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-rw-r--r--modules/navigation/godot_navigation_server.cpp42
-rw-r--r--modules/navigation/godot_navigation_server.h12
-rw-r--r--modules/navigation/nav_map.cpp22
-rw-r--r--modules/navigation/nav_map.h6
-rw-r--r--modules/navigation/nav_region.cpp8
-rw-r--r--modules/navigation/nav_region.h14
-rw-r--r--modules/navigation/navigation_mesh_generator.cpp25
-rw-r--r--modules/navigation/rvo_agent.cpp3
8 files changed, 106 insertions, 26 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
index cc9d05da47..2f8cb6c230 100644
--- a/modules/navigation/godot_navigation_server.cpp
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -198,11 +198,11 @@ real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const {
return map->get_edge_connection_margin();
}
-Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers) const {
+Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());
- return map->get_path(p_origin, p_destination, p_optimize, p_layers);
+ return map->get_path(p_origin, p_destination, p_optimize, p_navigation_layers);
}
Vector3 GodotNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
@@ -309,18 +309,48 @@ COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform) {
region->set_transform(p_transform);
}
-COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers) {
+COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost) {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND(region == nullptr);
+ ERR_FAIL_COND(p_enter_cost < 0.0);
- region->set_layers(p_layers);
+ region->set_enter_cost(p_enter_cost);
}
-uint32_t GodotNavigationServer::region_get_layers(RID p_region) const {
+real_t GodotNavigationServer::region_get_enter_cost(RID p_region) const {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(region == nullptr, 0);
- return region->get_layers();
+ return region->get_enter_cost();
+}
+
+COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost) {
+ NavRegion *region = region_owner.get_or_null(p_region);
+ ERR_FAIL_COND(region == nullptr);
+ ERR_FAIL_COND(p_travel_cost < 0.0);
+
+ region->set_travel_cost(p_travel_cost);
+}
+
+real_t GodotNavigationServer::region_get_travel_cost(RID p_region) const {
+ NavRegion *region = region_owner.get_or_null(p_region);
+ ERR_FAIL_COND_V(region == nullptr, 0);
+
+ return region->get_travel_cost();
+}
+
+COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers) {
+ NavRegion *region = region_owner.get_or_null(p_region);
+ ERR_FAIL_COND(region == nullptr);
+
+ region->set_navigation_layers(p_navigation_layers);
+}
+
+uint32_t GodotNavigationServer::region_get_navigation_layers(RID p_region) const {
+ NavRegion *region = region_owner.get_or_null(p_region);
+ ERR_FAIL_COND_V(region == nullptr, 0);
+
+ return region->get_navigation_layers();
}
COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) {
diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h
index 89e7311e51..d931dbaee0 100644
--- a/modules/navigation/godot_navigation_server.h
+++ b/modules/navigation/godot_navigation_server.h
@@ -98,7 +98,7 @@ public:
COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
virtual real_t map_get_edge_connection_margin(RID p_map) const override;
- virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const override;
+ virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const override;
virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const override;
virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const override;
@@ -109,10 +109,16 @@ public:
virtual Array map_get_agents(RID p_map) const override;
virtual RID region_create() const override;
+
+ COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost);
+ virtual real_t region_get_enter_cost(RID p_region) const override;
+ COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost);
+ virtual real_t region_get_travel_cost(RID p_region) const override;
+
COMMAND_2(region_set_map, RID, p_region, RID, p_map);
virtual RID region_get_map(RID p_region) const override;
- COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers);
- virtual uint32_t region_get_layers(RID p_region) const override;
+ COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers);
+ virtual uint32_t region_get_navigation_layers(RID p_region) const override;
COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform);
COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh);
virtual void region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const override;
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index 344475fb37..49c12813b3 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -65,7 +65,7 @@ gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
return p;
}
-Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers) const {
+Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const {
// Find the start poly and the end poly on this map.
const gd::Polygon *begin_poly = nullptr;
const gd::Polygon *end_poly = nullptr;
@@ -78,7 +78,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
const gd::Polygon &p = polygons[i];
// Only consider the polygon if it in a region with compatible layers.
