6b51ab66d8
Temporarily removes agent from navigation map when parent node cannot process due to SceneTree pause and process_mode property. Normal process_mode does not work as other agents would still avoid the paused agents because they were still active on the navigation map and the rvo world. Also fixes potential crash when region_get_map or agent_get_map is called while no map is set.
354 lines
14 KiB
C++
354 lines
14 KiB
C++
/*************************************************************************/
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/* navigation_agent_2d.cpp */
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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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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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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#include "navigation_agent_2d.h"
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#include "core/math/geometry_2d.h"
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#include "scene/resources/world_2d.h"
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#include "servers/navigation_server_2d.h"
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void NavigationAgent2D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent2D::get_rid);
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ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent2D::set_target_desired_distance);
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ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent2D::get_target_desired_distance);
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ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent2D::set_radius);
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ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent2D::get_radius);
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ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent2D::set_neighbor_dist);
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ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent2D::get_neighbor_dist);
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ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent2D::set_max_neighbors);
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ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent2D::get_max_neighbors);
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ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent2D::set_time_horizon);
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ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent2D::get_time_horizon);
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ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent2D::set_max_speed);
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ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent2D::get_max_speed);
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ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent2D::set_path_max_distance);
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ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent2D::get_path_max_distance);
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ClassDB::bind_method(D_METHOD("set_navigable_layers", "navigable_layers"), &NavigationAgent2D::set_navigable_layers);
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ClassDB::bind_method(D_METHOD("get_navigable_layers"), &NavigationAgent2D::get_navigable_layers);
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ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent2D::set_target_location);
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ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent2D::get_target_location);
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ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent2D::get_next_location);
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ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent2D::distance_to_target);
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ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent2D::set_velocity);
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ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent2D::get_nav_path);
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ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent2D::get_nav_path_index);
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ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent2D::is_target_reached);
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ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent2D::is_target_reachable);
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ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent2D::is_navigation_finished);
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ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent2D::get_final_location);
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ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent2D::_avoidance_done);
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_target_desired_distance", "get_target_desired_distance");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,500,0.01"), "set_radius", "get_radius");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_neighbor_dist", "get_neighbor_dist");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1"), "set_max_neighbors", "get_max_neighbors");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_time_horizon", "get_time_horizon");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_max_speed", "get_max_speed");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "10,100,1"), "set_path_max_distance", "get_path_max_distance");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "navigable_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigable_layers", "get_navigable_layers");
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ADD_SIGNAL(MethodInfo("path_changed"));
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ADD_SIGNAL(MethodInfo("target_reached"));
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ADD_SIGNAL(MethodInfo("navigation_finished"));
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ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));
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}
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void NavigationAgent2D::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_READY: {
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agent_parent = Object::cast_to<Node2D>(get_parent());
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if (agent_parent != nullptr) {
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// place agent on navigation map first or else the RVO agent callback creation fails silently later
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_2d()->get_navigation_map());
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NavigationServer2D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
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}
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set_physics_process_internal(true);
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} break;
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case NOTIFICATION_PAUSED: {
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if (agent_parent && !agent_parent->can_process()) {
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map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid());
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
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map_before_pause = RID();
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}
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} break;
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case NOTIFICATION_UNPAUSED: {
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if (agent_parent && !agent_parent->can_process()) {
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map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid());
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
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NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
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map_before_pause = RID();
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}
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} break;
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case NOTIFICATION_EXIT_TREE: {
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agent_parent = nullptr;
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set_physics_process_internal(false);
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} break;
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case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
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if (agent_parent) {
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NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
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_check_distance_to_target();
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}
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} break;
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}
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}
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NavigationAgent2D::NavigationAgent2D() {
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agent = NavigationServer2D::get_singleton()->agent_create();
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set_neighbor_dist(500.0);
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set_max_neighbors(10);
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set_time_horizon(20.0);
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set_radius(10.0);
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set_max_speed(200.0);
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}
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NavigationAgent2D::~NavigationAgent2D() {
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NavigationServer2D::get_singleton()->free(agent);
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agent = RID(); // Pointless
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}
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void NavigationAgent2D::set_navigable_layers(uint32_t p_layers) {
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bool layers_changed = navigable_layers != p_layers;
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navigable_layers = p_layers;
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if (layers_changed) {
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_request_repath();
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}
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}
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uint32_t NavigationAgent2D::get_navigable_layers() const {
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return navigable_layers;
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}
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void NavigationAgent2D::set_target_desired_distance(real_t p_dd) {
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target_desired_distance = p_dd;
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}
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void NavigationAgent2D::set_radius(real_t p_radius) {
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radius = p_radius;
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NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
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}
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void NavigationAgent2D::set_neighbor_dist(real_t p_dist) {
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neighbor_dist = p_dist;
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NavigationServer2D::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist);
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}
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void NavigationAgent2D::set_max_neighbors(int p_count) {
