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Diffstat (limited to 'scene/3d/navigation_agent_3d.cpp')
-rw-r--r--scene/3d/navigation_agent_3d.cpp196
1 files changed, 162 insertions, 34 deletions
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 86c11b3789..34e84861a2 100644
--- a/scene/3d/navigation_agent_3d.cpp
+++ b/scene/3d/navigation_agent_3d.cpp
@@ -35,6 +35,12 @@
void NavigationAgent3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent3D::get_rid);
+ ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent3D::set_avoidance_enabled);
+ ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent3D::get_avoidance_enabled);
+
+ ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent3D::set_path_desired_distance);
+ ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent3D::get_path_desired_distance);
+
ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent3D::set_target_desired_distance);
ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent3D::get_target_desired_distance);
@@ -47,8 +53,8 @@ void NavigationAgent3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent3D::set_ignore_y);
ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent3D::get_ignore_y);
- ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent3D::set_neighbor_dist);
- ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent3D::get_neighbor_dist);
+ ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent3D::set_neighbor_distance);
+ ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent3D::get_neighbor_distance);
ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent3D::set_max_neighbors);
ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent3D::get_max_neighbors);
@@ -62,8 +68,14 @@ void NavigationAgent3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent3D::set_path_max_distance);
ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent3D::get_path_max_distance);
- ClassDB::bind_method(D_METHOD("set_navigable_layers", "navigable_layers"), &NavigationAgent3D::set_navigable_layers);
- ClassDB::bind_method(D_METHOD("get_navigable_layers"), &NavigationAgent3D::get_navigable_layers);
+ ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent3D::set_navigation_layers);
+ ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent3D::get_navigation_layers);
+
+ ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent3D::set_navigation_layer_value);
+ ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent3D::get_navigation_layer_value);
+
+ ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent3D::set_navigation_map);
+ ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent3D::get_navigation_map);
ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent3D::set_target_location);
ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent3D::get_target_location);
@@ -79,16 +91,21 @@ void NavigationAgent3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent3D::_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_GROUP("Pathfinding", "");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,suffix:m"), "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:m"), "set_target_desired_distance", "get_target_desired_distance");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01,suffix:m"), "set_agent_height_offset", "get_agent_height_offset");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1,suffix:m"), "set_path_max_distance", "get_path_max_distance");
+ ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_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, "0.1,100,0.01,suffix:m"), "set_radius", "get_radius");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m"), "set_neighbor_distance", "get_neighbor_distance");
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::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.01,100,0.01,suffix:s"), "set_time_horizon", "get_time_horizon");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m/s"), "set_max_speed", "get_max_speed");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "ignore_y"), "set_ignore_y", "get_ignore_y");
- ADD_PROPERTY(PropertyInfo(Variant::INT, "navigable_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigable_layers", "get_navigable_layers");
ADD_SIGNAL(MethodInfo("path_changed"));
ADD_SIGNAL(MethodInfo("target_reached"));
@@ -98,24 +115,62 @@ void NavigationAgent3D::_bind_methods() {
void NavigationAgent3D::_notification(int p_what) {
switch (p_what) {
- case NOTIFICATION_READY: {
- agent_parent = Object::cast_to<Node3D>(get_parent());
- if (agent_parent != nullptr) {
- // place agent on navigation map first or else the RVO agent callback creation fails silently later
- NavigationServer3D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_3d()->get_navigation_map());
- NavigationServer3D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
- }
+ 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;
+ 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;
+
+ 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_EXIT_TREE: {
- agent_parent = nullptr;
+ set_agent_parent(nullptr);
set_physics_process_internal(false);
} break;
+ case NOTIFICATION_PAUSED: {
+ if (agent_parent && !agent_parent->can_process()) {
+ map_before_pause = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
+ NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
+ } else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
