- Integrated NavigationServer and Navigation2DServer.

- Added Navigation Agents and Obstacles.
- Integrated Collision Avoidance.

This work has been kindly sponsored by IMVU.

1 files changed, 163 insertions, 0 deletions

diff --git a/scene/3d/navigation_obstacle.cpp b/scene/3d/navigation_obstacle.cpp
new file mode 100644
index 0000000000..74142bbb68
--- /dev/null
+++ b/scene/3d/navigation_obstacle.cpp
@@ -0,0 +1,163 @@
+/*************************************************************************/
+/*  navigation_obstacle.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_obstacle.h"
+
+#include "scene/3d/collision_shape.h"
+#include "scene/3d/navigation.h"
+#include "scene/3d/physics_body.h"
+#include "servers/navigation_server.h"
+
+void NavigationObstacle::_bind_methods() {
+
+	ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle::set_navigation_node);
+	ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle::get_navigation_node);
+}
+
+void NavigationObstacle::_notification(int p_what) {
+	switch (p_what) {
+		case NOTIFICATION_READY: {
+
+			update_agent_shape();
+
+			// 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: {
+			set_navigation(NULL);
+			set_physics_process_internal(false);
+		} break;
+		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
+			Spatial *spatial = Object::cast_to<Spatial>(get_parent());
+			if (spatial) {
+				NavigationServer::get_singleton()->agent_set_position(agent, spatial->get_global_transform().origin);
+			}
+
+			PhysicsBody *rigid = Object::cast_to<PhysicsBody>(get_parent());
+			if (rigid) {
+
+				Vector3 v = rigid->get_linear_velocity();
+				NavigationServer::get_singleton()->agent_set_velocity(agent, v);
+				NavigationServer::get_singleton()->agent_set_target_velocity(agent, v);
+			}
+
+		} break;
+	}
+}
+
+NavigationObstacle::NavigationObstacle() :
+		navigation(NULL),
+		agent(RID()) {
+	agent = NavigationServer::get_singleton()->agent_create();
+}
+
+NavigationObstacle::~NavigationObstacle() {
+	NavigationServer::get_singleton()->free(agent);
+	agent = RID(); // Pointless
+}
+
+void NavigationObstacle::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 NavigationObstacle::set_navigation_node(Node *p_nav) {
+	Navigation *nav = Object::cast_to<Navigation>(p_nav);
+	ERR_FAIL_COND(nav == NULL);
+	set_navigation(nav);
+}
+
+Node *NavigationObstacle::get_navigation_node() const {
+	return Object::cast_to<Node>(navigation);
+}
+
+String NavigationObstacle::get_configuration_warning() const {
+	if (!Object::cast_to<Spatial>(get_parent())) {
+
+		return TTR("The NavigationObstacle only serves to provide collision avoidance to a spatial object.");
+	}
+
+	return String();
+}
+
+void NavigationObstacle::update_agent_shape() {
+	Node *node = get_parent();
+
+	// Estimate the radius of this physics body
+	real_t radius = 0.0;
+	for (int i(0); i < node->get_child_count(); i++) {
+		// For each collision shape
+		CollisionShape *cs = Object::cast_to<CollisionShape>(node->get_child(i));
+		if (cs) {
+			// Take the distance between the Body center to the shape center
+			real_t r = cs->get_transform().origin.length();
+			if (cs->get_shape().is_valid()) {
+				// and add the enclosing shape radius
+				r += cs->get_shape()->get_enclosing_radius();
+			}
+			Vector3 s = cs->get_global_transform().basis.get_scale();
+			r *= MAX(s.x, MAX(s.y, s.z));
+			// Takes the biggest radius
+			radius = MAX(radius, r);
+		}
+	}
+	Spatial *spa = Object::cast_to<Spatial>(node);
+	if (spa) {
+		Vector3 s = spa->get_global_transform().basis.get_scale();
+		radius *= MAX(s.x, MAX(s.y, s.z));
+	}
+
+	if (radius == 0.0)
+		radius = 1.0; // Never a 0 radius
+
+	// Initialize the Agent as an object
+	NavigationServer::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
+	NavigationServer::get_singleton()->agent_set_max_neighbors(agent, 0);
+	NavigationServer::get_singleton()->agent_set_time_horizon(agent, 0.0);
+	NavigationServer::get_singleton()->agent_set_radius(agent, radius);
+	NavigationServer::get_singleton()->agent_set_max_speed(agent, 0.0);
+}