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max_neighbors = p_count;
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NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
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}
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void NavigationAgent2D::set_time_horizon(real_t p_time) {
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time_horizon = p_time;
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NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, time_horizon);
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}
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void NavigationAgent2D::set_max_speed(real_t p_max_speed) {
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max_speed = p_max_speed;
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NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed);
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}
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void NavigationAgent2D::set_path_max_distance(real_t p_pmd) {
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path_max_distance = p_pmd;
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}
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real_t NavigationAgent2D::get_path_max_distance() {
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return path_max_distance;
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}
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void NavigationAgent2D::set_target_location(Vector2 p_location) {
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target_location = p_location;
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_request_repath();
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}
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Vector2 NavigationAgent2D::get_target_location() const {
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return target_location;
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}
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Vector2 NavigationAgent2D::get_next_location() {
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update_navigation();
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if (navigation_path.size() == 0) {
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ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector2(), "The agent has no parent.");
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return agent_parent->get_global_position();
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} else {
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return navigation_path[nav_path_index];
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}
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}
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real_t NavigationAgent2D::distance_to_target() const {
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ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent.");
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return agent_parent->get_global_position().distance_to(target_location);
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}
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bool NavigationAgent2D::is_target_reached() const {
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return target_reached;
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}
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bool NavigationAgent2D::is_target_reachable() {
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return target_desired_distance >= get_final_location().distance_to(target_location);
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}
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bool NavigationAgent2D::is_navigation_finished() {
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update_navigation();
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return navigation_finished;
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}
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Vector2 NavigationAgent2D::get_final_location() {
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update_navigation();
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if (navigation_path.size() == 0) {
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return Vector2();
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}
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return navigation_path[navigation_path.size() - 1];
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}
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void NavigationAgent2D::set_velocity(Vector2 p_velocity) {
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target_velocity = p_velocity;
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NavigationServer2D::get_singleton()->agent_set_target_velocity(agent, target_velocity);
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NavigationServer2D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
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velocity_submitted = true;
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}
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void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) {
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const Vector2 velocity = Vector2(p_new_velocity.x, p_new_velocity.z);
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prev_safe_velocity = velocity;
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if (!velocity_submitted) {
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target_velocity = Vector2();
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return;
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}
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velocity_submitted = false;
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emit_signal(SNAME("velocity_computed"), velocity);
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}
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TypedArray<String> NavigationAgent2D::get_configuration_warnings() const {
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TypedArray<String> warnings = Node::get_configuration_warnings();
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if (!Object::cast_to<Node2D>(get_parent())) {
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warnings.push_back(RTR("The NavigationAgent2D can be used only under a Node2D node."));
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}
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return warnings;
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}
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void NavigationAgent2D::update_navigation() {
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if (agent_parent == nullptr) {
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return;
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}
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if (!agent_parent->is_inside_tree()) {
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return;
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}
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if (update_frame_id == Engine::get_singleton()->get_physics_frames()) {
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return;
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}
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update_frame_id = Engine::get_singleton()->get_physics_frames();
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Vector2 o = agent_parent->get_global_position();
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bool reload_path = false;
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if (NavigationServer2D::get_singleton()->agent_is_map_changed(agent)) {
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reload_path = true;
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} else if (navigation_path.size() == 0) {
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reload_path = true;
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} else {
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// Check if too far from the navigation path
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if (nav_path_index > 0) {
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Vector2 segment[2];
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segment[0] = navigation_path[nav_path_index - 1];
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segment[1] = navigation_path[nav_path_index];
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Vector2 p = Geometry2D::get_closest_point_to_segment(o, segment);
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if (o.distance_to(p) >= path_max_distance) {
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// To faraway, reload path
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reload_path = true;
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}
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}
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}
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if (reload_path) {
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navigation_path = NavigationServer2D::get_singleton()->map_get_path(agent_parent->get_world_2d()->get_navigation_map(), o, target_location, true, navigable_layers);
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navigation_finished = false;
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nav_path_index = 0;
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emit_signal(SNAME("path_changed"));
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}
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if (navigation_path.size() == 0) {
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return;
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}
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// Check if we can advance the navigation path
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if (navigation_finished == false) {
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// Advances to the next far away location.
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while (o.distance_to(navigation_path[nav_path_index]) < target_desired_distance) {
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nav_path_index += 1;
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if (nav_path_index == navigation_path.size()) {
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_check_distance_to_target();
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nav_path_index -= 1;
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navigation_finished = true;
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emit_signal(SNAME("navigation_finished"));
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break;
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}
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}
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}
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}
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void NavigationAgent2D::_request_repath() {
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navigation_path.clear();
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target_reached = false;
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navigation_finished = false;
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update_frame_id = 0;
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}
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void NavigationAgent2D::_check_distance_to_target() {
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if (!target_reached) {
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if (distance_to_target() < target_desired_distance) {
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emit_signal(SNAME("target_reached"));
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target_reached = true;
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}
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}
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}
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