375 lines
13 KiB
C++
375 lines
13 KiB
C++
/**************************************************************************/
|
|
/* nav_agent.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 "nav_agent.h"
|
|
|
|
#include "nav_map.h"
|
|
|
|
NavAgent::NavAgent() {
|
|
}
|
|
|
|
void NavAgent::set_avoidance_enabled(bool p_enabled) {
|
|
avoidance_enabled = p_enabled;
|
|
_update_rvo_agent_properties();
|
|
}
|
|
|
|
void NavAgent::set_use_3d_avoidance(bool p_enabled) {
|
|
use_3d_avoidance = p_enabled;
|
|
_update_rvo_agent_properties();
|
|
}
|
|
|
|
void NavAgent::_update_rvo_agent_properties() {
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.neighborDist_ = neighbor_distance;
|
|
rvo_agent_3d.maxNeighbors_ = max_neighbors;
|
|
rvo_agent_3d.timeHorizon_ = time_horizon_agents;
|
|
rvo_agent_3d.timeHorizonObst_ = time_horizon_obstacles;
|
|
rvo_agent_3d.radius_ = radius;
|
|
rvo_agent_3d.maxSpeed_ = max_speed;
|
|
rvo_agent_3d.position_ = RVO3D::Vector3(position.x, position.y, position.z);
|
|
// Replacing the internal velocity directly causes major jitter / bugs due to unpredictable velocity jumps, left line here for testing.
|
|
//rvo_agent_3d.velocity_ = RVO3D::Vector3(velocity.x, velocity.y ,velocity.z);
|
|
rvo_agent_3d.prefVelocity_ = RVO3D::Vector3(velocity.x, velocity.y, velocity.z);
|
|
rvo_agent_3d.height_ = height;
|
|
rvo_agent_3d.avoidance_layers_ = avoidance_layers;
|
|
rvo_agent_3d.avoidance_mask_ = avoidance_mask;
|
|
rvo_agent_3d.avoidance_priority_ = avoidance_priority;
|
|
} else {
|
|
rvo_agent_2d.neighborDist_ = neighbor_distance;
|
|
rvo_agent_2d.maxNeighbors_ = max_neighbors;
|
|
rvo_agent_2d.timeHorizon_ = time_horizon_agents;
|
|
rvo_agent_2d.timeHorizonObst_ = time_horizon_obstacles;
|
|
rvo_agent_2d.radius_ = radius;
|
|
rvo_agent_2d.maxSpeed_ = max_speed;
|
|
rvo_agent_2d.position_ = RVO2D::Vector2(position.x, position.z);
|
|
rvo_agent_2d.elevation_ = position.y;
|
|
// Replacing the internal velocity directly causes major jitter / bugs due to unpredictable velocity jumps, left line here for testing.
|
|
//rvo_agent_2d.velocity_ = RVO2D::Vector2(velocity.x, velocity.z);
|
|
rvo_agent_2d.prefVelocity_ = RVO2D::Vector2(velocity.x, velocity.z);
|
|
rvo_agent_2d.height_ = height;
|
|
rvo_agent_2d.avoidance_layers_ = avoidance_layers;
|
|
rvo_agent_2d.avoidance_mask_ = avoidance_mask;
|
|
rvo_agent_2d.avoidance_priority_ = avoidance_priority;
|
|
}
|
|
|
|
if (map != nullptr) {
|
|
if (avoidance_enabled) {
|
|
map->set_agent_as_controlled(this);
|
|
} else {
|
|
map->remove_agent_as_controlled(this);
|
|
}
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_map(NavMap *p_map) {
|
|
if (map == p_map) {
|
|
return;
|
|
}
|
|
|
|
if (map) {
|
|
map->remove_agent(this);
|
|
}
|
|
|
|
map = p_map;
|
|
agent_dirty = true;
|
|
|
|
if (map) {
|
|
map->add_agent(this);
|
|
if (avoidance_enabled) {
|
|
map->set_agent_as_controlled(this);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool NavAgent::is_map_changed() {
|
|
if (map) {
|
|
bool is_changed = map->get_iteration_id() != last_map_iteration_id;
|
|
last_map_iteration_id = map->get_iteration_id();
|
|
return is_changed;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void NavAgent::set_avoidance_callback(Callable p_callback) {
|
|
avoidance_callback = p_callback;
|
|
}
|
|
|
|
bool NavAgent::has_avoidance_callback() const {
|
|
return avoidance_callback.is_valid();
|
|
}
|
|
|
|
void NavAgent::dispatch_avoidance_callback() {
|
|
if (!avoidance_callback.is_valid()) {
|
|
return;
|
|
}
|
|
|
|
Vector3 new_velocity;
|
|
|
|
if (use_3d_avoidance) {
|
|
new_velocity = Vector3(rvo_agent_3d.velocity_.x(), rvo_agent_3d.velocity_.y(), rvo_agent_3d.velocity_.z());
|
|
} else {
|
|
new_velocity = Vector3(rvo_agent_2d.velocity_.x(), 0.0, rvo_agent_2d.velocity_.y());
|
|
}
|
|
|
|
if (clamp_speed) {
|
|
new_velocity = new_velocity.limit_length(max_speed);
|
|
}
|
|
|
|
// Invoke the callback with the new velocity.
