157 lines
5.6 KiB
C++
157 lines
5.6 KiB
C++
/**************************************************************************/
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/* nav_agent.h */
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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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#ifndef NAV_AGENT_H
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#define NAV_AGENT_H
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#include "nav_rid.h"
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#include "core/object/class_db.h"
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#include "core/templates/local_vector.h"
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#include <Agent2d.h>
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#include <Agent3d.h>
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class NavMap;
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class NavAgent : public NavRid {
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Vector3 position;
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Vector3 target_position;
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Vector3 velocity;
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Vector3 velocity_forced;
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real_t height = 1.0;
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real_t radius = 1.0;
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real_t max_speed = 1.0;
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real_t time_horizon_agents = 1.0;
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real_t time_horizon_obstacles = 0.0;
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int max_neighbors = 5;
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real_t neighbor_distance = 5.0;
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Vector3 safe_velocity;
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bool clamp_speed = true; // Experimental, clamps velocity to max_speed.
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NavMap *map = nullptr;
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RVO2D::Agent2D rvo_agent_2d;
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RVO3D::Agent3D rvo_agent_3d;
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bool use_3d_avoidance = false;
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bool avoidance_enabled = false;
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uint32_t avoidance_layers = 1;
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uint32_t avoidance_mask = 1;
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real_t avoidance_priority = 1.0;
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Callable avoidance_callback = Callable();
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bool agent_dirty = true;
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uint32_t last_map_iteration_id = 0;
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bool paused = false;
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public:
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NavAgent();
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void set_avoidance_enabled(bool p_enabled);
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bool is_avoidance_enabled() { return avoidance_enabled; }
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void set_use_3d_avoidance(bool p_enabled);
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bool get_use_3d_avoidance() { return use_3d_avoidance; }
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void set_map(NavMap *p_map);
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NavMap *get_map() { return map; }
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bool is_map_changed();
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RVO2D::Agent2D *get_rvo_agent_2d() { return &rvo_agent_2d; }
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RVO3D::Agent3D *get_rvo_agent_3d() { return &rvo_agent_3d; }
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void set_avoidance_callback(Callable p_callback);
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bool has_avoidance_callback() const;
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void dispatch_avoidance_callback();
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void set_neighbor_distance(real_t p_neighbor_distance);
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real_t get_neighbor_distance() const { return neighbor_distance; }
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void set_max_neighbors(int p_max_neighbors);
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int get_max_neighbors() const { return max_neighbors; }
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void set_time_horizon_agents(real_t p_time_horizon);
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real_t get_time_horizon_agents() const { return time_horizon_agents; }
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void set_time_horizon_obstacles(real_t p_time_horizon);
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real_t get_time_horizon_obstacles() const { return time_horizon_obstacles; }
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void set_radius(real_t p_radius);
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real_t get_radius() const { return radius; }
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void set_height(real_t p_height);
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real_t get_height() const { return height; }
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void set_max_speed(real_t p_max_speed);
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real_t get_max_speed() const { return max_speed; }
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void set_position(const Vector3 p_position);
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const Vector3 &get_position() const { return position; }
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void set_target_position(const Vector3 p_target_position);
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const Vector3 &get_target_position() const { return target_position; }
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void set_velocity(const Vector3 p_velocity);
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const Vector3 &get_velocity() const { return velocity; }
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void set_velocity_forced(const Vector3 p_velocity);
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const Vector3 &get_velocity_forced() const { return velocity_forced; }
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void set_avoidance_layers(uint32_t p_layers);
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uint32_t get_avoidance_layers() const { return avoidance_layers; };
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void set_avoidance_mask(uint32_t p_mask);
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uint32_t get_avoidance_mask() const { return avoidance_mask; };
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void set_avoidance_priority(real_t p_priority);
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real_t get_avoidance_priority() const { return avoidance_priority; };
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void set_paused(bool p_paused);
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bool get_paused() const;
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bool check_dirty();
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// Updates this agent with rvo data after the rvo simulation avoidance step.
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void update();
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// RVO debug data from the last frame update.
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const Dictionary get_avoidance_data() const;
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private:
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void _update_rvo_agent_properties();
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};
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#endif // NAV_AGENT_H
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