8bd7c6188b
Backports features and bugfixes from current Godot 4.0 to 3.5 and brings functions and codebase of both version largely in sync to make tutorials more compatible and future backports easier.
469 lines
19 KiB
C++
469 lines
19 KiB
C++
/*************************************************************************/
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/* navigation_agent.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_agent.h"
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#include "core/engine.h"
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#include "scene/3d/navigation.h"
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#include "servers/navigation_server.h"
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void NavigationAgent::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent::get_rid);
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ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent::set_avoidance_enabled);
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ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent::get_avoidance_enabled);
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ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent::set_target_desired_distance);
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ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent::get_target_desired_distance);
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ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent::set_radius);
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ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent::get_radius);
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ClassDB::bind_method(D_METHOD("set_agent_height_offset", "agent_height_offset"), &NavigationAgent::set_agent_height_offset);
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ClassDB::bind_method(D_METHOD("get_agent_height_offset"), &NavigationAgent::get_agent_height_offset);
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ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent::set_ignore_y);
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ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent::get_ignore_y);
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ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent::set_navigation_node);
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ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent::get_navigation_node);
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ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent::set_neighbor_dist);
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ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent::get_neighbor_dist);
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ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent::set_max_neighbors);
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ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent::get_max_neighbors);
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ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent::set_time_horizon);
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ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent::get_time_horizon);
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ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent::set_max_speed);
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ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent::get_max_speed);
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ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent::set_path_max_distance);
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ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent::get_path_max_distance);
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ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent::set_navigation_layers);
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ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent::get_navigation_layers);
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ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent::set_target_location);
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ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent::get_target_location);
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ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent::get_next_location);
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ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent::distance_to_target);
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ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent::set_velocity);
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ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent::get_nav_path);
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ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent::get_nav_path_index);
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ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent::is_target_reached);
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ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent::is_target_reachable);
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ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent::is_navigation_finished);
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ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent::get_final_location);
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ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent::_avoidance_done);
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_target_desired_distance", "get_target_desired_distance");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_radius", "get_radius");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01"), "set_agent_height_offset", "get_agent_height_offset");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_neighbor_dist", "get_neighbor_dist");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1"), "set_max_neighbors", "get_max_neighbors");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "time_horizon", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_time_horizon", "get_time_horizon");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_max_speed", "get_max_speed");
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ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1"), "set_path_max_distance", "get_path_max_distance");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "ignore_y"), "set_ignore_y", "get_ignore_y");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
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ADD_SIGNAL(MethodInfo("path_changed"));
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ADD_SIGNAL(MethodInfo("target_reached"));
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ADD_SIGNAL(MethodInfo("navigation_finished"));
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ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));
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}
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void NavigationAgent::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_POST_ENTER_TREE: {
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// Search the navigation node and set it
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{
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Navigation *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<Navigation>(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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// need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready.
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// cannot use READY as ready does not get called if Node is readded to SceneTree
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set_agent_parent(get_parent());
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set_physics_process_internal(true);
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} break;
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case NOTIFICATION_PARENTED: {
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if (is_inside_tree() && (get_parent() != agent_parent)) {
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// only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around
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// PARENTED notification fires also when Node is added in scripts to a parent
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// this would spam transforms fails and world fails while Node is outside SceneTree
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// when node gets reparented when joining the tree POST_ENTER_TREE takes care of this
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set_agent_parent(get_parent());
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set_physics_process_internal(true);
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}
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} break;
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case NOTIFICATION_UNPARENTED: {
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// if agent has no parent no point in processing it until reparented
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set_agent_parent(nullptr);
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set_physics_process_internal(false);
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} break;
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case NOTIFICATION_EXIT_TREE: {
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set_agent_parent(nullptr);
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set_navigation(nullptr);
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set_physics_process_internal(false);
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// Want to call ready again when the node enters the tree again. We're not using enter_tree notification because
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// the navigation map may not be ready at that time. This fixes issues with taking the agent out of the scene tree.
