263 lines
11 KiB
C++
263 lines
11 KiB
C++
/**************************************************************************/
|
|
/* navigation_obstacle_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_obstacle_3d.h"
|
|
|
|
#include "scene/3d/collision_shape_3d.h"
|
|
#include "scene/3d/physics_body_3d.h"
|
|
#include "servers/navigation_server_3d.h"
|
|
|
|
void NavigationObstacle3D::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("get_rid"), &NavigationObstacle3D::get_rid);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationObstacle3D::set_navigation_map);
|
|
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationObstacle3D::get_navigation_map);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle3D::set_estimate_radius);
|
|
ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle3D::is_radius_estimated);
|
|
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle3D::set_radius);
|
|
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle3D::get_radius);
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_radius", "get_radius");
|
|
}
|
|
|
|
void NavigationObstacle3D::_validate_property(PropertyInfo &p_property) const {
|
|
if (p_property.name == "radius") {
|
|
if (estimate_radius) {
|
|
p_property.usage = PROPERTY_USAGE_NO_EDITOR;
|
|
}
|
|
}
|
|
}
|
|
|
|
void NavigationObstacle3D::_notification(int p_what) {
|
|
switch (p_what) {
|
|
case NOTIFICATION_POST_ENTER_TREE: {
|
|
set_agent_parent(get_parent());
|
|
set_physics_process_internal(true);
|
|
if (parent_node3d && parent_node3d->is_inside_tree()) {
|
|
NavigationServer3D::get_singleton()->agent_set_position(agent, parent_node3d->get_global_position());
|
|
}
|
|
} break;
|
|
|
|
case NOTIFICATION_EXIT_TREE: {
|
|
set_agent_parent(nullptr);
|
|
set_physics_process_internal(false);
|
|
} break;
|
|
|
|
case NOTIFICATION_PARENTED: {
|
|
if (is_inside_tree() && (get_parent() != parent_node3d)) {
|
|
set_agent_parent(get_parent());
|
|
set_physics_process_internal(true);
|
|
}
|
|
} break;
|
|
|
|
case NOTIFICATION_UNPARENTED: {
|
|
set_agent_parent(nullptr);
|
|
set_physics_process_internal(false);
|
|
} break;
|
|
|
|
case NOTIFICATION_PAUSED: {
|
|
if (parent_node3d && !parent_node3d->can_process()) {
|
|
map_before_pause = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
|
|
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
|
|
} else if (parent_node3d && parent_node3d->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 (parent_node3d && !parent_node3d->can_process()) {
|
|
map_before_pause = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
|
|
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
|
|
} else if (parent_node3d && parent_node3d->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 (parent_node3d && parent_node3d->is_inside_tree()) {
|
|
NavigationServer3D::get_singleton()->agent_set_position(agent, parent_node3d->get_global_transform().origin);
|
|
|
|
PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent());
|
|
if (rigid) {
|
|
Vector3 v = rigid->get_linear_velocity();
|
|
NavigationServer3D::get_singleton()->agent_set_velocity(agent, v);
|
|
NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, v);
|
|
}
|
|
}
|
|
} break;
|
|
}
|
|
}
|
|
|
|
NavigationObstacle3D::NavigationObstacle3D() {
|
|
agent = NavigationServer3D::get_singleton()->agent_create();
|
|
initialize_agent();
|
|
}
|
|
|
|
NavigationObstacle3D::~NavigationObstacle3D() {
|
|
ERR_FAIL_NULL(NavigationServer3D::get_singleton());
|
|
NavigationServer3D::get_singleton()->free(agent);
|
|
agent = RID(); // Pointless
|
|
}
|
|
|
|
PackedStringArray NavigationObstacle3D::get_configuration_warnings() const {
|
|
PackedStringArray warnings = Node::get_configuration_warnings();
|
|
|
|
if (!Object::cast_to<Node3D>(get_parent())) {
|
|
warnings.push_back(RTR("The NavigationObstacle3D only serves to provide collision avoidance to a Node3D inheriting parent object."));
|
|
}
|
|
|
|
if (Object::cast_to<StaticBody3D>(get_parent())) {
|
|
warnings.push_back(RTR("The NavigationObstacle3D is intended for constantly moving bodies like CharacterBody3D or RigidBody3D as it creates only an RVO avoidance radius and does not follow scene geometry exactly."
