231 lines
9.6 KiB
C++
231 lines
9.6 KiB
C++
/*************************************************************************/
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/* navigation_obstacle_2d.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "navigation_obstacle_2d.h"
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#include "scene/2d/collision_shape_2d.h"
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#include "scene/2d/navigation_2d.h"
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#include "scene/2d/physics_body_2d.h"
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#include "servers/navigation_2d_server.h"
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void NavigationObstacle2D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_rid"), &NavigationObstacle2D::get_rid);
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ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle2D::set_navigation_node);
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ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle2D::get_navigation_node);
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ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle2D::set_estimate_radius);
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ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle2D::is_radius_estimated);
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ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle2D::set_radius);
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ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle2D::get_radius);
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.01,500,0.01"), "set_radius", "get_radius");
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}
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void NavigationObstacle2D::_validate_property(PropertyInfo &p_property) const {
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if (p_property.name == "radius") {
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if (estimate_radius) {
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p_property.usage = PROPERTY_USAGE_NOEDITOR;
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}
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}
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}
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void NavigationObstacle2D::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_ENTER_TREE: {
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parent_node2d = Object::cast_to<Node2D>(get_parent());
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reevaluate_agent_radius();
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// Search the navigation node and set it
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{
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Navigation2D *nav = nullptr;
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Node *p = get_parent();
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while (p != nullptr) {
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nav = Object::cast_to<Navigation2D>(p);
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if (nav != nullptr) {
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p = nullptr;
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} else {
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p = p->get_parent();
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}
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}
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set_navigation(nav);
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}
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set_physics_process_internal(true);
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} break;
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case NOTIFICATION_EXIT_TREE: {
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set_navigation(nullptr);
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set_physics_process_internal(false);
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request_ready(); // required to solve an issue with losing the navigation
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} break;
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case NOTIFICATION_PARENTED: {
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parent_node2d = Object::cast_to<Node2D>(get_parent());
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reevaluate_agent_radius();
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} break;
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case NOTIFICATION_UNPARENTED: {
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parent_node2d = nullptr;
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} break;
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case NOTIFICATION_PAUSED: {
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if (parent_node2d && !parent_node2d->can_process()) {
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map_before_pause = Navigation2DServer::get_singleton()->agent_get_map(get_rid());
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Navigation2DServer::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (parent_node2d && parent_node2d->can_process() && !(map_before_pause == RID())) {
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Navigation2DServer::get_singleton()->agent_set_map(get_rid(), map_before_pause);
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map_before_pause = RID();
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}
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} break;
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case NOTIFICATION_UNPAUSED: {
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if (parent_node2d && !parent_node2d->can_process()) {
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map_before_pause = Navigation2DServer::get_singleton()->agent_get_map(get_rid());
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Navigation2DServer::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (parent_node2d && parent_node2d->can_process() && !(map_before_pause == RID())) {
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Navigation2DServer::get_singleton()->agent_set_map(get_rid(), map_before_pause);
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map_before_pause = RID();
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}
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} break;
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case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
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if (parent_node2d && parent_node2d->is_inside_tree()) {
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Navigation2DServer::get_singleton()->agent_set_position(agent, parent_node2d->get_global_transform().get_origin());
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}
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} break;
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}
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}
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NavigationObstacle2D::NavigationObstacle2D() :
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navigation(nullptr),
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agent(RID()) {
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agent = Navigation2DServer::get_singleton()->agent_create();
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initialize_agent();
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}
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NavigationObstacle2D::~NavigationObstacle2D() {
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Navigation2DServer::get_singleton()->free(agent);
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agent = RID(); // Pointless
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}
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void NavigationObstacle2D::set_navigation(Navigation2D *p_nav) {
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if (navigation == p_nav && navigation != nullptr) {
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return; // Pointless
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}
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navigation = p_nav;
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if (navigation != nullptr) {
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Navigation2DServer::get_singleton()->agent_set_map(agent, navigation->get_rid());
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} else if (parent_node2d && parent_node2d->is_inside_tree()) {
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Navigation2DServer::get_singleton()->agent_set_map(agent, parent_node2d->get_world_2d()->get_navigation_map());
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}
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}
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void NavigationObstacle2D::set_navigation_node(Node *p_nav) {
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Navigation2D *nav = Object::cast_to<Navigation2D>(p_nav);
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ERR_FAIL_COND(nav == nullptr);
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set_navigation(nav);
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}
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Node *NavigationObstacle2D::get_navigation_node() const {
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return Object::cast_to<Node>(navigation);
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}
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String NavigationObstacle2D::get_configuration_warning() const {
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if (!Object::cast_to<Node2D>(get_parent())) {
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return TTR("The NavigationObstacle2D only serves to provide collision avoidance to a Node2D object.");
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}
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if (Object::cast_to<StaticBody2D>(get_parent())) {
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return TTR("The NavigationObstacle2D is intended for constantly moving bodies like KinematicBody2D or RigidBody2D as it creates only an RVO avoidance radius and does not follow scene geometry exactly."
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"\nNot constantly moving or complete static objects should be captured with a refreshed NavigationPolygon so agents can not only avoid them but also move along those objects outline at high detail");
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}
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return String();
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}
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void NavigationObstacle2D::initialize_agent() {
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Navigation2DServer::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
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Navigation2DServer::get_singleton()->agent_set_max_neighbors(agent, 0);
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Navigation2DServer::get_singleton()->agent_set_time_horizon(agent, 0.0);
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Navigation2DServer::get_singleton()->agent_set_max_speed(agent, 0.0);
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}
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void NavigationObstacle2D::reevaluate_agent_radius() {
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if (!estimate_radius) {
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Navigation2DServer::get_singleton()->agent_set_radius(agent, radius);
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} else if (parent_node2d && parent_node2d->is_inside_tree()) {
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Navigation2DServer::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
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}
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}
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real_t NavigationObstacle2D::estimate_agent_radius() const {
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if (parent_node2d && parent_node2d->is_inside_tree()) {
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// Estimate the radius of this physics body
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real_t radius = 0.0;
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for (int i(0); i < parent_node2d->get_child_count(); i++) {
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// For each collision shape
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CollisionShape2D *cs = Object::cast_to<CollisionShape2D>(parent_node2d->get_child(i));
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if (cs && cs->is_inside_tree()) {
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// Take the distance between the Body center to the shape center
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real_t r = cs->get_transform().get_origin().length();
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if (cs->get_shape().is_valid()) {
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// and add the enclosing shape radius
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r += cs->get_shape()->get_enclosing_radius();
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}
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Size2 s = cs->get_global_transform().get_scale();
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r *= MAX(s.x, s.y);
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// Takes the biggest radius
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radius = MAX(radius, r);
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} else if (cs && !cs->is_inside_tree()) {
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WARN_PRINT("A CollisionShape2D of the NavigationObstacle2D parent node was not inside the SceneTree when estimating the obstacle radius."
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"\nMove the NavigationObstacle2D to a child position below any CollisionShape2D node of the parent node so the CollisionShape2D is already inside the SceneTree.");
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}
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}
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Vector2 s = parent_node2d->get_global_transform().get_scale();
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radius *= MAX(s.x, s.y);
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if (radius > 0.0) {
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return radius;
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}
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}
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return 1.0; // Never a 0 radius
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}
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void NavigationObstacle2D::set_estimate_radius(bool p_estimate_radius) {
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estimate_radius = p_estimate_radius;
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_change_notify();
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reevaluate_agent_radius();
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}
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void NavigationObstacle2D::set_radius(real_t p_radius) {
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ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
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radius = p_radius;
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reevaluate_agent_radius();
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}
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