d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
567 lines
24 KiB
C++
567 lines
24 KiB
C++
/**************************************************************************/
|
|
/* navigation_agent_3d.cpp */
|
|
/**************************************************************************/
|
|
/* 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. */
|
|
/**************************************************************************/
|
|
|
|
#include "navigation_agent_3d.h"
|
|
|
|
#include "servers/navigation_server_3d.h"
|
|
|
|
void NavigationAgent3D::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent3D::get_rid);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent3D::set_avoidance_enabled);
|
|
ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent3D::get_avoidance_enabled);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent3D::set_path_desired_distance);
|
|
ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent3D::get_path_desired_distance);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent3D::set_target_desired_distance);
|
|
ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent3D::get_target_desired_distance);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent3D::set_radius);
|
|
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent3D::get_radius);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_agent_height_offset", "agent_height_offset"), &NavigationAgent3D::set_agent_height_offset);
|
|
ClassDB::bind_method(D_METHOD("get_agent_height_offset"), &NavigationAgent3D::get_agent_height_offset);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent3D::set_ignore_y);
|
|
ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent3D::get_ignore_y);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent3D::set_neighbor_distance);
|
|
ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent3D::get_neighbor_distance);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent3D::set_max_neighbors);
|
|
ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent3D::get_max_neighbors);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent3D::set_time_horizon);
|
|
ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent3D::get_time_horizon);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent3D::set_max_speed);
|
|
ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent3D::get_max_speed);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent3D::set_path_max_distance);
|
|
ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent3D::get_path_max_distance);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent3D::set_navigation_layers);
|
|
ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent3D::get_navigation_layers);
|
|
|
|
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_path_metadata_flags", "flags"), &NavigationAgent3D::set_path_metadata_flags);
|
|
ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent3D::get_path_metadata_flags);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent3D::set_navigation_map);
|
|
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent3D::get_navigation_map);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent3D::set_target_location);
|
|
ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent3D::get_target_location);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent3D::get_next_location);
|
|
ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent3D::distance_to_target);
|
|
ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent3D::set_velocity);
|
|
ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent3D::get_current_navigation_result);
|
|
ClassDB::bind_method(D_METHOD("get_current_navigation_path"), &NavigationAgent3D::get_current_navigation_path);
|
|
ClassDB::bind_method(D_METHOD("get_current_navigation_path_index"), &NavigationAgent3D::get_current_navigation_path_index);
|
|
ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent3D::is_target_reached);
|
|
ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent3D::is_target_reachable);
|
|
ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent3D::is_navigation_finished);
|
|
ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent3D::get_final_location);
|
|
|
|
ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent3D::_avoidance_done);
|
|
|
|
ADD_GROUP("Pathfinding", "");
|
|
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_location", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_target_location", "get_target_location");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,suffix:m"), "set_path_desired_distance", "get_path_desired_distance");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,suffix:m"), "set_target_desired_distance", "get_target_desired_distance");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01,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,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, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
|
|
|
|
ADD_GROUP("Avoidance", "");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,100,0.01,suffix:m"), "set_radius", "get_radius");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m"), "set_neighbor_distance", "get_neighbor_distance");
|
|
ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1"), "set_max_neighbors", "get_max_neighbors");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.01,100,0.01,suffix:s"), "set_time_horizon", "get_time_horizon");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m/s"), "set_max_speed", "get_max_speed");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "ignore_y"), "set_ignore_y", "get_ignore_y");
|
|
|
|
ADD_SIGNAL(MethodInfo("path_changed"));
|
|
ADD_SIGNAL(MethodInfo("target_reached"));
|
|
ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
|
|
ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details")));
|
|
ADD_SIGNAL(MethodInfo("navigation_finished"));
|
|
ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));
|
|
}
|
|
|
|
void NavigationAgent3D::_notification(int p_what) {
|
|
switch (p_what) {
|
|
case NOTIFICATION_POST_ENTER_TREE: {
|
|
// need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready.
