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virtualx-engine/scene/2d/navigation_agent_2d.cpp
Jake Young 09bc9eb101
Backport NavigationServer with RVO2 to 3.x 
Change the entire navigation system.
Remove editor prefix from nav mesh generator class. It is now used for baking
at runtime as well.
Navigation supports obstacle avoidance now with the RVO2 library.
Nav system will also automatically link all nav meshes together to form one
overall complete nav map.
2022-01-05 16:00:56 +01:00

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/*************************************************************************/
/* navigation_agent_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* 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("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_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_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, "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_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "10,100,1"), "set_path_max_distance", "get_path_max_distance");
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_READY: {
agent_parent = Object::cast_to<Node2D>(get_parent());
Navigation2DServer::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
// Search the navigation node and set it
{
Navigation2D *nav = nullptr;
Node *p = get_parent();
while (p != nullptr) {
nav = Object::cast_to<Navigation2D>(p);
if (nav != nullptr) {
p = nullptr;
} else {
p = p->get_parent();
}
}
set_navigation(nav);
}
set_physics_process_internal(true);
} break;
case NOTIFICATION_EXIT_TREE: {
agent_parent = nullptr;
set_navigation(nullptr);
set_physics_process_internal(false);
// Want to call ready again when the node enters the tree again. We're not using enter_tree notification because
// the navigation map may not be ready at that time. This fixes issues with taking the agent out of the scene tree.
request_ready();
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (agent_parent) {
Navigation2DServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().get_origin());
_check_distance_to_target();
}
} break;
}
}
NavigationAgent2D::NavigationAgent2D() :
agent_parent(nullptr),
navigation(nullptr),
agent(RID()),
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_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<Navigation2D>(p_nav);
ERR_FAIL_NULL(nav);
set_navigation(nav);
}
Node *NavigationAgent2D::get_navigation_node() const {
return Object::cast_to<Node>(navigation);
}
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;
navigation_path.clear();
target_reached = false;
navigation_finished = false;
update_frame_id = 0;
}
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 {
if (!Object::cast_to<Node2D>(get_parent())) {
return TTR("The NavigationAgent2D can be used only under a Node2D node");
}
return String();
}
void NavigationAgent2D::update_navigation() {
if (agent_parent == nullptr) {
return;
}
if (navigation == nullptr) {
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) {
navigation_path = Navigation2DServer::get_singleton()->map_get_path(navigation->get_rid(), o, target_location, true);
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]) < target_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::_check_distance_to_target() {
if (!target_reached) {
if (distance_to_target() < target_desired_distance) {
emit_signal("target_reached");
target_reached = true;
}
}
}
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