/navigation/navigation_path_query_result_3d.cpp @@ -38,9 +38,15 @@ const Vector &NavigationPathQueryResult3D::get_path() const { return path; } +void NavigationPathQueryResult3D::reset() { + path.clear(); +} + void NavigationPathQueryResult3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_path", "path"), &NavigationPathQueryResult3D::set_path); ClassDB::bind_method(D_METHOD("get_path"), &NavigationPathQueryResult3D::get_path); + ClassDB::bind_method(D_METHOD("reset"), &NavigationPathQueryResult3D::reset); + ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR3_ARRAY, "path"), "set_path", "get_path"); } diff --git a/servers/navigation/navigation_path_query_result_3d.h b/servers/navigation/navigation_path_query_result_3d.h index ff698c285f7..fc143ac389d 100644 --- a/servers/navigation/navigation_path_query_result_3d.h +++ b/servers/navigation/navigation_path_query_result_3d.h @@ -45,6 +45,8 @@ protected: public: void set_path(const Vector &p_path); const Vector &get_path() const; + + void reset(); }; #endif // NAVIGATION_PATH_QUERY_RESULT_3D_H