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Diffstat (limited to 'scene/2d/navigation_agent_2d.cpp')
| -rw-r--r-- | scene/2d/navigation_agent_2d.cpp | 341 |
1 files changed, 341 insertions, 0 deletions
diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp new file mode 100644 index 0000000000..fe4d3b322f --- /dev/null +++ b/scene/2d/navigation_agent_2d.cpp @@ -0,0 +1,341 @@ +/*************************************************************************/ +/* navigation_agent_2d.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_2d.h" + +#include "core/engine.h" +#include "scene/2d/navigation_2d.h" +#include "servers/navigation_2d_server.h" + +void NavigationAgent2D::_bind_methods() { + + 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); + + ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent2D::set_max_neighbors); + ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent2D::get_max_neighbors); + + ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent2D::set_time_horizon); + ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent2D::get_time_horizon); + + ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent2D::set_max_speed); + ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent2D::get_max_speed); + + 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_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); + ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent2D::distance_to_target); + ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent2D::set_velocity); + ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent2D::get_nav_path); + ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent2D::get_nav_path_index); + ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent2D::is_target_reached); + ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent2D::is_target_reachable); + ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent2D::is_navigation_finished); + ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent2D::get_final_location); + + ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent2D::_avoidance_done); + + ADD_PROPERTY(PropertyInfo(Variant::REAL, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_target_desired_distance", "get_target_desired_distance"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.1,500,0.01"), "set_radius", "get_radius"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "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::REAL, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_time_horizon", "get_time_horizon"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "max_speed", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_max_speed", "get_max_speed"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "10,100,1"), "set_path_max_distance", "get_path_max_distance"); + + 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 NavigationAgent2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_READY: { + + agent_parent = Object::cast_to<Node2D>(get_parent()); + + Navigation2DServer::get_singleton()->agent_set_callback(agent, this, "_avoidance_done"); + + // Search the navigation node and set it + { + Navigation2D *nav = NULL; + Node *p = get_parent(); + while (p != NULL) { + nav = Object::cast_to<Navigation2D>(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) { + + Navigation2DServer::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; + } + } + } + } break; + } +} + +NavigationAgent2D::NavigationAgent2D() : + agent_parent(NULL), + navigation(NULL), + agent(RID()), + target_desired_distance(1.0), + path_max_distance(3.0), + velocity_submitted(false), + target_reached(false), + navigation_finished(true) { + agent = Navigation2DServer::get_singleton()->agent_create(); + set_neighbor_dist(500.0); + set_max_neighbors(10); + set_time_horizon(20.0); + set_radius(10.0); + set_max_speed(200.0); +} + +NavigationAgent2D::~NavigationAgent2D() { + Navigation2DServer::get_singleton()->free(agent); + agent = RID(); // Pointless +} + +void NavigationAgent2D::set_navigation(Navigation2D *p_nav) { + if (navigation == p_nav) + return; // Pointless + + navigation = p_nav; + Navigation2DServer::get_singleton()->agent_set_map(agent, navigation == NULL ? RID() : navigation->get_rid()); +} + +void NavigationAgent2D::set_navigation_node(Node *p_nav) { + Navigation2D *nav = Object::cast_to<Navigation2D>(p_nav); + ERR_FAIL_COND(nav == NULL); + set_navigation(nav); +} + +Node *NavigationAgent2D::get_navigation_node() const { + return Object::cast_to<Node>(navigation); +} + +void NavigationAgent2D::set_target_desired_distance(real_t p_dd) { + target_desired_distance = p_dd; +} + +void NavigationAgent2D::set_radius(real_t p_radius) { + radius = p_radius; + Navigation2DServer::get_singleton()->agent_set_radius(agent, radius); +} + +void NavigationAgent2D::set_neighbor_dist(real_t p_dist) { + neighbor_dist = p_dist; + Navigation2DServer::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist); +} + +void NavigationAgent2D::set_max_neighbors(int p_count) { + max_neighbors = p_count; + Navigation2DServer::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); +} + +void NavigationAgent2D::set_time_horizon(real_t p_time) { + time_horizon = p_time; + Navigation2DServer::get_singleton()->agent_set_time_horizon(agent, time_horizon); +} + +void NavigationAgent2D::set_max_speed(real_t p_max_speed) { + max_speed = p_max_speed; + Navigation2DServer::get_singleton()->agent_set_max_speed(agent, max_speed); +} + +void NavigationAgent2D::set_path_max_distance(real_t p_pmd) { + path_max_distance = p_pmd; +} + +real_t NavigationAgent2D::get_path_max_distance() { + return path_max_distance; +} + +void NavigationAgent2D::set_target_location(Vector2 p_location) { + target_location = p_location; + navigation_path.clear(); + target_reached = false; + navigation_finished = false; +} + +Vector2 NavigationAgent2D::get_target_location() const { + return target_location; +} + +Vector2 NavigationAgent2D::get_next_location() { + update_navigation(); + if (navigation_path.size() == 0) { + ERR_FAIL_COND_V(agent_parent == NULL, Vector2()); + return agent_parent->get_global_transform().get_origin(); + } else { + return navigation_path[nav_path_index]; + } +} + +real_t NavigationAgent2D::distance_to_target() const { + ERR_FAIL_COND_V(agent_parent == NULL, 0.0); + return agent_parent->get_global_transform().get_origin().distance_to(target_location); +} + +bool NavigationAgent2D::is_target_reached() const { + return target_reached; +} + +bool NavigationAgent2D::is_target_reachable() { + return target_desired_distance >= get_final_location().distance_to(target_location); +} + +bool NavigationAgent2D::is_navigation_finished() { + update_navigation(); + return navigation_finished; +} + +Vector2 NavigationAgent2D::get_final_location() { + update_navigation(); + if (navigation_path.size() == 0) { + return Vector2(); + } + return navigation_path[navigation_path.size() - 1]; +} + +void NavigationAgent2D::set_velocity(Vector2 p_velocity) { + target_velocity = p_velocity; + Navigation2DServer::get_singleton()->agent_set_target_velocity(agent, target_velocity); + Navigation2DServer::get_singleton()->agent_set_velocity(agent, prev_safe_velocity); + velocity_submitted = true; +} + +void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) { + const Vector2 velocity = Vector2(p_new_velocity.x, p_new_velocity.z); + prev_safe_velocity = velocity; + + if (!velocity_submitted) { + target_velocity = Vector2(); + return; + } + velocity_submitted = false; + + emit_signal("velocity_computed", velocity); +} + +String NavigationAgent2D::get_configuration_warning() const { + if (!Object::cast_to<Node2D>(get_parent())) { + return TTR("The NavigationAgent2D can be used only under a Node2D node"); + } + + return String(); +} + +void NavigationAgent2D::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(); + + Vector2 o = agent_parent->get_global_transform().get_origin(); + + bool reload_path = false; + + if (Navigation2DServer::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) { + Vector2 segment[2]; + segment[0] = navigation_path[nav_path_index - 1]; + segment[1] = navigation_path[nav_path_index]; + Vector2 p = Geometry::get_closest_point_to_segment_2d(o, segment); + if (o.distance_to(p) >= path_max_distance) { + // To faraway, reload path + reload_path = true; + } + } + } + + if (reload_path) { + navigation_path = Navigation2DServer::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]) < 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; + } + } + } +} |