summaryrefslogtreecommitdiff
path: root/scene/2d/navigation_agent_2d.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'scene/2d/navigation_agent_2d.cpp')
-rw-r--r--scene/2d/navigation_agent_2d.cpp260
1 files changed, 188 insertions, 72 deletions
diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp
index 534e31b1f2..a5f7faffef 100644
--- a/scene/2d/navigation_agent_2d.cpp
+++ b/scene/2d/navigation_agent_2d.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -30,21 +30,25 @@
#include "navigation_agent_2d.h"
-#include "core/config/engine.h"
#include "core/math/geometry_2d.h"
-#include "scene/2d/navigation_2d.h"
+#include "scene/resources/world_2d.h"
#include "servers/navigation_server_2d.h"
void NavigationAgent2D::_bind_methods() {
+ ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent2D::get_rid);
+
+ ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent2D::set_avoidance_enabled);
+ ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent2D::get_avoidance_enabled);
+
+ ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent2D::set_path_desired_distance);
+ ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent2D::get_path_desired_distance);
+
ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent2D::set_target_desired_distance);
ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent2D::get_target_desired_distance);
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent2D::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent2D::get_radius);
- ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent2D::set_navigation_node);
- ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent2D::get_navigation_node);
-
ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent2D::set_neighbor_dist);
ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent2D::get_neighbor_dist);
@@ -60,6 +64,15 @@ void NavigationAgent2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent2D::set_path_max_distance);
ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent2D::get_path_max_distance);
+ ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent2D::set_navigation_layers);
+ ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent2D::get_navigation_layers);
+
+ ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent2D::set_navigation_layer_value);
+ ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent2D::get_navigation_layer_value);
+
+ ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent2D::set_navigation_map);
+ ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent2D::get_navigation_map);
+
ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent2D::set_target_location);
ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent2D::get_target_location);
ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent2D::get_next_location);
@@ -74,13 +87,19 @@ void NavigationAgent2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent2D::_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, "0.1,500,0.01"), "set_radius", "get_radius");
- ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_neighbor_dist", "get_neighbor_dist");
+ ADD_GROUP("Pathfinding", "");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,suffix:px"), "set_path_desired_distance", "get_path_desired_distance");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,suffix:px"), "set_target_desired_distance", "get_target_desired_distance");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "10,100,1,suffix:px"), "set_path_max_distance", "get_path_max_distance");
+ ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
+
+ ADD_GROUP("Avoidance", "");
+ ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,500,0.01,suffix:px"), "set_radius", "get_radius");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,100000,0.01,suffix:px"), "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, "0.1,10000,0.01"), "set_time_horizon", "get_time_horizon");
- ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_max_speed", "get_max_speed");
- ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "10,100,1"), "set_path_max_distance", "get_path_max_distance");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:s"), "set_time_horizon", "get_time_horizon");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,100000,0.01,suffix:px/s"), "set_max_speed", "get_max_speed");
ADD_SIGNAL(MethodInfo("path_changed"));
ADD_SIGNAL(MethodInfo("target_reached"));
@@ -90,43 +109,63 @@ void NavigationAgent2D::_bind_methods() {
void NavigationAgent2D::_notification(int p_what) {
switch (p_what) {
- case NOTIFICATION_READY: {
- agent_parent = Object::cast_to<Node2D>(get_parent());
-
- NavigationServer2D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
-
- // Search the navigation node and set it
- {
- Navigation2D *nav = nullptr;
- Node *p = get_parent();
- while (p != nullptr) {
- nav = Object::cast_to<Navigation2D>(p);
- if (nav != nullptr) {
- p = nullptr;
- } else {
- p = p->get_parent();
- }
- }
+ case NOTIFICATION_POST_ENTER_TREE: {
+ // need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready.
