267 lines
9.9 KiB
C++
267 lines
9.9 KiB
C++
/**************************************************************************/
|
|
/* navigation_agent_2d.h */
|
|
/**************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/**************************************************************************/
|
|
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
|
|
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/**************************************************************************/
|
|
|
|
#ifndef NAVIGATION_AGENT_2D_H
|
|
#define NAVIGATION_AGENT_2D_H
|
|
|
|
#include "scene/main/node.h"
|
|
#include "servers/navigation/navigation_path_query_parameters_2d.h"
|
|
#include "servers/navigation/navigation_path_query_result_2d.h"
|
|
|
|
class Node2D;
|
|
|
|
class NavigationAgent2D : public Node {
|
|
GDCLASS(NavigationAgent2D, Node);
|
|
|
|
Node2D *agent_parent = nullptr;
|
|
|
|
RID agent;
|
|
RID map_override;
|
|
|
|
bool avoidance_enabled = false;
|
|
uint32_t avoidance_layers = 1;
|
|
uint32_t avoidance_mask = 1;
|
|
real_t avoidance_priority = 1.0;
|
|
uint32_t navigation_layers = 1;
|
|
NavigationPathQueryParameters2D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters2D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
|
|
NavigationPathQueryParameters2D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters2D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
|
|
BitField<NavigationPathQueryParameters2D::PathMetadataFlags> path_metadata_flags = NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL;
|
|
|
|
real_t path_desired_distance = 20.0;
|
|
real_t target_desired_distance = 10.0;
|
|
real_t radius = 10.0;
|
|
real_t neighbor_distance = 500.0;
|
|
int max_neighbors = 10;
|
|
real_t time_horizon_agents = 1.0;
|
|
real_t time_horizon_obstacles = 0.0;
|
|
real_t max_speed = 100.0;
|
|
real_t path_max_distance = 100.0;
|
|
bool simplify_path = false;
|
|
real_t simplify_epsilon = 0.0;
|
|
|
|
Vector2 target_position;
|
|
|
|
Ref<NavigationPathQueryParameters2D> navigation_query;
|
|
Ref<NavigationPathQueryResult2D> navigation_result;
|
|
int navigation_path_index = 0;
|
|
|
|
// the velocity result of the avoidance simulation step
|
|
Vector2 safe_velocity;
|
|
|
|
/// The submitted target velocity, sets the "wanted" rvo agent velocity on the next update
|
|
// this velocity is not guaranteed, the simulation will try to fulfill it if possible
|
|
// if other agents or obstacles interfere it will be changed accordingly
|
|
Vector2 velocity;
|
|
bool velocity_submitted = false;
|
|
|
|
/// The submitted forced velocity, overrides the rvo agent velocity on the next update
|
|
// should only be used very intentionally and not every frame as it interferes with the simulation stability
|
|
Vector2 velocity_forced;
|
|
bool velocity_forced_submitted = false;
|
|
|
|
bool target_position_submitted = false;
|
|
|
|
bool target_reached = false;
|
|
bool navigation_finished = true;
|
|
bool last_waypoint_reached = false;
|
|
// No initialized on purpose
|
|
uint32_t update_frame_id = 0;
|
|
|
|
// Debug properties for exposed bindings
|
|
bool debug_enabled = false;
|
|
float debug_path_custom_point_size = 4.0;
|
|
float debug_path_custom_line_width = -1.0;
|
|
bool debug_use_custom = false;
|
|
Color debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0);
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
// Debug properties internal only
|
|
bool debug_path_dirty = true;
|
|
RID debug_path_instance;
|
|
#endif // DEBUG_ENABLED
|
|
|
|
protected:
|
|
static void _bind_methods();
|
|
void _notification(int p_what);
|
|
|
|
#ifndef DISABLE_DEPRECATED
|
|
bool _set(const StringName &p_name, const Variant &p_value);
|
|
bool _get(const StringName &p_name, Variant &r_ret) const;
|
|
#endif // DISABLE_DEPRECATED
|
|
|
|
public:
|
|
NavigationAgent2D();
|
|
virtual ~NavigationAgent2D();
|
|
|
|
RID get_rid() const { return agent; }
|
|
|
|
void set_avoidance_enabled(bool p_enabled);
|
|
bool get_avoidance_enabled() const;
|
|
|
|
void set_agent_parent(Node *p_agent_parent);
|
|
|
|
void set_navigation_layers(uint32_t p_navigation_layers);
|
|
uint32_t get_navigation_layers() const;
|
|
|
|
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<NavigationPathQueryParameters2D::PathMetadataFlags> p_flags);
