NavigationMesh

Inherits: Resource < Reference < Object

A mesh to approximate the walkable areas and obstacles.

Description

A navigation mesh is a collection of polygons that define which areas of an environment are traversable to aid agents in pathfinding through complicated spaces.

Tutorials

• 3D Navmesh Demo

Properties

float	agent_height	1.5
float	agent_max_climb	0.25
float	agent_max_slope	45.0
float	agent_radius	0.5
float	cell_height	0.25
float	cell_size	0.25
float	detail_sample_distance	6.0
float	detail_sample_max_error	1.0
float	edge_max_error	1.3
float	edge_max_length	12.0
AABB	filter_baking_aabb	AABB( 0, 0, 0, 0, 0, 0 )
Vector3	filter_baking_aabb_offset	Vector3( 0, 0, 0 )
bool	filter_ledge_spans	false
bool	filter_low_hanging_obstacles	false
bool	filter_walkable_low_height_spans	false
int	geometry_collision_mask	4294967295
ParsedGeometryType	geometry_parsed_geometry_type	0
SourceGeometryMode	geometry_source_geometry_mode	0
String	geometry_source_group_name	"navmesh"
float	polygon_verts_per_poly	6.0
float	region_merge_size	20.0
float	region_min_size	2.0
SamplePartitionType	sample_partition_type	0

Methods

void	add_polygon ( PoolIntArray polygon )
void	clear_polygons ( )
void	create_from_mesh ( Mesh mesh )
bool	get_collision_mask_bit ( int bit ) const
PoolIntArray	get_polygon ( int idx )
int	get_polygon_count ( ) const
PoolVector3Array	get_vertices ( ) const
void	set_collision_mask_bit ( int bit, bool value )
void	set_vertices ( PoolVector3Array vertices )

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Enumerations

enum SamplePartitionType:

SamplePartitionType SAMPLE_PARTITION_WATERSHED = 0

Watershed partitioning. Generally the best choice if you precompute the navigation mesh, use this if you have large open areas.

SamplePartitionType SAMPLE_PARTITION_MONOTONE = 1

Monotone partitioning. Use this if you want fast navigation mesh generation.

SamplePartitionType SAMPLE_PARTITION_LAYERS = 2

Layer partitioning. Good choice to use for tiled navigation mesh with medium and small sized tiles.

SamplePartitionType SAMPLE_PARTITION_MAX = 3

Represents the size of the SamplePartitionType enum.

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enum ParsedGeometryType:

ParsedGeometryType PARSED_GEOMETRY_MESH_INSTANCES = 0

Parses mesh instances as geometry. This includes MeshInstance, CSGShape, and GridMap nodes.

ParsedGeometryType PARSED_GEOMETRY_STATIC_COLLIDERS = 1

Parses StaticBody colliders as geometry. The collider should be in any of the layers specified by geometry_collision_mask.

ParsedGeometryType PARSED_GEOMETRY_BOTH = 2

Both PARSED_GEOMETRY_MESH_INSTANCES and PARSED_GEOMETRY_STATIC_COLLIDERS.

ParsedGeometryType PARSED_GEOMETRY_MAX = 3

Represents the size of the ParsedGeometryType enum.

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enum SourceGeometryMode:

SourceGeometryMode SOURCE_GEOMETRY_NAVMESH_CHILDREN = 0

Scans the child nodes of NavigationMeshInstance recursively for geometry.

SourceGeometryMode SOURCE_GEOMETRY_GROUPS_WITH_CHILDREN = 1

Scans nodes in a group and their child nodes recursively for geometry. The group is specified by geometry_source_group_name.

SourceGeometryMode SOURCE_GEOMETRY_GROUPS_EXPLICIT = 2

Uses nodes in a group for geometry. The group is specified by geometry_source_group_name.

SourceGeometryMode SOURCE_GEOMETRY_MAX = 3

Represents the size of the SourceGeometryMode enum.

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Property Descriptions

float agent_height = 1.5

• void set_agent_height ( float value )

• float get_agent_height ( )

The minimum floor to ceiling height that will still allow the floor area to be considered walkable.

Note: While baking, this value will be rounded up to the nearest multiple of cell_height.

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float agent_max_climb = 0.25

• void set_agent_max_climb ( float value )

• float get_agent_max_climb ( )

The minimum ledge height that is considered to still be traversable.

Note: While baking, this value will be rounded down to the nearest multiple of cell_height.

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float agent_max_slope = 45.0

• void set_agent_max_slope ( float value )

• float get_agent_max_slope ( )

The maximum slope that is considered walkable, in degrees.

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float agent_radius = 0.5

• void set_agent_radius ( float value )

• float get_agent_radius ( )

The distance to erode/shrink the walkable area of the heightfield away from obstructions.

Note: While baking, this value will be rounded up to the nearest multiple of cell_size.

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float cell_height = 0.25

• void set_cell_height ( float value )

• float get_cell_height ( )

The Y axis cell size to use for fields.

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float cell_size = 0.25

• void set_cell_size ( float value )

• float get_cell_size ( )

The XZ plane cell size to use for fields.

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float detail_sample_distance = 6.0

• void set_detail_sample_distance ( float value )

• float get_detail_sample_distance ( )

The sampling distance to use when generating the detail mesh, in cell unit.

