097f8a5fdb
When using avoidance, if you set the same velocity for the agent, you won't get an update from the avoidance system. This changes both the `set_target_position` and `set_velocity` setters to always accept user provided values, even if they are the same. This ensures that repathing and avoidance logic is always run when the user expects.
797 lines
31 KiB
C++
797 lines
31 KiB
C++
/**************************************************************************/
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/* navigation_agent_2d.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "navigation_agent_2d.h"
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#include "core/math/geometry_2d.h"
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#include "scene/resources/world_2d.h"
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#include "servers/navigation_server_2d.h"
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void NavigationAgent2D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent2D::get_rid);
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ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent2D::set_avoidance_enabled);
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ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent2D::get_avoidance_enabled);
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ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent2D::set_path_desired_distance);
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ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent2D::get_path_desired_distance);
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ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent2D::set_target_desired_distance);
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ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent2D::get_target_desired_distance);
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ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent2D::set_radius);
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ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent2D::get_radius);
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ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent2D::set_neighbor_distance);
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ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent2D::get_neighbor_distance);
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ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent2D::set_max_neighbors);
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ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent2D::get_max_neighbors);
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ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent2D::set_time_horizon);
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ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent2D::get_time_horizon);
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ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent2D::set_max_speed);
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ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent2D::get_max_speed);
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ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent2D::set_path_max_distance);
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ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent2D::get_path_max_distance);
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ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent2D::set_navigation_layers);
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ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent2D::get_navigation_layers);
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ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent2D::set_navigation_layer_value);
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ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent2D::get_navigation_layer_value);
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ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent2D::set_path_metadata_flags);
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ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent2D::get_path_metadata_flags);
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ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent2D::set_navigation_map);
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ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent2D::get_navigation_map);
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ClassDB::bind_method(D_METHOD("set_target_position", "position"), &NavigationAgent2D::set_target_position);
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ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent2D::get_target_position);
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ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent2D::get_next_path_position);
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ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent2D::distance_to_target);
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ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent2D::set_velocity);
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ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent2D::get_current_navigation_result);
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ClassDB::bind_method(D_METHOD("get_current_navigation_path"), &NavigationAgent2D::get_current_navigation_path);
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ClassDB::bind_method(D_METHOD("get_current_navigation_path_index"), &NavigationAgent2D::get_current_navigation_path_index);
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ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent2D::is_target_reached);
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ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent2D::is_target_reachable);
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ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent2D::is_navigation_finished);
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ClassDB::bind_method(D_METHOD("get_final_position"), &NavigationAgent2D::get_final_position);
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ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent2D::_avoidance_done);
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ADD_GROUP("Pathfinding", "");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "target_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_target_position", "get_target_position");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,1000,0.01,suffix:px"), "set_path_desired_distance", "get_path_desired_distance");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,1000,0.01,suffix:px"), "set_target_desired_distance", "get_target_desired_distance");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "10,1000,1,suffix:px"), "set_path_max_distance", "get_path_max_distance");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
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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");
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ADD_GROUP("Avoidance", "");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,500,0.01,suffix:px"), "set_radius", "get_radius");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,100000,0.01,suffix:px"), "set_neighbor_distance", "get_neighbor_distance");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1"), "set_max_neighbors", "get_max_neighbors");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10,0.01,suffix:s"), "set_time_horizon", "get_time_horizon");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:px/s"), "set_max_speed", "get_max_speed");
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#ifdef DEBUG_ENABLED
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ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent2D::set_debug_enabled);
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ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent2D::get_debug_enabled);
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ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent2D::set_debug_use_custom);
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ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent2D::get_debug_use_custom);
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ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent2D::set_debug_path_custom_color);
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ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent2D::get_debug_path_custom_color);
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ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent2D::set_debug_path_custom_point_size);
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ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent2D::get_debug_path_custom_point_size);
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ClassDB::bind_method(D_METHOD("set_debug_path_custom_line_width", "line_width"), &NavigationAgent2D::set_debug_path_custom_line_width);
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ClassDB::bind_method(D_METHOD("get_debug_path_custom_line_width"), &NavigationAgent2D::get_debug_path_custom_line_width);
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ADD_GROUP("Debug", "");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom");
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ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_point_size", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_line_width", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_line_width", "get_debug_path_custom_line_width");
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#endif // DEBUG_ENABLED
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ADD_SIGNAL(MethodInfo("path_changed"));
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ADD_SIGNAL(MethodInfo("target_reached"));
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ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
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ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details")));
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ADD_SIGNAL(MethodInfo("navigation_finished"));
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ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR2, "safe_velocity")));
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}
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void NavigationAgent2D::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_POST_ENTER_TREE: {
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// need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready.
