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-rw-r--r--doc/classes/NavigationObstacle2D.xml8
-rw-r--r--doc/classes/NavigationObstacle3D.xml8
-rw-r--r--scene/2d/navigation_obstacle_2d.cpp65
-rw-r--r--scene/2d/navigation_obstacle_2d.h17
-rw-r--r--scene/3d/navigation_obstacle_3d.cpp65
-rw-r--r--scene/3d/navigation_obstacle_3d.h17
6 files changed, 156 insertions, 24 deletions
diff --git a/doc/classes/NavigationObstacle2D.xml b/doc/classes/NavigationObstacle2D.xml
index 462532d49a..b73d7f2bec 100644
--- a/doc/classes/NavigationObstacle2D.xml
+++ b/doc/classes/NavigationObstacle2D.xml
@@ -8,4 +8,12 @@
</description>
<tutorials>
</tutorials>
+ <members>
+ <member name="estimate_radius" type="bool" setter="set_estimate_radius" getter="is_radius_estimated" default="true">
+ Enables radius estimation algorithm which uses parent's collision shapes to determine the obstacle radius.
+ </member>
+ <member name="radius" type="float" setter="set_radius" getter="get_radius" default="1.0">
+ The radius of the agent. Used only if [member estimate_radius] is set to false.
+ </member>
+ </members>
</class>
diff --git a/doc/classes/NavigationObstacle3D.xml b/doc/classes/NavigationObstacle3D.xml
index c0cb7befef..c126c0430f 100644
--- a/doc/classes/NavigationObstacle3D.xml
+++ b/doc/classes/NavigationObstacle3D.xml
@@ -8,4 +8,12 @@
</description>
<tutorials>
</tutorials>
+ <members>
+ <member name="estimate_radius" type="bool" setter="set_estimate_radius" getter="is_radius_estimated" default="true">
+ Enables radius estimation algorithm which uses parent's collision shapes to determine the obstacle radius.
+ </member>
+ <member name="radius" type="float" setter="set_radius" getter="get_radius" default="1.0">
+ The radius of the agent. Used only if [member estimate_radius] is set to false.
+ </member>
+ </members>
</class>
diff --git a/scene/2d/navigation_obstacle_2d.cpp b/scene/2d/navigation_obstacle_2d.cpp
index 0a105826c0..4cfc7fe89e 100644
--- a/scene/2d/navigation_obstacle_2d.cpp
+++ b/scene/2d/navigation_obstacle_2d.cpp
@@ -34,19 +34,41 @@
#include "servers/navigation_server_2d.h"
void NavigationObstacle2D::_bind_methods() {
+ ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle2D::set_estimate_radius);
+ ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle2D::is_radius_estimated);
+ ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle2D::set_radius);
+ ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle2D::get_radius);
+
+ ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,500,0.01"), "set_radius", "get_radius");
+}
+
+void NavigationObstacle2D::_validate_property(PropertyInfo &p_property) const {
+ if (p_property.name == "radius") {
+ if (estimate_radius) {
+ p_property.usage = PROPERTY_USAGE_NOEDITOR;
+ }
+ }
}
void NavigationObstacle2D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_READY: {
+ initialize_agent();
+ parent_node2d = Object::cast_to<Node2D>(get_parent());
+ if (parent_node2d != nullptr) {
+ // place agent on navigation map first or else the RVO agent callback creation fails silently later
+ NavigationServer2D::get_singleton()->agent_set_map(get_rid(), parent_node2d->get_world_2d()->get_navigation_map());
+ }
set_physics_process_internal(true);
} break;
case NOTIFICATION_EXIT_TREE: {
+ parent_node2d = nullptr;
set_physics_process_internal(false);
} break;
case NOTIFICATION_PARENTED: {
parent_node2d = Object::cast_to<Node2D>(get_parent());
- update_agent_shape();
+ reevaluate_agent_radius();
} break;
case NOTIFICATION_UNPARENTED: {
parent_node2d = nullptr;
@@ -78,7 +100,22 @@ TypedArray<String> NavigationObstacle2D::get_configuration_warnings() const {
return warnings;
}
-void NavigationObstacle2D::update_agent_shape() {
+void NavigationObstacle2D::initialize_agent() {
+ NavigationServer2D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
+ NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, 0);
+ NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, 0.0);
+ NavigationServer2D::get_singleton()->agent_set_max_speed(agent, 0.0);
+}
+
+void NavigationObstacle2D::reevaluate_agent_radius() {
+ if (!estimate_radius) {
+ NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
+ } else if (parent_node2d) {
+ NavigationServer2D::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
+ }
+}
+
+real_t NavigationObstacle2D::estimate_agent_radius() const {
if (parent_node2d) {
// Estimate the radius of this physics body
real_t radius = 0.0;
@@ -101,15 +138,21 @@ void NavigationObstacle2D::update_agent_shape() {
Vector2 s = parent_node2d->get_global_scale();
radius *= MAX(s.x, s.y);
- if (radius == 0.0) {
- radius = 1.0; // Never a 0 radius
+ if (radius > 0.0) {
+ return radius;
}
-
- // Initialize the Agent as an object
- NavigationServer2D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
- NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, 0);
- NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, 0.0);
- NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
- NavigationServer2D::get_singleton()->agent_set_max_speed(agent, 0.0);
}
+ return 1.0; // Never a 0 radius
+}
+
+void NavigationObstacle2D::set_estimate_radius(bool p_estimate_radius) {
+ estimate_radius = p_estimate_radius;
+ notify_property_list_changed();
+ reevaluate_agent_radius();
+}
+
+void NavigationObstacle2D::set_radius(real_t p_radius) {
+ ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
+ radius = p_radius;
+ reevaluate_agent_radius();
}