- if ((p_layers & p.owner->get_layers()) == 0) {
+ if ((p_navigation_layers & p.owner->get_navigation_layers()) == 0) {
continue;
}
@@ -140,6 +140,8 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
float reachable_d = 1e30;
bool is_reachable = true;
+ gd::NavigationPoly *prev_least_cost_poly = nullptr;
+
while (true) {
// Takes the current least_cost_poly neighbors (iterating over its edges) and compute the traveled_distance.
for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) {
@@ -152,13 +154,21 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
const gd::Edge::Connection &connection = edge.connections[connection_index];
// Only consider the connection to another polygon if this polygon is in a region with compatible layers.
- if ((p_layers & connection.polygon->owner->get_layers()) == 0) {
+ if ((p_navigation_layers & connection.polygon->owner->get_navigation_layers()) == 0) {
continue;
}
+ float region_enter_cost = 0.0;
+ float region_travel_cost = least_cost_poly->poly->owner->get_travel_cost();
+
+ if (prev_least_cost_poly != nullptr && !(prev_least_cost_poly->poly->owner->get_self() == least_cost_poly->poly->owner->get_self())) {
+ region_enter_cost = least_cost_poly->poly->owner->get_enter_cost();
+ }
+ prev_least_cost_poly = least_cost_poly;
+
Vector3 pathway[2] = { connection.pathway_start, connection.pathway_end };
const Vector3 new_entry = Geometry3D::get_closest_point_to_segment(least_cost_poly->entry, pathway);
- const float new_distance = least_cost_poly->entry.distance_to(new_entry) + least_cost_poly->traveled_distance;
+ const float new_distance = (least_cost_poly->entry.distance_to(new_entry) * region_travel_cost) + region_enter_cost + least_cost_poly->traveled_distance;
const std::vector<gd::NavigationPoly>::iterator it = std::find(
navigation_polys.begin(),
@@ -238,7 +248,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
for (List<uint32_t>::Element *element = to_visit.front(); element != nullptr; element = element->next()) {
gd::NavigationPoly *np = &navigation_polys[element->get()];
float cost = np->traveled_distance;
- cost += np->entry.distance_to(end_point);
+ cost += (np->entry.distance_to(end_point) * np->poly->owner->get_travel_cost());
if (cost < least_cost) {
least_cost_id = np->self_id;
least_cost = cost;
@@ -249,7 +259,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
// Stores the further reachable end polygon, in case our goal is not reachable.
if (is_reachable) {
- float d = navigation_polys[least_cost_id].entry.distance_to(p_destination);
+ float d = navigation_polys[least_cost_id].entry.distance_to(p_destination) * navigation_polys[least_cost_id].poly->owner->get_travel_cost();
if (reachable_d > d) {
reachable_d = d;
reachable_end = navigation_polys[least_cost_id].poly;
diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
index f58a78d4ca..2036dbecd7 100644
--- a/modules/navigation/nav_map.h
+++ b/modules/navigation/nav_map.h
@@ -50,10 +50,10 @@ class NavMap : public NavRid {
/// To find the polygons edges the vertices are displaced in a grid where
/// each cell has the following cell_size.
- real_t cell_size = 0.3;
+ real_t cell_size = 0.25;
/// This value is used to detect the near edges to connect.
- real_t edge_connection_margin = 5.0;
+ real_t edge_connection_margin = 0.25;
bool regenerate_polygons = true;
bool regenerate_links = true;
@@ -105,7 +105,7 @@ public:
gd::PointKey get_point_key(const Vector3 &p_pos) const;
- Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const;
+ Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const;
Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const;
Vector3 get_closest_point(const Vector3 &p_point) const;
Vector3 get_closest_point_normal(const Vector3 &p_point) const;
diff --git a/modules/navigation/nav_region.cpp b/modules/navigation/nav_region.cpp
index fea0ad519a..88740807eb 100644
--- a/modules/navigation/nav_region.cpp
+++ b/modules/navigation/nav_region.cpp
@@ -40,12 +40,12 @@ void NavRegion::set_map(NavMap *p_map) {
}
}
-void NavRegion::set_layers(uint32_t p_layers) {
- layers = p_layers;