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// cannot use READY as ready does not get called if Node is re-added to SceneTree
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set_agent_parent(get_parent());
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set_physics_process_internal(true);
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#ifdef DEBUG_ENABLED
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if (NavigationServer2D::get_singleton()->get_debug_enabled()) {
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debug_path_dirty = true;
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}
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#endif // DEBUG_ENABLED
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} break;
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case NOTIFICATION_PARENTED: {
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if (is_inside_tree() && (get_parent() != agent_parent)) {
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// only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around
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// PARENTED notification fires also when Node is added in scripts to a parent
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// this would spam transforms fails and world fails while Node is outside SceneTree
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// when node gets reparented when joining the tree POST_ENTER_TREE takes care of this
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set_agent_parent(get_parent());
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set_physics_process_internal(true);
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}
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} break;
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case NOTIFICATION_UNPARENTED: {
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// if agent has no parent no point in processing it until reparented
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set_agent_parent(nullptr);
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set_physics_process_internal(false);
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} break;
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case NOTIFICATION_EXIT_TREE: {
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set_agent_parent(nullptr);
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set_physics_process_internal(false);
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#ifdef DEBUG_ENABLED
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if (debug_path_instance.is_valid()) {
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RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, false);
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}
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#endif // DEBUG_ENABLED
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} break;
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case NOTIFICATION_PAUSED: {
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if (agent_parent && !agent_parent->can_process()) {
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map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid());
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
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map_before_pause = RID();
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}
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} break;
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case NOTIFICATION_UNPAUSED: {
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if (agent_parent && !agent_parent->can_process()) {
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map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid());
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
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map_before_pause = RID();
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}
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} break;
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case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
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if (agent_parent && target_position_submitted) {
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if (avoidance_enabled) {
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// agent_position on NavigationServer is avoidance only and has nothing to do with pathfinding
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// no point in flooding NavigationServer queue with agent position updates that get send to the void if avoidance is not used
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NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
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}
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_check_distance_to_target();
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}
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#ifdef DEBUG_ENABLED
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if (debug_path_dirty) {
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_update_debug_path();
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}
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#endif // DEBUG_ENABLED
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} break;
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}
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}
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NavigationAgent2D::NavigationAgent2D() {
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agent = NavigationServer2D::get_singleton()->agent_create();
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NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
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NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
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NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, time_horizon);
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NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
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NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed);
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// Preallocate query and result objects to improve performance.
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navigation_query = Ref<NavigationPathQueryParameters2D>();
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navigation_query.instantiate();
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navigation_result = Ref<NavigationPathQueryResult2D>();
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navigation_result.instantiate();
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#ifdef DEBUG_ENABLED
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NavigationServer2D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed));
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#endif // DEBUG_ENABLED
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}
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NavigationAgent2D::~NavigationAgent2D() {
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ERR_FAIL_NULL(NavigationServer2D::get_singleton());
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NavigationServer2D::get_singleton()->free(agent);
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agent = RID(); // Pointless
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#ifdef DEBUG_ENABLED
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NavigationServer2D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed));
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ERR_FAIL_NULL(RenderingServer::get_singleton());
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if (debug_path_instance.is_valid()) {
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RenderingServer::get_singleton()->free(debug_path_instance);
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}
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#endif // DEBUG_ENABLED
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}
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void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) {
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if (avoidance_enabled == p_enabled) {
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return;
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}
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avoidance_enabled = p_enabled;
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if (avoidance_enabled) {
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NavigationServer2D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done));
