253 lines
10 KiB
C++
253 lines
10 KiB
C++
/**************************************************************************/
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/* navigation_obstacle_3d.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) 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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#include "navigation_obstacle_3d.h"
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#include "scene/3d/collision_shape_3d.h"
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#include "scene/3d/physics_body_3d.h"
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#include "servers/navigation_server_3d.h"
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void NavigationObstacle3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_rid"), &NavigationObstacle3D::get_rid);
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ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationObstacle3D::set_navigation_map);
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ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationObstacle3D::get_navigation_map);
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ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle3D::set_estimate_radius);
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ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle3D::is_radius_estimated);
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ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle3D::set_radius);
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ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle3D::get_radius);
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_radius", "get_radius");
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}
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void NavigationObstacle3D::_validate_property(PropertyInfo &p_property) const {
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if (p_property.name == "radius") {
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if (estimate_radius) {
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p_property.usage = PROPERTY_USAGE_NO_EDITOR;
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}
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}
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}
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void NavigationObstacle3D::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_POST_ENTER_TREE: {
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set_agent_parent(get_parent());
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set_physics_process_internal(true);
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} break;
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case NOTIFICATION_EXIT_TREE: {
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set_agent_parent(nullptr);
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set_physics_process_internal(false);
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} break;
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case NOTIFICATION_PARENTED: {
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if (is_inside_tree() && (get_parent() != parent_node3d)) {
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set_agent_parent(get_parent());
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set_physics_process_internal(true);
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}
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} break;
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case NOTIFICATION_UNPARENTED: {
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set_agent_parent(nullptr);
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set_physics_process_internal(false);
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} break;
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case NOTIFICATION_PAUSED: {
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if (parent_node3d && !parent_node3d->can_process()) {
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map_before_pause = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
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NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (parent_node3d && parent_node3d->can_process() && !(map_before_pause == RID())) {
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NavigationServer3D::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 (parent_node3d && !parent_node3d->can_process()) {
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map_before_pause = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
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NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (parent_node3d && parent_node3d->can_process() && !(map_before_pause == RID())) {
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NavigationServer3D::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_INTERNAL_PHYSICS_PROCESS: {
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if (parent_node3d && parent_node3d->is_inside_tree()) {
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NavigationServer3D::get_singleton()->agent_set_position(agent, parent_node3d->get_global_transform().origin);
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PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent());
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if (rigid) {
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Vector3 v = rigid->get_linear_velocity();
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NavigationServer3D::get_singleton()->agent_set_velocity(agent, v);
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NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, v);
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}
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}
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} break;
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}
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}
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NavigationObstacle3D::NavigationObstacle3D() {
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agent = NavigationServer3D::get_singleton()->agent_create();
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initialize_agent();
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}
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NavigationObstacle3D::~NavigationObstacle3D() {
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ERR_FAIL_NULL(NavigationServer3D::get_singleton());
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NavigationServer3D::get_singleton()->free(agent);
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agent = RID(); // Pointless
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}
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PackedStringArray NavigationObstacle3D::get_configuration_warnings() const {
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PackedStringArray warnings = Node::get_configuration_warnings();
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if (!Object::cast_to<Node3D>(get_parent())) {
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warnings.push_back(RTR("The NavigationObstacle3D only serves to provide collision avoidance to a Node3D inheriting parent object."));
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}
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if (Object::cast_to<StaticBody3D>(get_parent())) {
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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."
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"\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"));
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}
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return warnings;
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}
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void NavigationObstacle3D::initialize_agent() {
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NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, 0.0);
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NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
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NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
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NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
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}
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void NavigationObstacle3D::reevaluate_agent_radius() {
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if (!estimate_radius) {
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NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
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} else if (parent_node3d && parent_node3d->is_inside_tree()) {
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NavigationServer3D::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
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}
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}
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real_t NavigationObstacle3D::estimate_agent_radius() const {
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if (parent_node3d && parent_node3d->is_inside_tree()) {
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// Estimate the radius of this physics body
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real_t max_radius = 0.0;
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for (int i(0); i < parent_node3d->get_child_count(); i++) {
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// For each collision shape
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CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(parent_node3d->get_child(i));
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if (cs && cs->is_inside_tree()) {
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// Take the distance between the Body center to the shape center
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real_t r = cs->get_transform().origin.length();
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if (cs->get_shape().is_valid()) {
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// and add the enclosing shape radius
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r += cs->get_shape()->get_enclosing_radius();
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}
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Vector3 s = cs->get_global_transform().basis.get_scale();
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r *= MAX(s.x, MAX(s.y, s.z));
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// Takes the biggest radius
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max_radius = MAX(max_radius, r);
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} else if (cs && !cs->is_inside_tree()) {
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WARN_PRINT("A CollisionShape3D of the NavigationObstacle3D parent node was not inside the SceneTree when estimating the obstacle radius."
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"\nMove the NavigationObstacle3D to a child position below any CollisionShape3D node of the parent node so the CollisionShape3D is already inside the SceneTree.");
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}
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}
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Vector3 s = parent_node3d->get_global_transform().basis.get_scale();
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max_radius *= MAX(s.x, MAX(s.y, s.z));
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if (max_radius > 0.0) {
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return max_radius;
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}
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}
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return 1.0; // Never a 0 radius
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}
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void NavigationObstacle3D::set_agent_parent(Node *p_agent_parent) {
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if (parent_node3d == p_agent_parent) {
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return;
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}
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if (Object::cast_to<Node3D>(p_agent_parent) != nullptr) {
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parent_node3d = Object::cast_to<Node3D>(p_agent_parent);
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if (map_override.is_valid()) {
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NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_override);
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} else {
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NavigationServer3D::get_singleton()->agent_set_map(get_rid(), parent_node3d->get_world_3d()->get_navigation_map());
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}
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reevaluate_agent_radius();
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} else {
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parent_node3d = nullptr;
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NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
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}
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}
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void NavigationObstacle3D::set_navigation_map(RID p_navigation_map) {
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if (map_override == p_navigation_map) {
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return;
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}
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map_override = p_navigation_map;
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NavigationServer3D::get_singleton()->agent_set_map(agent, map_override);
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}
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RID NavigationObstacle3D::get_navigation_map() const {
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if (map_override.is_valid()) {
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return map_override;
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} else if (parent_node3d != nullptr) {
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return parent_node3d->get_world_3d()->get_navigation_map();
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}
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return RID();
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}
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void NavigationObstacle3D::set_estimate_radius(bool p_estimate_radius) {
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if (estimate_radius == p_estimate_radius) {
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return;
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}
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estimate_radius = p_estimate_radius;
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notify_property_list_changed();
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reevaluate_agent_radius();
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}
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void NavigationObstacle3D::set_radius(real_t p_radius) {
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ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
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if (Math::is_equal_approx(radius, p_radius)) {
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return;
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}
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radius = p_radius;
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reevaluate_agent_radius();
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}
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