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godot/scene/3d/navigation_obstacle_3d.cpp

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/**************************************************************************/
/* navigation_obstacle_3d.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_obstacle_3d.h"
#include "core/math/geometry_2d.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() {
ClassDB::bind_method(D_METHOD("get_rid"), &NavigationObstacle3D::get_rid);
ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationObstacle3D::set_avoidance_enabled);
ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationObstacle3D::get_avoidance_enabled);
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationObstacle3D::set_navigation_map);
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationObstacle3D::get_navigation_map);
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle3D::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle3D::get_radius);
ClassDB::bind_method(D_METHOD("set_height", "height"), &NavigationObstacle3D::set_height);
ClassDB::bind_method(D_METHOD("get_height"), &NavigationObstacle3D::get_height);
ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationObstacle3D::set_velocity);
ClassDB::bind_method(D_METHOD("get_velocity"), &NavigationObstacle3D::get_velocity);
ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationObstacle3D::set_vertices);
ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationObstacle3D::get_vertices);
ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationObstacle3D::set_avoidance_layers);
ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationObstacle3D::get_avoidance_layers);
ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationObstacle3D::set_avoidance_layer_value);
ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationObstacle3D::get_avoidance_layer_value);
ClassDB::bind_method(D_METHOD("set_use_3d_avoidance", "enabled"), &NavigationObstacle3D::set_use_3d_avoidance);
ClassDB::bind_method(D_METHOD("get_use_3d_avoidance"), &NavigationObstacle3D::get_use_3d_avoidance);
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.0,100,0.01,suffix:m"), "set_radius", "get_radius");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "height", PROPERTY_HINT_RANGE, "0.0,100,0.01,suffix:m"), "set_height", "get_height");
ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR3_ARRAY, "vertices"), "set_vertices", "get_vertices");
ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_3d_avoidance"), "set_use_3d_avoidance", "get_use_3d_avoidance");
}
void NavigationObstacle3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_POST_ENTER_TREE: {
if (map_override.is_valid()) {
_update_map(map_override);
} else if (is_inside_tree()) {
_update_map(get_world_3d()->get_navigation_map());
} else {
_update_map(RID());
}
previous_transform = get_global_transform();
// need to trigger map controlled agent assignment somehow for the fake_agent since obstacles use no callback like regular agents
NavigationServer3D::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
_update_position(get_global_transform().origin);
set_physics_process_internal(true);
#ifdef DEBUG_ENABLED
if ((NavigationServer3D::get_singleton()->get_debug_avoidance_enabled()) &&
(NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_radius())) {
_update_fake_agent_radius_debug();
_update_static_obstacle_debug();
}
#endif // DEBUG_ENABLED
} break;
case NOTIFICATION_EXIT_TREE: {
set_physics_process_internal(false);
_update_map(RID());
#ifdef DEBUG_ENABLED
if (fake_agent_radius_debug_instance.is_valid()) {
RS::get_singleton()->instance_set_visible(fake_agent_radius_debug_instance, false);
}
if (static_obstacle_debug_instance.is_valid()) {
RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, false);
}
#endif // DEBUG_ENABLED
} break;
case NOTIFICATION_PAUSED: {
if (!can_process()) {
map_before_pause = map_current;
_update_map(RID());
} else if (can_process() && !(map_before_pause == RID())) {
_update_map(map_before_pause);
map_before_pause = RID();
}
NavigationServer3D::get_singleton()->obstacle_set_paused(obstacle, !can_process());
} break;
case NOTIFICATION_UNPAUSED: {
if (!can_process()) {
map_before_pause = map_current;
_update_map(RID());
} else if (can_process() && !(map_before_pause == RID())) {
_update_map(map_before_pause);
map_before_pause = RID();
}
NavigationServer3D::get_singleton()->obstacle_set_paused(obstacle, !can_process());
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (is_inside_tree()) {
