/**************************************************************************/ /* navigation_agent_2d.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_agent_2d.h" #include "core/engine.h" #include "scene/2d/navigation_2d.h" #include "servers/navigation_2d_server.h" void NavigationAgent2D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent2D::get_rid); ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent2D::set_avoidance_enabled); ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent2D::get_avoidance_enabled); ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent2D::set_path_desired_distance); ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent2D::get_path_desired_distance); ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent2D::set_target_desired_distance); ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent2D::get_target_desired_distance); ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent2D::set_radius); ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent2D::get_radius); ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent2D::set_navigation_node); ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent2D::get_navigation_node); ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent2D::set_neighbor_dist); ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent2D::get_neighbor_dist); ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent2D::set_max_neighbors); ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent2D::get_max_neighbors); ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent2D::set_time_horizon); ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent2D::get_time_horizon); ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent2D::set_max_speed); ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent2D::get_max_speed); ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent2D::set_path_max_distance); ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent2D::get_path_max_distance); ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent2D::set_navigation_layers); ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent2D::get_navigation_layers); ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent2D::set_navigation_map); ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent2D::get_navigation_map); ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent2D::set_target_location); ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent2D::get_target_location); ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent2D::get_next_location); ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent2D::distance_to_target); ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent2D::set_velocity); ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent2D::get_nav_path); ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent2D::get_nav_path_index); ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent2D::is_target_reached); ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent2D::is_target_reachable); ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent2D::is_navigation_finished); ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent2D::get_final_location); ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent2D::_avoidance_done); ADD_GROUP("Pathfinding", ""); ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "target_location", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_target_location", "get_target_location"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_path_desired_distance", "get_path_desired_distance"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_target_desired_distance", "get_target_desired_distance"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "10,100,1"), "set_path_max_distance", "get_path_max_distance"); ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers"); ADD_GROUP("Avoidance", ""); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.1,500,0.01"), "set_radius", "get_radius"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_neighbor_dist", "get_neighbor_dist"); ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1"), "set_max_neighbors", "get_max_neighbors"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_time_horizon", "get_time_horizon"); ADD_PROPERTY(PropertyInfo(Variant::REAL, "max_speed", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_max_speed", "get_max_speed"); ADD_SIGNAL(MethodInfo("path_changed")); ADD_SIGNAL(MethodInfo("target_reached")); ADD_SIGNAL(MethodInfo("navigation_finished")); ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR2, "safe_velocity"))); } void NavigationAgent2D::_notification(int p_what) { switch (p_what) { case NOTIFICATION_POST_ENTER_TREE: { // Search the navigation node and set it { Navigation2D *nav = nullptr; Node *p = get_parent(); while (p != nullptr) { nav = Object::cast_to(p); if (nav != nullptr) { p = nullptr; } else { p = p->get_parent(); } } set_navigation(nav); } // need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready. // cannot use READY as ready does not get called if Node is readded to SceneTree set_agent_parent(get_parent()); set_physics_process_internal(true); } break; case NOTIFICATION_PARENTED: { if (is_inside_tree() && (get_parent() != agent_parent)) { // only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around // PARENTED notification fires also when Node is added in scripts to a parent // this would spam transforms fails and world fails while Node is outside SceneTree // when node gets reparented when joining the tree POST_ENTER_TREE takes care of this set_agent_parent(get_parent()); set_physics_process_internal(true); } } break; case NOTIFICATION_UNPARENTED: { // if agent has no parent no point in processing it until reparented set_agent_parent(nullptr); set_physics_process_internal(false); } break; case NOTIFICATION_PAUSED: { if (agent_parent && !agent_parent->can_process()) { map_before_pause = Navigation2DServer::get_singleton()->agent_get_map(get_rid()); Navigation2DServer::get_singleton()->agent_set_map(get_rid(), RID()); } else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) { Navigation2DServer::get_singleton()->agent_set_map(get_rid(), map_before_pause); map_before_pause = RID(); } } break; case NOTIFICATION_UNPAUSED: { if (agent_parent && !agent_parent->can_process()) { map_before_pause = Navigation2DServer::get_singleton()->agent_get_map(get_rid()); Navigation2DServer::get_singleton()->agent_set_map(get_rid(), RID()); } else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) { Navigation2DServer::get_singleton()->agent_set_map(get_rid(), map_before_pause); map_before_pause = RID(); } } break; case NOTIFICATION_EXIT_TREE: { set_agent_parent(nullptr); set_navigation(nullptr); set_physics_process_internal(false); } break; case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { if (agent_parent) { if (avoidance_enabled) { // agent_position on NavigationServer is avoidance only and has nothing to do with pathfinding // no point in flooding NavigationServer queue with agent position updates that get send to the void if avoidance is not used Navigation2DServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_position()); } _check_distance_to_target(); } } break; } } NavigationAgent2D::NavigationAgent2D() : agent_parent(nullptr), navigation(nullptr), agent(RID()), avoidance_enabled(false), target_desired_distance(1.0), path_max_distance(3.0), velocity_submitted(false), target_reached(false), navigation_finished(true) { agent = Navigation2DServer::get_singleton()->agent_create(); set_neighbor_dist(500.0); set_max_neighbors(10); set_time_horizon(20.0); set_radius(10.0); set_max_speed(200.0); } NavigationAgent2D::~NavigationAgent2D() { Navigation2DServer::get_singleton()->free(agent); agent = RID(); // Pointless } void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) { avoidance_enabled = p_enabled; if (avoidance_enabled) { Navigation2DServer::get_singleton()->agent_set_callback(agent, get_instance_id(), "_avoidance_done"); } else { Navigation2DServer::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done"); } } bool NavigationAgent2D::get_avoidance_enabled() const { return avoidance_enabled; } void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) { // remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map Navigation2DServer::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done"); if (Object::cast_to(p_agent_parent) != nullptr) { // place agent on navigation map first or else the RVO agent callback creation fails silently later agent_parent = Object::cast_to(p_agent_parent); if (map_override.is_valid()) { Navigation2DServer::get_singleton()->agent_set_map(get_rid(), map_override); } else if (navigation != nullptr) { Navigation2DServer::get_singleton()->agent_set_map(get_rid(), navigation->get_rid()); } else { // no navigation node found in parent nodes, use default navigation map from world resource Navigation2DServer::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_2d()->get_navigation_map()); } // create new avoidance callback if enabled set_avoidance_enabled(avoidance_enabled); } else { agent_parent = nullptr; Navigation2DServer::get_singleton()->agent_set_map(get_rid(), RID()); } } void NavigationAgent2D::set_navigation(Navigation2D *p_nav) { if (navigation == p_nav) { return; // Pointless } navigation = p_nav; Navigation2DServer::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid()); } void NavigationAgent2D::set_navigation_node(Node *p_nav) { Navigation2D *nav = Object::cast_to(p_nav); ERR_FAIL_NULL(nav); set_navigation(nav); } Node *NavigationAgent2D::get_navigation_node() const { return Object::cast_to(navigation); } void NavigationAgent2D::set_navigation_layers(uint32_t p_navigation_layers) { bool _navigation_layers_changed = navigation_layers != p_navigation_layers; navigation_layers = p_navigation_layers; if (_navigation_layers_changed) { _request_repath(); } } uint32_t NavigationAgent2D::get_navigation_layers() const { return navigation_layers; } void NavigationAgent2D::set_navigation_map(RID p_navigation_map) { map_override = p_navigation_map; Navigation2DServer::get_singleton()->agent_set_map(agent, map_override); _request_repath(); } RID NavigationAgent2D::get_navigation_map() const { if (map_override.is_valid()) { return map_override; } else if (navigation != nullptr) { return navigation->get_rid(); } else if (agent_parent != nullptr) { return agent_parent->get_world_2d()->get_navigation_map(); } return RID(); } void NavigationAgent2D::set_path_desired_distance(real_t p_dd) { path_desired_distance = p_dd; } void NavigationAgent2D::set_target_desired_distance(real_t