342 lines
13 KiB
C++
342 lines
13 KiB
C++
/*************************************************************************/
|
|
/* navigation_agent_2d.cpp */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2020 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_server_2d.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::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_target_desired_distance", "get_target_desired_distance");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,500,0.01"), "set_radius", "get_radius");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "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::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_time_horizon", "get_time_horizon");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_max_speed", "get_max_speed");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "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::VECTOR3, "safe_velocity")));
|
|
}
|
|
|
|
void NavigationAgent2D::_notification(int p_what) {
|
|
switch (p_what) {
|
|
case NOTIFICATION_READY: {
|
|
|
|
agent_parent = Object::cast_to<Node2D>(get_parent());
|
|
|
|
NavigationServer2D::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);
|
|
} break;
|
|
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
|
|
if (agent_parent) {
|
|
|
|
NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().get_origin());
|
|
if (!target_reached) {
|
|
if (distance_to_target() < target_desired_distance) {
|
|
emit_signal("target_reached");
|
|
target_reached = true;
|
|
}
|
|
}
|
|
}
|
|
} 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 = NavigationServer2D::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() {
|
|
NavigationServer2D::get_singleton()->free(agent);
|
|
agent = RID(); // Pointless
|
|
}
|
|
|
|
void NavigationAgent2D::set_navigation(Navigation2D *p_nav) {
|
|
if (navigation == p_nav)
|
|
return; // Pointless
|
|
|
|
navigation = p_nav;
|
|
NavigationServer2D::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_COND(nav == nullptr);
|
|
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;
|
|
NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
|
|
}
|
|
|
|
void NavigationAgent2D::set_neighbor_dist(real_t p_dist) {
|
|
neighbor_dist = p_dist;
|
|
NavigationServer2D::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist);
|
|
}
|
|
|
|
void NavigationAgent2D::set_max_neighbors(int p_count) {
|
|
max_neighbors = p_count;
|
|
NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
|
|
}
|
|
|
|
void NavigationAgent2D::set_time_horizon(real_t p_time) {
|
|
time_horizon = p_time;
|
|
NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, time_horizon);
|
|
}
|
|
|
|
void NavigationAgent2D::set_max_speed(real_t p_max_speed) {
|
|
max_speed = p_max_speed;
|
|
NavigationServer2D::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;
|
|
NavigationServer2D::get_singleton()->agent_set_target_velocity(agent, target_velocity);
|
|
NavigationServer2D::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 (NavigationServer2D::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 = NavigationServer2D::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()) {
|
|
nav_path_index -= 1;
|
|
navigation_finished = true;
|
|
emit_signal("navigation_finished");
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|