336 lines
14 KiB
C++
336 lines
14 KiB
C++
/**************************************************************************/
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/* navigation_server_2d.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 NAVIGATION_SERVER_2D_H
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#define NAVIGATION_SERVER_2D_H
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#include "core/object/class_db.h"
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#include "core/templates/rid.h"
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#include "scene/resources/navigation_polygon.h"
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#include "servers/navigation/navigation_path_query_parameters_2d.h"
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#include "servers/navigation/navigation_path_query_result_2d.h"
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// This server exposes the `NavigationServer3D` features in the 2D world.
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class NavigationServer2D : public Object {
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GDCLASS(NavigationServer2D, Object);
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static NavigationServer2D *singleton;
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void _emit_map_changed(RID p_map);
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protected:
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static void _bind_methods();
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public:
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/// Thread safe, can be used across many threads.
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static NavigationServer2D *get_singleton() { return singleton; }
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virtual TypedArray<RID> get_maps() const;
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/// Create a new map.
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virtual RID map_create();
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/// Set map active.
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virtual void map_set_active(RID p_map, bool p_active);
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/// Returns true if the map is active.
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virtual bool map_is_active(RID p_map) const;
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/// Set the map cell size used to weld the navigation mesh polygons.
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virtual void map_set_cell_size(RID p_map, real_t p_cell_size);
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/// Returns the map cell size.
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virtual real_t map_get_cell_size(RID p_map) const;
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/// Set the map edge connection margin used to weld the compatible region edges.
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virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin);
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/// Returns the edge connection margin of this map.
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virtual real_t map_get_edge_connection_margin(RID p_map) const;
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/// Set the map link connection radius used to attach links to the nav mesh.
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virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius);
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/// Returns the link connection radius of this map.
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virtual real_t map_get_link_connection_radius(RID p_map) const;
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/// Returns the navigation path to reach the destination from the origin.
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virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const;
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virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const;
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virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const;
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virtual TypedArray<RID> map_get_links(RID p_map) const;
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virtual TypedArray<RID> map_get_regions(RID p_map) const;
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virtual TypedArray<RID> map_get_agents(RID p_map) const;
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virtual TypedArray<RID> map_get_obstacles(RID p_map) const;
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virtual void map_force_update(RID p_map);
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/// Creates a new region.
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virtual RID region_create();
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/// Set the enter_cost of a region
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virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost);
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virtual real_t region_get_enter_cost(RID p_region) const;
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/// Set the travel_cost of a region
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virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost);
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virtual real_t region_get_travel_cost(RID p_region) const;
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/// Set the node which manages this region.
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virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id);
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virtual ObjectID region_get_owner_id(RID p_region) const;
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virtual bool region_owns_point(RID p_region, const Vector2 &p_point) const;
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/// Set the map of this region.
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virtual void region_set_map(RID p_region, RID p_map);
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virtual RID region_get_map(RID p_region) const;
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/// Set the region's layers
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virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers);
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virtual uint32_t region_get_navigation_layers(RID p_region) const;
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/// Set the global transformation of this region.
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virtual void region_set_transform(RID p_region, Transform2D p_transform);
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/// Set the navigation poly of this region.
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virtual void region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon);
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/// Get a list of a region's connection to other regions.
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virtual int region_get_connections_count(RID p_region) const;
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virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const;
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virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const;
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/// Creates a new link between positions in the nav map.
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virtual RID link_create();
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/// Set the map of this link.
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virtual void link_set_map(RID p_link, RID p_map);
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virtual RID link_get_map(RID p_link) const;
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/// Set whether this link travels in both directions.
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virtual void link_set_bidirectional(RID p_link, bool p_bidirectional);
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virtual bool link_is_bidirectional(RID p_link) const;
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/// Set the link's layers.
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virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers);
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virtual uint32_t link_get_navigation_layers(RID p_link) const;
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/// Set the start position of the link.
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virtual void link_set_start_position(RID p_link, Vector2 p_position);
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virtual Vector2 link_get_start_position(RID p_link) const;
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/// Set the end position of the link.
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virtual void link_set_end_position(RID p_link, Vector2 p_position);
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virtual Vector2 link_get_end_position(RID p_link) const;
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/// Set the enter cost of the link.
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virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost);
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virtual real_t link_get_enter_cost(RID p_link) const;
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/// Set the travel cost of the link.
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virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost);
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virtual real_t link_get_travel_cost(RID p_link) const;
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/// Set the node which manages this link.
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virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id);
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virtual ObjectID link_get_owner_id(RID p_link) const;
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/// Creates the agent.
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virtual RID agent_create();
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/// Put the agent in the map.
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virtual void agent_set_map(RID p_agent, RID p_map);
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virtual RID agent_get_map(RID p_agent) const;
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virtual void agent_set_avoidance_enabled(RID p_agent, bool p_enabled);
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virtual bool agent_get_avoidance_enabled(RID p_agent) const;
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/// The maximum distance (center point to
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/// center point) to other agents this agent
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/// takes into account in the navigation. The
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/// larger this number, the longer the running
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/// time of the simulation. If the number is too
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/// low, the simulation will not be safe.
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/// Must be non-negative.
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virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance);
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/// The maximum number of other agents this
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/// agent takes into account in the navigation.
