232 lines
8.0 KiB
C++
232 lines
8.0 KiB
C++
/**************************************************************************/
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/* navigation_agent_3d.h */
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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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#ifndef NAVIGATION_AGENT_3D_H
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#define NAVIGATION_AGENT_3D_H
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#include "scene/main/node.h"
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#include "servers/navigation/navigation_path_query_parameters_3d.h"
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#include "servers/navigation/navigation_path_query_result_3d.h"
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class Node3D;
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class NavigationAgent3D : public Node {
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GDCLASS(NavigationAgent3D, Node);
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Node3D *agent_parent = nullptr;
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RID agent;
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RID map_before_pause;
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RID map_override;
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bool avoidance_enabled = false;
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uint32_t navigation_layers = 1;
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NavigationPathQueryParameters3D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters3D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
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NavigationPathQueryParameters3D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
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BitField<NavigationPathQueryParameters3D::PathMetadataFlags> path_metadata_flags = NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL;
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real_t path_desired_distance = 1.0;
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real_t target_desired_distance = 1.0;
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real_t radius = 0.5;
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real_t navigation_height_offset = 0.0;
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bool ignore_y = true;
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real_t neighbor_distance = 50.0;
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int max_neighbors = 10;
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real_t time_horizon = 1.0;
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real_t max_speed = 10.0;
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real_t path_max_distance = 5.0;
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Vector3 target_position;
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bool target_position_submitted = false;
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Ref<NavigationPathQueryParameters3D> navigation_query;
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Ref<NavigationPathQueryResult3D> navigation_result;
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int navigation_path_index = 0;
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bool velocity_submitted = false;
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Vector3 prev_safe_velocity;
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/// The submitted target velocity
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Vector3 target_velocity;
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bool target_reached = false;
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bool navigation_finished = true;
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// No initialized on purpose
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uint32_t update_frame_id = 0;
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// Debug properties for exposed bindings
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bool debug_enabled = false;
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float debug_path_custom_point_size = 4.0;
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bool debug_use_custom = false;
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Color debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0);
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#ifdef DEBUG_ENABLED
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// Debug properties internal only
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bool debug_path_dirty = true;
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RID debug_path_instance;
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Ref<ArrayMesh> debug_path_mesh;
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Ref<StandardMaterial3D> debug_agent_path_line_custom_material;
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Ref<StandardMaterial3D> debug_agent_path_point_custom_material;
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private:
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void _navigation_debug_changed();
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void _update_debug_path();
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#endif // DEBUG_ENABLED
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protected:
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static void _bind_methods();
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void _notification(int p_what);
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public:
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NavigationAgent3D();
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virtual ~NavigationAgent3D();
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RID get_rid() const {
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return agent;
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}
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void set_avoidance_enabled(bool p_enabled);
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bool get_avoidance_enabled() const;
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void set_agent_parent(Node *p_agent_parent);
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void set_navigation_layers(uint32_t p_navigation_layers);
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uint32_t get_navigation_layers() const;
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void set_navigation_layer_value(int p_layer_number, bool p_value);
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bool get_navigation_layer_value(int p_layer_number) const;
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void set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm);
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NavigationPathQueryParameters3D::PathfindingAlgorithm get_pathfinding_algorithm() const {
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return pathfinding_algorithm;
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}
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void set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing);
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NavigationPathQueryParameters3D::PathPostProcessing get_path_postprocessing() const {
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return path_postprocessing;
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}
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void set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_flags);
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BitField<NavigationPathQueryParameters3D::PathMetadataFlags> get_path_metadata_flags() const {
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return path_metadata_flags;
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}
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void set_navigation_map(RID p_navigation_map);
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RID get_navigation_map() const;
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void set_path_desired_distance(real_t p_dd);
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real_t get_path_desired_distance() const {
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return path_desired_distance;
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}
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void set_target_desired_distance(real_t p_dd);
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real_t get_target_desired_distance() const {
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return target_desired_distance;
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}
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void set_radius(real_t p_radius);
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real_t get_radius() const {
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return radius;
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}
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void set_agent_height_offset(real_t p_hh);
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real_t get_agent_height_offset() const {
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return navigation_height_offset;
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}
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void set_ignore_y(bool p_ignore_y);
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bool get_ignore_y() const {
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return ignore_y;
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}
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void set_neighbor_distance(real_t p_distance);
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real_t get_neighbor_distance() const {
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return neighbor_distance;
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}
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void set_max_neighbors(int p_count);
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int get_max_neighbors() const {
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return max_neighbors;
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}
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void set_time_horizon(real_t p_time);
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real_t get_time_horizon() const {
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return time_horizon;
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}
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void set_max_speed(real_t p_max_speed);
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real_t get_max_speed() const {
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return max_speed;
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}
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void set_path_max_distance(real_t p_pmd);
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real_t get_path_max_distance();
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void set_target_position(Vector3 p_position);
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Vector3 get_target_position() const;
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Vector3 get_next_path_position();
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Ref<NavigationPathQueryResult3D> get_current_navigation_result() const {
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return navigation_result;
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}
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const Vector<Vector3> &get_current_navigation_path() const {
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return navigation_result->get_path();
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}
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int get_current_navigation_path_index() const {
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return navigation_path_index;
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}
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real_t distance_to_target() const;
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bool is_target_reached() const;
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bool is_target_reachable();
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bool is_navigation_finished();
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Vector3 get_final_position();
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void set_velocity(Vector3 p_velocity);
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void _avoidance_done(Vector3 p_new_velocity);
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PackedStringArray get_configuration_warnings() const override;
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void set_debug_enabled(bool p_enabled);
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bool get_debug_enabled() const;
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void set_debug_use_custom(bool p_enabled);
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bool get_debug_use_custom() const;
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void set_debug_path_custom_color(Color p_color);
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Color get_debug_path_custom_color() const;
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void set_debug_path_custom_point_size(float p_point_size);
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float get_debug_path_custom_point_size() const;
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private:
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void update_navigation();
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void _request_repath();
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void _check_distance_to_target();
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};
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#endif // NAVIGATION_AGENT_3D_H
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