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virtualx-engine/scene/3d/navigation_agent.cpp
Rémi Verschelde 1426cd3b3a
One Copyright Update to rule them all 
As many open source projects have started doing it, we're removing the
current year from the copyright notice, so that we don't need to bump
it every year.

It seems like only the first year of publication is technically
relevant for copyright notices, and even that seems to be something
that many companies stopped listing altogether (in a version controlled
codebase, the commits are a much better source of date of publication
than a hardcoded copyright statement).

We also now list Godot Engine contributors first as we're collectively
the current maintainers of the project, and we clarify that the
"exclusive" copyright of the co-founders covers the timespan before
opensourcing (their further contributions are included as part of Godot
Engine contributors).

Also fixed "cf." Frenchism - it's meant as "refer to / see".

Backported from #70885.
2023-01-10 15:26:54 +01:00

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/**************************************************************************/
/* navigation_agent.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.h"
#include "core/engine.h"
#include "scene/3d/navigation.h"
#include "servers/navigation_server.h"
void NavigationAgent::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent::get_rid);
ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent::set_avoidance_enabled);
ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent::get_avoidance_enabled);
ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent::set_path_desired_distance);
ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent::get_path_desired_distance);
ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent::set_target_desired_distance);
ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent::get_target_desired_distance);
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent::get_radius);
ClassDB::bind_method(D_METHOD("set_agent_height_offset", "agent_height_offset"), &NavigationAgent::set_agent_height_offset);
ClassDB::bind_method(D_METHOD("get_agent_height_offset"), &NavigationAgent::get_agent_height_offset);
ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent::set_ignore_y);
ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent::get_ignore_y);
ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent::set_navigation_node);
ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent::get_navigation_node);
ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent::set_neighbor_dist);
ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent::get_neighbor_dist);
ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent::set_max_neighbors);
ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent::get_max_neighbors);
ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent::set_time_horizon);
ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent::get_time_horizon);
ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent::set_max_speed);
ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent::get_max_speed);
ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent::set_path_max_distance);
ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent::get_path_max_distance);
ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent::set_navigation_layers);
ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent::get_navigation_layers);
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent::set_navigation_map);
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent::get_navigation_map);
ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent::set_target_location);
ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent::get_target_location);
ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent::get_next_location);
ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent::distance_to_target);
ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent::set_velocity);
ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent::get_nav_path);
ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent::get_nav_path_index);
ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent::is_target_reached);
ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent::is_target_reachable);
ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent::is_navigation_finished);
ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent::get_final_location);
ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent::_avoidance_done);
ADD_GROUP("Pathfinding", "");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_location", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_target_location", "get_target_location");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_path_desired_distance", "get_path_desired_distance");
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, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01"), "set_agent_height_offset", "get_agent_height_offset");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1"), "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_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_radius", "get_radius");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "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, "0.01,100,0.01"), "set_time_horizon", "get_time_horizon");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "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("navigation_finished"));
ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));
}
void NavigationAgent::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_POST_ENTER_TREE: {
// Search the navigation node and set it
{
Navigation *nav = nullptr;
Node *p = get_parent();
while (p != nullptr) {
nav = Object::cast_to<Navigation>(p);
if (nav != nullptr) {
p = nullptr;
} else {
p = p->get_parent();
}
}
set_navigation(nav);
}
// 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 readded to SceneTree
set_agent_parent(get_parent());
set_physics_process_internal(true);
} 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_navigation(nullptr);
set_physics_process_internal(false);
} break;
case NOTIFICATION_PAUSED: {
if (agent_parent && !agent_parent->can_process()) {
map_before_pause = NavigationServer::get_singleton()->agent_get_map(get_rid());
NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
NavigationServer::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 = NavigationServer::get_singleton()->agent_get_map(get_rid());
NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
} else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
NavigationServer::get_singleton()->agent_set_map(get_rid(), map_before_pause);
map_before_pause = RID();
}
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (agent_parent) {
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
NavigationServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
}
_check_distance_to_target();
}
} break;
}
}
NavigationAgent::NavigationAgent() {
agent = NavigationServer::get_singleton()->agent_create();
set_neighbor_dist(50.0);
set_max_neighbors(10);
set_time_horizon(5.0);
set_radius(1.0);
set_max_speed(10.0);
set_ignore_y(true);
}
NavigationAgent::~NavigationAgent() {