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} else {
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NavigationServer2D::get_singleton()->agent_set_callback(agent, Callable());
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}
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}
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bool NavigationAgent2D::get_avoidance_enabled() const {
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return avoidance_enabled;
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}
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void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) {
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if (agent_parent == p_agent_parent) {
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return;
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}
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// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
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NavigationServer2D::get_singleton()->agent_set_callback(agent, Callable());
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if (Object::cast_to<Node2D>(p_agent_parent) != nullptr) {
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// place agent on navigation map first or else the RVO agent callback creation fails silently later
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agent_parent = Object::cast_to<Node2D>(p_agent_parent);
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if (map_override.is_valid()) {
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_override);
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} else {
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_2d()->get_navigation_map());
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}
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// create new avoidance callback if enabled
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if (avoidance_enabled) {
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NavigationServer2D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done));
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}
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} else {
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agent_parent = nullptr;
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
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}
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}
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void NavigationAgent2D::set_navigation_layers(uint32_t p_navigation_layers) {
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if (navigation_layers == p_navigation_layers) {
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return;
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}
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navigation_layers = p_navigation_layers;
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_request_repath();
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}
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uint32_t NavigationAgent2D::get_navigation_layers() const {
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return navigation_layers;
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}
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void NavigationAgent2D::set_navigation_layer_value(int p_layer_number, bool p_value) {
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ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive.");
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ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive.");
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uint32_t _navigation_layers = get_navigation_layers();
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if (p_value) {
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_navigation_layers |= 1 << (p_layer_number - 1);
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} else {
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_navigation_layers &= ~(1 << (p_layer_number - 1));
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}
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set_navigation_layers(_navigation_layers);
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}
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bool NavigationAgent2D::get_navigation_layer_value(int p_layer_number) const {
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ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive.");
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ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive.");
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return get_navigation_layers() & (1 << (p_layer_number - 1));
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}
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void NavigationAgent2D::set_path_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_path_metadata_flags) {
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if (path_metadata_flags == p_path_metadata_flags) {
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return;
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}
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path_metadata_flags = p_path_metadata_flags;
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}
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void NavigationAgent2D::set_navigation_map(RID p_navigation_map) {
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if (map_override == p_navigation_map) {
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return;
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}
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map_override = p_navigation_map;
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NavigationServer2D::get_singleton()->agent_set_map(agent, map_override);
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_request_repath();
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}
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RID NavigationAgent2D::get_navigation_map() const {
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if (map_override.is_valid()) {
|
|
return map_override;
|
|
} else if (agent_parent != nullptr) {
|
|
return agent_parent->get_world_2d()->get_navigation_map();
|
|
}
|
|
return RID();
|
|
}
|
|
|
|
void NavigationAgent2D::set_path_desired_distance(real_t p_path_desired_distance) {
|
|
if (Math::is_equal_approx(path_desired_distance, p_path_desired_distance)) {
|
|
return;
|
|
}
|
|
|
|
path_desired_distance = p_path_desired_distance;
|
|
}
|
|
|
|
void NavigationAgent2D::set_target_desired_distance(real_t p_target_desired_distance) {
|
|
if (Math::is_equal_approx(target_desired_distance, p_target_desired_distance)) {
|
|
return;
|
|
}
|
|
|
|
target_desired_distance = p_target_desired_distance;
|
|
}
|
|
|
|
void NavigationAgent2D::set_radius(real_t p_radius) {
|
|
if (Math::is_equal_approx(radius, p_radius)) {
|
|
return;
|
|
}
|
|
|
|
radius = p_radius;
|
|
|
|
NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
|
|
}
|
|
|
|
void NavigationAgent2D::set_neighbor_distance(real_t p_distance) {
|
|
if (Math::is_equal_approx(neighbor_distance, p_distance)) {
|
|
return;
|
|
}
|
|
|
|
neighbor_distance = p_distance;
|
|
|
|
NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
|
|
}
|
|
|
|
void NavigationAgent2D::set_max_neighbors(int p_count) {
|
|
if (max_neighbors == p_count) {
|
|
return;
|
|
}
|
|
|
|
max_neighbors = p_count;
|
|
|
|
NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
|
|
}
|
|
|
|
void NavigationAgent2D::set_time_horizon(real_t p_time) {
|
|
if (Math::is_equal_approx(time_horizon, p_time)) {
|
|
return;
|
|
}
|
|
|
|
time_horizon = p_time;
|
|
|
|
NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, time_horizon);
|
|
}
|
|
|
|
void NavigationAgent2D::set_max_speed(real_t p_max_speed) {
|
|
if (Math::is_equal_approx(max_speed, p_max_speed)) {
|
|
return;
|
|
}
|
|
|
|
max_speed = p_max_speed;
|
|
|
|
NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed);
|
|
}
|
|
|
|
void NavigationAgent2D::set_path_max_distance(real_t p_path_max_distance) {
|
|
if (Math::is_equal_approx(path_max_distance, p_path_max_distance)) {
|
|
return;
|
|
}
|
|
|
|
path_max_distance = p_path_max_distance;
|
|
}
|
|
|
|
real_t NavigationAgent2D::get_path_max_distance() {
|
|
return path_max_distance;
|
|
}
|
|
|
|
void NavigationAgent2D::set_target_position(Vector2 p_position) {
|
|
// Intentionally not checking for equality of the parameter, as we want to update the path even if the target position is the same in case the world changed.