+ // cannot use READY as ready does not get called if Node is readded to SceneTree
+ set_agent_parent(get_parent());
+ set_physics_process_internal(true);
+ } break;
- set_navigation(nav);
+ case NOTIFICATION_PARENTED: {
+ if (is_inside_tree() && (get_parent() != agent_parent)) {
+ // only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around
+ // PARENTED notification fires also when Node is added in scripts to a parent
+ // this would spam transforms fails and world fails while Node is outside SceneTree
+ // when node gets reparented when joining the tree POST_ENTER_TREE takes care of this
+ set_agent_parent(get_parent());
+ set_physics_process_internal(true);
}
+ } break;
- set_physics_process_internal(true);
+ case NOTIFICATION_UNPARENTED: {
+ // if agent has no parent no point in processing it until reparented
+ set_agent_parent(nullptr);
+ set_physics_process_internal(false);
+ } break;
+
+ case NOTIFICATION_PAUSED: {
+ if (agent_parent && !agent_parent->can_process()) {
+ map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid());
+ NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
+ } else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
+ NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
+ map_before_pause = RID();
+ }
+ } break;
+
+ case NOTIFICATION_UNPAUSED: {
+ if (agent_parent && !agent_parent->can_process()) {
+ map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid());
+ NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
+ } else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
+ NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
+ map_before_pause = RID();
+ }
} break;
+
case NOTIFICATION_EXIT_TREE: {
agent_parent = nullptr;
- set_navigation(nullptr);
set_physics_process_internal(false);
} break;
+
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (agent_parent) {
- NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().get_origin());
- if (!target_reached) {
- if (distance_to_target() < target_desired_distance) {
- emit_signal("target_reached");
- target_reached = true;
- }
+ if (avoidance_enabled) {
+ // agent_position on NavigationServer is avoidance only and has nothing to do with pathfinding
+ // no point in flooding NavigationServer queue with agent position updates that get send to the void if avoidance is not used
+ NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
}
+ _check_distance_to_target();
}
} break;
}
@@ -146,23 +185,85 @@ NavigationAgent2D::~NavigationAgent2D() {
agent = RID(); // Pointless
}
-void NavigationAgent2D::set_navigation(Navigation2D *p_nav) {
- if (navigation == p_nav) {
- return; // Pointless
+void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) {
+ avoidance_enabled = p_enabled;
+ if (avoidance_enabled) {
+ NavigationServer2D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
+ } else {
+ NavigationServer2D::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done");
}
+}
- navigation = p_nav;
- NavigationServer2D::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
+bool NavigationAgent2D::get_avoidance_enabled() const {
+ return avoidance_enabled;
}
-void NavigationAgent2D::set_navigation_node(Node *p_nav) {
- Navigation2D *nav = Object::cast_to<Navigation2D>(p_nav);
- ERR_FAIL_COND(nav == nullptr);
- set_navigation(nav);
+void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) {
+ // remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
+ NavigationServer2D::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done");
+ if (Object::cast_to<Node2D>(p_agent_parent) != nullptr) {
+ // place agent on navigation map first or else the RVO agent callback creation fails silently later
+ agent_parent = Object::cast_to<Node2D>(p_agent_parent);
+ if (map_override.is_valid()) {
+ NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_override);
+ } else {
+ NavigationServer2D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_2d()->get_navigation_map());
+ }
+ // create new avoidance callback if enabled
+ set_avoidance_enabled(avoidance_enabled);
+ } else {
+ agent_parent = nullptr;
+ NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
+ }
+}
+
+void NavigationAgent2D::set_navigation_layers(uint32_t p_navigation_layers) {
+ bool navigation_layers_changed = navigation_layers != p_navigation_layers;
+ navigation_layers = p_navigation_layers;
+ if (navigation_layers_changed) {
+ _request_repath();
+ }
}
-Node *NavigationAgent2D::get_navigation_node() const {
- return Object::cast_to<Node>(navigation);
+uint32_t NavigationAgent2D::get_navigation_layers() const {
+ return navigation_layers;
+}
+
+void NavigationAgent2D::set_navigation_layer_value(int p_layer_number, bool p_value) {
+ ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive.");
+ ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive.");
+ uint32_t _navigation_layers = get_navigation_layers();
+ if (p_value) {
+ _navigation_layers |= 1 << (p_layer_number - 1);
+ } else {
+ _navigation_layers &= ~(1 << (p_layer_number - 1));
+ }
+ set_navigation_layers(_navigation_layers);
+}