|
|
avoidance_callback.call(new_velocity);
|
|
}
|
|
|
|
void NavAgent::set_neighbor_distance(real_t p_neighbor_distance) {
|
|
neighbor_distance = p_neighbor_distance;
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.neighborDist_ = neighbor_distance;
|
|
} else {
|
|
rvo_agent_2d.neighborDist_ = neighbor_distance;
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_max_neighbors(int p_max_neighbors) {
|
|
max_neighbors = p_max_neighbors;
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.maxNeighbors_ = max_neighbors;
|
|
} else {
|
|
rvo_agent_2d.maxNeighbors_ = max_neighbors;
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_time_horizon_agents(real_t p_time_horizon) {
|
|
time_horizon_agents = p_time_horizon;
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.timeHorizon_ = time_horizon_agents;
|
|
} else {
|
|
rvo_agent_2d.timeHorizon_ = time_horizon_agents;
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_time_horizon_obstacles(real_t p_time_horizon) {
|
|
time_horizon_obstacles = p_time_horizon;
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.timeHorizonObst_ = time_horizon_obstacles;
|
|
} else {
|
|
rvo_agent_2d.timeHorizonObst_ = time_horizon_obstacles;
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_radius(real_t p_radius) {
|
|
radius = p_radius;
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.radius_ = radius;
|
|
} else {
|
|
rvo_agent_2d.radius_ = radius;
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_height(real_t p_height) {
|
|
height = p_height;
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.height_ = height;
|
|
} else {
|
|
rvo_agent_2d.height_ = height;
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_max_speed(real_t p_max_speed) {
|
|
max_speed = p_max_speed;
|
|
if (avoidance_enabled) {
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.maxSpeed_ = max_speed;
|
|
} else {
|
|
rvo_agent_2d.maxSpeed_ = max_speed;
|
|
}
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_position(const Vector3 p_position) {
|
|
position = p_position;
|
|
if (avoidance_enabled) {
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.position_ = RVO3D::Vector3(p_position.x, p_position.y, p_position.z);
|
|
} else {
|
|
rvo_agent_2d.elevation_ = p_position.y;
|
|
rvo_agent_2d.position_ = RVO2D::Vector2(p_position.x, p_position.z);
|
|
}
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_target_position(const Vector3 p_target_position) {
|
|
target_position = p_target_position;
|
|
}
|
|
|
|
void NavAgent::set_velocity(const Vector3 p_velocity) {
|
|
// Sets the "wanted" velocity for an agent as a suggestion
|
|
// This velocity is not guaranteed, RVO simulation will only try to fulfill it
|
|
velocity = p_velocity;
|
|
if (avoidance_enabled) {
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.prefVelocity_ = RVO3D::Vector3(velocity.x, velocity.y, velocity.z);
|
|
} else {
|
|
rvo_agent_2d.prefVelocity_ = RVO2D::Vector2(velocity.x, velocity.z);
|
|
}
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_velocity_forced(const Vector3 p_velocity) {
|
|
// This function replaces the internal rvo simulation velocity
|
|
// should only be used after the agent was teleported
|
|
// as it destroys consistency in movement in cramped situations
|
|
// use velocity instead to update with a safer "suggestion"
|
|
velocity_forced = p_velocity;
|
|
if (avoidance_enabled) {
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.velocity_ = RVO3D::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
|
|
} else {
|
|
rvo_agent_2d.velocity_ = RVO2D::Vector2(p_velocity.x, p_velocity.z);
|
|
}
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::update() {
|
|
// Updates this agent with the calculated results from the rvo simulation
|
|
if (avoidance_enabled) {
|
|
if (use_3d_avoidance) {
|
|
velocity = Vector3(rvo_agent_3d.velocity_.x(), rvo_agent_3d.velocity_.y(), rvo_agent_3d.velocity_.z());
|
|
} else {
|
|
velocity = Vector3(rvo_agent_2d.velocity_.x(), 0.0, rvo_agent_2d.velocity_.y());
|
|
}
|
|
}
|
|
}
|
|
|
|
void NavAgent::set_avoidance_mask(uint32_t p_mask) {
|
|
avoidance_mask = p_mask;
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.avoidance_mask_ = avoidance_mask;
|
|
} else {
|
|
rvo_agent_2d.avoidance_mask_ = avoidance_mask;
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_avoidance_layers(uint32_t p_layers) {
|
|
avoidance_layers = p_layers;
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.avoidance_layers_ = avoidance_layers;
|
|
} else {
|
|
rvo_agent_2d.avoidance_layers_ = avoidance_layers;
|
|
}
|
|
agent_dirty = true;
|
|
}
|
|
|
|
void NavAgent::set_avoidance_priority(real_t p_priority) {
|
|
ERR_FAIL_COND_MSG(p_priority < 0.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
|
|
ERR_FAIL_COND_MSG(p_priority > 1.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
|
|
avoidance_priority = p_priority;
|
|
if (use_3d_avoidance) {
|
|
rvo_agent_3d.avoidance_priority_ = avoidance_priority;
|
|
} else {
|
|
rvo_agent_2d.avoidance_priority_ = avoidance_priority;
|
|
}
|
|
agent_dirty = true;
|
|
};
|
|
|
|
bool NavAgent::check_dirty() {
|
|
const bool was_dirty = agent_dirty;
|
|
agent_dirty = false;
|
|
return was_dirty;
|
|
}
|
|
|
|
const Dictionary NavAgent::get_avoidance_data() const {
|
|
// Returns debug data from RVO simulation internals of this agent.
