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godot/scene/3d/navigation_agent.cpp

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/**************************************************************************/
/* navigation_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 "navigation_agent.h"
#include "core/engine.h"
#include "scene/3d/navigation.h"
#include "servers/navigation_server.h"
void NavigationAgent::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent::get_rid);
ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent::set_avoidance_enabled);
ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent::get_avoidance_enabled);
ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent::set_path_desired_distance);
ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent::get_path_desired_distance);
ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent::set_target_desired_distance);
ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent::get_target_desired_distance);
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent::get_radius);
ClassDB::bind_method(D_METHOD("set_agent_height_offset", "agent_height_offset"), &NavigationAgent::set_agent_height_offset);
ClassDB::bind_method(D_METHOD("get_agent_height_offset"), &NavigationAgent::get_agent_height_offset);
ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent::set_ignore_y);
ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent::get_ignore_y);
ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent::set_navigation_node);
ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent::get_navigation_node);
ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent::set_neighbor_dist);
ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent::get_neighbor_dist);
ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent::set_max_neighbors);
ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent::get_max_neighbors);
ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent::set_time_horizon);
ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent::get_time_horizon);
ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent::set_max_speed);
ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent::get_max_speed);
ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent::set_path_max_distance);
ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent::get_path_max_distance);
ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent::set_navigation_layers);
ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent::get_navigation_layers);
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent::set_navigation_map);
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent::get_navigation_map);
ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent::set_target_location);
ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent::get_target_location);
ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent::get_next_location);
ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent::distance_to_target);
ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent::set_velocity);
ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent::get_nav_path);
ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent::get_nav_path_index);
ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent::is_target_reached);
ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent::is_target_reachable);
ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent::is_navigation_finished);
ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent::get_final_location);
ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent::_avoidance_done);
ADD_GROUP("Pathfinding", "");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_location", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_target_location", "get_target_location");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_path_desired_distance", "get_path_desired_distance");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_target_desired_distance", "get_target_desired_distance");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01"), "set_agent_height_offset", "get_agent_height_offset");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1"), "set_path_max_distance", "get_path_max_distance");
ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_radius", "get_radius");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_neighbor_dist", "get_neighbor_dist");
ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1"), "set_max_neighbors", "get_max_neighbors");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "time_horizon", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_time_horizon", "get_time_horizon");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_max_speed", "get_max_speed");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "ignore_y"), "set_ignore_y", "get_ignore_y");
ADD_SIGNAL(MethodInfo("path_changed"));
ADD_SIGNAL(MethodInfo("target_reached"));
ADD_SIGNAL(MethodInfo("navigation_finished"));
ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));
}
void NavigationAgent::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_POST_ENTER_TREE: {
// Search the navigation node and set it
{
Navigation *nav = nullptr;
Node *p = get_parent();
while (p != nullptr) {
nav = Object::cast_to<Navigation>(p);
if (nav != nullptr) {
p = nullptr;
} else {
p = p->get_parent();
}
}
set_navigation(nav);
}
// need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready.