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float detail_sample_max_error = 1.0

• void set_detail_sample_max_error ( float value )

• float get_detail_sample_max_error ( )

The maximum distance the detail mesh surface should deviate from heightfield, in cell unit.

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float edge_max_error = 1.3

• void set_edge_max_error ( float value )

• float get_edge_max_error ( )

The maximum distance a simplfied contour's border edges should deviate the original raw contour.

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float edge_max_length = 12.0

• void set_edge_max_length ( float value )

• float get_edge_max_length ( )

The maximum allowed length for contour edges along the border of the mesh.

Note: While baking, this value will be rounded up to the nearest multiple of cell_size.

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AABB filter_baking_aabb = AABB( 0, 0, 0, 0, 0, 0 )

• void set_filter_baking_aabb ( AABB value )

• AABB get_filter_baking_aabb ( )

If the baking AABB has a volume the navigation mesh baking will be restricted to its enclosing area.

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Vector3 filter_baking_aabb_offset = Vector3( 0, 0, 0 )

• void set_filter_baking_aabb_offset ( Vector3 value )

• Vector3 get_filter_baking_aabb_offset ( )

The position offset applied to the filter_baking_aabb AABB.

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bool filter_ledge_spans = false

• void set_filter_ledge_spans ( bool value )

• bool get_filter_ledge_spans ( )

If true, marks spans that are ledges as non-walkable.

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bool filter_low_hanging_obstacles = false

• void set_filter_low_hanging_obstacles ( bool value )

• bool get_filter_low_hanging_obstacles ( )

If true, marks non-walkable spans as walkable if their maximum is within agent_max_climb of a walkable neighbor.

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bool filter_walkable_low_height_spans = false

• void set_filter_walkable_low_height_spans ( bool value )

• bool get_filter_walkable_low_height_spans ( )

If true, marks walkable spans as not walkable if the clearance above the span is less than agent_height.

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int geometry_collision_mask = 4294967295

• void set_collision_mask ( int value )

• int get_collision_mask ( )

The physics layers to scan for static colliders.

Only used when geometry_parsed_geometry_type is PARSED_GEOMETRY_STATIC_COLLIDERS or PARSED_GEOMETRY_BOTH.

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ParsedGeometryType geometry_parsed_geometry_type = 0

• void set_parsed_geometry_type ( ParsedGeometryType value )

• ParsedGeometryType get_parsed_geometry_type ( )

Determines which type of nodes will be parsed as geometry. See ParsedGeometryType for possible values.

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SourceGeometryMode geometry_source_geometry_mode = 0

• void set_source_geometry_mode ( SourceGeometryMode value )

• SourceGeometryMode get_source_geometry_mode ( )

The source of the geometry used when baking. See SourceGeometryMode for possible values.

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String geometry_source_group_name = "navmesh"

• void set_source_group_name ( String value )

• String get_source_group_name ( )

The name of the group to scan for geometry.

Only used when geometry_source_geometry_mode is SOURCE_GEOMETRY_GROUPS_WITH_CHILDREN or SOURCE_GEOMETRY_GROUPS_EXPLICIT.

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float polygon_verts_per_poly = 6.0

• void set_verts_per_poly ( float value )

• float get_verts_per_poly ( )

The maximum number of vertices allowed for polygons generated during the contour to polygon conversion process.

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float region_merge_size = 20.0

• void set_region_merge_size ( float value )

• float get_region_merge_size ( )

Any regions with a size smaller than this will be merged with larger regions if possible.

Note: This value will be squared to calculate the number of cells. For example, a value of 20 will set the number of cells to 400.

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float region_min_size = 2.0

• void set_region_min_size ( float value )

• float get_region_min_size ( )

The minimum size of a region for it to be created.

Note: This value will be squared to calculate the minimum number of cells allowed to form isolated island areas. For example, a value of 8 will set the number of cells to 64.

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SamplePartitionType sample_partition_type = 0

• void set_sample_partition_type ( SamplePartitionType value )

• SamplePartitionType get_sample_partition_type ( )

Partitioning algorithm for creating the navigation mesh polys. See SamplePartitionType for possible values.

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Method Descriptions

void add_polygon ( PoolIntArray polygon )

Adds a polygon using the indices of the vertices you get when calling get_vertices.

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void clear_polygons ( )

Clears the array of polygons, but it doesn't clear the array of vertices.

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void create_from_mesh ( Mesh mesh )

Initializes the navigation mesh by setting the vertices and indices according to a Mesh.

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bool get_collision_mask_bit ( int bit ) const

Returns whether the specified bit of the geometry_collision_mask is set.

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PoolIntArray get_polygon ( int idx )

Returns a PoolIntArray containing the indices of the vertices of a created polygon.

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int get_polygon_count ( ) const

Returns the number of polygons in the navigation mesh.

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PoolVector3Array get_vertices ( ) const

Returns a PoolVector3Array containing all the vertices being used to create the polygons.

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void set_collision_mask_bit ( int bit, bool value )

If value is true, sets the specified bit in the geometry_collision_mask.

If value is false, clears the specified bit in the geometry_collision_mask.

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void set_vertices ( PoolVector3Array vertices )

Sets the vertices that can be then indexed to create polygons with the add_polygon method.