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-rw-r--r--scene/3d/navigation_agent_3d.cpp158
1 files changed, 110 insertions, 48 deletions
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 36350d251e..0034bf78b9 100644
--- a/scene/3d/navigation_agent_3d.cpp
+++ b/scene/3d/navigation_agent_3d.cpp
@@ -1,32 +1,32 @@
-/*************************************************************************/
-/* navigation_agent_3d.cpp */
-/*************************************************************************/
-/* This file is part of: */
-/* GODOT ENGINE */
-/* https://godotengine.org */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2022 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. */
-/*************************************************************************/
+/**************************************************************************/
+/* navigation_agent_3d.cpp */
+/**************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
+/* */
+/* 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_3d.h"
@@ -74,6 +74,9 @@ void NavigationAgent3D::_bind_methods() {
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_path_metadata_flags", "flags"), &NavigationAgent3D::set_path_metadata_flags);
+ ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent3D::get_path_metadata_flags);
+
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);
@@ -83,8 +86,9 @@ void NavigationAgent3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent3D::get_next_location);
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_nav_path"), &NavigationAgent3D::get_nav_path);
- ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent3D::get_nav_path_index);
+ ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent3D::get_current_navigation_result);
+ ClassDB::bind_method(D_METHOD("get_current_navigation_path"), &NavigationAgent3D::get_current_navigation_path);
+ ClassDB::bind_method(D_METHOD("get_current_navigation_path_index"), &NavigationAgent3D::get_current_navigation_path_index);
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);
@@ -99,6 +103,7 @@ void NavigationAgent3D::_bind_methods() {
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_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
@@ -111,6 +116,8 @@ void NavigationAgent3D::_bind_methods() {
ADD_SIGNAL(MethodInfo("path_changed"));
ADD_SIGNAL(MethodInfo("target_reached"));
+ ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
+ ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details")));
ADD_SIGNAL(MethodInfo("navigation_finished"));
ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity")));
}
@@ -167,7 +174,7 @@ void NavigationAgent3D::_notification(int p_what) {
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
- if (agent_parent) {
+ if (agent_parent && target_position_submitted) {
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
@@ -197,6 +204,7 @@ NavigationAgent3D::NavigationAgent3D() {
}
NavigationAgent3D::~NavigationAgent3D() {
+ ERR_FAIL_NULL(NavigationServer3D::get_singleton());
NavigationServer3D::get_singleton()->free(agent);
agent = RID(); // Pointless
}
@@ -204,9 +212,9 @@ NavigationAgent3D::~NavigationAgent3D() {
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");
+ NavigationServer3D::get_singleton()->agent_set_callback(agent, get_instance_id(), "_avoidance_done");
} else {
- NavigationServer3D::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done");
+ NavigationServer3D::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done");
}
}
@@ -216,7 +224,7 @@ 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, nullptr, "_avoidance_done");
+ NavigationServer3D::get_singleton()->agent_set_callback(agent, ObjectID(), "_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);
@@ -263,6 +271,14 @@ bool NavigationAgent3D::get_navigation_layer_value(int p_layer_number) const {
return get_navigation_layers() & (1 << (p_layer_number - 1));
}
+void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_path_metadata_flags) {
+ if (path_metadata_flags == p_path_metadata_flags) {
+ return;
+ }
+
+ path_metadata_flags = p_path_metadata_flags;
+}
+
void NavigationAgent3D::set_navigation_map(RID p_navigation_map) {
map_override = p_navigation_map;
NavigationServer3D::get_singleton()->agent_set_map(agent, map_override);
@@ -330,6 +346,7 @@ real_t NavigationAgent3D::get_path_max_distance() {
void NavigationAgent3D::set_target_location(Vector3 p_location) {
target_location = p_location;
