diff options
Diffstat (limited to 'scene/2d/navigation_agent_2d.cpp')
| -rw-r--r-- | scene/2d/navigation_agent_2d.cpp | 300 |
1 files changed, 274 insertions, 26 deletions
diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp index 907fb7e6a9..85f6840fde 100644 --- a/scene/2d/navigation_agent_2d.cpp +++ b/scene/2d/navigation_agent_2d.cpp @@ -108,6 +108,26 @@ void NavigationAgent2D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10,0.01,suffix:s"), "set_time_horizon", "get_time_horizon"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:px/s"), "set_max_speed", "get_max_speed"); +#ifdef DEBUG_ENABLED + ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent2D::set_debug_enabled); + ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent2D::get_debug_enabled); + ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent2D::set_debug_use_custom); + ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent2D::get_debug_use_custom); + ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent2D::set_debug_path_custom_color); + ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent2D::get_debug_path_custom_color); + ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent2D::set_debug_path_custom_point_size); + ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent2D::get_debug_path_custom_point_size); + ClassDB::bind_method(D_METHOD("set_debug_path_custom_line_width", "line_width"), &NavigationAgent2D::set_debug_path_custom_line_width); + ClassDB::bind_method(D_METHOD("get_debug_path_custom_line_width"), &NavigationAgent2D::get_debug_path_custom_line_width); + + ADD_GROUP("Debug", ""); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom"); + ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_point_size", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_line_width", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_line_width", "get_debug_path_custom_line_width"); +#endif // DEBUG_ENABLED + ADD_SIGNAL(MethodInfo("path_changed")); ADD_SIGNAL(MethodInfo("target_reached")); ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details"))); @@ -120,9 +140,15 @@ void NavigationAgent2D::_notification(int p_what) { switch (p_what) { 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 + // cannot use READY as ready does not get called if Node is re-added to SceneTree set_agent_parent(get_parent()); set_physics_process_internal(true); + +#ifdef DEBUG_ENABLED + if (NavigationServer2D::get_singleton()->get_debug_enabled()) { + debug_path_dirty = true; + } +#endif // DEBUG_ENABLED } break; case NOTIFICATION_PARENTED: { @@ -142,6 +168,17 @@ void NavigationAgent2D::_notification(int p_what) { set_physics_process_internal(false); } break; + case NOTIFICATION_EXIT_TREE: { + set_agent_parent(nullptr); + set_physics_process_internal(false); + +#ifdef DEBUG_ENABLED + if (debug_path_instance.is_valid()) { + RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, false); + } +#endif // DEBUG_ENABLED + } break; + case NOTIFICATION_PAUSED: { if (agent_parent && !agent_parent->can_process()) { map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid()); @@ -162,11 +199,6 @@ void NavigationAgent2D::_notification(int p_what) { } } break; - case NOTIFICATION_EXIT_TREE: { - agent_parent = nullptr; - set_physics_process_internal(false); - } break; - case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { if (agent_parent && target_position_submitted) { if (avoidance_enabled) { @@ -176,17 +208,22 @@ void NavigationAgent2D::_notification(int p_what) { } _check_distance_to_target(); } +#ifdef DEBUG_ENABLED + if (debug_path_dirty) { + _update_debug_path(); + } +#endif // DEBUG_ENABLED } break; } } NavigationAgent2D::NavigationAgent2D() { agent = NavigationServer2D::get_singleton()->agent_create(); - set_neighbor_distance(neighbor_distance); - set_max_neighbors(max_neighbors); - set_time_horizon(time_horizon); - set_radius(radius); - set_max_speed(max_speed); + NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance); + NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); + NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, time_horizon); + NavigationServer2D::get_singleton()->agent_set_radius(agent, radius); + NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed); // Preallocate query and result objects to improve performance. navigation_query = Ref<NavigationPathQueryParameters2D>(); @@ -194,20 +231,38 @@ NavigationAgent2D::NavigationAgent2D() { navigation_result = Ref<NavigationPathQueryResult2D>(); navigation_result.instantiate(); + +#ifdef DEBUG_ENABLED + NavigationServer2D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed)); +#endif // DEBUG_ENABLED } NavigationAgent2D::~NavigationAgent2D() { ERR_FAIL_NULL(NavigationServer2D::get_singleton()); NavigationServer2D::get_singleton()->free(agent); agent = RID(); // Pointless + +#ifdef DEBUG_ENABLED + NavigationServer2D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed)); + + ERR_FAIL_NULL(RenderingServer::get_singleton()); + if (debug_path_instance.is_valid()) { + RenderingServer::get_singleton()->free(debug_path_instance); + } +#endif // DEBUG_ENABLED } void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) { + if (avoidance_enabled == p_enabled) { + return; + } + avoidance_enabled = p_enabled; + if (avoidance_enabled) { - NavigationServer2D::get_singleton()->agent_set_callback(agent, get_instance_id(), "_avoidance_done"); + NavigationServer2D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done)); } else { - NavigationServer2D::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done"); + NavigationServer2D::get_singleton()->agent_set_callback(agent, Callable()); } } @@ -216,8 +271,13 @@ bool NavigationAgent2D::get_avoidance_enabled() const { } void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) { + if (agent_parent == p_agent_parent) { + return; + } + // 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, ObjectID(), "_avoidance_done"); + NavigationServer2D::get_singleton()->agent_set_callback(agent, Callable()); + 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); @@ -226,8 +286,11 @@ void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) { } 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); + if (avoidance_enabled) { + NavigationServer2D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done)); + } } else { agent_parent = nullptr; NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID()); @@ -235,11 +298,13 @@ void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) { } 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(); + if (navigation_layers == p_navigation_layers) { + return; } + + navigation_layers = p_navigation_layers; + + _request_repath(); } uint32_t NavigationAgent2D::get_navigation_layers() const { @@ -273,7 +338,12 @@ void NavigationAgent2D::set_path_metadata_flags(BitField<NavigationPathQueryPara } void NavigationAgent2D::set_navigation_map(RID p_navigation_map) { + if (map_override == p_navigation_map) { + return; + } + map_override = p_navigation_map; + NavigationServer2D::get_singleton()->agent_set_map(agent, map_override); _request_repath(); } @@ -287,41 +357,78 @@ RID NavigationAgent2D::get_navigation_map() const { return RID(); } -void NavigationAgent2D::set_path_desired_distance(real_t p_dd) { - path_desired_distance = p_dd; +void NavigationAgent2D::set_path_desired_distance(real_t p_path_desired_distance) { + if (Math::is_equal_approx(path_desired_distance, p_path_desired_distance)) { + return; + } + + path_desired_distance = p_path_desired_distance; } -void NavigationAgent2D::set_target_desired_distance(real_t p_dd) { - target_desired_distance = p_dd; +void NavigationAgent2D::set_target_desired_distance(real_t p_target_desired_distance) { + if (Math::is_equal_approx(target_desired_distance, p_target_desired_distance)) { + return; + } + + target_desired_distance = p_target_desired_distance; } void NavigationAgent2D::set_radius(real_t p_radius) { + if (Math::is_equal_approx(radius, p_radius)) { + return; + } + radius = p_radius; + NavigationServer2D::get_singleton()->agent_set_radius(agent, radius); } void NavigationAgent2D::set_neighbor_distance(real_t p_distance) { + if (Math::is_equal_approx(neighbor_distance, p_distance)) { + return; + } + neighbor_distance = p_distance; + NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance); } void NavigationAgent2D::set_max_neighbors(int p_count) { + if (max_neighbors == p_count) { + return; + } + max_neighbors = p_count; + NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); } void NavigationAgent2D::set_time_horizon(real_t p_time) { + if (Math::is_equal_approx(time_horizon, p_time)) { + return; + } + time_horizon = p_time; + NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, time_horizon); } void NavigationAgent2D::set_max_speed(real_t p_max_speed) { + if (Math::is_equal_approx(max_speed, p_max_speed)) { + return; + } + max_speed = p_max_speed; + NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed); } -void NavigationAgent2D::set_path_max_distance(real_t p_pmd) { - path_max_distance = p_pmd; +void NavigationAgent2D::set_path_max_distance(real_t p_path_max_distance) { + if (Math::is_equal_approx(path_max_distance, p_path_max_distance)) { + return; + } + + path_max_distance = p_path_max_distance; } real_t NavigationAgent2D::get_path_max_distance() { @@ -329,8 +436,13 @@ real_t NavigationAgent2D::get_path_max_distance() { } void NavigationAgent2D::set_target_position(Vector2 p_position) { + if (target_position.is_equal_approx(p_position)) { + return; + } + target_position = p_position; target_position_submitted = true; + _request_repath(); } @@ -379,10 +491,15 @@ Vector2 NavigationAgent2D::get_final_position() { } void NavigationAgent2D::set_velocity(Vector2 p_velocity) { + if (target_velocity.is_equal_approx(p_velocity)) { + return; + } + target_velocity = p_velocity; + velocity_submitted = true; + NavigationServer2D::get_singleton()->agent_set_target_velocity(agent, target_velocity); NavigationServer2D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity); - velocity_submitted = true; } void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) { @@ -461,6 +578,9 @@ void NavigationAgent2D::update_navigation() { } NavigationServer2D::get_singleton()->query_path(navigation_query, navigation_result); +#ifdef DEBUG_ENABLED + debug_path_dirty = true; +#endif // DEBUG_ENABLED navigation_finished = false; navigation_path_index = 0; emit_signal(SNAME("path_changed")); @@ -547,3 +667,131 @@ void NavigationAgent2D::_check_distance_to_target() { } } } + +////////DEBUG//////////////////////////////////////////////////////////// + +#ifdef DEBUG_ENABLED +void NavigationAgent2D::set_debug_enabled(bool p_enabled) { + if (debug_enabled == p_enabled) { + return; + } + + debug_enabled = p_enabled; + debug_path_dirty = true; +} + +bool NavigationAgent2D::get_debug_enabled() const { + return debug_enabled; +} + +void NavigationAgent2D::set_debug_use_custom(bool p_enabled) { + if (debug_use_custom == p_enabled) { + return; + } + + debug_use_custom = p_enabled; + debug_path_dirty = true; +} + +bool NavigationAgent2D::get_debug_use_custom() const { + return debug_use_custom; +} + +void NavigationAgent2D::set_debug_path_custom_color(Color p_color) { + if (debug_path_custom_color == p_color) { + return; + } + + debug_path_custom_color = p_color; + debug_path_dirty = true; +} + +Color NavigationAgent2D::get_debug_path_custom_color() const { + return debug_path_custom_color; +} + +void NavigationAgent2D::set_debug_path_custom_point_size(float p_point_size) { + if (Math::is_equal_approx(debug_path_custom_point_size, p_point_size)) { + return; + } + + debug_path_custom_point_size = MAX(0.1, p_point_size); + debug_path_dirty = true; +} + +float NavigationAgent2D::get_debug_path_custom_point_size() const { + return debug_path_custom_point_size; +} + +void NavigationAgent2D::set_debug_path_custom_line_width(float p_line_width) { + if (Math::is_equal_approx(debug_path_custom_line_width, p_line_width)) { + return; + } + + debug_path_custom_line_width = p_line_width; + debug_path_dirty = true; +} + +float NavigationAgent2D::get_debug_path_custom_line_width() const { + return debug_path_custom_line_width; +} + +void NavigationAgent2D::_navigation_debug_changed() { + debug_path_dirty = true; +} + +void NavigationAgent2D::_update_debug_path() { + if (!debug_path_dirty) { + return; + } + debug_path_dirty = false; + + if (!debug_path_instance.is_valid()) { + debug_path_instance = RenderingServer::get_singleton()->canvas_item_create(); + } + + RenderingServer::get_singleton()->canvas_item_clear(debug_path_instance); + + if (!(debug_enabled && NavigationServer2D::get_singleton()->get_debug_navigation_enable_agent_paths())) { + return; + } + + if (!(agent_parent && agent_parent->is_inside_tree())) { + return; + } + + RenderingServer::get_singleton()->canvas_item_set_parent(debug_path_instance, agent_parent->get_canvas()); + RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, agent_parent->is_visible_in_tree()); + + const Vector<Vector2> &navigation_path = navigation_result->get_path(); + + if (navigation_path.size() <= 1) { + return; + } + + Color debug_path_color = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_color(); + if (debug_use_custom) { + debug_path_color = debug_path_custom_color; + } + + Vector<Color> debug_path_colors; + debug_path_colors.resize(navigation_path.size()); + debug_path_colors.fill(debug_path_color); + + RenderingServer::get_singleton()->canvas_item_add_polyline(debug_path_instance, navigation_path, debug_path_colors, debug_path_custom_line_width, false); + + float point_size = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_point_size(); + float half_point_size = point_size * 0.5; + + if (debug_use_custom) { + point_size = debug_path_custom_point_size; + half_point_size = debug_path_custom_point_size * 0.5; + } + + for (int i = 0; i < navigation_path.size(); i++) { + const Vector2 &vert = navigation_path[i]; + Rect2 path_point_rect = Rect2(vert.x - half_point_size, vert.y - half_point_size, point_size, point_size); + RenderingServer::get_singleton()->canvas_item_add_rect(debug_path_instance, path_point_rect, debug_path_color); + } +} +#endif // DEBUG_ENABLED |