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request_ready();
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} break;
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case NOTIFICATION_PAUSED: {
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if (agent_parent && !agent_parent->can_process()) {
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map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid());
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NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
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NavigationServer::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 (agent_parent && !agent_parent->can_process()) {
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map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid());
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NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
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} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
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NavigationServer::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 (agent_parent) {
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if (avoidance_enabled) {
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// agent_position on NavigationServer is avoidance only and has nothing to do with pathfinding
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// no point in flooding NavigationServer queue with agent position updates that get send to the void if avoidance is not used
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NavigationServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
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}
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_check_distance_to_target();
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}
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} break;
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}
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}
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NavigationAgent::NavigationAgent() {
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agent = NavigationServer::get_singleton()->agent_create();
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set_neighbor_dist(50.0);
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set_max_neighbors(10);
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set_time_horizon(5.0);
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set_radius(1.0);
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set_max_speed(10.0);
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set_ignore_y(true);
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}
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NavigationAgent::~NavigationAgent() {
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NavigationServer::get_singleton()->free(agent);
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agent = RID(); // Pointless
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}
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void NavigationAgent::set_avoidance_enabled(bool p_enabled) {
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avoidance_enabled = p_enabled;
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if (avoidance_enabled) {
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NavigationServer::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
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} else {
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NavigationServer::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done");
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}
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}
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bool NavigationAgent::get_avoidance_enabled() const {
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return avoidance_enabled;
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}
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void NavigationAgent::set_navigation(Navigation *p_nav) {
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if (navigation == p_nav) {
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return; // Pointless
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}
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navigation = p_nav;
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NavigationServer::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
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}
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void NavigationAgent::set_navigation_node(Node *p_nav) {
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Navigation *nav = Object::cast_to<Navigation>(p_nav);
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ERR_FAIL_NULL(nav);
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set_navigation(nav);
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}
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Node *NavigationAgent::get_navigation_node() const {
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return Object::cast_to<Node>(navigation);
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}
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void NavigationAgent::set_agent_parent(Node *p_agent_parent) {
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// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
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NavigationServer::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done");
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if (Object::cast_to<Spatial>(p_agent_parent) != nullptr) {
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// place agent on navigation map first or else the RVO agent callback creation fails silently later
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agent_parent = Object::cast_to<Spatial>(p_agent_parent);
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if (navigation == nullptr) {
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// no navigation node found in parent nodes, use default navigation map from world resource
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NavigationServer::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world()->get_navigation_map());
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} else {
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NavigationServer::get_singleton()->agent_set_map(get_rid(), navigation->get_rid());
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}
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// create new avoidance callback if enabled
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set_avoidance_enabled(avoidance_enabled);
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} else {
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agent_parent = nullptr;
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NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
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}
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}
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void NavigationAgent::set_navigation_layers(uint32_t p_layers) {
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bool _navigation_layers_changed = navigation_layers != p_layers;
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navigation_layers = p_layers;
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if (_navigation_layers_changed) {
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_request_repath();
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}
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}
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uint32_t NavigationAgent::get_navigation_layers() const {
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return navigation_layers;
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}
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void NavigationAgent::set_target_desired_distance(real_t p_dd) {
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target_desired_distance = p_dd;
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}
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void NavigationAgent::set_radius(real_t p_radius) {
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radius = p_radius;
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NavigationServer::get_singleton()->agent_set_radius(agent, radius);
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}
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void NavigationAgent::set_agent_height_offset(real_t p_hh) {
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navigation_height_offset = p_hh;
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}
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void NavigationAgent::set_ignore_y(bool p_ignore_y) {
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ignore_y = p_ignore_y;
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NavigationServer::get_singleton()->agent_set_ignore_y(agent, ignore_y);
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}
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void NavigationAgent::set_neighbor_dist(real_t p_dist) {
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neighbor_dist = p_dist;
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NavigationServer::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist);
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}
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void NavigationAgent::set_max_neighbors(int p_count) {
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max_neighbors = p_count;
