503 lines
21 KiB
C++
503 lines
21 KiB
C++
/*************************************************************************/
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/* navigation_agent_3d.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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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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_3d.h"
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#include "servers/navigation_server_3d.h"
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void NavigationAgent3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent3D::get_rid);
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ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent3D::set_avoidance_enabled);
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ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent3D::get_avoidance_enabled);
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ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent3D::set_path_desired_distance);
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ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent3D::get_path_desired_distance);
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ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent3D::set_target_desired_distance);
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ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent3D::get_target_desired_distance);
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ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent3D::set_radius);
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ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent3D::get_radius);
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ClassDB::bind_method(D_METHOD("set_agent_height_offset", "agent_height_offset"), &NavigationAgent3D::set_agent_height_offset);
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ClassDB::bind_method(D_METHOD("get_agent_height_offset"), &NavigationAgent3D::get_agent_height_offset);
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ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent3D::set_ignore_y);
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ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent3D::get_ignore_y);
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ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent3D::set_neighbor_distance);
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ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent3D::get_neighbor_distance);
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ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent3D::set_max_neighbors);
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ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent3D::get_max_neighbors);
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ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent3D::set_time_horizon);
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ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent3D::get_time_horizon);
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ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent3D::set_max_speed);
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ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent3D::get_max_speed);
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ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent3D::set_path_max_distance);
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ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent3D::get_path_max_distance);
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ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent3D::set_navigation_layers);
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ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent3D::get_navigation_layers);
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ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent3D::set_navigation_layer_value);
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ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent3D::get_navigation_layer_value);
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ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent3D::set_navigation_map);
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ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent3D::get_navigation_map);
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ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent3D::set_target_location);
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ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent3D::get_target_location);
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ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent3D::get_next_location);
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ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent3D::distance_to_target);
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ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent3D::set_velocity);
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ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent3D::get_nav_path);
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ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent3D::get_nav_path_index);
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ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent3D::is_target_reached);
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ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent3D::is_target_reachable);
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ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent3D::is_navigation_finished);
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ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent3D::get_final_location);
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ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent3D::_avoidance_done);
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ADD_GROUP("Pathfinding", "");
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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");
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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");
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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");
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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");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
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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, "0.1,100,0.01,suffix:m"), "set_radius", "get_radius");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m"), "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, "0.01,100,0.01,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:m/s"), "set_max_speed", "get_max_speed");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "ignore_y"), "set_ignore_y", "get_ignore_y");
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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("navigation_finished"));
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ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));
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}
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void NavigationAgent3D::_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 readded to SceneTree
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set_agent_parent(get_parent());
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set_physics_process_internal(true);
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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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} 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 = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
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NavigationServer3D::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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NavigationServer3D::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 = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
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NavigationServer3D::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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NavigationServer3D::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) {
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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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NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
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}
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_check_distance_to_target();
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}
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} break;
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}
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}
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NavigationAgent3D::NavigationAgent3D() {
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agent = NavigationServer3D::get_singleton()->agent_create();
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set_neighbor_distance(50.0);
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set_max_neighbors(10);
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set_time_horizon(5.0);
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set_radius(1.0);
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set_max_speed(10.0);
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set_ignore_y(true);
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// Preallocate query and result objects to improve performance.
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navigation_query = Ref<NavigationPathQueryParameters3D>();
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navigation_query.instantiate();
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navigation_result = Ref<NavigationPathQueryResult3D>();
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navigation_result.instantiate();
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}
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NavigationAgent3D::~NavigationAgent3D() {
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NavigationServer3D::get_singleton()->free(agent);
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agent = RID(); // Pointless
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}
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void NavigationAgent3D::set_avoidance_enabled(bool p_enabled) {
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avoidance_enabled = p_enabled;
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if (avoidance_enabled) {
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NavigationServer3D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
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} else {
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NavigationServer3D::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done");
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}
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}
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bool NavigationAgent3D::get_avoidance_enabled() const {
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return avoidance_enabled;
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}
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void NavigationAgent3D::set_agent_parent(Node *p_agent_parent) {
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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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NavigationServer3D::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done");