|
|
"\nNot constantly moving or complete static objects should be (re)baked to a NavigationMesh so agents can not only avoid them but also move along those objects outline at high detail"));
|
|
}
|
|
|
|
return warnings;
|
|
}
|
|
|
|
void NavigationObstacle3D::initialize_agent() {
|
|
NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, 0.0);
|
|
NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
|
|
NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
|
|
NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
|
|
}
|
|
|
|
void NavigationObstacle3D::reevaluate_agent_radius() {
|
|
if (!estimate_radius) {
|
|
NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
|
|
} else if (parent_node3d && parent_node3d->is_inside_tree()) {
|
|
NavigationServer3D::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
|
|
}
|
|
}
|
|
|
|
real_t NavigationObstacle3D::estimate_agent_radius() const {
|
|
if (parent_node3d && parent_node3d->is_inside_tree()) {
|
|
// Estimate the radius of this physics body
|
|
real_t max_radius = 0.0;
|
|
for (int i(0); i < parent_node3d->get_child_count(); i++) {
|
|
// For each collision shape
|
|
CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(parent_node3d->get_child(i));
|
|
if (cs && cs->is_inside_tree()) {
|
|
// Take the distance between the Body center to the shape center
|
|
real_t r = cs->get_transform().origin.length();
|
|
if (cs->get_shape().is_valid()) {
|
|
// and add the enclosing shape radius
|
|
r += cs->get_shape()->get_enclosing_radius();
|
|
}
|
|
Vector3 s = cs->get_global_transform().basis.get_scale();
|
|
r *= MAX(s.x, MAX(s.y, s.z));
|
|
// Takes the biggest radius
|
|
max_radius = MAX(max_radius, r);
|
|
} else if (cs && !cs->is_inside_tree()) {
|
|
WARN_PRINT("A CollisionShape3D of the NavigationObstacle3D parent node was not inside the SceneTree when estimating the obstacle radius."
|
|
"\nMove the NavigationObstacle3D to a child position below any CollisionShape3D node of the parent node so the CollisionShape3D is already inside the SceneTree.");
|
|
}
|
|
}
|
|
|
|
Vector3 s = parent_node3d->get_global_transform().basis.get_scale();
|
|
max_radius *= MAX(s.x, MAX(s.y, s.z));
|
|
|
|
if (max_radius > 0.0) {
|
|
return max_radius;
|
|
}
|
|
}
|
|
return 1.0; // Never a 0 radius
|
|
}
|
|
|
|
void NavigationObstacle3D::set_agent_parent(Node *p_agent_parent) {
|
|
if (parent_node3d == p_agent_parent) {
|
|
return;
|
|
}
|
|
|
|
if (Object::cast_to<Node3D>(p_agent_parent) != nullptr) {
|
|
parent_node3d = 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(), parent_node3d->get_world_3d()->get_navigation_map());
|
|
}
|
|
// Need to register Callback as obstacle requires a valid Callback to be added to avoidance simulation.
|
|
NavigationServer3D::get_singleton()->agent_set_callback(get_rid(), callable_mp(this, &NavigationObstacle3D::_avoidance_done));
|
|
reevaluate_agent_radius();
|
|
} else {
|
|
parent_node3d = nullptr;
|
|
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
|
|
NavigationServer3D::get_singleton()->agent_set_callback(agent, Callable());
|
|
}
|
|
}
|
|
|
|
void NavigationObstacle3D::_avoidance_done(Vector3 p_new_velocity) {
|
|
// Dummy function as obstacle requires a valid Callback to be added to avoidance simulation.
|
|
}
|
|
|
|
void NavigationObstacle3D::set_navigation_map(RID p_navigation_map) {
|
|
if (map_override == p_navigation_map) {
|
|
return;
|
|
}
|
|
|
|
map_override = p_navigation_map;
|
|
|
|
NavigationServer3D::get_singleton()->agent_set_map(agent, map_override);
|
|
}
|
|
|
|
RID NavigationObstacle3D::get_navigation_map() const {
|
|
if (map_override.is_valid()) {
|
|
return map_override;
|
|
} else if (parent_node3d != nullptr) {
|
|
return parent_node3d->get_world_3d()->get_navigation_map();
|
|
}
|
|
return RID();
|
|
}
|
|
|
|
void NavigationObstacle3D::set_estimate_radius(bool p_estimate_radius) {
|
|
if (estimate_radius == p_estimate_radius) {
|
|
return;
|
|
}
|
|
|
|
estimate_radius = p_estimate_radius;
|
|
|
|
notify_property_list_changed();
|
|
reevaluate_agent_radius();
|
|
}
|
|
|
|
void NavigationObstacle3D::set_radius(real_t p_radius) {
|
|
ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
|
|
if (Math::is_equal_approx(radius, p_radius)) {
|
|
return;
|
|
}
|
|
|
|
radius = p_radius;
|
|
|
|
reevaluate_agent_radius();
|
|
}
|