/**************************************************************************/ /* navigation_agent_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_agent_3d.h" #include "scene/3d/navigation_link_3d.h" #include "servers/navigation_server_3d.h" void NavigationAgent3D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent3D::get_rid); ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent3D::set_avoidance_enabled); ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent3D::get_avoidance_enabled); ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent3D::set_path_desired_distance); ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent3D::get_path_desired_distance); ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent3D::set_target_desired_distance); ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent3D::get_target_desired_distance); ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent3D::set_radius); ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent3D::get_radius); ClassDB::bind_method(D_METHOD("set_agent_height_offset", "agent_height_offset"), &NavigationAgent3D::set_agent_height_offset); ClassDB::bind_method(D_METHOD("get_agent_height_offset"), &NavigationAgent3D::get_agent_height_offset); ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent3D::set_ignore_y); ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent3D::get_ignore_y); ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent3D::set_neighbor_distance); ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent3D::get_neighbor_distance); ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent3D::set_max_neighbors); ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent3D::get_max_neighbors); ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent3D::set_time_horizon); ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent3D::get_time_horizon); ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent3D::set_max_speed); ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent3D::get_max_speed); ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent3D::set_path_max_distance); ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent3D::get_path_max_distance); ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent3D::set_navigation_layers); ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent3D::get_navigation_layers); ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent3D::set_navigation_layer_value); ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent3D::get_navigation_layer_value); ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent3D::set_pathfinding_algorithm); ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent3D::get_pathfinding_algorithm); ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent3D::set_path_postprocessing); ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent3D::get_path_postprocessing); ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent3D::set_path_metadata_flags); ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent3D::get_path_metadata_flags); ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent3D::set_navigation_map); ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent3D::get_navigation_map); ClassDB::bind_method(D_METHOD("set_target_position", "position"), &NavigationAgent3D::set_target_position); ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent3D::get_target_position); ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent3D::get_next_path_position); ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent3D::distance_to_target); ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent3D::set_velocity); ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent3D::get_current_navigation_result); ClassDB::bind_method(D_METHOD("get_current_navigation_path"), &NavigationAgent3D::get_current_navigation_path); ClassDB::bind_method(D_METHOD("get_current_navigation_path_index"), &NavigationAgent3D::get_current_navigation_path_index); ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent3D::is_target_reached); ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent3D::is_target_reachable); ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent3D::is_navigation_finished); ClassDB::bind_method(D_METHOD("get_final_position"), &NavigationAgent3D::get_final_position); ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent3D::_avoidance_done); ADD_GROUP("Pathfinding", ""); ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_target_position", "get_target_position"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,or_greater,suffix:m"), "set_path_desired_distance", "get_path_desired_distance"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,or_greater,suffix:m"), "set_target_desired_distance", "get_target_desired_distance"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01,or_greater,suffix:m"), "set_agent_height_offset", "get_agent_height_offset"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1,or_greater,suffix:m"), "set_path_max_distance", "get_path_max_distance"); ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers"); ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm"); ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing"); ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags"); ADD_GROUP("Avoidance", ""); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,100,0.01,or_greater,suffix:m"), "set_radius", "get_radius"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,10000,0.01,or_greater,suffix:m"), "set_neighbor_distance", "get_neighbor_distance"); ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1,or_greater"), "set_max_neighbors", "get_max_neighbors"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.01,10,0.01,or_greater,suffix:s"), "set_time_horizon", "get_time_horizon"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,1000,0.01,or_greater,suffix:m/s"), "set_max_speed", "get_max_speed"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "ignore_y"), "set_ignore_y", "get_ignore_y"); ADD_SIGNAL(MethodInfo("path_changed")); ADD_SIGNAL(MethodInfo("target_reached")); ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details"))); ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details"))); ADD_SIGNAL(MethodInfo("navigation_finished")); ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity"))); ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent3D::set_debug_enabled); ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent3D::get_debug_enabled); ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent3D::set_debug_use_custom); ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent3D::get_debug_use_custom); ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent3D::set_debug_path_custom_color); ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent3D::get_debug_path_custom_color); ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent3D::set_debug_path_custom_point_size); ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent3D::get_debug_path_custom_point_size); ADD_GROUP("Debug", "debug_"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom"); ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_point_size", PROPERTY_HINT_RANGE, "0,50,0.01,or_greater,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size"); } void NavigationAgent3D::_notification(int p_what) { switch (p_what) { case NOTIFICATION_POST_ENTER_TREE: { // 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 re-added to SceneTree set_agent_parent(get_parent()); set_physics_process_internal(true); #ifdef DEBUG_ENABLED if (NavigationServer3D::get_singleton()->get_debug_enabled()) { debug_path_dirty = true; } #endif // DEBUG_ENABLED } 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_EXIT_TREE: { set_agent_parent(nullptr); set_physics_process_internal(false); #ifdef DEBUG_ENABLED if (debug_path_instance.is_valid()) { RS::get_singleton()->instance_set_visible(debug_path_instance, false); } #endif // DEBUG_ENABLED } break; case NOTIFICATION_PAUSED: { if (agent_parent && !agent_parent->can_process()) { map_before_pause = NavigationServer3D::get_singleton()->agent_get_map(get_rid()); NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID()); } else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) { NavigationServer3D::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 = NavigationServer3D::get_singleton()->agent_get_map(get_rid()); NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID()); } else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) { NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_before_pause); map_before_pause = RID(); } } break; case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { if (agent_parent && target_position_submitted) { 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 NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position()); } _check_distance_to_target(); } #ifdef DEBUG_ENABLED if (debug_path_dirty) { _update_debug_path(); } #endif // DEBUG_ENABLED } break; } } NavigationAgent3D::NavigationAgent3D() { agent = NavigationServer3D::get_singleton()->agent_create(); NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance); NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, time_horizon); NavigationServer3D::get_singleton()->agent_set_radius(agent, radius); NavigationServer3D::get_singleton()->agent_set_max_speed(agent, max_speed); NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y); // Preallocate