From 6e324bb341c795905085e25e7f7c153d89949fa9 Mon Sep 17 00:00:00 2001 From: smix8 <52464204+smix8@users.noreply.github.com> Date: Sat, 25 Mar 2023 01:00:09 +0100 Subject: [PATCH] Expose NavigationAgent path postprocessing and pathfinding algorithm options Exposes the path postprocessing and pathfinding algorithm options of the NavigationAgent internal NavigationPathQueryParameters object. --- doc/classes/NavigationAgent2D.xml | 6 ++++++ doc/classes/NavigationAgent3D.xml | 6 ++++++ scene/2d/navigation_agent_2d.cpp | 28 ++++++++++++++++++++++++++++ scene/2d/navigation_agent_2d.h | 12 ++++++++++++ scene/3d/navigation_agent_3d.cpp | 28 ++++++++++++++++++++++++++++ scene/3d/navigation_agent_3d.h | 12 ++++++++++++ 6 files changed, 92 insertions(+) diff --git a/doc/classes/NavigationAgent2D.xml b/doc/classes/NavigationAgent2D.xml index 74c776e73db..31fd3810329 100644 --- a/doc/classes/NavigationAgent2D.xml +++ b/doc/classes/NavigationAgent2D.xml @@ -147,6 +147,12 @@ Additional information to return with the navigation path. + + The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm]. + + + The pathfinding algorithm used in the path query. + 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. diff --git a/doc/classes/NavigationAgent3D.xml b/doc/classes/NavigationAgent3D.xml index 7d0ca1c160b..894b968dbfe 100644 --- a/doc/classes/NavigationAgent3D.xml +++ b/doc/classes/NavigationAgent3D.xml @@ -150,6 +150,12 @@ Additional information to return with the navigation path. + + The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm]. + + + The pathfinding algorithm used in the path query. + 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. diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp index 157318125bc..d101cac4ebd 100644 --- a/scene/2d/navigation_agent_2d.cpp +++ b/scene/2d/navigation_agent_2d.cpp @@ -71,6 +71,12 @@ void NavigationAgent2D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent2D::set_navigation_layer_value); ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent2D::get_navigation_layer_value); + ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent2D::set_pathfinding_algorithm); + ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent2D::get_pathfinding_algorithm); + + ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent2D::set_path_postprocessing); + ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent2D::get_path_postprocessing); + ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent2D::set_path_metadata_flags); ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent2D::get_path_metadata_flags); @@ -99,6 +105,8 @@ void NavigationAgent2D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,1000,0.01,or_greater,suffix:px"), "set_target_desired_distance", "get_target_desired_distance"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "10,1000,1,or_greater,suffix:px"), "set_path_max_distance", "get_path_max_distance"); ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing"); ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags"); ADD_GROUP("Avoidance", ""); @@ -328,6 +336,26 @@ bool NavigationAgent2D::get_navigation_layer_value(int p_layer_number) const { return get_navigation_layers() & (1 << (p_layer_number - 1)); } +void NavigationAgent2D::set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm) { + if (pathfinding_algorithm == p_pathfinding_algorithm) { + return; + } + + pathfinding_algorithm = p_pathfinding_algorithm; + + navigation_query->set_pathfinding_algorithm(pathfinding_algorithm); +} + +void NavigationAgent2D::set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing) { + if (path_postprocessing == p_path_postprocessing) { + return; + } + + path_postprocessing = p_path_postprocessing; + + navigation_query->set_path_postprocessing(path_postprocessing); +} + void NavigationAgent2D::set_path_metadata_flags(BitField p_path_metadata_flags) { if (path_metadata_flags == p_path_metadata_flags) { return; diff --git a/scene/2d/navigation_agent_2d.h b/scene/2d/navigation_agent_2d.h index 97c5d944831..b7febba89d0 100644 --- a/scene/2d/navigation_agent_2d.h +++ b/scene/2d/navigation_agent_2d.h @@ -48,6 +48,8 @@ class NavigationAgent2D : public Node { bool avoidance_enabled = false; uint32_t navigation_layers = 1; + NavigationPathQueryParameters2D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters2D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR; + NavigationPathQueryParameters2D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters2D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL; BitField