_update_position(get_global_transform().origin);
if (velocity_submitted) {
velocity_submitted = false;
// only update if there is a noticeable change, else the rvo agent preferred velocity stays the same
if (!previous_velocity.is_equal_approx(velocity)) {
NavigationServer3D::get_singleton()->obstacle_set_velocity(obstacle, velocity);
}
previous_velocity = velocity;
}
#ifdef DEBUG_ENABLED
if (fake_agent_radius_debug_instance.is_valid() && radius > 0.0) {
Transform3D debug_transform;
debug_transform.origin = get_global_position();
RS::get_singleton()->instance_set_transform(fake_agent_radius_debug_instance, debug_transform);
}
if (static_obstacle_debug_instance.is_valid() && get_vertices().size() > 0) {
Transform3D debug_transform;
debug_transform.origin = get_global_position();
RS::get_singleton()->instance_set_transform(static_obstacle_debug_instance, debug_transform);
}
#endif // DEBUG_ENABLED
}
} break;
}
}
NavigationObstacle3D::NavigationObstacle3D() {
obstacle = NavigationServer3D::get_singleton()->obstacle_create();
NavigationServer3D::get_singleton()->obstacle_set_height(obstacle, height);
set_radius(radius);
set_height(height);
set_vertices(vertices);
set_avoidance_layers(avoidance_layers);
set_avoidance_enabled(avoidance_enabled);
set_use_3d_avoidance(use_3d_avoidance);
#ifdef DEBUG_ENABLED
NavigationServer3D::get_singleton()->connect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_fake_agent_radius_debug));
NavigationServer3D::get_singleton()->connect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_static_obstacle_debug));
_update_fake_agent_radius_debug();
_update_static_obstacle_debug();
#endif // DEBUG_ENABLED
}
NavigationObstacle3D::~NavigationObstacle3D() {
ERR_FAIL_NULL(NavigationServer3D::get_singleton());
NavigationServer3D::get_singleton()->free(obstacle);
obstacle = RID();
#ifdef DEBUG_ENABLED
NavigationServer3D::get_singleton()->disconnect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_fake_agent_radius_debug));
NavigationServer3D::get_singleton()->disconnect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_static_obstacle_debug));
if (fake_agent_radius_debug_instance.is_valid()) {
RenderingServer::get_singleton()->free(fake_agent_radius_debug_instance);
}
if (fake_agent_radius_debug_mesh.is_valid()) {
RenderingServer::get_singleton()->free(fake_agent_radius_debug_mesh->get_rid());
}
if (static_obstacle_debug_instance.is_valid()) {
RenderingServer::get_singleton()->free(static_obstacle_debug_instance);
}
if (static_obstacle_debug_mesh.is_valid()) {
RenderingServer::get_singleton()->free(static_obstacle_debug_mesh->get_rid());
}
#endif // DEBUG_ENABLED
}
void NavigationObstacle3D::set_vertices(const Vector<Vector3> &p_vertices) {
vertices = p_vertices;
NavigationServer3D::get_singleton()->obstacle_set_vertices(obstacle, vertices);
#ifdef DEBUG_ENABLED
_update_static_obstacle_debug();
#endif // DEBUG_ENABLED
}
void NavigationObstacle3D::set_navigation_map(RID p_navigation_map) {
if (map_override == p_navigation_map) {
return;
}
map_override = p_navigation_map;
_update_map(map_override);
}
RID NavigationObstacle3D::get_navigation_map() const {
if (map_override.is_valid()) {
return map_override;
} else if (is_inside_tree()) {
return get_world_3d()->get_navigation_map();
}
return RID();
}
void NavigationObstacle3D::set_radius(real_t p_radius) {
ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
if (Math::is_equal_approx(radius, p_radius)) {
return;
}
radius = p_radius;
NavigationServer3D::get_singleton()->obstacle_set_radius(obstacle, radius);
#ifdef DEBUG_ENABLED
_update_fake_agent_radius_debug();
#endif // DEBUG_ENABLED
}
void NavigationObstacle3D::set_height(real_t p_height) {
ERR_FAIL_COND_MSG(p_height < 0.0, "Height must be positive.");
if (Math::is_equal_approx(height, p_height)) {
return;
}
height = p_height;
NavigationServer3D::get_singleton()->obstacle_set_height(obstacle, height);
#ifdef DEBUG_ENABLED
_update_static_obstacle_debug();
#endif // DEBUG_ENABLED
}
void NavigationObstacle3D::set_avoidance_layers(uint32_t p_layers) {
avoidance_layers = p_layers;
NavigationServer3D::get_singleton()->obstacle_set_avoidance_layers(obstacle, avoidance_layers);
}
uint32_t NavigationObstacle3D::get_avoidance_layers() const {
return avoidance_layers;
}
void NavigationObstacle3D::set_avoidance_layer_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Avoidance layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Avoidance layer number must be between 1 and 32 inclusive.");