+ NavigationServer3D::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 = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
+ NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
+ } else if (agent_parent && agent_parent->can_process() && !(map_before_pause == RID())) {
+ NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
+ map_before_pause = RID();
+ }
+ } break;
+
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (agent_parent) {
- NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
+ 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
+ NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().origin);
+ }
_check_distance_to_target();
}
} break;
@@ -124,7 +179,7 @@ void NavigationAgent3D::_notification(int p_what) {
NavigationAgent3D::NavigationAgent3D() {
agent = NavigationServer3D::get_singleton()->agent_create();
- set_neighbor_dist(50.0);
+ set_neighbor_distance(50.0);
set_max_neighbors(10);
set_time_horizon(5.0);
set_radius(1.0);
@@ -137,16 +192,85 @@ NavigationAgent3D::~NavigationAgent3D() {
agent = RID(); // Pointless
}
-void NavigationAgent3D::set_navigable_layers(uint32_t p_layers) {
- bool layers_changed = navigable_layers != p_layers;
- navigable_layers = p_layers;
- if (layers_changed) {
+void NavigationAgent3D::set_avoidance_enabled(bool p_enabled) {
+ avoidance_enabled = p_enabled;
+ if (avoidance_enabled) {
+ NavigationServer3D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
+ } else {
+ NavigationServer3D::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done");
+ }
+}
+
+bool NavigationAgent3D::get_avoidance_enabled() const {
+ return avoidance_enabled;
+}
+
+void NavigationAgent3D::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
+ NavigationServer3D::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done");
+ if (Object::cast_to<Node3D>(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<Node3D>(p_agent_parent);
+ if (map_override.is_valid()) {
+ NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_override);
+ } else {
+ NavigationServer3D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_3d()->get_navigation_map());
+ }
+ // create new avoidance callback if enabled
+ set_avoidance_enabled(avoidance_enabled);
+ } else {
+ agent_parent = nullptr;
+ NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
+ }
+}
+
+void NavigationAgent3D::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();
}
}
-uint32_t NavigationAgent3D::get_navigable_layers() const {
- return navigable_layers;
+uint32_t NavigationAgent3D::get_navigation_layers() const {
+ return navigation_layers;
+}
+
+void NavigationAgent3D::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 NavigationAgent3D::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 NavigationAgent3D::set_navigation_map(RID p_navigation_map) {
+ map_override = p_navigation_map;
+ NavigationServer3D::get_singleton()->agent_set_map(agent, map_override);
+ _request_repath();
+}
+
+RID NavigationAgent3D::get_navigation_map() const {
+ if (map_override.is_valid()) {
+ return map_override;
+ } else if (agent_parent != nullptr) {
+ return agent_parent->get_world_3d()->get_navigation_map();
+ }
+ return RID();
+}
+
+void NavigationAgent3D::set_path_desired_distance(real_t p_dd) {
+ path_desired_distance = p_dd;
}
void NavigationAgent3D::set_target_desired_distance(real_t p_dd) {
@@ -167,9 +291,9 @@ void NavigationAgent3D::set_ignore_y(bool p_ignore_y) {
NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y);
}
-void NavigationAgent3D::set_neighbor_dist(real_t p_dist) {
- neighbor_dist = p_dist;
- NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist);
+void NavigationAgent3D::set_neighbor_distance(real_t p_distance) {
+ neighbor_distance = p_distance;
+ NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
}
void NavigationAgent3D::set_max_neighbors(int p_count) {
@@ -263,7 +387,7 @@ TypedArray<String> NavigationAgent3D::get_configuration_warnings() const {
TypedArray<String> warnings = Node::get_configuration_warnings();
if (!Object::cast_to<Node3D>(get_parent())) {
- warnings.push_back(RTR("The NavigationAgent3D can be used only under a spatial node."));
+ warnings.push_back(RTR("The NavigationAgent3D can be used only under a Node3D inheriting parent node."));
}
return warnings;
@@ -307,7 +431,11 @@ void NavigationAgent3D::update_navigation() {
}
if (reload_path) {
- navigation_path = NavigationServer3D::get_singleton()->map_get_path(agent_parent->get_world_3d()->get_navigation_map(), o, target_location, true, navigable_layers);
+ if (map_override.is_valid()) {
+ navigation_path = NavigationServer3D::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers);
+ } else {
+ navigation_path = NavigationServer3D::get_singleton()->map_get_path(agent_parent->get_world_3d()->get_navigation_map(), o, target_location, true, navigation_layers);
+ }
navigation_finished = false;
nav_path_index = 0;
emit_signal(SNAME("path_changed"));
@@ -320,7 +448,7 @@ void NavigationAgent3D::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] - Vector3(0, navigation_height_offset, 0)) < target_desired_distance) {
+ while (o.distance_to(navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) {
nav_path_index += 1;
if (nav_path_index == navigation_path.size()) {
_check_distance_to_target();
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-28 17:46:48 +0000