|
|
// cannot use READY as ready does not get called if Node is readded to SceneTree
|
|
set_agent_parent(get_parent());
|
|
set_physics_process_internal(true);
|
|
} break;
|
|
|
|
case NOTIFICATION_PARENTED: {
|
|
if (is_inside_tree() && (get_parent() != agent_parent)) {
|
|
// only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around
|
|
// PARENTED notification fires also when Node is added in scripts to a parent
|
|
// this would spam transforms fails and world fails while Node is outside SceneTree
|
|
// when node gets reparented when joining the tree POST_ENTER_TREE takes care of this
|
|
set_agent_parent(get_parent());
|
|
set_physics_process_internal(true);
|
|
}
|
|
} break;
|
|
|
|
case NOTIFICATION_UNPARENTED: {
|
|
// if agent has no parent no point in processing it until reparented
|
|
set_agent_parent(nullptr);
|
|
set_physics_process_internal(false);
|
|
} break;
|
|
|
|
case NOTIFICATION_EXIT_TREE: {
|
|
set_agent_parent(nullptr);
|
|
set_physics_process_internal(false);
|
|
} break;
|
|
|
|
case NOTIFICATION_PAUSED: {
|
|
if (agent_parent && !agent_parent->can_process()) {
|
|
map_before_pause = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
|
|
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
|
|
} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
|
|
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
|
|
map_before_pause = RID();
|
|
}
|
|
} break;
|
|
|
|
case NOTIFICATION_UNPAUSED: {
|
|
if (agent_parent && !agent_parent->can_process()) {
|
|
map_before_pause = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
|
|
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
|
|
} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
|
|
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
|
|
map_before_pause = RID();
|
|
}
|
|
} break;
|
|
|
|
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
|
|
if (agent_parent && target_position_submitted) {
|
|
if (avoidance_enabled) {
|
|
// agent_position on NavigationServer is avoidance only and has nothing to do with pathfinding
|
|
// no point in flooding NavigationServer queue with agent position updates that get send to the void if avoidance is not used
|
|
NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
|
|
}
|
|
_check_distance_to_target();
|
|
}
|
|
} break;
|
|
}
|
|
}
|
|
|
|
NavigationAgent3D::NavigationAgent3D() {
|
|
agent = NavigationServer3D::get_singleton()->agent_create();
|
|
set_neighbor_distance(50.0);
|
|
set_max_neighbors(10);
|
|
set_time_horizon(5.0);
|
|
set_radius(1.0);
|
|
set_max_speed(10.0);
|
|
set_ignore_y(true);
|
|
|
|
// Preallocate query and result objects to improve performance.
|
|
navigation_query = Ref<NavigationPathQueryParameters3D>();
|
|
navigation_query.instantiate();
|
|
|
|
navigation_result = Ref<NavigationPathQueryResult3D>();
|
|
navigation_result.instantiate();
|
|
}
|
|
|
|
NavigationAgent3D::~NavigationAgent3D() {
|
|
ERR_FAIL_NULL(NavigationServer3D::get_singleton());
|
|
NavigationServer3D::get_singleton()->free(agent);
|
|
agent = RID(); // Pointless
|
|
}
|
|
|
|
void NavigationAgent3D::set_avoidance_enabled(bool p_enabled) {
|
|
avoidance_enabled = p_enabled;
|
|
if (avoidance_enabled) {
|
|
NavigationServer3D::get_singleton()->agent_set_callback(agent, get_instance_id(), "_avoidance_done");
|
|
} else {
|
|
NavigationServer3D::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done");
|
|
}
|
|
}
|
|
|
|
bool NavigationAgent3D::get_avoidance_enabled() const {
|
|
return avoidance_enabled;
|
|
}
|
|
|
|
void NavigationAgent3D::set_agent_parent(Node *p_agent_parent) {
|
|
// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
|
|
NavigationServer3D::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done");
|
|
if (Object::cast_to<Node3D>(p_agent_parent) != nullptr) {
|
|
// place agent on navigation map first or else the RVO agent callback creation fails silently later
|
|
agent_parent = Object::cast_to<Node3D>(p_agent_parent);
|
|
if (map_override.is_valid()) {
|
|
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_override);
|
|
} else {
|
|
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_3d()->get_navigation_map());
