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Diffstat (limited to 'scene/3d/navigation_agent.cpp')
| -rw-r--r-- | scene/3d/navigation_agent.cpp | 361 |
1 files changed, 0 insertions, 361 deletions
diff --git a/scene/3d/navigation_agent.cpp b/scene/3d/navigation_agent.cpp deleted file mode 100644 index 728fc947e9..0000000000 --- a/scene/3d/navigation_agent.cpp +++ /dev/null @@ -1,361 +0,0 @@ -/*************************************************************************/ -/* navigation_agent.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.h" - -#include "core/engine.h" -#include "scene/3d/navigation.h" -#include "servers/navigation_server.h" - -void NavigationAgent::_bind_methods() { - - ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent::set_target_desired_distance); - ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent::get_target_desired_distance); - - ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent::set_radius); - ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent::get_radius); - - ClassDB::bind_method(D_METHOD("set_agent_height_offset", "agent_height_offset"), &NavigationAgent::set_agent_height_offset); - ClassDB::bind_method(D_METHOD("get_agent_height_offset"), &NavigationAgent::get_agent_height_offset); - - ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent::set_ignore_y); - ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent::get_ignore_y); - - ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent::set_navigation_node); - ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent::get_navigation_node); - - ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent::set_neighbor_dist); - ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent::get_neighbor_dist); - - ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent::set_max_neighbors); - ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent::get_max_neighbors); - - ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent::set_time_horizon); - ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent::get_time_horizon); - - ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent::set_max_speed); - ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent::get_max_speed); - - ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent::set_path_max_distance); - ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent::get_path_max_distance); - - ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent::set_target_location); - ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent::get_target_location); - ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent::get_next_location); - ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent::distance_to_target); - ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent::set_velocity); - ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent::get_nav_path); - ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent::get_nav_path_index); - ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent::is_target_reached); - ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent::is_target_reachable); - ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent::is_navigation_finished); - ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent::get_final_location); - - ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent::_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, "0.1,100,0.01"), "set_radius", "get_radius"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01"), "set_agent_height_offset", "get_agent_height_offset"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "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::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_time_horizon", "get_time_horizon"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_max_speed", "get_max_speed"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1"), "set_path_max_distance", "get_path_max_distance"); - ADD_PROPERTY(PropertyInfo(Variant::BOOL, "ignore_y"), "set_ignore_y", "get_ignore_y"); - - 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 NavigationAgent::_notification(int p_what) { - switch (p_what) { - case NOTIFICATION_READY: { - - agent_parent = Object::cast_to<Spatial>(get_parent()); - - NavigationServer::get_singleton()->agent_set_callback(agent, this, "_avoidance_done"); - - // Search the navigation node and set it - { - Navigation *nav = NULL; - Node *p = get_parent(); - while (p != NULL) { - nav = Object::cast_to<Navigation>(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) { - - NavigationServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin); - if (!target_reached) { - if (distance_to_target() < target_desired_distance) { - emit_signal("target_reached"); - target_reached = true; - } - } - } - } break; - } -} - -NavigationAgent::NavigationAgent() : - agent_parent(NULL), - navigation(NULL), - agent(RID()), - target_desired_distance(1.0), - navigation_height_offset(0.0), - path_max_distance(3.0), - velocity_submitted(false), - target_reached(false), - navigation_finished(true) { - agent = NavigationServer::get_singleton()->agent_create(); - set_neighbor_dist(50.0); - set_max_neighbors(10); - set_time_horizon(5.0); - set_radius(1.0); - set_max_speed(10.0); - set_ignore_y(true); -} - -NavigationAgent::~NavigationAgent() { - NavigationServer::get_singleton()->free(agent); - agent = RID(); // Pointless -} - -void NavigationAgent::set_navigation(Navigation *p_nav) { - if (navigation == p_nav) - return; // Pointless - - navigation = p_nav; - NavigationServer::get_singleton()->agent_set_map(agent, navigation == NULL ? RID() : navigation->get_rid()); -} - -void NavigationAgent::set_navigation_node(Node *p_nav) { - Navigation *nav = Object::cast_to<Navigation>(p_nav); - ERR_FAIL_COND(nav == NULL); - set_navigation(nav); -} - -Node *NavigationAgent::get_navigation_node() const { - return Object::cast_to<Node>(navigation); -} - -void NavigationAgent::set_target_desired_distance(real_t p_dd) { - target_desired_distance = p_dd; -} - -void NavigationAgent::set_radius(real_t p_radius) { - radius = p_radius; - NavigationServer::get_singleton()->agent_set_radius(agent, radius); -} - -void NavigationAgent::set_agent_height_offset(real_t p_hh) { - navigation_height_offset = p_hh; -} - -void NavigationAgent::set_ignore_y(bool p_ignore_y) { - ignore_y = p_ignore_y; - NavigationServer::get_singleton()->agent_set_ignore_y(agent, ignore_y); -} - -void NavigationAgent::set_neighbor_dist(real_t p_dist) { - neighbor_dist = p_dist; - NavigationServer::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist); -} - -void NavigationAgent::set_max_neighbors(int p_count) { - max_neighbors = p_count; - NavigationServer::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); -} - -void NavigationAgent::set_time_horizon(real_t p_time) { - time_horizon = p_time; - NavigationServer::get_singleton()->agent_set_time_horizon(agent, time_horizon); -} - -void NavigationAgent::set_max_speed(real_t p_max_speed) { - max_speed = p_max_speed; - NavigationServer::get_singleton()->agent_set_max_speed(agent, max_speed); -} - -void NavigationAgent::set_path_max_distance(real_t p_pmd) { - path_max_distance = p_pmd; -} - -real_t NavigationAgent::get_path_max_distance() { - return path_max_distance; -} - -void NavigationAgent::set_target_location(Vector3 p_location) { - target_location = p_location; - navigation_path.clear(); - target_reached = false; - navigation_finished = false; -} - -Vector3 NavigationAgent::get_target_location() const { - return target_location; -} - -Vector3 NavigationAgent::get_next_location() { - update_navigation(); - if (navigation_path.size() == 0) { - ERR_FAIL_COND_V(agent_parent == NULL, Vector3()); - return agent_parent->get_global_transform().origin; - } else { - return navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0); - } -} - -real_t NavigationAgent::distance_to_target() const { - ERR_FAIL_COND_V(agent_parent == NULL, 0.0); - return agent_parent->get_global_transform().origin.distance_to(target_location); -} - -bool NavigationAgent::is_target_reached() const { - return target_reached; -} - -bool NavigationAgent::is_target_reachable() { - return target_desired_distance >= get_final_location().distance_to(target_location); -} - -bool NavigationAgent::is_navigation_finished() { - update_navigation(); - return navigation_finished; -} - -Vector3 NavigationAgent::get_final_location() { - update_navigation(); - if (navigation_path.size() == 0) { - return Vector3(); - } - return navigation_path[navigation_path.size() - 1]; -} - -void NavigationAgent::set_velocity(Vector3 p_velocity) { - target_velocity = p_velocity; - NavigationServer::get_singleton()->agent_set_target_velocity(agent, target_velocity); - NavigationServer::get_singleton()->agent_set_velocity(agent, prev_safe_velocity); - velocity_submitted = true; -} - -void NavigationAgent::_avoidance_done(Vector3 p_new_velocity) { - prev_safe_velocity = p_new_velocity; - - if (!velocity_submitted) { - target_velocity = Vector3(); - return; - } - velocity_submitted = false; - - emit_signal("velocity_computed", p_new_velocity); -} - -String NavigationAgent::get_configuration_warning() const { - if (!Object::cast_to<Spatial>(get_parent())) { - return TTR("The NavigationAgent can be used only under a spatial node."); - } - - return String(); -} - -void NavigationAgent::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(); - - Vector3 o = agent_parent->get_global_transform().origin; - - bool reload_path = false; - - if (NavigationServer::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) { - Vector3 segment[2]; - segment[0] = navigation_path[nav_path_index - 1]; - segment[1] = navigation_path[nav_path_index]; - segment[0].y -= navigation_height_offset; - segment[1].y -= navigation_height_offset; - Vector3 p = Geometry::get_closest_point_to_segment(o, segment); - if (o.distance_to(p) >= path_max_distance) { - // To faraway, reload path - reload_path = true; - } - } - } - - if (reload_path) { - navigation_path = NavigationServer::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] - Vector3(0, navigation_height_offset, 0)) < 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; - } - } - } -} |