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NavigationServer::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
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}
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void NavigationAgent::set_time_horizon(real_t p_time) {
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time_horizon = p_time;
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NavigationServer::get_singleton()->agent_set_time_horizon(agent, time_horizon);
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}
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void NavigationAgent::set_max_speed(real_t p_max_speed) {
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max_speed = p_max_speed;
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NavigationServer::get_singleton()->agent_set_max_speed(agent, max_speed);
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}
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void NavigationAgent::set_path_max_distance(real_t p_pmd) {
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path_max_distance = p_pmd;
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}
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real_t NavigationAgent::get_path_max_distance() {
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return path_max_distance;
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}
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void NavigationAgent::set_target_location(Vector3 p_location) {
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target_location = p_location;
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_request_repath();
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}
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Vector3 NavigationAgent::get_target_location() const {
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return target_location;
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}
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Vector3 NavigationAgent::get_next_location() {
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update_navigation();
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if (navigation_path.size() == 0) {
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ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent.");
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return agent_parent->get_global_transform().origin;
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} else {
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return navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0);
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}
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}
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real_t NavigationAgent::distance_to_target() const {
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ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent.");
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return agent_parent->get_global_transform().origin.distance_to(target_location);
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}
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bool NavigationAgent::is_target_reached() const {
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return target_reached;
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}
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bool NavigationAgent::is_target_reachable() {
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return target_desired_distance >= get_final_location().distance_to(target_location);
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}
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bool NavigationAgent::is_navigation_finished() {
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update_navigation();
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return navigation_finished;
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}
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Vector3 NavigationAgent::get_final_location() {
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update_navigation();
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if (navigation_path.size() == 0) {
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return Vector3();
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}
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return navigation_path[navigation_path.size() - 1];
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}
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void NavigationAgent::set_velocity(Vector3 p_velocity) {
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target_velocity = p_velocity;
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NavigationServer::get_singleton()->agent_set_target_velocity(agent, target_velocity);
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NavigationServer::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
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velocity_submitted = true;
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}
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void NavigationAgent::_avoidance_done(Vector3 p_new_velocity) {
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prev_safe_velocity = p_new_velocity;
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if (!velocity_submitted) {
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target_velocity = Vector3();
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return;
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}
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velocity_submitted = false;
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emit_signal("velocity_computed", p_new_velocity);
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}
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String NavigationAgent::get_configuration_warning() const {
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if (!Object::cast_to<Spatial>(get_parent())) {
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return TTR("The NavigationAgent can be used only under a Spatial inheriting parent node.");
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}
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return String();
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}
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void NavigationAgent::update_navigation() {
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if (agent_parent == nullptr) {
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return;
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}
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if (!agent_parent->is_inside_tree()) {
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return;
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}
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if (update_frame_id == Engine::get_singleton()->get_physics_frames()) {
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return;
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}
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update_frame_id = Engine::get_singleton()->get_physics_frames();
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Vector3 o = agent_parent->get_global_transform().origin;
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bool reload_path = false;
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if (NavigationServer::get_singleton()->agent_is_map_changed(agent)) {
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reload_path = true;
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} else if (navigation_path.size() == 0) {
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reload_path = true;
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} else {
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// Check if too far from the navigation path
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if (nav_path_index > 0) {
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Vector3 segment[2];
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segment[0] = navigation_path[nav_path_index - 1];
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segment[1] = navigation_path[nav_path_index];
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segment[0].y -= navigation_height_offset;
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segment[1].y -= navigation_height_offset;
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Vector3 p = Geometry::get_closest_point_to_segment(o, segment);
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if (o.distance_to(p) >= path_max_distance) {
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// To faraway, reload path
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reload_path = true;
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}
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|
}
|
|
}
|
|
|
|
if (reload_path) {
|
|
if (navigation == nullptr) {
|
|
navigation_path = NavigationServer::get_singleton()->map_get_path(agent_parent->get_world()->get_navigation_map(), o, target_location, true, navigation_layers);
|
|
} else {
|
|
navigation_path = NavigationServer::get_singleton()->map_get_path(navigation->get_rid(), 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] - Vector3(0, navigation_height_offset, 0)) < 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 NavigationAgent::_request_repath() {
|
|
navigation_path.clear();
|
|
target_reached = false;
|
|
navigation_finished = false;
|
|
update_frame_id = 0;
|
|
}
|
|
|
|
void NavigationAgent::_check_distance_to_target() {
|
|
if (!target_reached) {
|
|
if (distance_to_target() < target_desired_distance) {
|
|
target_reached = true;
|
|
emit_signal("target_reached");
|
|
}
|
|
}
|
|
}
|