|
|
}
|
|
// create new avoidance callback if enabled
|
|
set_avoidance_enabled(avoidance_enabled);
|
|
} else {
|
|
agent_parent = nullptr;
|
|
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
|
|
}
|
|
}
|
|
|
|
void NavigationAgent3D::set_navigation_layers(uint32_t p_navigation_layers) {
|
|
bool navigation_layers_changed = navigation_layers != p_navigation_layers;
|
|
navigation_layers = p_navigation_layers;
|
|
if (navigation_layers_changed) {
|
|
_request_repath();
|
|
}
|
|
}
|
|
|
|
uint32_t NavigationAgent3D::get_navigation_layers() const {
|
|
return navigation_layers;
|
|
}
|
|
|
|
void NavigationAgent3D::set_navigation_layer_value(int p_layer_number, bool p_value) {
|
|
ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive.");
|
|
ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive.");
|
|
uint32_t _navigation_layers = get_navigation_layers();
|
|
if (p_value) {
|
|
_navigation_layers |= 1 << (p_layer_number - 1);
|
|
} else {
|
|
_navigation_layers &= ~(1 << (p_layer_number - 1));
|
|
}
|
|
set_navigation_layers(_navigation_layers);
|
|
}
|
|
|
|
bool NavigationAgent3D::get_navigation_layer_value(int p_layer_number) const {
|
|
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive.");
|
|
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive.");
|
|
return get_navigation_layers() & (1 << (p_layer_number - 1));
|
|
}
|
|
|
|
void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_path_metadata_flags) {
|
|
if (path_metadata_flags == p_path_metadata_flags) {
|
|
return;
|
|
}
|
|
|
|
path_metadata_flags = p_path_metadata_flags;
|
|
}
|
|
|
|
void NavigationAgent3D::set_navigation_map(RID p_navigation_map) {
|
|
map_override = p_navigation_map;
|
|
NavigationServer3D::get_singleton()->agent_set_map(agent, map_override);
|
|
_request_repath();
|
|
}
|
|
|
|
RID NavigationAgent3D::get_navigation_map() const {
|
|
if (map_override.is_valid()) {
|
|
return map_override;
|
|
} else if (agent_parent != nullptr) {
|
|
return agent_parent->get_world_3d()->get_navigation_map();
|
|
}
|
|
return RID();
|
|
}
|
|
|
|
void NavigationAgent3D::set_path_desired_distance(real_t p_dd) {
|
|
path_desired_distance = p_dd;
|
|
}
|
|
|
|
void NavigationAgent3D::set_target_desired_distance(real_t p_dd) {
|
|
target_desired_distance = p_dd;
|
|
}
|
|
|
|
void NavigationAgent3D::set_radius(real_t p_radius) {
|
|
radius = p_radius;
|
|
NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
|
|
}
|
|
|
|
void NavigationAgent3D::set_agent_height_offset(real_t p_hh) {
|
|
navigation_height_offset = p_hh;
|
|
}
|
|
|
|
void NavigationAgent3D::set_ignore_y(bool p_ignore_y) {
|
|
ignore_y = p_ignore_y;
|
|
NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y);
|
|
}
|
|
|
|
void NavigationAgent3D::set_neighbor_distance(real_t p_distance) {
|
|
neighbor_distance = p_distance;
|
|
NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
|
|
}
|
|
|
|
void NavigationAgent3D::set_max_neighbors(int p_count) {
|
|
max_neighbors = p_count;
|
|
NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
|
|
}
|
|
|
|
void NavigationAgent3D::set_time_horizon(real_t p_time) {
|
|
time_horizon = p_time;
|
|
NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, time_horizon);
|
|
}
|
|
|
|
void NavigationAgent3D::set_max_speed(real_t p_max_speed) {
|
|
max_speed = p_max_speed;
|
|
NavigationServer3D::get_singleton()->agent_set_max_speed(agent, max_speed);
|
|
}
|
|
|
|
void NavigationAgent3D::set_path_max_distance(real_t p_pmd) {
|
|
path_max_distance = p_pmd;
|
|
}
|
|
|
|
real_t NavigationAgent3D::get_path_max_distance() {
|
|
return path_max_distance;
|
|
}
|
|
|
|
void NavigationAgent3D::set_target_location(Vector3 p_location) {
|
|
target_location = p_location;
|
|
target_position_submitted = true;
|
|
_request_repath();
|
|
}
|
|
|
|
Vector3 NavigationAgent3D::get_target_location() const {
|
|
return target_location;
|
|
}
|
|
|
|
Vector3 NavigationAgent3D::get_next_location() {
|
|
update_navigation();
|
|
|
|
const Vector<Vector3> &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;
|
|
} else {
|
|