+
+bool NavigationAgent2D::get_navigation_layer_value(int p_layer_number) const {
+ ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive.");
+ ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive.");
+ return get_navigation_layers() & (1 << (p_layer_number - 1));
+}
+
+void NavigationAgent2D::set_navigation_map(RID p_navigation_map) {
+ map_override = p_navigation_map;
+ NavigationServer2D::get_singleton()->agent_set_map(agent, map_override);
+ _request_repath();
+}
+
+RID NavigationAgent2D::get_navigation_map() const {
+ if (map_override.is_valid()) {
+ return map_override;
+ } else if (agent_parent != nullptr) {
+ return agent_parent->get_world_2d()->get_navigation_map();
+ }
+ return RID();
+}
+
+void NavigationAgent2D::set_path_desired_distance(real_t p_dd) {
+ path_desired_distance = p_dd;
}
void NavigationAgent2D::set_target_desired_distance(real_t p_dd) {
@@ -204,10 +305,7 @@ real_t NavigationAgent2D::get_path_max_distance() {
void NavigationAgent2D::set_target_location(Vector2 p_location) {
target_location = p_location;
- navigation_path.clear();
- target_reached = false;
- navigation_finished = false;
- update_frame_id = 0;
+ _request_repath();
}
Vector2 NavigationAgent2D::get_target_location() const {
@@ -217,16 +315,16 @@ Vector2 NavigationAgent2D::get_target_location() const {
Vector2 NavigationAgent2D::get_next_location() {
update_navigation();
if (navigation_path.size() == 0) {
- ERR_FAIL_COND_V(agent_parent == nullptr, Vector2());
- return agent_parent->get_global_transform().get_origin();
+ ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector2(), "The agent has no parent.");
+ return agent_parent->get_global_position();
} else {
return navigation_path[nav_path_index];
}
}
real_t NavigationAgent2D::distance_to_target() const {
- ERR_FAIL_COND_V(agent_parent == nullptr, 0.0);
- return agent_parent->get_global_transform().get_origin().distance_to(target_location);
+ ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent.");
+ return agent_parent->get_global_position().distance_to(target_location);
}
bool NavigationAgent2D::is_target_reached() const {
@@ -267,27 +365,24 @@ void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) {
}
velocity_submitted = false;
- emit_signal("velocity_computed", velocity);
+ emit_signal(SNAME("velocity_computed"), velocity);
}
-String NavigationAgent2D::get_configuration_warning() const {
- String warning = Node::get_configuration_warning();
+TypedArray<String> NavigationAgent2D::get_configuration_warnings() const {
+ TypedArray<String> warnings = Node::get_configuration_warnings();
if (!Object::cast_to<Node2D>(get_parent())) {
- if (!warning.is_empty()) {
- warning += "\n\n";
- }
- warning += TTR("The NavigationAgent2D can be used only under a Node2D node");
+ warnings.push_back(RTR("The NavigationAgent2D can be used only under a Node2D inheriting parent node."));
}
- return warning;
+ return warnings;
}
void NavigationAgent2D::update_navigation() {
if (agent_parent == nullptr) {
return;
}
- if (navigation == nullptr) {
+ if (!agent_parent->is_inside_tree()) {
return;
}
if (update_frame_id == Engine::get_singleton()->get_physics_frames()) {
@@ -296,7 +391,7 @@ void NavigationAgent2D::update_navigation() {
update_frame_id = Engine::get_singleton()->get_physics_frames();
- Vector2 o = agent_parent->get_global_transform().get_origin();
+ Vector2 o = agent_parent->get_global_position();
bool reload_path = false;
@@ -319,10 +414,14 @@ void NavigationAgent2D::update_navigation() {
}
if (reload_path) {
- navigation_path = NavigationServer2D::get_singleton()->map_get_path(navigation->get_rid(), o, target_location, true);
+ if (map_override.is_valid()) {
+ navigation_path = NavigationServer2D::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers);
+ } else {
+ navigation_path = NavigationServer2D::get_singleton()->map_get_path(agent_parent->get_world_2d()->get_navigation_map(), o, target_location, true, navigation_layers);
+ }
navigation_finished = false;
nav_path_index = 0;
- emit_signal("path_changed");
+ emit_signal(SNAME("path_changed"));
}
if (navigation_path.size() == 0) {
@@ -332,14 +431,31 @@ void NavigationAgent2D::update_navigation() {
// 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]) < target_desired_distance) {
+ while (o.distance_to(navigation_path[nav_path_index]) < path_desired_distance) {
nav_path_index += 1;
if (nav_path_index == navigation_path.size()) {
+ _check_distance_to_target();
nav_path_index -= 1;
navigation_finished = true;
- emit_signal("navigation_finished");
+ emit_signal(SNAME("navigation_finished"));
break;
}
}
}
}
+
+void NavigationAgent2D::_request_repath() {
+ navigation_path.clear();
+ target_reached = false;
+ navigation_finished = false;
+ update_frame_id = 0;
+}
+
+void NavigationAgent2D::_check_distance_to_target() {
+ if (!target_reached) {
+ if (distance_to_target() < target_desired_distance) {
+ emit_signal(SNAME("target_reached"));
+ target_reached = true;
+ }
+ }
+}
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-09 21:28:52 +0000