|
|
// Revisit later when the navigation server can update the path without requesting a new path.
|
|
|
|
target_position = p_position;
|
|
target_position_submitted = true;
|
|
|
|
_request_repath();
|
|
}
|
|
|
|
Vector2 NavigationAgent2D::get_target_position() const {
|
|
return target_position;
|
|
}
|
|
|
|
Vector2 NavigationAgent2D::get_next_path_position() {
|
|
update_navigation();
|
|
|
|
const Vector<Vector2> &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();
|
|
} else {
|
|
return navigation_path[navigation_path_index];
|
|
}
|
|
}
|
|
|
|
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_position);
|
|
}
|
|
|
|
bool NavigationAgent2D::is_target_reached() const {
|
|
return target_reached;
|
|
}
|
|
|
|
bool NavigationAgent2D::is_target_reachable() {
|
|
return target_desired_distance >= get_final_position().distance_to(target_position);
|
|
}
|
|
|
|
bool NavigationAgent2D::is_navigation_finished() {
|
|
update_navigation();
|
|
return navigation_finished;
|
|
}
|
|
|
|
Vector2 NavigationAgent2D::get_final_position() {
|
|
update_navigation();
|
|
|
|
const Vector<Vector2> &navigation_path = navigation_result->get_path();
|
|
if (navigation_path.size() == 0) {
|
|
return Vector2();
|
|
}
|
|
return navigation_path[navigation_path.size() - 1];
|
|
}
|
|
|
|
void NavigationAgent2D::set_velocity(Vector2 p_velocity) {
|
|
// Intentionally not checking for equality of the parameter.
|
|
// We need to always submit the velocity to the navigation server, even when it is the same, in order to run avoidance every frame.
|
|
// Revisit later when the navigation server can update avoidance without users resubmitting the velocity.
|
|
|
|
target_velocity = p_velocity;
|
|
velocity_submitted = true;
|
|
|
|
NavigationServer2D::get_singleton()->agent_set_target_velocity(agent, target_velocity);
|
|
NavigationServer2D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
|
|
}
|
|
|
|
void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) {
|
|
const Vector2 velocity = Vector2(p_new_velocity.x, p_new_velocity.z);
|
|
prev_safe_velocity = velocity;
|
|
|
|
if (!velocity_submitted) {
|
|
target_velocity = Vector2();
|
|
return;
|
|
}
|
|
velocity_submitted = false;
|
|
|
|
emit_signal(SNAME("velocity_computed"), velocity);
|
|
}
|
|
|
|
PackedStringArray NavigationAgent2D::get_configuration_warnings() const {
|
|
PackedStringArray warnings = Node::get_configuration_warnings();
|
|
|
|
if (!Object::cast_to<Node2D>(get_parent())) {
|
|
warnings.push_back(RTR("The NavigationAgent2D can be used only under a Node2D inheriting parent node."));
|
|
}
|
|
|
|
return warnings;
|
|
}
|
|
|
|
void NavigationAgent2D::update_navigation() {
|
|
if (agent_parent == nullptr) {
|
|
return;
|
|
}
|
|
if (!agent_parent->is_inside_tree()) {
|
|
return;
|
|
}
|
|
if (!target_position_submitted) {
|
|
return;
|
|
}
|
|
if (update_frame_id == Engine::get_singleton()->get_physics_frames()) {
|
|
return;
|
|
}
|
|
|
|
update_frame_id = Engine::get_singleton()->get_physics_frames();
|
|
|
|
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_result->get_path().size() == 0) {
|
|
reload_path = true;
|
|
} else {
|
|
// Check if too far from the navigation path
|
|
if (navigation_path_index > 0) {
|
|
const Vector<Vector2> &navigation_path = navigation_result->get_path();
|
|
|
|
Vector2 segment[2];
|
|
segment[0] = navigation_path[navigation_path_index - 1];
|
|
segment[1] = navigation_path[navigation_path_index];
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (reload_path) {
|
|
navigation_query->set_start_position(origin);
|
|
navigation_query->set_target_position(target_position);
|
|
navigation_query->set_navigation_layers(navigation_layers);
|
|
navigation_query->set_metadata_flags(path_metadata_flags);
|
|
|
|
if (map_override.is_valid()) {
|
|
navigation_query->set_map(map_override);
|
|
} else {
|
|
navigation_query->set_map(agent_parent->get_world_2d()->get_navigation_map());
|
|
}
|
|
|
|
NavigationServer2D::get_singleton()->query_path(navigation_query, navigation_result);
|
|
#ifdef DEBUG_ENABLED
|
|
debug_path_dirty = true;
|
|
#endif // DEBUG_ENABLED
|
|
navigation_finished = false;
|
|
navigation_path_index = 0;
|
|
emit_signal(SNAME("path_changed"));
|
|
}
|
|
|
|
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 position.
