377 lines
14 KiB
C++
377 lines
14 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_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_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_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_READY: {
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agent_parent = Object::cast_to<Spatial>(get_parent());
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NavigationServer::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
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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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set_physics_process_internal(true);
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} break;
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case NOTIFICATION_EXIT_TREE: {
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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_INTERNAL_PHYSICS_PROCESS: {
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if (agent_parent) {
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NavigationServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
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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_parent(nullptr),
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navigation(nullptr),
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agent(RID()),
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target_desired_distance(1.0),
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navigation_height_offset(0.0),
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path_max_distance(3.0),
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velocity_submitted(false),
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target_reached(false),
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navigation_finished(true) {
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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_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_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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navigation_path.clear();
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target_reached = false;
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navigation_finished = false;
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update_frame_id = 0;
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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(agent_parent == nullptr, Vector3());
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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(agent_parent == nullptr, 0.0);
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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 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 (navigation == nullptr) {
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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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}
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}
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if (reload_path) {
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navigation_path = NavigationServer::get_singleton()->map_get_path(navigation->get_rid(), o, target_location, true);
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navigation_finished = false;
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nav_path_index = 0;
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emit_signal("path_changed");
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}
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if (navigation_path.size() == 0) {
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return;
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}
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// Check if we can advance the navigation path
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if (navigation_finished == false) {
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// Advances to the next far away location.
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while (o.distance_to(navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0)) < target_desired_distance) {
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nav_path_index += 1;
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if (nav_path_index == navigation_path.size()) {
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_check_distance_to_target();
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nav_path_index -= 1;
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navigation_finished = true;
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emit_signal("navigation_finished");
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break;
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}
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}
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}
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}
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void NavigationAgent::_check_distance_to_target() {
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if (!target_reached) {
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if (distance_to_target() < target_desired_distance) {
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target_reached = true;
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emit_signal("target_reached");
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}
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}
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}
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