+void NavRegion::set_navigation_layers(uint32_t p_navigation_layers) {
+ navigation_layers = p_navigation_layers;
}
-uint32_t NavRegion::get_layers() const {
- return layers;
+uint32_t NavRegion::get_navigation_layers() const {
+ return navigation_layers;
}
void NavRegion::set_transform(Transform3D p_transform) {
diff --git a/modules/navigation/nav_region.h b/modules/navigation/nav_region.h
index 7a6da281c0..484856ae36 100644
--- a/modules/navigation/nav_region.h
+++ b/modules/navigation/nav_region.h
@@ -45,7 +45,9 @@ class NavRegion : public NavRid {
NavMap *map = nullptr;
Transform3D transform;
Ref<NavigationMesh> mesh;
- uint32_t layers = 1;
+ uint32_t navigation_layers = 1;
+ float enter_cost = 0.0;
+ float travel_cost = 1.0;
Vector<gd::Edge::Connection> connections;
bool polygons_dirty = true;
@@ -65,8 +67,14 @@ public:
return map;
}
- void set_layers(uint32_t p_layers);
- uint32_t get_layers() const;
+ void set_enter_cost(float p_enter_cost) { enter_cost = MAX(p_enter_cost, 0.0); }
+ float get_enter_cost() const { return enter_cost; }
+
+ void set_travel_cost(float p_travel_cost) { travel_cost = MAX(p_travel_cost, 0.0); }
+ float get_travel_cost() const { return travel_cost; }
+
+ void set_navigation_layers(uint32_t p_navigation_layers);
+ uint32_t get_navigation_layers() const;
void set_transform(Transform3D transform);
const Transform3D &get_transform() const {
diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp
index 1bc7cd7cdc..e430f5fd59 100644
--- a/modules/navigation/navigation_mesh_generator.cpp
+++ b/modules/navigation/navigation_mesh_generator.cpp
@@ -450,6 +450,31 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh(
cfg.detailSampleDist = MAX(p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance(), 0.1f);
cfg.detailSampleMaxError = p_nav_mesh->get_cell_height() * p_nav_mesh->get_detail_sample_max_error();
+ if (!Math::is_equal_approx((float)cfg.walkableHeight * cfg.ch, p_nav_mesh->get_agent_height())) {
+ WARN_PRINT("Property agent_height is ceiled to cell_height voxel units and loses precision.");
+ }
+ if (!Math::is_equal_approx((float)cfg.walkableClimb * cfg.ch, p_nav_mesh->get_agent_max_climb())) {
+ WARN_PRINT("Property agent_max_climb is floored to cell_height voxel units and loses precision.");
+ }
+ if (!Math::is_equal_approx((float)cfg.walkableRadius * cfg.cs, p_nav_mesh->get_agent_radius())) {
+ WARN_PRINT("Property agent_radius is ceiled to cell_size voxel units and loses precision.");
+ }
+ if (!Math::is_equal_approx((float)cfg.maxEdgeLen * cfg.cs, p_nav_mesh->get_edge_max_length())) {
+ WARN_PRINT("Property edge_max_length is rounded to cell_size voxel units and loses precision.");
+ }
+ if (!Math::is_equal_approx((float)cfg.minRegionArea, p_nav_mesh->get_region_min_size() * p_nav_mesh->get_region_min_size())) {
+ WARN_PRINT("Property region_min_size is converted to int and loses precision.");
+ }
+ if (!Math::is_equal_approx((float)cfg.mergeRegionArea, p_nav_mesh->get_region_merge_size() * p_nav_mesh->get_region_merge_size())) {
+ WARN_PRINT("Property region_merge_size is converted to int and loses precision.");
+ }
+ if (!Math::is_equal_approx((float)cfg.maxVertsPerPoly, p_nav_mesh->get_verts_per_poly())) {
+ WARN_PRINT("Property verts_per_poly is converted to int and loses precision.");
+ }
+ if (p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance() < 0.1f) {
+ WARN_PRINT("Property detail_sample_distance is clamped to 0.1 world units as the resulting value from multiplying with cell_size is too low.");
+ }
+
cfg.bmin[0] = bmin[0];
cfg.bmin[1] = bmin[1];
cfg.bmin[2] = bmin[2];
diff --git a/modules/navigation/rvo_agent.cpp b/modules/navigation/rvo_agent.cpp
index a6a5660c0c..4ec72ad43f 100644
--- a/modules/navigation/rvo_agent.cpp
+++ b/modules/navigation/rvo_agent.cpp
@@ -65,8 +65,9 @@ void RvoAgent::dispatch_callback() {
return;
}
Object *obj = ObjectDB::get_instance(callback.id);
- if (obj == nullptr) {
+ if (!obj) {
callback.id = ObjectID();
+ return;
}
Callable::CallError responseCallError;
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-16 21:34:18 +0000