// cannot use READY as ready does not get called if Node is readded to SceneTree
set_agent_parent(get_parent());
set_physics_process_internal(true);
} break;
case NOTIFICATION_PARENTED: {
if (is_inside_tree() && (get_parent() != agent_parent)) {
// only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around
// PARENTED notification fires also when Node is added in scripts to a parent
// this would spam transforms fails and world fails while Node is outside SceneTree
// when node gets reparented when joining the tree POST_ENTER_TREE takes care of this
set_agent_parent(get_parent());
set_physics_process_internal(true);
}
} break;
case NOTIFICATION_UNPARENTED: {
// if agent has no parent no point in processing it until reparented
set_agent_parent(nullptr);
set_physics_process_internal(false);
} break;
case NOTIFICATION_EXIT_TREE: {
set_agent_parent(nullptr);
set_navigation(nullptr);
set_physics_process_internal(false);
} break;
case NOTIFICATION_PAUSED: {
if (agent_parent && !agent_parent->can_process()) {
map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid());
NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
NavigationServer::get_singleton()->agent_set_map(get_rid(), map_before_pause);
map_before_pause = RID();
}
} break;
case NOTIFICATION_UNPAUSED: {
if (agent_parent && !agent_parent->can_process()) {
map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid());
NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
NavigationServer::get_singleton()->agent_set_map(get_rid(), map_before_pause);
map_before_pause = RID();
}
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (agent_parent) {
if (avoidance_enabled) {
// agent_position on NavigationServer is avoidance only and has nothing to do with pathfinding
// no point in flooding NavigationServer queue with agent position updates that get send to the void if avoidance is not used
NavigationServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
}
_check_distance_to_target();
}
} break;
}
}
NavigationAgent::NavigationAgent() {
agent = NavigationServer::get_singleton()->agent_create();
set_neighbor_dist(50.0);
set_max_neighbors(10);
set_time_horizon(5.0);
set_radius(1.0);
set_max_speed(10.0);
set_ignore_y(true);
}
NavigationAgent::~NavigationAgent() {
NavigationServer::get_singleton()->free(agent);
agent = RID(); // Pointless
}
void NavigationAgent::set_avoidance_enabled(bool p_enabled) {
avoidance_enabled = p_enabled;
if (avoidance_enabled) {
NavigationServer::get_singleton()->agent_set_callback(agent, get_instance_id(), "_avoidance_done");
} else {
NavigationServer::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done");
}
}
bool NavigationAgent::get_avoidance_enabled() const {
return avoidance_enabled;
}
void NavigationAgent::set_navigation(Navigation *p_nav) {
if (navigation == p_nav) {
return; // Pointless
}
navigation = p_nav;
NavigationServer::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
}
void NavigationAgent::set_navigation_node(Node *p_nav) {
Navigation *nav = Object::cast_to<Navigation>(p_nav);
ERR_FAIL_NULL(nav);
set_navigation(nav);
}
Node *NavigationAgent::get_navigation_node() const {
return Object::cast_to<Node>(navigation);
}
void NavigationAgent::set_agent_parent(Node *p_agent_parent) {
// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
NavigationServer::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done");
if (Object::cast_to<Spatial>(p_agent_parent) != nullptr) {
// place agent on navigation map first or else the RVO agent callback creation fails silently later
agent_parent = Object::cast_to<Spatial>(p_agent_parent);
if (map_override.is_valid()) {
NavigationServer::get_singleton()->agent_set_map(get_rid(), map_override);
} else if (navigation != nullptr) {
NavigationServer::get_singleton()->agent_set_map(get_rid(), navigation->get_rid());
} else {
// no navigation node found in parent nodes, use default navigation map from world resource
NavigationServer::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world()->get_navigation_map());
}
// create new avoidance callback if enabled
set_avoidance_enabled(avoidance_enabled);
} else {
agent_parent = nullptr;
NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
}
}
void NavigationAgent::set_navigation_layers(uint32_t p_layers) {
bool _navigation_layers_changed = navigation_layers != p_layers;
navigation_layers = p_layers;
if (_navigation_layers_changed) {
_request_repath();
}
}
uint32_t NavigationAgent::get_navigation_layers() const {
return navigation_layers;
}
void NavigationAgent::set_navigation_map(RID p_navigation_map) {
map_override = p_navigation_map;
NavigationServer::get_singleton()->agent_set_map(agent, map_override);
_request_repath();
}
RID NavigationAgent::get_navigation_map() const {
if (map_override.is_valid()) {
return map_override;
} else if (agent_parent != nullptr) {
return agent_parent->get_world()->get_navigation_map();
}
return RID();
}
void NavigationAgent::set_path_desired_distance(real_t p_dd) {
path_desired_distance = p_dd;
}