NavigationServer::get_singleton()->free(agent);
agent = RID(); // Pointless
}
void NavigationAgent::set_avoidance_enabled(bool p_enabled) {
avoidance_enabled = p_enabled;
if (avoidance_enabled) {
NavigationServer::get_singleton()->agent_set_callback(agent, get_instance_id(), "_avoidance_done");
} else {
NavigationServer::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done");
}
}
bool NavigationAgent::get_avoidance_enabled() const {
return avoidance_enabled;
}
void NavigationAgent::set_navigation(Navigation *p_nav) {
if (navigation == p_nav) {
return; // Pointless
}
navigation = p_nav;
NavigationServer::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
}
void NavigationAgent::set_navigation_node(Node *p_nav) {
Navigation *nav = Object::cast_to<Navigation>(p_nav);
ERR_FAIL_NULL(nav);
set_navigation(nav);
}
Node *NavigationAgent::get_navigation_node() const {
return Object::cast_to<Node>(navigation);
}
void NavigationAgent::set_agent_parent(Node *p_agent_parent) {
// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
NavigationServer::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done");
if (Object::cast_to<Spatial>(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<Spatial>(p_agent_parent);
if (map_override.is_valid()) {
NavigationServer::get_singleton()->agent_set_map(get_rid(), map_override);
} else if (navigation != nullptr) {
NavigationServer::get_singleton()->agent_set_map(get_rid(), navigation->get_rid());
} else {
// no navigation node found in parent nodes, use default navigation map from world resource
NavigationServer::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world()->get_navigation_map());
}
// create new avoidance callback if enabled
set_avoidance_enabled(avoidance_enabled);
} else {
agent_parent = nullptr;
NavigationServer::get_singleton()->agent_set_map(get_rid(), RID());
}
}
void NavigationAgent::set_navigation_layers(uint32_t p_layers) {
bool _navigation_layers_changed = navigation_layers != p_layers;
navigation_layers = p_layers;
if (_navigation_layers_changed) {
_request_repath();
}
}
uint32_t NavigationAgent::get_navigation_layers() const {
return navigation_layers;
}
void NavigationAgent::set_navigation_map(RID p_navigation_map) {
map_override = p_navigation_map;
NavigationServer::get_singleton()->agent_set_map(agent, map_override);
_request_repath();
}
RID NavigationAgent::get_navigation_map() const {
if (map_override.is_valid()) {
return map_override;
} else if (agent_parent != nullptr) {
return agent_parent->get_world()->get_navigation_map();
}
return RID();
}
void NavigationAgent::set_path_desired_distance(real_t p_dd) {
path_desired_distance = p_dd;
}
void NavigationAgent::set_target_desired_distance(real_t p_dd) {
target_desired_distance = p_dd;
}
void NavigationAgent::set_radius(real_t p_radius) {
radius = p_radius;
NavigationServer::get_singleton()->agent_set_radius(agent, radius);
}
void NavigationAgent::set_agent_height_offset(real_t p_hh) {
navigation_height_offset = p_hh;
}
void NavigationAgent::set_ignore_y(bool p_ignore_y) {
ignore_y = p_ignore_y;
NavigationServer::get_singleton()->agent_set_ignore_y(agent, ignore_y);
}
void NavigationAgent::set_neighbor_dist(real_t p_dist) {
neighbor_dist = p_dist;
NavigationServer::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist);
}
void NavigationAgent::set_max_neighbors(int p_count) {
max_neighbors = p_count;
NavigationServer::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
}
void NavigationAgent::set_time_horizon(real_t p_time) {
time_horizon = p_time;
NavigationServer::get_singleton()->agent_set_time_horizon(agent, time_horizon);
}
void NavigationAgent::set_max_speed(real_t p_max_speed) {
max_speed = p_max_speed;
NavigationServer::get_singleton()->agent_set_max_speed(agent, max_speed);
}
void NavigationAgent::set_path_max_distance(real_t p_pmd) {
path_max_distance = p_pmd;
}
real_t NavigationAgent::get_path_max_distance() {
return path_max_distance;
}
void NavigationAgent::set_target_location(Vector3 p_location) {
target_location = p_location;
_request_repath();
}
Vector3 NavigationAgent::get_target_location() const {
return target_location;
}
Vector3 NavigationAgent::get_next_location() {
update_navigation();
if (navigation_path.size() == 0) {
ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent.");
return agent_parent->get_global_transform().origin;
} else {
return navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0);
}
}
real_t NavigationAgent::distance_to_target() const {
ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent.");
return agent_parent->get_global_transform().origin.distance_to(target_location);
}
bool NavigationAgent::is_target_reached() const {
return target_reached;
}
bool NavigationAgent::is_target_reachable() {
return target_desired_distance >= get_final_location().distance_to(target_location);
}
bool NavigationAgent::is_navigation_finished() {
update_navigation();
return navigation_finished;
}
Vector3 NavigationAgent::get_final_location() {
update_navigation();
if (navigation_path.size() == 0) {
return Vector3();
}
return navigation_path[navigation_path.size() - 1];
}
void NavigationAgent::set_velocity(Vector3 p_velocity) {
target_velocity = p_velocity;
NavigationServer::get_singleton()->agent_set_target_velocity(agent, target_velocity);
NavigationServer::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
velocity_submitted = true;
}
void NavigationAgent::_avoidance_done(Vector3 p_new_velocity) {
prev_safe_velocity = p_new_velocity;
if (!velocity_submitted) {
target_velocity = Vector3();
return;
}
velocity_submitted = false;
emit_signal("velocity_computed", p_new_velocity);
}
String NavigationAgent::get_configuration_warning() const {
if (!Object::cast_to<Spatial>(get_parent())) {
return TTR("The NavigationAgent can be used only under a Spatial inheriting parent node.");
}
return String();
}
void NavigationAgent::update_navigation() {
if (agent_parent == nullptr) {
return;
}
if (!agent_parent->is_inside_tree()) {
return;
}
if (update_frame_id == Engine::get_singleton()->get_physics_frames()) {
return;
}
update_frame_id = Engine::get_singleton()->get_physics_frames();
Vector3 o = agent_parent->get_global_transform().origin;
bool reload_path = false;
if (NavigationServer::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) {
Vector3 segment[2];
segment[0] = navigation_path[nav_path_index - 1];
segment[1] = navigation_path[nav_path_index];
segment[0].y -= navigation_height_offset;
segment[1].y -= navigation_height_offset;
Vector3 p = Geometry::get_closest_point_to_segment(o, segment);
if (o.distance_to(p) >= path_max_distance) {
// To faraway, reload path
reload_path = true;
}
}
}
if (reload_path) {
if (map_override.is_valid()) {
navigation_path = NavigationServer::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers);
} else if (navigation != nullptr) {
navigation_path = NavigationServer::get_singleton()->map_get_path(navigation->get_rid(), o, target_location, true, navigation_layers);
} else {
navigation_path = NavigationServer::get_singleton()->map_get_path(agent_parent->get_world()->get_navigation_map(), 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)) < path_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");
}
}
}
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