uint32_t avoidance_layers_new = get_avoidance_layers();
if (p_value) {
avoidance_layers_new |= 1 << (p_layer_number - 1);
} else {
avoidance_layers_new &= ~(1 << (p_layer_number - 1));
}
set_avoidance_layers(avoidance_layers_new);
}
bool NavigationObstacle3D::get_avoidance_layer_value(int p_layer_number) const {
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Avoidance layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Avoidance layer number must be between 1 and 32 inclusive.");
return get_avoidance_layers() & (1 << (p_layer_number - 1));
}
void NavigationObstacle3D::set_avoidance_enabled(bool p_enabled) {
if (avoidance_enabled == p_enabled) {
return;
}
avoidance_enabled = p_enabled;
NavigationServer3D::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
}
bool NavigationObstacle3D::get_avoidance_enabled() const {
return avoidance_enabled;
}
void NavigationObstacle3D::set_use_3d_avoidance(bool p_use_3d_avoidance) {
use_3d_avoidance = p_use_3d_avoidance;
_update_use_3d_avoidance(use_3d_avoidance);
notify_property_list_changed();
}
void NavigationObstacle3D::set_velocity(const Vector3 p_velocity) {
velocity = p_velocity;
velocity_submitted = true;
}
void NavigationObstacle3D::_update_map(RID p_map) {
NavigationServer3D::get_singleton()->obstacle_set_map(obstacle, p_map);
map_current = p_map;
}
void NavigationObstacle3D::_update_position(const Vector3 p_position) {
NavigationServer3D::get_singleton()->obstacle_set_position(obstacle, p_position);
}
void NavigationObstacle3D::_update_use_3d_avoidance(bool p_use_3d_avoidance) {
NavigationServer3D::get_singleton()->obstacle_set_use_3d_avoidance(obstacle, use_3d_avoidance);
_update_map(map_current);
}
#ifdef DEBUG_ENABLED
void NavigationObstacle3D::_update_fake_agent_radius_debug() {
bool is_debug_enabled = false;
if (Engine::get_singleton()->is_editor_hint()) {
is_debug_enabled = true;
} else if (NavigationServer3D::get_singleton()->get_debug_enabled() &&
NavigationServer3D::get_singleton()->get_debug_avoidance_enabled() &&
NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_radius()) {
is_debug_enabled = true;
}
if (is_debug_enabled == false) {
if (fake_agent_radius_debug_instance.is_valid()) {
RS::get_singleton()->instance_set_visible(fake_agent_radius_debug_instance, false);
}
return;
}
if (!fake_agent_radius_debug_instance.is_valid()) {
fake_agent_radius_debug_instance = RenderingServer::get_singleton()->instance_create();
}
if (!fake_agent_radius_debug_mesh.is_valid()) {
fake_agent_radius_debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
}
fake_agent_radius_debug_mesh->clear_surfaces();
Vector<Vector3> face_vertex_array;
Vector<int> face_indices_array;
int i, j, prevrow, thisrow, point;
float x, y, z;
int rings = 16;
int radial_segments = 32;
point = 0;
thisrow = 0;
prevrow = 0;
for (j = 0; j <= (rings + 1); j++) {
float v = j;
float w;
v /= (rings + 1);
w = sin(Math_PI * v);
y = (radius)*cos(Math_PI * v);
for (i = 0; i <= radial_segments; i++) {
float u = i;
u /= radial_segments;
x = sin(u * Math_TAU);
z = cos(u * Math_TAU);
Vector3 p = Vector3(x * radius * w, y, z * radius * w);
face_vertex_array.push_back(p);
point++;
if (i > 0 && j > 0) {
face_indices_array.push_back(prevrow + i - 1);
face_indices_array.push_back(prevrow + i);
face_indices_array.push_back(thisrow + i - 1);
face_indices_array.push_back(prevrow + i);
face_indices_array.push_back(thisrow + i);
face_indices_array.push_back(thisrow + i - 1);
};
};
prevrow = thisrow;
thisrow = point;
};
Array face_mesh_array;
face_mesh_array.resize(Mesh::ARRAY_MAX);
face_mesh_array[Mesh::ARRAY_VERTEX] = face_vertex_array;
face_mesh_array[Mesh::ARRAY_INDEX] = face_indices_array;
fake_agent_radius_debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, face_mesh_array);
Ref<StandardMaterial3D> face_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_obstacles_radius_material();
fake_agent_radius_debug_mesh->surface_set_material(0, face_material);
RS::get_singleton()->instance_set_base(fake_agent_radius_debug_instance, fake_agent_radius_debug_mesh->get_rid());
if (is_inside_tree()) {
RS::get_singleton()->instance_set_scenario(fake_agent_radius_debug_instance, get_world_3d()->get_scenario());
RS::get_singleton()->instance_set_visible(fake_agent_radius_debug_instance, is_visible_in_tree());
}
}
#endif // DEBUG_ENABLED
#ifdef DEBUG_ENABLED
void NavigationObstacle3D::_update_static_obstacle_debug() {
bool is_debug_enabled = false;
if (Engine::get_singleton()->is_editor_hint()) {
is_debug_enabled = true;