|
|
BitField<NavigationPathQueryParameters2D::PathMetadataFlags> get_path_metadata_flags() const {
|
|
return path_metadata_flags;
|
|
}
|
|
|
|
void set_navigation_map(RID p_navigation_map);
|
|
RID get_navigation_map() const;
|
|
|
|
void set_path_desired_distance(real_t p_dd);
|
|
real_t get_path_desired_distance() const { return path_desired_distance; }
|
|
|
|
void set_target_desired_distance(real_t p_dd);
|
|
real_t get_target_desired_distance() const { return target_desired_distance; }
|
|
|
|
void set_radius(real_t p_radius);
|
|
real_t get_radius() const { return radius; }
|
|
|
|
void set_neighbor_distance(real_t p_distance);
|
|
real_t get_neighbor_distance() const { return neighbor_distance; }
|
|
|
|
void set_max_neighbors(int p_count);
|
|
int get_max_neighbors() const { return max_neighbors; }
|
|
|
|
void set_time_horizon_agents(real_t p_time_horizon);
|
|
real_t get_time_horizon_agents() const { return time_horizon_agents; }
|
|
|
|
void set_time_horizon_obstacles(real_t p_time_horizon);
|
|
real_t get_time_horizon_obstacles() const { return time_horizon_obstacles; }
|
|
|
|
void set_max_speed(real_t p_max_speed);
|
|
real_t get_max_speed() const { return max_speed; }
|
|
|
|
void set_path_max_distance(real_t p_pmd);
|
|
real_t get_path_max_distance();
|
|
|
|
void set_target_position(Vector2 p_position);
|
|
Vector2 get_target_position() const;
|
|
|
|
void set_simplify_path(bool p_enabled);
|
|
bool get_simplify_path() const;
|
|
|
|
void set_simplify_epsilon(real_t p_epsilon);
|
|
real_t get_simplify_epsilon() const;
|
|
|
|
Vector2 get_next_path_position();
|
|
|
|
Ref<NavigationPathQueryResult2D> get_current_navigation_result() const { return navigation_result; }
|
|
|
|
const Vector<Vector2> &get_current_navigation_path() const { return navigation_result->get_path(); }
|
|
|
|
int get_current_navigation_path_index() const { return navigation_path_index; }
|
|
|
|
real_t distance_to_target() const;
|
|
bool is_target_reached() const;
|
|
bool is_target_reachable();
|
|
bool is_navigation_finished();
|
|
Vector2 get_final_position();
|
|
|
|
void set_velocity(const Vector2 p_velocity);
|
|
Vector2 get_velocity() { return velocity; }
|
|
|
|
void set_velocity_forced(const Vector2 p_velocity);
|
|
|
|
void _avoidance_done(Vector3 p_new_velocity);
|
|
|
|
PackedStringArray get_configuration_warnings() const override;
|
|
|
|
void set_avoidance_layers(uint32_t p_layers);
|
|
uint32_t get_avoidance_layers() const;
|
|
|
|
void set_avoidance_mask(uint32_t p_mask);
|
|
uint32_t get_avoidance_mask() const;
|
|
|
|
void set_avoidance_layer_value(int p_layer_number, bool p_value);
|
|
bool get_avoidance_layer_value(int p_layer_number) const;
|
|
|
|
void set_avoidance_mask_value(int p_mask_number, bool p_value);
|
|
bool get_avoidance_mask_value(int p_mask_number) const;
|
|
|
|
void set_avoidance_priority(real_t p_priority);
|
|
real_t get_avoidance_priority() const;
|
|
|
|
void set_debug_enabled(bool p_enabled);
|
|
bool get_debug_enabled() const;
|
|
|
|
void set_debug_use_custom(bool p_enabled);
|
|
bool get_debug_use_custom() const;
|
|
|
|
void set_debug_path_custom_color(Color p_color);
|
|
Color get_debug_path_custom_color() const;
|
|
|
|
void set_debug_path_custom_point_size(float p_point_size);
|
|
float get_debug_path_custom_point_size() const;
|
|
|
|
void set_debug_path_custom_line_width(float p_line_width);
|
|
float get_debug_path_custom_line_width() const;
|
|
|
|
private:
|
|
bool _is_target_reachable() const;
|
|
Vector2 _get_final_position() const;
|
|
|
|
void _update_navigation();
|
|
void _advance_waypoints(const Vector2 &p_origin);
|
|
void _request_repath();
|
|
|
|
bool _is_last_waypoint() const;
|
|
void _move_to_next_waypoint();
|
|
bool _is_within_waypoint_distance(const Vector2 &p_origin) const;
|
|
bool _is_within_target_distance(const Vector2 &p_origin) const;
|
|
|
|
void _trigger_waypoint_reached();
|
|
void _transition_to_navigation_finished();
|
|
void _transition_to_target_reached();
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
void _navigation_debug_changed();
|
|
void _update_debug_path();
|
|
#endif // DEBUG_ENABLED
|
|
};
|
|
|
|
#endif // NAVIGATION_AGENT_2D_H
|