p_dd) { target_desired_distance = p_dd; } void NavigationAgent2D::set_radius(real_t p_radius) { radius = p_radius; Navigation2DServer::get_singleton()->agent_set_radius(agent, radius); } void NavigationAgent2D::set_neighbor_dist(real_t p_dist) { neighbor_dist = p_dist; Navigation2DServer::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist); } void NavigationAgent2D::set_max_neighbors(int p_count) { max_neighbors = p_count; Navigation2DServer::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); } void NavigationAgent2D::set_time_horizon(real_t p_time) { time_horizon = p_time; Navigation2DServer::get_singleton()->agent_set_time_horizon(agent, time_horizon); } void NavigationAgent2D::set_max_speed(real_t p_max_speed) { max_speed = p_max_speed; Navigation2DServer::get_singleton()->agent_set_max_speed(agent, max_speed); } void NavigationAgent2D::set_path_max_distance(real_t p_pmd) { path_max_distance = p_pmd; } real_t NavigationAgent2D::get_path_max_distance() { return path_max_distance; } void NavigationAgent2D::set_target_location(Vector2 p_location) { target_location = p_location; _request_repath(); } Vector2 NavigationAgent2D::get_target_location() const { return target_location; } Vector2 NavigationAgent2D::get_next_location() { update_navigation(); if (navigation_path.size() == 0) { ERR_FAIL_COND_V(agent_parent == nullptr, Vector2()); return agent_parent->get_global_transform().get_origin(); } else { return navigation_path[nav_path_index]; } } real_t NavigationAgent2D::distance_to_target() const { ERR_FAIL_COND_V(agent_parent == nullptr, 0.0); return agent_parent->get_global_transform().get_origin().distance_to(target_location); } bool NavigationAgent2D::is_target_reached() const { return target_reached; } bool NavigationAgent2D::is_target_reachable() { return target_desired_distance >= get_final_location().distance_to(target_location); } bool NavigationAgent2D::is_navigation_finished() { update_navigation(); return navigation_finished; } Vector2 NavigationAgent2D::get_final_location() { update_navigation(); if (navigation_path.size() == 0) { return Vector2(); } return navigation_path[navigation_path.size() - 1]; } void NavigationAgent2D::set_velocity(Vector2 p_velocity) { target_velocity = p_velocity; Navigation2DServer::get_singleton()->agent_set_target_velocity(agent, target_velocity); Navigation2DServer::get_singleton()->agent_set_velocity(agent, prev_safe_velocity); velocity_submitted = true; } void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) { const Vector2 velocity = Vector2(p_new_velocity.x, p_new_velocity.z); prev_safe_velocity = velocity; if (!velocity_submitted) { target_velocity = Vector2(); return; } velocity_submitted = false; emit_signal("velocity_computed", velocity); } String NavigationAgent2D::get_configuration_warning() const { String warning = Node::get_configuration_warning(); if (!Object::cast_to(get_parent())) { if (warning != String()) { warning += "\n\n"; } warning += TTR("The NavigationAgent2D can be used only under a Node2D inheriting parent node."); } return warning; } void NavigationAgent2D::update_navigation() { if (agent_parent == nullptr) { return; } if (!agent_parent->is_inside_tree()) { return; } if (update_frame_id == Engine::get_singleton()->get_physics_frames()) { return; } update_frame_id = Engine::get_singleton()->get_physics_frames(); Vector2 o = agent_parent->get_global_transform().get_origin(); bool reload_path = false; if (Navigation2DServer::get_singleton()->agent_is_map_changed(agent)) { reload_path = true; } else if (navigation_path.size() == 0) { reload_path = true; } else { // Check if too far from the navigation path if (nav_path_index > 0) { Vector2 segment[2]; segment[0] = navigation_path[nav_path_index - 1]; segment[1] = navigation_path[nav_path_index]; Vector2 p = Geometry::get_closest_point_to_segment_2d(o, segment); if (o.distance_to(p) >= path_max_distance) { // To faraway, reload path reload_path = true; } } } if (reload_path) { if (map_override.is_valid()) { navigation_path = Navigation2DServer::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers); } else if (navigation != nullptr) { navigation_path = Navigation2DServer::get_singleton()->map_get_path(navigation->get_rid(), o, target_location, true, navigation_layers); } else { navigation_path = Navigation2DServer::get_singleton()->map_get_path(agent_parent->get_world_2d()->get_navigation_map(), o, target_location, true, navigation_layers); } navigation_finished = false; nav_path_index = 0; emit_signal("path_changed"); } if (navigation_path.size() == 0) { return; } // Check if we can advance the navigation path if (navigation_finished == false) { // Advances to the next far away location. while (o.distance_to(navigation_path[nav_path_index]) < path_desired_distance) { nav_path_index += 1; if (nav_path_index == navigation_path.size()) { _check_distance_to_target(); nav_path_index -= 1; navigation_finished = true; emit_signal("navigation_finished"); break; } } } } void NavigationAgent2D::_request_repath() { navigation_path.clear(); target_reached = false; navigation_finished = false; update_frame_id = 0; } void NavigationAgent2D::_check_distance_to_target() { if (!target_reached) { if (distance_to_target() < target_desired_distance) { target_reached = true; emit_signal("target_reached"); } } }