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/// The larger this number, the longer the
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/// running time of the simulation. If the
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/// number is too low, the simulation will not
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/// be safe.
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virtual void agent_set_max_neighbors(RID p_agent, int p_count);
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/// The minimal amount of time for which this
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/// agent's velocities that are computed by the
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/// simulation are safe with respect to other
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/// agents. The larger this number, the sooner
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/// this agent will respond to the presence of
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/// other agents, but the less freedom this
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/// agent has in choosing its velocities.
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/// Must be positive.
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virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon);
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virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon);
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/// The radius of this agent.
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/// Must be non-negative.
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virtual void agent_set_radius(RID p_agent, real_t p_radius);
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/// The maximum speed of this agent.
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/// Must be non-negative.
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virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed);
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/// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly
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virtual void agent_set_velocity_forced(RID p_agent, Vector2 p_velocity);
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/// The wanted velocity for the agent as a "suggestion" to the avoidance simulation.
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/// The simulation will try to fulfil this velocity wish if possible but may change the velocity depending on other agent's and obstacles'.
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virtual void agent_set_velocity(RID p_agent, Vector2 p_velocity);
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/// Position of the agent in world space.
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virtual void agent_set_position(RID p_agent, Vector2 p_position);
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/// Returns true if the map got changed the previous frame.
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virtual bool agent_is_map_changed(RID p_agent) const;
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/// Callback called at the end of the RVO process
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virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback);
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virtual void agent_set_avoidance_layers(RID p_agent, uint32_t p_layers);
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virtual void agent_set_avoidance_mask(RID p_agent, uint32_t p_mask);
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virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority);
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/// Creates the obstacle.
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virtual RID obstacle_create();
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virtual void obstacle_set_map(RID p_obstacle, RID p_map);
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virtual RID obstacle_get_map(RID p_obstacle) const;
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virtual void obstacle_set_position(RID p_obstacle, Vector2 p_position);
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virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector2> &p_vertices);
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virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers);
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/// Returns a customized navigation path using a query parameters object
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virtual void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const;
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/// Destroy the `RID`
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virtual void free(RID p_object);
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NavigationServer2D();
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virtual ~NavigationServer2D();
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void set_debug_enabled(bool p_enabled);
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bool get_debug_enabled() const;
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#ifdef DEBUG_ENABLED
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void set_debug_navigation_enabled(bool p_enabled);
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bool get_debug_navigation_enabled() const;
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void set_debug_avoidance_enabled(bool p_enabled);
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bool get_debug_avoidance_enabled() const;
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void set_debug_navigation_edge_connection_color(const Color &p_color);
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Color get_debug_navigation_edge_connection_color() const;
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void set_debug_navigation_geometry_face_color(const Color &p_color);
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Color get_debug_navigation_geometry_face_color() const;
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void set_debug_navigation_geometry_face_disabled_color(const Color &p_color);
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Color get_debug_navigation_geometry_face_disabled_color() const;
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void set_debug_navigation_geometry_edge_color(const Color &p_color);
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Color get_debug_navigation_geometry_edge_color() const;
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void set_debug_navigation_geometry_edge_disabled_color(const Color &p_color);
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Color get_debug_navigation_geometry_edge_disabled_color() const;
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void set_debug_navigation_link_connection_color(const Color &p_color);
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Color get_debug_navigation_link_connection_color() const;
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void set_debug_navigation_link_connection_disabled_color(const Color &p_color);
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Color get_debug_navigation_link_connection_disabled_color() const;
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void set_debug_navigation_enable_edge_connections(const bool p_value);
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bool get_debug_navigation_enable_edge_connections() const;
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void set_debug_navigation_enable_geometry_face_random_color(const bool p_value);
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bool get_debug_navigation_enable_geometry_face_random_color() const;
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void set_debug_navigation_enable_edge_lines(const bool p_value);
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bool get_debug_navigation_enable_edge_lines() const;
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void set_debug_navigation_agent_path_color(const Color &p_color);
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Color get_debug_navigation_agent_path_color() const;
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void set_debug_navigation_enable_agent_paths(const bool p_value);
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bool get_debug_navigation_enable_agent_paths() const;
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void set_debug_navigation_agent_path_point_size(real_t p_point_size);
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real_t get_debug_navigation_agent_path_point_size() const;
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void set_debug_navigation_avoidance_enable_agents_radius(const bool p_value);
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bool get_debug_navigation_avoidance_enable_agents_radius() const;
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void set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value);
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bool get_debug_navigation_avoidance_enable_obstacles_radius() const;
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void set_debug_navigation_avoidance_agents_radius_color(const Color &p_color);
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Color get_debug_navigation_avoidance_agents_radius_color() const;
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void set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color);
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Color get_debug_navigation_avoidance_obstacles_radius_color() const;
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void set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color);
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Color get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const;
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void set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color);
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Color get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const;
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void set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color);
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Color get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const;
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void set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color);
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Color get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const;
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void set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value);
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bool get_debug_navigation_avoidance_enable_obstacles_static() const;
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#endif // DEBUG_ENABLED
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#ifdef DEBUG_ENABLED
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private:
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void _emit_navigation_debug_changed_signal();
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#endif // DEBUG_ENABLED
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};
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#endif // NAVIGATION_SERVER_2D_H
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