path_metadata_flags = NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL; real_t path_desired_distance = 20.0; @@ -112,6 +114,16 @@ public: void set_navigation_layer_value(int p_layer_number, bool p_value); bool get_navigation_layer_value(int p_layer_number) const; + void set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm); + NavigationPathQueryParameters2D::PathfindingAlgorithm get_pathfinding_algorithm() const { + return pathfinding_algorithm; + } + + void set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing); + NavigationPathQueryParameters2D::PathPostProcessing get_path_postprocessing() const { + return path_postprocessing; + } + void set_path_metadata_flags(BitField p_flags); BitField get_path_metadata_flags() const { return path_metadata_flags; diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp index 3730070b166..7d404ffa075 100644 --- a/scene/3d/navigation_agent_3d.cpp +++ b/scene/3d/navigation_agent_3d.cpp @@ -75,6 +75,12 @@ void NavigationAgent3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent3D::set_navigation_layer_value); ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent3D::get_navigation_layer_value); + ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent3D::set_pathfinding_algorithm); + ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent3D::get_pathfinding_algorithm); + + ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent3D::set_path_postprocessing); + ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent3D::get_path_postprocessing); + ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent3D::set_path_metadata_flags); ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent3D::get_path_metadata_flags); @@ -104,6 +110,8 @@ void NavigationAgent3D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01,or_greater,suffix:m"), "set_agent_height_offset", "get_agent_height_offset"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1,or_greater,suffix:m"), "set_path_max_distance", "get_path_max_distance"); ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing"); ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags"); ADD_GROUP("Avoidance", ""); @@ -335,6 +343,26 @@ bool NavigationAgent3D::get_navigation_layer_value(int p_layer_number) const { return get_navigation_layers() & (1 << (p_layer_number - 1)); } +void NavigationAgent3D::set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm) { + if (pathfinding_algorithm == p_pathfinding_algorithm) { + return; + } + + pathfinding_algorithm = p_pathfinding_algorithm; + + navigation_query->set_pathfinding_algorithm(pathfinding_algorithm); +} + +void NavigationAgent3D::set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing) { + if (path_postprocessing == p_path_postprocessing) { + return; + } + + path_postprocessing = p_path_postprocessing; + + navigation_query->set_path_postprocessing(path_postprocessing); +} + void NavigationAgent3D::set_path_metadata_flags(BitField p_path_metadata_flags) { if (path_metadata_flags == p_path_metadata_flags) { return; diff --git a/scene/3d/navigation_agent_3d.h b/scene/3d/navigation_agent_3d.h index cde826ed5c7..16d702f9a57 100644 --- a/scene/3d/navigation_agent_3d.h +++ b/scene/3d/navigation_agent_3d.h @@ -48,6 +48,8 @@ class NavigationAgent3D : public Node { bool avoidance_enabled = false; uint32_t navigation_layers = 1; + NavigationPathQueryParameters3D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters3D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR; + NavigationPathQueryParameters3D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL; BitField path_metadata_flags = NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL; real_t path_desired_distance = 1.0; @@ -116,6 +118,16 @@ public: void set_navigation_layer_value(int p_layer_number, bool p_value); bool get_navigation_layer_value(int p_layer_number) const; + void set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm); + NavigationPathQueryParameters3D::PathfindingAlgorithm get_pathfinding_algorithm() const { + return pathfinding_algorithm; + } + + void set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing); + NavigationPathQueryParameters3D::PathPostProcessing get_path_postprocessing() const { + return path_postprocessing; + } + void set_path_metadata_flags(BitField p_flags); BitField get_path_metadata_flags() const { return path_metadata_flags;