} else if (NavigationServer3D::get_singleton()->get_debug_enabled() &&
NavigationServer3D::get_singleton()->get_debug_avoidance_enabled() &&
NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_static()) {
is_debug_enabled = true;
}
if (is_debug_enabled == false) {
if (static_obstacle_debug_instance.is_valid()) {
RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, false);
}
return;
}
if (vertices.size() < 3) {
if (static_obstacle_debug_instance.is_valid()) {
RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, false);
}
return;
}
if (!static_obstacle_debug_instance.is_valid()) {
static_obstacle_debug_instance = RenderingServer::get_singleton()->instance_create();
}
if (!static_obstacle_debug_mesh.is_valid()) {
static_obstacle_debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
}
static_obstacle_debug_mesh->clear_surfaces();
Vector<Vector2> polygon_2d_vertices;
polygon_2d_vertices.resize(vertices.size());
Vector2 *polygon_2d_vertices_ptr = polygon_2d_vertices.ptrw();
for (int i = 0; i < vertices.size(); ++i) {
Vector3 obstacle_vertex = vertices[i];
Vector2 obstacle_vertex_2d = Vector2(obstacle_vertex.x, obstacle_vertex.z);
polygon_2d_vertices_ptr[i] = obstacle_vertex_2d;
}
Vector<int> triangulated_polygon_2d_indices = Geometry2D::triangulate_polygon(polygon_2d_vertices);
if (triangulated_polygon_2d_indices.is_empty()) {
// failed triangulation
return;
}
bool obstacle_pushes_inward = Geometry2D::is_polygon_clockwise(polygon_2d_vertices);
Vector<Vector3> face_vertex_array;
Vector<int> face_indices_array;
face_vertex_array.resize(polygon_2d_vertices.size());
face_indices_array.resize(triangulated_polygon_2d_indices.size());
Vector3 *face_vertex_array_ptr = face_vertex_array.ptrw();
int *face_indices_array_ptr = face_indices_array.ptrw();
for (int i = 0; i < triangulated_polygon_2d_indices.size(); ++i) {
int vertex_index = triangulated_polygon_2d_indices[i];
const Vector2 &vertex_2d = polygon_2d_vertices[vertex_index];
Vector3 vertex_3d = Vector3(vertex_2d.x, 0.0, vertex_2d.y);
face_vertex_array_ptr[vertex_index] = vertex_3d;
face_indices_array_ptr[i] = vertex_index;
}
Array face_mesh_array;
face_mesh_array.resize(Mesh::ARRAY_MAX);
face_mesh_array[Mesh::ARRAY_VERTEX] = face_vertex_array;
face_mesh_array[Mesh::ARRAY_INDEX] = face_indices_array;
static_obstacle_debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, face_mesh_array);
Vector<Vector3> edge_vertex_array;
for (int i = 0; i < polygon_2d_vertices.size(); ++i) {
int from_index = i - 1;
int to_index = i;
if (i == 0) {
from_index = polygon_2d_vertices.size() - 1;
}
const Vector2 &vertex_2d_from = polygon_2d_vertices[from_index];
const Vector2 &vertex_2d_to = polygon_2d_vertices[to_index];
Vector3 vertex_3d_ground_from = Vector3(vertex_2d_from.x, 0.0, vertex_2d_from.y);
Vector3 vertex_3d_ground_to = Vector3(vertex_2d_to.x, 0.0, vertex_2d_to.y);
edge_vertex_array.push_back(vertex_3d_ground_from);
edge_vertex_array.push_back(vertex_3d_ground_to);
Vector3 vertex_3d_height_from = Vector3(vertex_2d_from.x, height, vertex_2d_from.y);
Vector3 vertex_3d_height_to = Vector3(vertex_2d_to.x, height, vertex_2d_to.y);
edge_vertex_array.push_back(vertex_3d_height_from);
edge_vertex_array.push_back(vertex_3d_height_to);
edge_vertex_array.push_back(vertex_3d_ground_from);
edge_vertex_array.push_back(vertex_3d_height_from);
}
Array edge_mesh_array;
edge_mesh_array.resize(Mesh::ARRAY_MAX);
edge_mesh_array[Mesh::ARRAY_VERTEX] = edge_vertex_array;
static_obstacle_debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, edge_mesh_array);
Ref<StandardMaterial3D> face_material;
Ref<StandardMaterial3D> edge_material;
if (obstacle_pushes_inward) {
face_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushin_face_material();
edge_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushin_edge_material();
} else {
face_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushout_face_material();
edge_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushout_edge_material();
}
static_obstacle_debug_mesh->surface_set_material(0, face_material);
static_obstacle_debug_mesh->surface_set_material(1, edge_material);
RS::get_singleton()->instance_set_base(static_obstacle_debug_instance, static_obstacle_debug_mesh->get_rid());
if (is_inside_tree()) {
RS::get_singleton()->instance_set_scenario(static_obstacle_debug_instance, get_world_3d()->get_scenario());
RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, is_visible_in_tree());
}
}
#endif // DEBUG_ENABLED
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