/**************************************************************************/ /* navigation_server_2d.h */ /**************************************************************************/ /* 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. */ /**************************************************************************/ #ifndef NAVIGATION_SERVER_2D_H #define NAVIGATION_SERVER_2D_H #include "core/object/class_db.h" #include "core/templates/rid.h" #include "scene/resources/navigation_mesh_source_geometry_data_2d.h" #include "scene/resources/navigation_polygon.h" #include "servers/navigation/navigation_path_query_parameters_2d.h" #include "servers/navigation/navigation_path_query_result_2d.h" #ifdef CLIPPER2_ENABLED class NavMeshGenerator2D; #endif // CLIPPER2_ENABLED // This server exposes the `NavigationServer3D` features in the 2D world. class NavigationServer2D : public Object { GDCLASS(NavigationServer2D, Object); static NavigationServer2D *singleton; void _emit_map_changed(RID p_map); protected: static void _bind_methods(); public: /// Thread safe, can be used across many threads. static NavigationServer2D *get_singleton(); virtual TypedArray get_maps() const = 0; /// Create a new map. virtual RID map_create() = 0; /// Set map active. virtual void map_set_active(RID p_map, bool p_active) = 0; /// Returns true if the map is active. virtual bool map_is_active(RID p_map) const = 0; /// Set the map cell size used to weld the navigation mesh polygons. virtual void map_set_cell_size(RID p_map, real_t p_cell_size) = 0; /// Returns the map cell size. virtual real_t map_get_cell_size(RID p_map) const = 0; virtual void map_set_use_edge_connections(RID p_map, bool p_enabled) = 0; virtual bool map_get_use_edge_connections(RID p_map) const = 0; /// Set the map edge connection margin used to weld the compatible region edges. virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) = 0; /// Returns the edge connection margin of this map. virtual real_t map_get_edge_connection_margin(RID p_map) const = 0; /// Set the map link connection radius used to attach links to the nav mesh. virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) = 0; /// Returns the link connection radius of this map. virtual real_t map_get_link_connection_radius(RID p_map) const = 0; /// Returns the navigation path to reach the destination from the origin. virtual Vector map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const = 0; virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const = 0; virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const = 0; virtual TypedArray map_get_links(RID p_map) const = 0; virtual TypedArray map_get_regions(RID p_map) const = 0; virtual TypedArray map_get_agents(RID p_map) const = 0; virtual TypedArray map_get_obstacles(RID p_map) const = 0; virtual void map_force_update(RID p_map) = 0; virtual uint32_t map_get_iteration_id(RID p_map) const = 0; virtual Vector2 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const = 0; /// Creates a new region. virtual RID region_create() = 0; virtual void region_set_enabled(RID p_region, bool p_enabled) = 0; virtual bool region_get_enabled(RID p_region) const = 0; virtual void region_set_use_edge_connections(RID p_region, bool p_enabled) = 0; virtual bool region_get_use_edge_connections(RID p_region) const = 0; /// Set the enter_cost of a region virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) = 0; virtual real_t region_get_enter_cost(RID p_region) const = 0; /// Set the travel_cost of a region virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) = 0; virtual real_t region_get_travel_cost(RID p_region) const = 0; /// Set the node which manages this region. virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) = 0; virtual ObjectID region_get_owner_id(RID p_region) const = 0; virtual bool region_owns_point(RID p_region, const Vector2 &p_point) const = 0; /// Set the map of this region. virtual void region_set_map(RID p_region, RID p_map) = 0; virtual RID region_get_map(RID p_region) const = 0; /// Set the region's layers virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) = 0; virtual uint32_t region_get_navigation_layers(RID p_region) const = 0; /// Set the global transformation of this region. virtual void region_set_transform(RID p_region, Transform2D p_transform) = 0; virtual Transform2D region_get_transform(RID p_region) const = 0; /// Set the navigation poly of this region. virtual void region_set_navigation_polygon(RID p_region, Ref p_navigation_polygon) = 0; /// Get a list of a region's connection to other regions. virtual int region_get_connections_count(RID p_region) const = 0; virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const = 0; virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0; virtual Vector2 region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const = 0; /// Creates a new link between positions in the nav map. virtual RID link_create() = 0; /// Set the map of this link. virtual void link_set_map(RID p_link, RID p_map) = 0; virtual RID link_get_map(RID p_link) const = 0; virtual void link_set_enabled(RID p_link, bool p_enabled) = 0; virtual bool link_get_enabled(RID p_link) const = 0; /// Set whether this link travels in both