return navigation_path[navigation_path_index] - Vector3(0, navigation_height_offset, 0);
|
|
}
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
bool NavigationAgent3D::is_target_reached() const {
|
|
return target_reached;
|
|
}
|
|
|
|
bool NavigationAgent3D::is_target_reachable() {
|
|
return target_desired_distance >= get_final_location().distance_to(target_location);
|
|
}
|
|
|
|
bool NavigationAgent3D::is_navigation_finished() {
|
|
update_navigation();
|
|
return navigation_finished;
|
|
}
|
|
|
|
Vector3 NavigationAgent3D::get_final_location() {
|
|
update_navigation();
|
|
|
|
const Vector<Vector3> &navigation_path = navigation_result->get_path();
|
|
if (navigation_path.size() == 0) {
|
|
return Vector3();
|
|
}
|
|
return navigation_path[navigation_path.size() - 1];
|
|
}
|
|
|
|
void NavigationAgent3D::set_velocity(Vector3 p_velocity) {
|
|
target_velocity = p_velocity;
|
|
NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, target_velocity);
|
|
NavigationServer3D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
|
|
velocity_submitted = true;
|
|
}
|
|
|
|
void NavigationAgent3D::_avoidance_done(Vector3 p_new_velocity) {
|
|
prev_safe_velocity = p_new_velocity;
|
|
|
|
if (!velocity_submitted) {
|
|
target_velocity = Vector3();
|
|
return;
|
|
}
|
|
velocity_submitted = false;
|
|
|
|
emit_signal(SNAME("velocity_computed"), p_new_velocity);
|
|
}
|
|
|
|
PackedStringArray NavigationAgent3D::get_configuration_warnings() const {
|
|
PackedStringArray warnings = Node::get_configuration_warnings();
|
|
|
|
if (!Object::cast_to<Node3D>(get_parent())) {
|
|
warnings.push_back(RTR("The NavigationAgent3D can be used only under a Node3D inheriting parent node."));
|
|
}
|
|
|
|
return warnings;
|
|
}
|
|
|
|
void NavigationAgent3D::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();
|
|
|
|
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_result->get_path().size() == 0) {
|
|
reload_path = true;
|
|
} else {
|
|
// Check if too far from the navigation path
|
|
if (navigation_path_index > 0) {
|
|
const Vector<Vector3> &navigation_path = navigation_result->get_path();
|
|
|
|
Vector3 segment[2];
|
|
segment[0] = navigation_path[navigation_path_index - 1];
|
|
segment[1] = navigation_path[navigation_path_index];
|
|
segment[0].y -= navigation_height_offset;
|
|
segment[1].y -= navigation_height_offset;
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (reload_path) {
|
|
navigation_query->set_start_position(origin);
|
|
navigation_query->set_target_position(target_location);
|
|
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_3d()->get_navigation_map());
|
|
}
|
|
|
|
NavigationServer3D::get_singleton()->query_path(navigation_query, navigation_result);
|
|
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 location.
|
|
const Vector<Vector3> &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] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) {
|
|
Dictionary details;
|
|
|
|
const Vector3 waypoint = navigation_path[navigation_path_index];
|
|
details[SNAME("location")] = waypoint;
|
|
|
|
int waypoint_type = -1;
|
|
if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_TYPES)) {
|
|
const NavigationPathQueryResult3D::PathSegmentType type = NavigationPathQueryResult3D::PathSegmentType(navigation_path_types[navigation_path_index]);
|
|
|
|
details[SNAME("type")] = type;
|
|
waypoint_type = type;
|
|
}
|
|
|
|
if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_RIDS)) {
|
|
details[SNAME("rid")] = navigation_path_rids[navigation_path_index];
|
|
}
|
|
|
|
if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::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 == NavigationPathQueryResult3D::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 NavigationAgent3D::_request_repath() {
|
|
navigation_result->reset();
|
|
target_reached = false;
|
|
navigation_finished = false;
|
|
update_frame_id = 0;
|
|
}
|
|
|
|
void NavigationAgent3D::_check_distance_to_target() {
|
|
if (!target_reached) {
|
|
if (distance_to_target() < target_desired_distance) {
|
|
target_reached = true;
|
|
emit_signal(SNAME("target_reached"));
|
|
}
|
|
}
|
|
}
|