diff --git a/scene/2d/navigation_obstacle_2d.h b/scene/2d/navigation_obstacle_2d.h
index 9cffc2c0c3..a5603f059f 100644
--- a/scene/2d/navigation_obstacle_2d.h
+++ b/scene/2d/navigation_obstacle_2d.h
@@ -40,8 +40,12 @@ class NavigationObstacle2D : public Node {
Node2D *parent_node2d = nullptr;
RID agent;
+ bool estimate_radius = true;
+ real_t radius = 1.0;
+
protected:
static void _bind_methods();
+ void _validate_property(PropertyInfo &p_property) const override;
void _notification(int p_what);
public:
@@ -52,10 +56,21 @@ public:
return agent;
}
+ void set_estimate_radius(bool p_estimate_radius);
+ bool is_radius_estimated() const {
+ return estimate_radius;
+ }
+ void set_radius(real_t p_radius);
+ real_t get_radius() const {
+ return radius;
+ }
+
TypedArray<String> get_configuration_warnings() const override;
private:
- void update_agent_shape();
+ void initialize_agent();
+ void reevaluate_agent_radius();
+ real_t estimate_agent_radius() const;
};
#endif
diff --git a/scene/3d/navigation_obstacle_3d.cpp b/scene/3d/navigation_obstacle_3d.cpp
index 20ffc3b00e..ef15a6319e 100644
--- a/scene/3d/navigation_obstacle_3d.cpp
+++ b/scene/3d/navigation_obstacle_3d.cpp
@@ -35,19 +35,41 @@
#include "servers/navigation_server_3d.h"
void NavigationObstacle3D::_bind_methods() {
+ ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle3D::set_estimate_radius);
+ ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle3D::is_radius_estimated);
+ ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle3D::set_radius);
+ ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle3D::get_radius);
+
+ ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_radius", "get_radius");
+}
+
+void NavigationObstacle3D::_validate_property(PropertyInfo &p_property) const {
+ if (p_property.name == "radius") {
+ if (estimate_radius) {
+ p_property.usage = PROPERTY_USAGE_NOEDITOR;
+ }
+ }
}
void NavigationObstacle3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_READY: {
+ initialize_agent();
+ parent_node3d = Object::cast_to<Node3D>(get_parent());
+ if (parent_node3d != nullptr) {
+ // place agent on navigation map first or else the RVO agent callback creation fails silently later
+ NavigationServer3D::get_singleton()->agent_set_map(get_rid(), parent_node3d->get_world_3d()->get_navigation_map());
+ }
set_physics_process_internal(true);
} break;
case NOTIFICATION_EXIT_TREE: {
+ parent_node3d = nullptr;
set_physics_process_internal(false);
} break;
case NOTIFICATION_PARENTED: {
parent_node3d = Object::cast_to<Node3D>(get_parent());
- update_agent_shape();
+ reevaluate_agent_radius();
} break;
case NOTIFICATION_UNPARENTED: {
parent_node3d = nullptr;
@@ -86,7 +108,22 @@ TypedArray<String> NavigationObstacle3D::get_configuration_warnings() const {
return warnings;
}
-void NavigationObstacle3D::update_agent_shape() {
+void NavigationObstacle3D::initialize_agent() {
+ NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
+ NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
+ NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
+ NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
+}
+
+void NavigationObstacle3D::reevaluate_agent_radius() {
+ if (!estimate_radius) {
+ NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
+ } else if (parent_node3d) {
+ NavigationServer3D::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
+ }
+}
+
+real_t NavigationObstacle3D::estimate_agent_radius() const {
if (parent_node3d) {
// Estimate the radius of this physics body
real_t radius = 0.0;
@@ -110,15 +147,21 @@ void NavigationObstacle3D::update_agent_shape() {
Vector3 s = parent_node3d->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
+ if (radius > 0.0) {
+ return radius;
}
-
- // Initialize the Agent as an object
- NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
- NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
- NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
- NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
- NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
}
+ return 1.0; // Never a 0 radius
+}
+
+void NavigationObstacle3D::set_estimate_radius(bool p_estimate_radius) {
+ estimate_radius = p_estimate_radius;
+ notify_property_list_changed();
+ reevaluate_agent_radius();
+}
+
+void NavigationObstacle3D::set_radius(real_t p_radius) {
+ ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
+ radius = p_radius;
+ reevaluate_agent_radius();
}
diff --git a/scene/3d/navigation_obstacle_3d.h b/scene/3d/navigation_obstacle_3d.h
index ab0b158303..12c813ab08 100644
--- a/scene/3d/navigation_obstacle_3d.h
+++ b/scene/3d/navigation_obstacle_3d.h
@@ -39,8 +39,12 @@ class NavigationObstacle3D : public Node {
Node3D *parent_node3d = nullptr;
RID agent;
+ bool estimate_radius = true;
+ real_t radius = 1.0;
+
protected:
static void _bind_methods();
+ void _validate_property(PropertyInfo &p_property) const override;
void _notification(int p_what);
public:
@@ -51,10 +55,21 @@ public:
return agent;
}
+ void set_estimate_radius(bool p_estimate_radius);
+ bool is_radius_estimated() const {
+ return estimate_radius;
+ }
+ void set_radius(real_t p_radius);
+ real_t get_radius() const {
+ return radius;
+ }
+
TypedArray<String> get_configuration_warnings() const override;
private:
- void update_agent_shape();
+ void initialize_agent();
+ void reevaluate_agent_radius();
+ real_t estimate_agent_radius() const;
};
#endif
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-16 19:46:48 +0000