|
|
const Vector<Vector2> &navigation_path = navigation_result->get_path();
|
|
const Vector<int32_t> &navigation_path_types = navigation_result->get_path_types();
|
|
const TypedArray<RID> &navigation_path_rids = navigation_result->get_path_rids();
|
|
const Vector<int64_t> &navigation_path_owners = navigation_result->get_path_owner_ids();
|
|
|
|
while (origin.distance_to(navigation_path[navigation_path_index]) < path_desired_distance) {
|
|
Dictionary details;
|
|
|
|
const Vector2 waypoint = navigation_path[navigation_path_index];
|
|
details[SNAME("position")] = waypoint;
|
|
|
|
int waypoint_type = -1;
|
|
if (path_metadata_flags.has_flag(NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_TYPES)) {
|
|
const NavigationPathQueryResult2D::PathSegmentType type = NavigationPathQueryResult2D::PathSegmentType(navigation_path_types[navigation_path_index]);
|
|
|
|
details[SNAME("type")] = type;
|
|
waypoint_type = type;
|
|
}
|
|
|
|
if (path_metadata_flags.has_flag(NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_RIDS)) {
|
|
details[SNAME("rid")] = navigation_path_rids[navigation_path_index];
|
|
}
|
|
|
|
if (path_metadata_flags.has_flag(NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_OWNERS)) {
|
|
const ObjectID waypoint_owner_id = ObjectID(navigation_path_owners[navigation_path_index]);
|
|
|
|
// Get a reference to the owning object.
|
|
Object *owner = nullptr;
|
|
if (waypoint_owner_id.is_valid()) {
|
|
owner = ObjectDB::get_instance(waypoint_owner_id);
|
|
}
|
|
|
|
details[SNAME("owner")] = owner;
|
|
}
|
|
|
|
// Emit a signal for the waypoint
|
|
emit_signal(SNAME("waypoint_reached"), details);
|
|
|
|
// Emit a signal if we've reached a navigation link
|
|
if (waypoint_type == NavigationPathQueryResult2D::PATH_SEGMENT_TYPE_LINK) {
|
|
emit_signal(SNAME("link_reached"), details);
|
|
}
|
|
|
|
// Move to the next waypoint on the list
|
|
navigation_path_index += 1;
|
|
|
|
// Check to see if we've finished our route
|
|
if (navigation_path_index == navigation_path.size()) {
|
|
_check_distance_to_target();
|
|
navigation_path_index -= 1;
|
|
navigation_finished = true;
|
|
target_position_submitted = false;
|
|
emit_signal(SNAME("navigation_finished"));
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void NavigationAgent2D::_request_repath() {
|
|
navigation_result->reset();
|
|
target_reached = false;
|
|
navigation_finished = false;
|
|
update_frame_id = 0;
|
|
}
|
|
|
|
void NavigationAgent2D::_check_distance_to_target() {
|
|
if (!target_reached) {
|
|
if (distance_to_target() < target_desired_distance) {
|
|
target_reached = true;
|
|
emit_signal(SNAME("target_reached"));
|
|
}
|
|
}
|
|
}
|
|
|
|
////////DEBUG////////////////////////////////////////////////////////////
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
void NavigationAgent2D::set_debug_enabled(bool p_enabled) {
|
|
if (debug_enabled == p_enabled) {
|
|
return;
|
|
}
|
|
|
|
debug_enabled = p_enabled;
|
|
debug_path_dirty = true;
|
|
}
|
|
|
|
bool NavigationAgent2D::get_debug_enabled() const {
|
|
return debug_enabled;
|
|
}
|
|
|
|
void NavigationAgent2D::set_debug_use_custom(bool p_enabled) {
|
|
if (debug_use_custom == p_enabled) {
|
|
return;
|
|
}
|
|
|
|
debug_use_custom = p_enabled;
|
|
debug_path_dirty = true;
|
|
}
|
|
|
|
bool NavigationAgent2D::get_debug_use_custom() const {