query and result objects to improve performance. navigation_query = Ref<NavigationPathQueryParameters3D>(); navigation_query.instantiate(); navigation_result = Ref<NavigationPathQueryResult3D>(); navigation_result.instantiate(); #ifdef DEBUG_ENABLED NavigationServer3D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent3D::_navigation_debug_changed)); #endif // DEBUG_ENABLED } NavigationAgent3D::~NavigationAgent3D() { ERR_FAIL_NULL(NavigationServer3D::get_singleton()); NavigationServer3D::get_singleton()->free(agent); agent = RID(); // Pointless #ifdef DEBUG_ENABLED NavigationServer3D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent3D::_navigation_debug_changed)); ERR_FAIL_NULL(RenderingServer::get_singleton()); if (debug_path_instance.is_valid()) { RenderingServer::get_singleton()->free(debug_path_instance); } if (debug_path_mesh.is_valid()) { RenderingServer::get_singleton()->free(debug_path_mesh->get_rid()); } #endif // DEBUG_ENABLED } void NavigationAgent3D::set_avoidance_enabled(bool p_enabled) { if (avoidance_enabled == p_enabled) { return; } avoidance_enabled = p_enabled; if (avoidance_enabled) { NavigationServer3D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent3D::_avoidance_done)); } else { NavigationServer3D::get_singleton()->agent_set_callback(agent, Callable()); } } bool NavigationAgent3D::get_avoidance_enabled() const { return avoidance_enabled; } void NavigationAgent3D::set_agent_parent(Node *p_agent_parent) { if (agent_parent == p_agent_parent) { return; } // remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map NavigationServer3D::get_singleton()->agent_set_callback(agent, Callable()); if (Object::cast_to<Node3D>(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<Node3D>(p_agent_parent); if (map_override.is_valid()) { NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_override); } else { NavigationServer3D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_3d()->get_navigation_map()); } // create new avoidance callback if enabled if (avoidance_enabled) { NavigationServer3D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent3D::_avoidance_done)); } } else { agent_parent = nullptr; NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID()); } } void NavigationAgent3D::set_navigation_layers(uint32_t p_navigation_layers) { if (navigation_layers == p_navigation_layers) { return; } navigation_layers = p_navigation_layers; _request_repath(); } uint32_t NavigationAgent3D::get_navigation_layers() const { return navigation_layers; } void NavigationAgent3D::set_navigation_layer_value(int p_layer_number, bool p_value) { ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive."); ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive."); uint32_t _navigation_layers = get_navigation_layers(); if (p_value) { _navigation_layers |= 1 << (p_layer_number - 1); } else { _navigation_layers &= ~(1 << (p_layer_number - 1)); } set_navigation_layers(_navigation_layers); } bool NavigationAgent3D::get_navigation_layer_value(int p_layer_number) const { ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive."); ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive."); return get_navigation_layers() & (1 << (p_layer_number - 1)); } void NavigationAgent3D::set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm) { if (pathfinding_algorithm == p_pathfinding_algorithm) { return; } pathfinding_algorithm = p_pathfinding_algorithm; navigation_query->set_pathfinding_algorithm(pathfinding_algorithm); } void NavigationAgent3D::set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing) { if (path_postprocessing == p_path_postprocessing) { return; } path_postprocessing = p_path_postprocessing; navigation_query->set_path_postprocessing(path_postprocessing); } void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_path_metadata_flags) { if (path_metadata_flags == p_path_metadata_flags) { return; } path_metadata_flags = p_path_metadata_flags; } void NavigationAgent3D::set_navigation_map(RID p_navigation_map) { if (map_override == p_navigation_map) { return; } map_override = p_navigation_map; NavigationServer3D::get_singleton()->agent_set_map(agent, map_override); _request_repath(); } RID NavigationAgent3D::get_navigation_map() const { if (map_override.is_valid()) { return map_override; } else if (agent_parent != nullptr) { return agent_parent->get_world_3d()->get_navigation_map(); } return RID(); } void NavigationAgent3D::set_path_desired_distance(real_t p_path_desired_distance) { if (Math::is_equal_approx(path_desired_distance, p_path_desired_distance)) { return; } path_desired_distance = p_path_desired_distance; } void NavigationAgent3D::set_target_desired_distance(real_t p_target_desired_distance) { if (Math::is_equal_approx(target_desired_distance, p_target_desired_distance)) { return; } target_desired_distance = p_target_desired_distance; } void NavigationAgent3D::set_radius(real_t p_radius) { if (Math::is_equal_approx(radius, p_radius)) { return; } radius = p_radius; NavigationServer3D::get_singleton()->agent_set_radius(agent, radius); } void NavigationAgent3D::set_agent_height_offset(real_t p_agent_height_offset) { if (Math::is_equal_approx(navigation_height_offset, p_agent_height_offset)) { return; } navigation_height_offset = p_agent_height_offset; } void NavigationAgent3D::set_ignore_y(bool p_ignore_y) { if (ignore_y == p_ignore_y) { return; } ignore_y = p_ignore_y; NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y); } void NavigationAgent3D::set_neighbor_distance(real_t p_distance) { if (Math::is_equal_approx(neighbor_distance, p_distance)) { return; } neighbor_distance = p_distance; NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance); } void NavigationAgent3D::set_max_neighbors(int p_count) { if (max_neighbors == p_count) { return; } max_neighbors = p_count; NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); } void NavigationAgent3D::set_time_horizon(real_t p_time) { if (Math::is_equal_approx(time_horizon, p_time)) { return; } time_horizon = p_time; NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, time_horizon); } void NavigationAgent3D::set_max_speed(real_t p_max_speed) { if (Math::is_equal_approx(max_speed, p_max_speed)) { return; } max_speed = p_max_speed; NavigationServer3D::get_singleton()->agent_set_max_speed(agent, max_speed); } void NavigationAgent3D::set_path_max_distance(real_t p_path_max_distance) { if (Math::is_equal_approx(path_max_distance, p_path_max_distance)) { return; } path_max_distance = p_path_max_distance; } real_t NavigationAgent3D::get_path_max_distance() { return path_max_distance; } void NavigationAgent3D::set_target_position(Vector3 p_position) { // Intentionally not checking for equality of the parameter, as we want to update the path even if the target position is the same in case the world changed. // Revisit later when the navigation server can update the path without requesting a new path. target_position = p_position; target_position_submitted = true; _request_repath(); } Vector3 NavigationAgent3D::get_target_position() const { return target_position; } Vector3 NavigationAgent3D::get_next_path_position() { update_navigation(); const Vector<Vector3> &navigation_path = navigation_result->get_path(); if (navigation_path.size() == 0) { ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent."); return agent_parent->get_global_position(); } else { return navigation_path[navigation_path_index] - Vector3(0, navigation_height_offset, 0); } } real_t NavigationAgent3D::distance_to_target() const { ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent."); return agent_parent->get_global_position().distance_to(target_position); } bool NavigationAgent3D::is_target_reached() const { return target_reached; } bool NavigationAgent3D::is_target_reachable() { return target_desired_distance >= get_final_position().distance_to(target_position); } bool NavigationAgent3D::is_navigation_finished() { update_navigation(); return navigation_finished; } Vector3 NavigationAgent3D::get_final_position() { update_navigation(); const Vector<Vector3> &navigation_path = navigation_result->get_path(); if (navigation_path.size() == 0) { return Vector3(); } return navigation_path[navigation_path.size() - 1]; } void NavigationAgent3D::set_velocity(Vector3 p_velocity) { // Intentionally not checking for equality of the parameter. // We need to always submit the velocity to the navigation server, even when it is the same, in order to run avoidance every frame. // Revisit later when the navigation server can update avoidance without users resubmitting the velocity. target_velocity = p_velocity; velocity_submitted = true; NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, target_velocity); NavigationServer3D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity); } void NavigationAgent3D::_avoidance_done(Vector3 p_new_velocity) { prev_safe_velocity = p_new_velocity; if (!velocity_submitted) { target_velocity = Vector3(); return; } velocity_submitted = false; emit_signal(SNAME("velocity_computed"), p_new_velocity); } PackedStringArray NavigationAgent3D::get_configuration_warnings() const { PackedStringArray warnings = Node::get_configuration_warnings(); if (!Object::cast_to<Node3D>(get_parent())) { warnings.push_back(RTR("The NavigationAgent3D can be used only under a Node3D inheriting parent node.")); } return warnings; } void NavigationAgent3D::update_navigation() { if (agent_parent == nullptr) { return; } if (!agent_parent->is_inside_tree()) { return; } if (!target_position_submitted) { return; } if (update_frame_id == Engine::get_singleton()->get_physics_frames()) { return; } update_frame_id = Engine::get_singleton()->get_physics_frames(); Vector3 origin = agent_parent->get_global_position(); bool reload_path = false; if (NavigationServer3D::get_singleton()->agent_is_map_changed(agent)) { reload_path = true; } else if (navigation_result->get_path().size() == 0) { reload_path = true; } else { // Check if too far from the navigation path if (navigation_path_index > 0) { const Vector<Vector3> &navigation_path = navigation_result->get_path(); Vector3 segment[2]; segment[0] = navigation_path[navigation_path_index - 1]; segment[1] = navigation_path[navigation_path_index]; segment[0].y -= navigation_height_offset; segment[1].y -= navigation_height_offset; Vector3 p = Geometry3D::get_closest_point_to_segment(origin, segment); if (origin.distance_to(p) >= path_max_distance) { // To faraway, reload path reload_path = true; } } } if (reload_path) { navigation_query->set_start_position(origin); navigation_query->set_target_position(target_position); navigation_query->set_navigation_layers(navigation_layers); navigation_query->set_metadata_flags(path_metadata_flags); if (map_override.is_valid()) { navigation_query->set_map(map_override); } else { navigation_query->set_map(agent_parent->get_world_3d()->get_navigation_map()); } NavigationServer3D::get_singleton()->query_path(navigation_query, navigation_result); #ifdef DEBUG_ENABLED debug_path_dirty = true; #endif // DEBUG_ENABLED navigation_finished = false; navigation_path_index = 0; emit_signal(SNAME("path_changed")); } if (navigation_result->get_path().size() == 0) { return; } // Check if we can advance the navigation path if (navigation_finished == false) { // Advances to the next far away position. const Vector<Vector3> &navigation_path = navigation_result->get_path(); const Vector<int32_t> &navigation_path_types = navigation_result->get_path_types(); const TypedArray<RID> &navigation_path_rids = navigation_result->get_path_rids(); const Vector<int64_t> &navigation_path_owners = navigation_result->get_path_owner_ids(); while (origin.distance_to(navigation_path[navigation_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) { Dictionary details; const Vector3 waypoint = navigation_path[navigation_path_index]; details[SNAME("position")] = waypoint; int waypoint_type = -1; if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_TYPES)) { const NavigationPathQueryResult3D::PathSegmentType type = NavigationPathQueryResult3D::PathSegmentType(navigation_path_types[navigation_path_index]); details[SNAME("type")] = type; waypoint_type = type; } if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_RIDS)) { details[SNAME("rid")] = navigation_path_rids[navigation_path_index]; } if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_OWNERS)) { const ObjectID waypoint_owner_id = ObjectID(navigation_path_owners[navigation_path_index]); // Get a reference to the owning object. Object *owner = nullptr; if (waypoint_owner_id.is_valid()) { owner = ObjectDB::get_instance(waypoint_owner_id); } details[SNAME("owner")] = owner; if (waypoint_type == NavigationPathQueryResult3D::PATH_SEGMENT_TYPE_LINK) { const NavigationLink3D *navlink = Object::cast_to<NavigationLink3D>(owner); if (navlink) { Vector3 link_global_start_position = navlink->get_global_start_position(); Vector3 link_global_end_position = navlink->get_global_end_position(); if (waypoint.distance_to(link_global_start_position) < waypoint.distance_to(link_global_end_position)) { details[SNAME("link_entry_position")] = link_global_start_position; details[SNAME("link_exit_position")] = link_global_end_position; } else { details[SNAME("link_entry_position")] = link_global_end_position; details[SNAME("link_exit_position")] = link_global_start_position; } } } } // Emit a signal for the waypoint emit_signal(SNAME("waypoint_reached"), details); // Emit a signal if we've reached a navigation link if (waypoint_type == NavigationPathQueryResult3D::PATH_SEGMENT_TYPE_LINK) { emit_signal(SNAME("link_reached"), details); } // Move to the next waypoint on the list navigation_path_index += 1; // Check to see if we've finished our route if (navigation_path_index == navigation_path.size()) { _check_distance_to_target(); navigation_path_index -= 1; navigation_finished = true; target_position_submitted = false; emit_signal(SNAME("navigation_finished")); break; } } } } void NavigationAgent3D::_request_repath() { navigation_result->reset(); target_reached = false; navigation_finished = false; update_frame_id = 0; } void NavigationAgent3D::_check_distance_to_target() { if (!target_reached) { if (distance_to_target() < target_desired_distance) { target_reached = true; emit_signal(SNAME("target_reached")); } } } ////////DEBUG//////////////////////////////////////////////////////////// void NavigationAgent3D::set_debug_enabled(bool p_enabled) { #ifdef DEBUG_ENABLED if (debug_enabled == p_enabled) { return; } debug_enabled = p_enabled; debug_path_dirty = true; #endif // DEBUG_ENABLED } bool NavigationAgent3D::get_debug_enabled() const { return debug_enabled; } void NavigationAgent3D::set_debug_use_custom(bool p_enabled) { #ifdef DEBUG_ENABLED if (debug_use_custom == p_enabled) { return; } debug_use_custom = p_enabled; debug_path_dirty = true; #endif // DEBUG_ENABLED } bool NavigationAgent3D::get_debug_use_custom() const { return debug_use_custom; } void NavigationAgent3D::set_debug_path_custom_color(Color p_color) { #ifdef DEBUG_ENABLED if (debug_path_custom_color == p_color) { return; } debug_path_custom_color = p_color; debug_path_dirty = true; #endif // DEBUG_ENABLED } Color NavigationAgent3D::get_debug_path_custom_color() const { return debug_path_custom_color; } void NavigationAgent3D::set_debug_path_custom_point_size(float p_point_size) { #ifdef DEBUG_ENABLED if (Math::is_equal_approx(debug_path_custom_point_size, p_point_size)) { return; } debug_path_custom_point_size = MAX(0.0, p_point_size); debug_path_dirty = true; #endif // DEBUG_ENABLED } float NavigationAgent3D::get_debug_path_custom_point_size() const { return debug_path_custom_point_size; } #ifdef DEBUG_ENABLED void NavigationAgent3D::_navigation_debug_changed() { debug_path_dirty = true; } void NavigationAgent3D::_update_debug_path() { if (!debug_path_dirty) { return; } debug_path_dirty = false; if (!debug_path_instance.is_valid()) { debug_path_instance = RenderingServer::get_singleton()->instance_create(); } if (!debug_path_mesh.is_valid()) { debug_path_mesh = Ref<ArrayMesh>(memnew(ArrayMesh)); } debug_path_mesh->clear_surfaces(); if (!(debug_enabled && NavigationServer3D::get_singleton()->get_debug_navigation_enable_agent_paths())) { return; } if (!(agent_parent && agent_parent->is_inside_tree())) { return; } const Vector<Vector3> &navigation_path = navigation_result->get_path(); if (navigation_path.size() <= 1) { return; } Vector<Vector3> debug_path_lines_vertex_array; for (int i = 0; i < navigation_path.size() - 1; i++) { debug_path_lines_vertex_array.push_back(navigation_path[i]); debug_path_lines_vertex_array.push_back(navigation_path[i + 1]); } Array debug_path_lines_mesh_array; debug_path_lines_mesh_array.resize(Mesh::ARRAY_MAX); debug_path_lines_mesh_array[Mesh::ARRAY_VERTEX] = debug_path_lines_vertex_array; debug_path_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, debug_path_lines_mesh_array); Ref<StandardMaterial3D> debug_agent_path_line_material = NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_line_material(); if (debug_use_custom) { if (!debug_agent_path_line_custom_material.is_valid()) { debug_agent_path_line_custom_material = debug_agent_path_line_material->duplicate(); } debug_agent_path_line_custom_material->set_albedo(debug_path_custom_color); debug_path_mesh->surface_set_material(0, debug_agent_path_line_custom_material); } else { debug_path_mesh->surface_set_material(0, debug_agent_path_line_material); } if (debug_path_custom_point_size > 0.0) { Vector<Vector3> debug_path_points_vertex_array; for (int i = 0; i < navigation_path.size(); i++) { debug_path_points_vertex_array.push_back(navigation_path[i]); } Array debug_path_points_mesh_array; debug_path_points_mesh_array.resize(Mesh::ARRAY_MAX); debug_path_points_mesh_array[Mesh::ARRAY_VERTEX] = debug_path_points_vertex_array; debug_path_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_POINTS, debug_path_points_mesh_array); Ref<StandardMaterial3D> debug_agent_path_point_material = NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_point_material(); if (debug_use_custom) { if (!debug_agent_path_point_custom_material.is_valid()) { debug_agent_path_point_custom_material = debug_agent_path_point_material->duplicate(); } debug_agent_path_point_custom_material->set_albedo(debug_path_custom_color); debug_agent_path_point_custom_material->set_point_size(debug_path_custom_point_size); debug_path_mesh->surface_set_material(1, debug_agent_path_point_custom_material); } else { debug_path_mesh->surface_set_material(1, debug_agent_path_point_material); } } RS::get_singleton()->instance_set_base(debug_path_instance, debug_path_mesh->get_rid()); RS::get_singleton()->instance_set_scenario(debug_path_instance, agent_parent->get_world_3d()->get_scenario()); RS::get_singleton()->instance_set_visible(debug_path_instance, agent_parent->is_visible_in_tree()); } #endif // DEBUG_ENABLED