void NavigationAgent::set_target_desired_distance(real_t p_dd) {
target_desired_distance = p_dd;
}
void NavigationAgent::set_radius(real_t p_radius) {
radius = p_radius;
NavigationServer::get_singleton()->agent_set_radius(agent, radius);
}
void NavigationAgent::set_agent_height_offset(real_t p_hh) {
navigation_height_offset = p_hh;
}
void NavigationAgent::set_ignore_y(bool p_ignore_y) {
ignore_y = p_ignore_y;
NavigationServer::get_singleton()->agent_set_ignore_y(agent, ignore_y);
}
void NavigationAgent::set_neighbor_dist(real_t p_dist) {
neighbor_dist = p_dist;
NavigationServer::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist);
}
void NavigationAgent::set_max_neighbors(int p_count) {
max_neighbors = p_count;
NavigationServer::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
}
void NavigationAgent::set_time_horizon(real_t p_time) {
time_horizon = p_time;
NavigationServer::get_singleton()->agent_set_time_horizon(agent, time_horizon);
}
void NavigationAgent::set_max_speed(real_t p_max_speed) {
max_speed = p_max_speed;
NavigationServer::get_singleton()->agent_set_max_speed(agent, max_speed);
}
void NavigationAgent::set_path_max_distance(real_t p_pmd) {
path_max_distance = p_pmd;
}
real_t NavigationAgent::get_path_max_distance() {
return path_max_distance;
}
void NavigationAgent::set_target_location(Vector3 p_location) {
target_location = p_location;
_request_repath();
}
Vector3 NavigationAgent::get_target_location() const {
return target_location;
}
Vector3 NavigationAgent::get_next_location() {
update_navigation();
if (navigation_path.size() == 0) {
ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent.");
return agent_parent->get_global_transform().origin;
} else {
return navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0);
}
}
real_t NavigationAgent::distance_to_target() const {
ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent.");
return agent_parent->get_global_transform().origin.distance_to(target_location);
}
bool NavigationAgent::is_target_reached() const {
return target_reached;
}
bool NavigationAgent::is_target_reachable() {
return target_desired_distance >= get_final_location().distance_to(target_location);
}
bool NavigationAgent::is_navigation_finished() {
update_navigation();
return navigation_finished;
}
Vector3 NavigationAgent::get_final_location() {
update_navigation();
if (navigation_path.size() == 0) {
return Vector3();
}
return navigation_path[navigation_path.size() - 1];
}
void NavigationAgent::set_velocity(Vector3 p_velocity) {
target_velocity = p_velocity;
NavigationServer::get_singleton()->agent_set_target_velocity(agent, target_velocity);
NavigationServer::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
velocity_submitted = true;
}
void NavigationAgent::_avoidance_done(Vector3 p_new_velocity) {
prev_safe_velocity = p_new_velocity;
if (!velocity_submitted) {
target_velocity = Vector3();
return;
}
velocity_submitted = false;
emit_signal("velocity_computed", p_new_velocity);
}
String NavigationAgent::get_configuration_warning() const {
if (!Object::cast_to<Spatial>(get_parent())) {
return TTR("The NavigationAgent can be used only under a Spatial inheriting parent node.");
}
return String();
}
void NavigationAgent::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 o = agent_parent->get_global_transform().origin;
bool reload_path = false;
if (NavigationServer::get_singleton()->agent_is_map_changed(agent)) {
reload_path = true;
} else if (navigation_path.size() == 0) {
reload_path = true;
} else {
// Check if too far from the navigation path
if (nav_path_index > 0) {
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 = Geometry::get_closest_point_to_segment(o, segment);
if (o.distance_to(p) >= path_max_distance) {
// To faraway, reload path
reload_path = true;
}
}
}
if (reload_path) {
if (map_override.is_valid()) {
navigation_path = NavigationServer::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers);
} else if (navigation != nullptr) {
navigation_path = NavigationServer::get_singleton()->map_get_path(navigation->get_rid(), o, target_location, true, navigation_layers);
} else {
navigation_path = NavigationServer::get_singleton()->map_get_path(agent_parent->get_world()->get_navigation_map(), o, target_location, true, navigation_layers);
}
navigation_finished = false;
nav_path_index = 0;
emit_signal("path_changed");
}
if (navigation_path.size() == 0) {
return;
}
// Check if we can advance the navigation path
if (navigation_finished == false) {
// Advances to the next far away location.
while (o.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("navigation_finished");
break;
}
}
}
}
void NavigationAgent::_request_repath() {
navigation_path.clear();
target_reached = false;
navigation_finished = false;
update_frame_id = 0;
}
void NavigationAgent::_check_distance_to_target() {
if (!target_reached) {
if (distance_to_target() < target_desired_distance) {
target_reached = true;
emit_signal("target_reached");
}
}
}
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