|
|
Dictionary _avoidance_data;
|
|
if (use_3d_avoidance) {
|
|
_avoidance_data["max_neighbors"] = int(rvo_agent_3d.maxNeighbors_);
|
|
_avoidance_data["max_speed"] = float(rvo_agent_3d.maxSpeed_);
|
|
_avoidance_data["neighbor_distance"] = float(rvo_agent_3d.neighborDist_);
|
|
_avoidance_data["new_velocity"] = Vector3(rvo_agent_3d.newVelocity_.x(), rvo_agent_3d.newVelocity_.y(), rvo_agent_3d.newVelocity_.z());
|
|
_avoidance_data["velocity"] = Vector3(rvo_agent_3d.velocity_.x(), rvo_agent_3d.velocity_.y(), rvo_agent_3d.velocity_.z());
|
|
_avoidance_data["position"] = Vector3(rvo_agent_3d.position_.x(), rvo_agent_3d.position_.y(), rvo_agent_3d.position_.z());
|
|
_avoidance_data["preferred_velocity"] = Vector3(rvo_agent_3d.prefVelocity_.x(), rvo_agent_3d.prefVelocity_.y(), rvo_agent_3d.prefVelocity_.z());
|
|
_avoidance_data["radius"] = float(rvo_agent_3d.radius_);
|
|
_avoidance_data["time_horizon_agents"] = float(rvo_agent_3d.timeHorizon_);
|
|
_avoidance_data["time_horizon_obstacles"] = 0.0;
|
|
_avoidance_data["height"] = float(rvo_agent_3d.height_);
|
|
_avoidance_data["avoidance_layers"] = int(rvo_agent_3d.avoidance_layers_);
|
|
_avoidance_data["avoidance_mask"] = int(rvo_agent_3d.avoidance_mask_);
|
|
_avoidance_data["avoidance_priority"] = float(rvo_agent_3d.avoidance_priority_);
|
|
} else {
|
|
_avoidance_data["max_neighbors"] = int(rvo_agent_2d.maxNeighbors_);
|
|
_avoidance_data["max_speed"] = float(rvo_agent_2d.maxSpeed_);
|
|
_avoidance_data["neighbor_distance"] = float(rvo_agent_2d.neighborDist_);
|
|
_avoidance_data["new_velocity"] = Vector3(rvo_agent_2d.newVelocity_.x(), 0.0, rvo_agent_2d.newVelocity_.y());
|
|
_avoidance_data["velocity"] = Vector3(rvo_agent_2d.velocity_.x(), 0.0, rvo_agent_2d.velocity_.y());
|
|
_avoidance_data["position"] = Vector3(rvo_agent_2d.position_.x(), 0.0, rvo_agent_2d.position_.y());
|
|
_avoidance_data["preferred_velocity"] = Vector3(rvo_agent_2d.prefVelocity_.x(), 0.0, rvo_agent_2d.prefVelocity_.y());
|
|
_avoidance_data["radius"] = float(rvo_agent_2d.radius_);
|
|
_avoidance_data["time_horizon_agents"] = float(rvo_agent_2d.timeHorizon_);
|
|
_avoidance_data["time_horizon_obstacles"] = float(rvo_agent_2d.timeHorizonObst_);
|
|
_avoidance_data["height"] = float(rvo_agent_2d.height_);
|
|
_avoidance_data["avoidance_layers"] = int(rvo_agent_2d.avoidance_layers_);
|
|
_avoidance_data["avoidance_mask"] = int(rvo_agent_2d.avoidance_mask_);
|
|
_avoidance_data["avoidance_priority"] = float(rvo_agent_2d.avoidance_priority_);
|
|
}
|
|
return _avoidance_data;
|
|
}
|
|
|
|
void NavAgent::set_paused(bool p_paused) {
|
|
if (paused == p_paused) {
|
|
return;
|
|
}
|
|
|
|
paused = p_paused;
|
|
|
|
if (map) {
|
|
if (paused) {
|
|
map->remove_agent_as_controlled(this);
|
|
} else {
|
|
map->set_agent_as_controlled(this);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool NavAgent::get_paused() const {
|
|
return paused;
|
|
}
|