directions. virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) = 0; virtual bool link_is_bidirectional(RID p_link) const = 0; /// Set the link's layers. virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) = 0; virtual uint32_t link_get_navigation_layers(RID p_link) const = 0; /// Set the start position of the link. virtual void link_set_start_position(RID p_link, Vector2 p_position) = 0; virtual Vector2 link_get_start_position(RID p_link) const = 0; /// Set the end position of the link. virtual void link_set_end_position(RID p_link, Vector2 p_position) = 0; virtual Vector2 link_get_end_position(RID p_link) const = 0; /// Set the enter cost of the link. virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) = 0; virtual real_t link_get_enter_cost(RID p_link) const = 0; /// Set the travel cost of the link. virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) = 0; virtual real_t link_get_travel_cost(RID p_link) const = 0; /// Set the node which manages this link. virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) = 0; virtual ObjectID link_get_owner_id(RID p_link) const = 0; /// Creates the agent. virtual RID agent_create() = 0; /// Put the agent in the map. virtual void agent_set_map(RID p_agent, RID p_map) = 0; virtual RID agent_get_map(RID p_agent) const = 0; virtual void agent_set_paused(RID p_agent, bool p_paused) = 0; virtual bool agent_get_paused(RID p_agent) const = 0; virtual void agent_set_avoidance_enabled(RID p_agent, bool p_enabled) = 0; virtual bool agent_get_avoidance_enabled(RID p_agent) const = 0; /// The maximum distance (center point to /// center point) to other agents this agent /// takes into account in the navigation. The /// larger this number, the longer the running /// time of the simulation. If the number is too /// low, the simulation will not be safe. /// Must be non-negative. virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) = 0; virtual real_t agent_get_neighbor_distance(RID p_agent) const = 0; /// The maximum number of other agents this /// agent takes into account in the navigation. /// The larger this number, the longer the /// running time of the simulation. If the /// number is too low, the simulation will not /// be safe. virtual void agent_set_max_neighbors(RID p_agent, int p_count) = 0; virtual int agent_get_max_neighbors(RID p_agent) const = 0; /// The minimal amount of time for which this /// agent's velocities that are computed by the /// simulation are safe with respect to other /// agents. The larger this number, the sooner /// this agent will respond to the presence of /// other agents, but the less freedom this /// agent has in choosing its velocities. /// Must be positive. virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon) = 0; virtual real_t agent_get_time_horizon_agents(RID p_agent) const = 0; virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon) = 0; virtual real_t agent_get_time_horizon_obstacles(RID p_agent) const = 0; /// The radius of this agent. /// Must be non-negative. virtual void agent_set_radius(RID p_agent, real_t p_radius) = 0; virtual real_t agent_get_radius(RID p_agent) const = 0; /// The maximum speed of this agent. /// Must be non-negative. virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) = 0; virtual real_t agent_get_max_speed(RID p_agent) const = 0; /// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly virtual void agent_set_velocity_forced(RID p_agent, Vector2 p_velocity) = 0; /// The wanted velocity for the agent as a "suggestion" to the avoidance simulation. /// The simulation will try to fulfill this velocity wish if possible but may change the velocity depending on other agent's and obstacles'. virtual void agent_set_velocity(RID p_agent, Vector2 p_velocity) = 0; virtual Vector2 agent_get_velocity(RID p_agent) const = 0; /// Position of the agent in world space. virtual void agent_set_position(RID p_agent, Vector2 p_position) = 0; virtual Vector2 agent_get_position(RID p_agent) const = 0; /// Returns true if the map got changed the previous frame. virtual bool agent_is_map_changed(RID p_agent) const = 0; /// Callback called at the end of the RVO process virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback) = 0; virtual bool agent_has_avoidance_callback(RID p_agent) const = 0; virtual void agent_set_avoidance_layers(RID p_agent, uint32_t p_layers) = 0; virtual uint32_t agent_get_avoidance_layers(RID p_agent) const = 0; virtual void agent_set_avoidance_mask(RID p_agent, uint32_t p_mask) = 0; virtual uint32_t agent_get_avoidance_mask(RID p_agent) const = 0; virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority) = 0; virtual real_t agent_get_avoidance_priority(RID p_agent) const = 0; /// Creates the obstacle. virtual RID obstacle_create() = 0; virtual void obstacle_set_avoidance_enabled(RID p_obstacle, bool p_enabled) = 0; virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const = 0; virtual void obstacle_set_map(RID p_obstacle, RID p_map) = 0; virtual RID obstacle_get_map(RID p_obstacle) const = 0; virtual void obstacle_set_paused(RID p_obstacle, bool p_paused) = 0; virtual bool obstacle_get_paused(RID p_obstacle) const = 0; virtual void obstacle_set_radius(RID p_obstacle, real_t p_radius) = 0; virtual real_t