diff options
Diffstat (limited to 'scene/3d/navigation_agent_3d.cpp')
| -rw-r--r-- | scene/3d/navigation_agent_3d.cpp | 220 |
1 files changed, 201 insertions, 19 deletions
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp index 0034bf78b9..5db8611d72 100644 --- a/scene/3d/navigation_agent_3d.cpp +++ b/scene/3d/navigation_agent_3d.cpp @@ -80,10 +80,10 @@ void NavigationAgent3D::_bind_methods() { 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); + ClassDB::bind_method(D_METHOD("set_target_position", "position"), &NavigationAgent3D::set_target_position); + ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent3D::get_target_position); - ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent3D::get_next_location); + ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent3D::get_next_path_position); ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent3D::distance_to_target); ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent3D::set_velocity); ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent3D::get_current_navigation_result); @@ -92,12 +92,12 @@ void NavigationAgent3D::_bind_methods() { ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent3D::is_target_reached); ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent3D::is_target_reachable); ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent3D::is_navigation_finished); - ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent3D::get_final_location); + ClassDB::bind_method(D_METHOD("get_final_position"), &NavigationAgent3D::get_final_position); ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent3D::_avoidance_done); ADD_GROUP("Pathfinding", ""); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_location", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_target_location", "get_target_location"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_target_position", "get_target_position"); 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"); @@ -120,6 +120,23 @@ void NavigationAgent3D::_bind_methods() { ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details"))); ADD_SIGNAL(MethodInfo("navigation_finished")); ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity"))); + +#ifdef DEBUG_ENABLED + ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent3D::set_debug_enabled); + ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent3D::get_debug_enabled); + ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent3D::set_debug_use_custom); + ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent3D::get_debug_use_custom); + ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent3D::set_debug_path_custom_color); + ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent3D::get_debug_path_custom_color); + ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent3D::set_debug_path_custom_point_size); + ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent3D::get_debug_path_custom_point_size); + + 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"); +#endif // DEBUG_ENABLED } void NavigationAgent3D::_notification(int p_what) { @@ -129,6 +146,12 @@ void NavigationAgent3D::_notification(int p_what) { // 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); + +#ifdef DEBUG_ENABLED + if (NavigationServer3D::get_singleton()->get_debug_enabled()) { + debug_path_dirty = true; + } +#endif // DEBUG_ENABLED } break; case NOTIFICATION_PARENTED: { @@ -151,6 +174,12 @@ void NavigationAgent3D::_notification(int p_what) { case NOTIFICATION_EXIT_TREE: { set_agent_parent(nullptr); set_physics_process_internal(false); + +#ifdef DEBUG_ENABLED + if (debug_path_instance.is_valid()) { + RS::get_singleton()->instance_set_visible(debug_path_instance, false); + } +#endif // DEBUG_ENABLED } break; case NOTIFICATION_PAUSED: { @@ -182,6 +211,11 @@ void NavigationAgent3D::_notification(int p_what) { } _check_distance_to_target(); } +#ifdef DEBUG_ENABLED + if (debug_path_dirty) { + _update_debug_path(); + } +#endif // DEBUG_ENABLED } break; } } @@ -201,20 +235,36 @@ NavigationAgent3D::NavigationAgent3D() { navigation_result = Ref<NavigationPathQueryResult3D>(); navigation_result.instantiate(); + +#ifdef DEBUG_ENABLED + NavigationServer3D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent3D::_navigation_debug_changed)); +#endif // DEBUG_ENABLED } NavigationAgent3D::~NavigationAgent3D() { ERR_FAIL_NULL(NavigationServer3D::get_singleton()); NavigationServer3D::get_singleton()->free(agent); agent = RID(); // Pointless + +#ifdef DEBUG_ENABLED + NavigationServer3D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent3D::_navigation_debug_changed)); + + ERR_FAIL_NULL(RenderingServer::get_singleton()); + if (debug_path_instance.is_valid()) { + RenderingServer::get_singleton()->free(debug_path_instance); + } + if (debug_path_mesh.is_valid()) { + RenderingServer::get_singleton()->free(debug_path_mesh->get_rid()); + } +#endif // DEBUG_ENABLED } void NavigationAgent3D::set_avoidance_enabled(bool p_enabled) { avoidance_enabled = p_enabled; if (avoidance_enabled) { - NavigationServer3D::get_singleton()->agent_set_callback(agent, get_instance_id(), "_avoidance_done"); + NavigationServer3D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent3D::_avoidance_done)); } else { - NavigationServer3D::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done"); + NavigationServer3D::get_singleton()->agent_set_callback(agent, Callable()); } } @@ -224,7 +274,8 @@ bool NavigationAgent3D::get_avoidance_enabled() const { 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, ObjectID(), "_avoidance_done"); + NavigationServer3D::get_singleton()->agent_set_callback(agent, Callable()); + 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); @@ -233,6 +284,7 @@ void NavigationAgent3D::set_agent_parent(Node *p_agent_parent) { } 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 { @@ -344,17 +396,17 @@ real_t NavigationAgent3D::get_path_max_distance() { return path_max_distance; } -void NavigationAgent3D::set_target_location(Vector3 p_location) { - target_location = p_location; +void NavigationAgent3D::set_target_position(Vector3 p_position) { + target_position = p_position; target_position_submitted = true; _request_repath(); } -Vector3 NavigationAgent3D::get_target_location() const { - return target_location; +Vector3 NavigationAgent3D::get_target_position() const { + return target_position; } -Vector3 NavigationAgent3D::get_next_location() { +Vector3 NavigationAgent3D::get_next_path_position() { update_navigation(); const Vector<Vector3> &navigation_path = navigation_result->get_path(); @@ -368,7 +420,7 @@ Vector3 NavigationAgent3D::get_next_location() { real_t NavigationAgent3D::distance_to_target() const { ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent."); - return agent_parent->get_global_transform().origin.distance_to(target_location); + return agent_parent->get_global_transform().origin.distance_to(target_position); } bool NavigationAgent3D::is_target_reached() const { @@ -376,7 +428,7 @@ bool NavigationAgent3D::is_target_reached() const { } bool NavigationAgent3D::is_target_reachable() { - return target_desired_distance >= get_final_location().distance_to(target_location); + return target_desired_distance >= get_final_position().distance_to(target_position); } bool NavigationAgent3D::is_navigation_finished() { @@ -384,7 +436,7 @@ bool NavigationAgent3D::is_navigation_finished() { return navigation_finished; } -Vector3 NavigationAgent3D::get_final_location() { +Vector3 NavigationAgent3D::get_final_position() { update_navigation(); const Vector<Vector3> &navigation_path = navigation_result->get_path(); @@ -467,7 +519,7 @@ void NavigationAgent3D::update_navigation() { if (reload_path) { navigation_query->set_start_position(origin); - navigation_query->set_target_position(target_location); + navigation_query->set_target_position(target_position); navigation_query->set_navigation_layers(navigation_layers); navigation_query->set_metadata_flags(path_metadata_flags); @@ -478,6 +530,9 @@ void NavigationAgent3D::update_navigation() { } NavigationServer3D::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")); @@ -489,7 +544,7 @@ void NavigationAgent3D::update_navigation() { // Check if we can advance the navigation path if (navigation_finished == false) { - // Advances to the next far away location. + // Advances to the next far away position. const Vector<Vector3> &navigation_path = navigation_result->get_path(); const Vector<int32_t> &navigation_path_types = navigation_result->get_path_types(); const TypedArray<RID> &navigation_path_rids = navigation_result->get_path_rids(); @@ -499,7 +554,7 @@ void NavigationAgent3D::update_navigation() { Dictionary details; const Vector3 waypoint = navigation_path[navigation_path_index]; - details[SNAME("location")] = waypoint; + details[SNAME("position")] = waypoint; int waypoint_type = -1; if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_TYPES)) { @@ -564,3 +619,130 @@ void NavigationAgent3D::_check_distance_to_target() { } } } + +////////DEBUG//////////////////////////////////////////////////////////// + +#ifdef DEBUG_ENABLED +void NavigationAgent3D::set_debug_enabled(bool p_enabled) { + debug_enabled = p_enabled; + debug_path_dirty = true; +} + +bool NavigationAgent3D::get_debug_enabled() const { + return debug_enabled; +} + +void NavigationAgent3D::set_debug_use_custom(bool p_enabled) { + debug_use_custom = p_enabled; + debug_path_dirty = true; +} + +bool NavigationAgent3D::get_debug_use_custom() const { + return debug_use_custom; +} + +void NavigationAgent3D::set_debug_path_custom_color(Color p_color) { + debug_path_custom_color = p_color; + debug_path_dirty = true; +} + +Color NavigationAgent3D::get_debug_path_custom_color() const { + return debug_path_custom_color; +} + +void NavigationAgent3D::set_debug_path_custom_point_size(float p_point_size) { + debug_path_custom_point_size = p_point_size; + debug_path_dirty = true; +} + +float NavigationAgent3D::get_debug_path_custom_point_size() const { + return debug_path_custom_point_size; +} + +void NavigationAgent3D::_navigation_debug_changed() { + debug_path_dirty = true; +} + +void NavigationAgent3D::_update_debug_path() { + if (!debug_path_dirty) { + return; + } + debug_path_dirty = false; + + if (!debug_path_instance.is_valid()) { + debug_path_instance = RenderingServer::get_singleton()->instance_create(); + } + + if (!debug_path_mesh.is_valid()) { + debug_path_mesh = Ref<ArrayMesh>(memnew(ArrayMesh)); + } + + debug_path_mesh->clear_surfaces(); + + if (!(debug_enabled && NavigationServer3D::get_singleton()->get_debug_navigation_enable_agent_paths())) { + return; + } + + if (!(agent_parent && agent_parent->is_inside_tree())) { + return; + } + + const Vector<Vector3> &navigation_path = navigation_result->get_path(); + + if (navigation_path.size() <= 1) { + return; + } + + Vector<Vector3> debug_path_lines_vertex_array; + + for (int i = 0; i < navigation_path.size() - 1; i++) { + debug_path_lines_vertex_array.push_back(navigation_path[i]); + debug_path_lines_vertex_array.push_back(navigation_path[i + 1]); + } + + Array debug_path_lines_mesh_array; + debug_path_lines_mesh_array.resize(Mesh::ARRAY_MAX); + debug_path_lines_mesh_array[Mesh::ARRAY_VERTEX] = debug_path_lines_vertex_array; + + debug_path_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, debug_path_lines_mesh_array); + + Ref<StandardMaterial3D> debug_agent_path_line_material = NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_line_material(); + if (debug_use_custom) { + if (!debug_agent_path_line_custom_material.is_valid()) { + debug_agent_path_line_custom_material = debug_agent_path_line_material->duplicate(); + } + debug_agent_path_line_custom_material->set_albedo(debug_path_custom_color); + debug_path_mesh->surface_set_material(0, debug_agent_path_line_custom_material); + } else { + debug_path_mesh->surface_set_material(0, debug_agent_path_line_material); + } + + Vector<Vector3> debug_path_points_vertex_array; + + for (int i = 0; i < navigation_path.size(); i++) { + debug_path_points_vertex_array.push_back(navigation_path[i]); + } + + Array debug_path_points_mesh_array; + debug_path_points_mesh_array.resize(Mesh::ARRAY_MAX); + debug_path_points_mesh_array[Mesh::ARRAY_VERTEX] = debug_path_lines_vertex_array; + + debug_path_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_POINTS, debug_path_points_mesh_array); + + Ref<StandardMaterial3D> debug_agent_path_point_material = NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_point_material(); + if (debug_use_custom) { + if (!debug_agent_path_point_custom_material.is_valid()) { + debug_agent_path_point_custom_material = debug_agent_path_point_material->duplicate(); + } + debug_agent_path_point_custom_material->set_albedo(debug_path_custom_color); + debug_agent_path_point_custom_material->set_point_size(debug_path_custom_point_size); + debug_path_mesh->surface_set_material(1, debug_agent_path_point_custom_material); + } else { + debug_path_mesh->surface_set_material(1, debug_agent_path_point_material); + } + + RS::get_singleton()->instance_set_base(debug_path_instance, debug_path_mesh->get_rid()); + RS::get_singleton()->instance_set_scenario(debug_path_instance, agent_parent->get_world_3d()->get_scenario()); + RS::get_singleton()->instance_set_visible(debug_path_instance, agent_parent->is_visible_in_tree()); +} +#endif // DEBUG_ENABLED |