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virtualx-engine/scene/3d/navigation_agent.cpp
Juan Linietsky 33b5c57199 Variant: Added 64-bit packed arrays, renamed Variant::REAL to FLOAT. 
- Renames PackedIntArray to PackedInt32Array.
- Renames PackedFloatArray to PackedFloat32Array.
- Adds PackedInt64Array and PackedFloat64Array.
- Renames Variant::REAL to Variant::FLOAT for consistency.

Packed arrays are for storing large amount of data and creating stuff like
meshes, buffers. textures, etc. Forcing them to be 64 is a huge waste of
memory. That said, many users requested the ability to have 64 bits packed
arrays for their games, so this is just an optional added type.

For Variant, the float datatype is always 64 bits, and exposed as `float`.

We still have `real_t` which is the datatype that can change from 32 to 64
bits depending on a compile flag (not entirely working right now, but that's
the idea). It affects math related datatypes and code only.

Neither Variant nor PackedArray make use of real_t, which is only intended
for math precision, so the term is removed from there to keep only float.
2020-02-25 12:55:53 +01:00

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/*************************************************************************/
/* navigation_agent.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.h"
#include "core/engine.h"
#include "scene/3d/navigation.h"
#include "servers/navigation_server.h"
void NavigationAgent::_bind_methods() {
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_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_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, "0.1,100,0.01"), "set_radius", "get_radius");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01"), "set_agent_height_offset", "get_agent_height_offset");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "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::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_time_horizon", "get_time_horizon");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_max_speed", "get_max_speed");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1"), "set_path_max_distance", "get_path_max_distance");
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_READY: {
agent_parent = Object::cast_to<Spatial>(get_parent());
NavigationServer::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
// Search the navigation node and set it
{
Navigation *nav = NULL;
Node *p = get_parent();
while (p != NULL) {
nav = Object::cast_to<Navigation>(p);
if (nav != NULL)
p = NULL;
else
p = p->get_parent();
}
set_navigation(nav);
}
set_physics_process_internal(true);
} break;
case NOTIFICATION_EXIT_TREE: {
agent_parent = NULL;
set_navigation(NULL);
set_physics_process_internal(false);
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (agent_parent) {
NavigationServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
if (!target_reached) {
if (distance_to_target() < target_desired_distance) {
emit_signal("target_reached");
target_reached = true;
}
}
}
} break;
}
}
NavigationAgent::NavigationAgent() :
agent_parent(NULL),
navigation(NULL),
agent(RID()),
target_desired_distance(1.0),
navigation_height_offset(0.0),
path_max_distance(3.0),
velocity_submitted(false),
target_reached(false),
navigation_finished(true) {
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_navigation(Navigation *p_nav) {
if (navigation == p_nav)
return; // Pointless
navigation = p_nav;
NavigationServer::get_singleton()->agent_set_map(agent, navigation == NULL ? RID() : navigation->get_rid());
}
void NavigationAgent::set_navigation_node(Node *p_nav) {
Navigation *nav = Object::cast_to<Navigation>(p_nav);
ERR_FAIL_COND(nav == NULL);
set_navigation(nav);
}
Node *NavigationAgent::get_navigation_node() const {
return Object::cast_to<Node>(navigation);
}
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;
navigation_path.clear();
target_reached = false;
navigation_finished = false;
}
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(agent_parent == NULL, Vector3());
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(agent_parent == NULL, 0.0);
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 node.");
}
return String();
}
void NavigationAgent::update_navigation() {
if (agent_parent == NULL) return;
if (navigation == NULL) 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) {
navigation_path = NavigationServer::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] - Vector3(0, navigation_height_offset, 0)) < 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;
}
}
}
}
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