obstacle_get_radius(RID p_obstacle) const = 0; virtual void obstacle_set_velocity(RID p_obstacle, Vector2 p_velocity) = 0; virtual Vector2 obstacle_get_velocity(RID p_obstacle) const = 0; virtual void obstacle_set_position(RID p_obstacle, Vector2 p_position) = 0; virtual Vector2 obstacle_get_position(RID p_obstacle) const = 0; virtual void obstacle_set_vertices(RID p_obstacle, const Vector &p_vertices) = 0; virtual Vector obstacle_get_vertices(RID p_obstacle) const = 0; virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers) = 0; virtual uint32_t obstacle_get_avoidance_layers(RID p_obstacle) const = 0; /// Returns a customized navigation path using a query parameters object virtual void query_path(const Ref &p_query_parameters, Ref p_query_result) const = 0; virtual void init() = 0; virtual void sync() = 0; virtual void finish() = 0; /// Destroy the `RID` virtual void free(RID p_object) = 0; virtual void parse_source_geometry_data(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) = 0; virtual void bake_from_source_geometry_data(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, const Callable &p_callback = Callable()) = 0; virtual void bake_from_source_geometry_data_async(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, const Callable &p_callback = Callable()) = 0; virtual bool is_baking_navigation_polygon(Ref p_navigation_polygon) const = 0; virtual Vector simplify_path(const Vector &p_path, real_t p_epsilon) = 0; NavigationServer2D(); ~NavigationServer2D() override; void set_debug_enabled(bool p_enabled); bool get_debug_enabled() const; #ifdef DEBUG_ENABLED void set_debug_navigation_enabled(bool p_enabled); bool get_debug_navigation_enabled() const; void set_debug_avoidance_enabled(bool p_enabled); bool get_debug_avoidance_enabled() const; void set_debug_navigation_edge_connection_color(const Color &p_color); Color get_debug_navigation_edge_connection_color() const; void set_debug_navigation_geometry_face_color(const Color &p_color); Color get_debug_navigation_geometry_face_color() const; void set_debug_navigation_geometry_face_disabled_color(const Color &p_color); Color get_debug_navigation_geometry_face_disabled_color() const; void set_debug_navigation_geometry_edge_color(const Color &p_color); Color get_debug_navigation_geometry_edge_color() const; void set_debug_navigation_geometry_edge_disabled_color(const Color &p_color); Color get_debug_navigation_geometry_edge_disabled_color() const; void set_debug_navigation_link_connection_color(const Color &p_color); Color get_debug_navigation_link_connection_color() const; void set_debug_navigation_link_connection_disabled_color(const Color &p_color); Color get_debug_navigation_link_connection_disabled_color() const; void set_debug_navigation_enable_edge_connections(const bool p_value); bool get_debug_navigation_enable_edge_connections() const; void set_debug_navigation_enable_geometry_face_random_color(const bool p_value); bool get_debug_navigation_enable_geometry_face_random_color() const; void set_debug_navigation_enable_edge_lines(const bool p_value); bool get_debug_navigation_enable_edge_lines() const; void set_debug_navigation_agent_path_color(const Color &p_color); Color get_debug_navigation_agent_path_color() const; void set_debug_navigation_enable_agent_paths(const bool p_value); bool get_debug_navigation_enable_agent_paths() const; void set_debug_navigation_agent_path_point_size(real_t p_point_size); real_t get_debug_navigation_agent_path_point_size() const; void set_debug_navigation_avoidance_enable_agents_radius(const bool p_value); bool get_debug_navigation_avoidance_enable_agents_radius() const; void set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value); bool get_debug_navigation_avoidance_enable_obstacles_radius() const; void set_debug_navigation_avoidance_agents_radius_color(const Color &p_color); Color get_debug_navigation_avoidance_agents_radius_color() const; void set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color); Color get_debug_navigation_avoidance_obstacles_radius_color() const; void set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color); Color get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const; void set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color); Color get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const; void set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color); Color get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const; void set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color); Color get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const; void set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value); bool get_debug_navigation_avoidance_enable_obstacles_static() const; #endif // DEBUG_ENABLED #ifdef DEBUG_ENABLED private: void _emit_navigation_debug_changed_signal(); #endif // DEBUG_ENABLED }; typedef NavigationServer2D *(*NavigationServer2DCallback)(); /// Manager used for the server singleton registration class NavigationServer2DManager { static NavigationServer2DCallback create_callback; public: static void set_default_server(NavigationServer2DCallback p_callback); static NavigationServer2D *new_default_server(); }; #endif // NAVIGATION_SERVER_2D_H