|
|
return debug_use_custom;
|
|
}
|
|
|
|
void NavigationAgent2D::set_debug_path_custom_color(Color p_color) {
|
|
if (debug_path_custom_color == p_color) {
|
|
return;
|
|
}
|
|
|
|
debug_path_custom_color = p_color;
|
|
debug_path_dirty = true;
|
|
}
|
|
|
|
Color NavigationAgent2D::get_debug_path_custom_color() const {
|
|
return debug_path_custom_color;
|
|
}
|
|
|
|
void NavigationAgent2D::set_debug_path_custom_point_size(float p_point_size) {
|
|
if (Math::is_equal_approx(debug_path_custom_point_size, p_point_size)) {
|
|
return;
|
|
}
|
|
|
|
debug_path_custom_point_size = MAX(0.1, p_point_size);
|
|
debug_path_dirty = true;
|
|
}
|
|
|
|
float NavigationAgent2D::get_debug_path_custom_point_size() const {
|
|
return debug_path_custom_point_size;
|
|
}
|
|
|
|
void NavigationAgent2D::set_debug_path_custom_line_width(float p_line_width) {
|
|
if (Math::is_equal_approx(debug_path_custom_line_width, p_line_width)) {
|
|
return;
|
|
}
|
|
|
|
debug_path_custom_line_width = p_line_width;
|
|
debug_path_dirty = true;
|
|
}
|
|
|
|
float NavigationAgent2D::get_debug_path_custom_line_width() const {
|
|
return debug_path_custom_line_width;
|
|
}
|
|
|
|
void NavigationAgent2D::_navigation_debug_changed() {
|
|
debug_path_dirty = true;
|
|
}
|
|
|
|
void NavigationAgent2D::_update_debug_path() {
|
|
if (!debug_path_dirty) {
|
|
return;
|
|
}
|
|
debug_path_dirty = false;
|
|
|
|
if (!debug_path_instance.is_valid()) {
|
|
debug_path_instance = RenderingServer::get_singleton()->canvas_item_create();
|
|
}
|
|
|
|
RenderingServer::get_singleton()->canvas_item_clear(debug_path_instance);
|
|
|
|
if (!(debug_enabled && NavigationServer2D::get_singleton()->get_debug_navigation_enable_agent_paths())) {
|
|
return;
|
|
}
|
|
|
|
if (!(agent_parent && agent_parent->is_inside_tree())) {
|
|
return;
|
|
}
|
|
|
|
RenderingServer::get_singleton()->canvas_item_set_parent(debug_path_instance, agent_parent->get_canvas());
|
|
RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, agent_parent->is_visible_in_tree());
|
|
|
|
const Vector<Vector2> &navigation_path = navigation_result->get_path();
|
|
|
|
if (navigation_path.size() <= 1) {
|
|
return;
|
|
}
|
|
|
|
Color debug_path_color = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_color();
|
|
if (debug_use_custom) {
|
|
debug_path_color = debug_path_custom_color;
|
|
}
|
|
|
|
Vector<Color> debug_path_colors;
|
|
debug_path_colors.resize(navigation_path.size());
|
|
debug_path_colors.fill(debug_path_color);
|
|
|
|
RenderingServer::get_singleton()->canvas_item_add_polyline(debug_path_instance, navigation_path, debug_path_colors, debug_path_custom_line_width, false);
|
|
|
|
float point_size = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_point_size();
|
|
float half_point_size = point_size * 0.5;
|
|
|
|
if (debug_use_custom) {
|
|
point_size = debug_path_custom_point_size;
|
|
half_point_size = debug_path_custom_point_size * 0.5;
|
|
}
|
|
|
|
for (int i = 0; i < navigation_path.size(); i++) {
|
|
const Vector2 &vert = navigation_path[i];
|
|
Rect2 path_point_rect = Rect2(vert.x - half_point_size, vert.y - half_point_size, point_size, point_size);
|
|
RenderingServer::get_singleton()->canvas_item_add_rect(debug_path_instance, path_point_rect, debug_path_color);
|
|
}
|
|
}
|
|
#endif // DEBUG_ENABLED
|