+ target_position_submitted = true;
_request_repath();
}
@@ -345,14 +362,10 @@ Vector3 NavigationAgent3D::get_next_location() {
ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent.");
return agent_parent->get_global_transform().origin;
} else {
- return navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0);
+ return navigation_path[navigation_path_index] - Vector3(0, navigation_height_offset, 0);
}
}
-const Vector<Vector3> &NavigationAgent3D::get_nav_path() const {
- return navigation_result->get_path();
-}
-
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);
@@ -417,6 +430,9 @@ void NavigationAgent3D::update_navigation() {
if (!agent_parent->is_inside_tree()) {
return;
}
+ if (!target_position_submitted) {
+ return;
+ }
if (update_frame_id == Engine::get_singleton()->get_physics_frames()) {
return;
}
@@ -433,12 +449,12 @@ void NavigationAgent3D::update_navigation() {
reload_path = true;
} else {
// Check if too far from the navigation path
- if (nav_path_index > 0) {
+ if (navigation_path_index > 0) {
const Vector<Vector3> &navigation_path = navigation_result->get_path();
Vector3 segment[2];
- segment[0] = navigation_path[nav_path_index - 1];
- segment[1] = navigation_path[nav_path_index];
+ segment[0] = navigation_path[navigation_path_index - 1];
+ segment[1] = navigation_path[navigation_path_index];
segment[0].y -= navigation_height_offset;
segment[1].y -= navigation_height_offset;
Vector3 p = Geometry3D::get_closest_point_to_segment(origin, segment);
@@ -453,6 +469,7 @@ void NavigationAgent3D::update_navigation() {
navigation_query->set_start_position(origin);
navigation_query->set_target_position(target_location);
navigation_query->set_navigation_layers(navigation_layers);
+ navigation_query->set_metadata_flags(path_metadata_flags);
if (map_override.is_valid()) {
navigation_query->set_map(map_override);
@@ -462,7 +479,7 @@ void NavigationAgent3D::update_navigation() {
NavigationServer3D::get_singleton()->query_path(navigation_query, navigation_result);
navigation_finished = false;
- nav_path_index = 0;
+ navigation_path_index = 0;
emit_signal(SNAME("path_changed"));
}
@@ -474,12 +491,57 @@ void NavigationAgent3D::update_navigation() {
if (navigation_finished == false) {
// Advances to the next far away location.
const Vector<Vector3> &navigation_path = navigation_result->get_path();
- while (origin.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()) {
+ const Vector<int32_t> &navigation_path_types = navigation_result->get_path_types();
+ const TypedArray<RID> &navigation_path_rids = navigation_result->get_path_rids();
+ const Vector<int64_t> &navigation_path_owners = navigation_result->get_path_owner_ids();
+
+ while (origin.distance_to(navigation_path[navigation_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) {
+ Dictionary details;
+
+ const Vector3 waypoint = navigation_path[navigation_path_index];
+ details[SNAME("location")] = waypoint;
+
+ int waypoint_type = -1;
+ if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_TYPES)) {
+ const NavigationPathQueryResult3D::PathSegmentType type = NavigationPathQueryResult3D::PathSegmentType(navigation_path_types[navigation_path_index]);
+
+ details[SNAME("type")] = type;
+ waypoint_type = type;
+ }
+
+ if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_RIDS)) {
+ details[SNAME("rid")] = navigation_path_rids[navigation_path_index];
+ }
+
+ if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_OWNERS)) {
+ const ObjectID waypoint_owner_id = ObjectID(navigation_path_owners[navigation_path_index]);
+
+ // Get a reference to the owning object.
+ Object *owner = nullptr;
+ if (waypoint_owner_id.is_valid()) {
+ owner = ObjectDB::get_instance(waypoint_owner_id);
+ }
+
+ details[SNAME("owner")] = owner;
+ }
+
+ // Emit a signal for the waypoint
+ emit_signal(SNAME("waypoint_reached"), details);
+
+ // Emit a signal if we've reached a navigation link
+ if (waypoint_type == NavigationPathQueryResult3D::PATH_SEGMENT_TYPE_LINK) {
+ emit_signal(SNAME("link_reached"), details);
+ }
+
+ // Move to the next waypoint on the list
+ navigation_path_index += 1;
+
+ // Check to see if we've finished our route
+ if (navigation_path_index == navigation_path.size()) {
_check_distance_to_target();
- nav_path_index -= 1;
+ navigation_path_index -= 1;
navigation_finished = true;
+ target_position_submitted = false;
emit_signal(SNAME("navigation_finished"));
break;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-25 20:29:07 +0000