godot/scene/3d/navigation_obstacle_3d.cpp

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/*  navigation_obstacle_3d.cpp                                           */
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
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#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() {
}

void NavigationObstacle3D::_notification(int p_what) {
	switch (p_what) {
		case NOTIFICATION_READY: {
			set_physics_process_internal(true);
		} break;
		case NOTIFICATION_EXIT_TREE: {
			set_physics_process_internal(false);
		} break;
		case NOTIFICATION_PARENTED: {
			parent_node3d = Object::cast_to<Node3D>(get_parent());
			update_agent_shape();
		} break;
		case NOTIFICATION_UNPARENTED: {
			parent_node3d = nullptr;
		} break;
		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
			if (parent_node3d) {
				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();
}

NavigationObstacle3D::~NavigationObstacle3D() {
	NavigationServer3D::get_singleton()->free(agent);
	agent = RID(); // Pointless
}

TypedArray<String> NavigationObstacle3D::get_configuration_warnings() const {
	TypedArray<String> warnings = Node::get_configuration_warnings();

	if (!Object::cast_to<Node3D>(get_parent())) {
		warnings.push_back(TTR("The NavigationObstacle3D only serves to provide collision avoidance to a spatial object."));
	}

	return warnings;
}

void NavigationObstacle3D::update_agent_shape() {
	if (parent_node3d) {
		// Estimate the radius of this physics body
		real_t 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) {
				// 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
				radius = MAX(radius, r);
			}
		}

		Vector3 s = parent_node3d->get_global_transform().basis.get_scale();
		radius *= MAX(s.x, MAX(s.y, s.z));

		if (radius == 0.0) {
			radius = 1.0; // Never a 0 radius
		}

		// Initialize the Agent as an object
		NavigationServer3D::get_singleton()->agent_set_neighbor_dist(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_radius(agent, radius);
		NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
	}
}