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if (Object::cast_to<Node3D>(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<Node3D>(p_agent_parent);
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if (map_override.is_valid()) {
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NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_override);
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} else {
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NavigationServer3D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_3d()->get_navigation_map());
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}
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// create new avoidance callback if enabled
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set_avoidance_enabled(avoidance_enabled);
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} else {
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agent_parent = nullptr;
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NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
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}
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}
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void NavigationAgent3D::set_navigation_layers(uint32_t p_navigation_layers) {
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bool navigation_layers_changed = navigation_layers != p_navigation_layers;
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navigation_layers = p_navigation_layers;
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if (navigation_layers_changed) {
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_request_repath();
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}
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}
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uint32_t NavigationAgent3D::get_navigation_layers() const {
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return navigation_layers;
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}
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void NavigationAgent3D::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 NavigationAgent3D::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 NavigationAgent3D::set_navigation_map(RID p_navigation_map) {
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map_override = p_navigation_map;
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NavigationServer3D::get_singleton()->agent_set_map(agent, map_override);
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_request_repath();
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}
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RID NavigationAgent3D::get_navigation_map() const {
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if (map_override.is_valid()) {
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return map_override;
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} else if (agent_parent != nullptr) {
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return agent_parent->get_world_3d()->get_navigation_map();
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}
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return RID();
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}
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void NavigationAgent3D::set_path_desired_distance(real_t p_dd) {
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path_desired_distance = p_dd;
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}
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void NavigationAgent3D::set_target_desired_distance(real_t p_dd) {
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target_desired_distance = p_dd;
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}
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void NavigationAgent3D::set_radius(real_t p_radius) {
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radius = p_radius;
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NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
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}
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void NavigationAgent3D::set_agent_height_offset(real_t p_hh) {
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navigation_height_offset = p_hh;
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}
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void NavigationAgent3D::set_ignore_y(bool p_ignore_y) {
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ignore_y = p_ignore_y;
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NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y);
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}
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void NavigationAgent3D::set_neighbor_distance(real_t p_distance) {
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neighbor_distance = p_distance;
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NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
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}
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void NavigationAgent3D::set_max_neighbors(int p_count) {
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max_neighbors = p_count;
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NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
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}
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void NavigationAgent3D::set_time_horizon(real_t p_time) {
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time_horizon = p_time;
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NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, time_horizon);
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}
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void NavigationAgent3D::set_max_speed(real_t p_max_speed) {
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max_speed = p_max_speed;
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NavigationServer3D::get_singleton()->agent_set_max_speed(agent, max_speed);
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}
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void NavigationAgent3D::set_path_max_distance(real_t p_pmd) {
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path_max_distance = p_pmd;
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}
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real_t NavigationAgent3D::get_path_max_distance() {
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return path_max_distance;
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}
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void NavigationAgent3D::set_target_location(Vector3 p_location) {
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target_location = p_location;
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_request_repath();
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}
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Vector3 NavigationAgent3D::get_target_location() const {
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return target_location;
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}
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Vector3 NavigationAgent3D::get_next_location() {
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update_navigation();
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const Vector<Vector3> &navigation_path = navigation_result->get_path();
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if (navigation_path.size() == 0) {
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ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent.");
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return agent_parent->get_global_transform().origin;
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} else {
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return navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0);
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}
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}
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const Vector<Vector3> &NavigationAgent3D::get_nav_path() const {
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return navigation_result->get_path();
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}
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real_t NavigationAgent3D::distance_to_target() const {
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ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent.");
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return agent_parent->get_global_transform().origin.distance_to(target_location);
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}
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bool NavigationAgent3D::is_target_reached() const {
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return target_reached;
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}
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bool NavigationAgent3D::is_target_reachable() {
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return target_desired_distance >= get_final_location().distance_to(target_location);
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}
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bool NavigationAgent3D::is_navigation_finished() {
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update_navigation();
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return navigation_finished;
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}
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Vector3 NavigationAgent3D::get_final_location() {
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update_navigation();
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const Vector<Vector3> &navigation_path = navigation_result->get_path();
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if (navigation_path.size() == 0) {
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return Vector3();
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}
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return navigation_path[navigation_path.size() - 1];
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}
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void NavigationAgent3D::set_velocity(Vector3 p_velocity) {
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target_velocity = p_velocity;
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NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, target_velocity);
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NavigationServer3D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
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velocity_submitted = true;
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}
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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 (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 (nav_path_index > 0) {
|
|
const Vector<Vector3> &navigation_path = navigation_result->get_path();
|
|
|
|
Vector3 segment[2];
|
|
segment[0] = navigation_path[nav_path_index - 1];
|
|
segment[1] = navigation_path[nav_path_index];
|
|
segment[0].y -= navigation_height_offset;
|
|
segment[1].y -= navigation_height_offset;
|
|
Vector3 p = Geometry3D::get_closest_point_to_segment(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);
|
|
|
|
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;
|
|
nav_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();
|
|
while (origin.distance_to(navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) {
|
|
nav_path_index += 1;
|
|
if (nav_path_index == navigation_path.size()) {
|
|
_check_distance_to_target();
|
|
nav_path_index -= 1;
|
|
navigation_finished = true;
|
|
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) {
|
|
emit_signal(SNAME("target_reached"));
|
|
target_reached = true;
|
|
}
|
|
}
|
|
}
|