diff options
Diffstat (limited to 'scene/3d/navigation_agent_3d.cpp')
| -rw-r--r-- | scene/3d/navigation_agent_3d.cpp | 59 |
1 files changed, 40 insertions, 19 deletions
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp index 524304425c..396e4b72af 100644 --- a/scene/3d/navigation_agent_3d.cpp +++ b/scene/3d/navigation_agent_3d.cpp @@ -30,6 +30,7 @@ #include "navigation_agent_3d.h" +#include "scene/3d/navigation_link_3d.h" #include "servers/navigation_server_3d.h" void NavigationAgent3D::_bind_methods() { @@ -98,20 +99,20 @@ void NavigationAgent3D::_bind_methods() { ADD_GROUP("Pathfinding", ""); 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"); - 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::FLOAT, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,or_greater,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,or_greater,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,or_greater,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,or_greater,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"); - 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,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::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,100,0.01,or_greater,suffix:m"), "set_radius", "get_radius"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,10000,0.01,or_greater,suffix:m"), "set_neighbor_distance", "get_neighbor_distance"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1,or_greater"), "set_max_neighbors", "get_max_neighbors"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.01,10,0.01,or_greater,suffix:s"), "set_time_horizon", "get_time_horizon"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,1000,0.01,or_greater,suffix:m/s"), "set_max_speed", "get_max_speed"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "ignore_y"), "set_ignore_y", "get_ignore_y"); ADD_SIGNAL(MethodInfo("path_changed")); @@ -121,7 +122,6 @@ void NavigationAgent3D::_bind_methods() { 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); @@ -131,12 +131,11 @@ void NavigationAgent3D::_bind_methods() { 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_GROUP("Debug", "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) { @@ -461,9 +460,8 @@ real_t NavigationAgent3D::get_path_max_distance() { } void NavigationAgent3D::set_target_position(Vector3 p_position) { - if (target_position.is_equal_approx(p_position)) { - return; - } + // Intentionally not checking for equality of the parameter, as we want to update the path even if the target position is the same in case the world changed. + // Revisit later when the navigation server can update the path without requesting a new path. target_position = p_position; target_position_submitted = true; @@ -516,9 +514,9 @@ Vector3 NavigationAgent3D::get_final_position() { } void NavigationAgent3D::set_velocity(Vector3 p_velocity) { - if (target_velocity.is_equal_approx(p_velocity)) { - return; - } + // Intentionally not checking for equality of the parameter. + // We need to always submit the velocity to the navigation server, even when it is the same, in order to run avoidance every frame. + // Revisit later when the navigation server can update avoidance without users resubmitting the velocity. target_velocity = p_velocity; velocity_submitted = true; @@ -652,6 +650,21 @@ void NavigationAgent3D::update_navigation() { } details[SNAME("owner")] = owner; + + if (waypoint_type == NavigationPathQueryResult3D::PATH_SEGMENT_TYPE_LINK) { + const NavigationLink3D *navlink = Object::cast_to<NavigationLink3D>(owner); + if (navlink) { + Vector3 link_global_start_position = navlink->get_global_start_position(); + Vector3 link_global_end_position = navlink->get_global_end_position(); + if (waypoint.distance_to(link_global_start_position) < waypoint.distance_to(link_global_end_position)) { + details[SNAME("link_entry_position")] = link_global_start_position; + details[SNAME("link_exit_position")] = link_global_end_position; + } else { + details[SNAME("link_entry_position")] = link_global_end_position; + details[SNAME("link_exit_position")] = link_global_start_position; + } + } + } } // Emit a signal for the waypoint @@ -696,14 +709,15 @@ void NavigationAgent3D::_check_distance_to_target() { ////////DEBUG//////////////////////////////////////////////////////////// -#ifdef DEBUG_ENABLED void NavigationAgent3D::set_debug_enabled(bool p_enabled) { +#ifdef DEBUG_ENABLED if (debug_enabled == p_enabled) { return; } debug_enabled = p_enabled; debug_path_dirty = true; +#endif // DEBUG_ENABLED } bool NavigationAgent3D::get_debug_enabled() const { @@ -711,12 +725,14 @@ bool NavigationAgent3D::get_debug_enabled() const { } void NavigationAgent3D::set_debug_use_custom(bool p_enabled) { +#ifdef DEBUG_ENABLED if (debug_use_custom == p_enabled) { return; } debug_use_custom = p_enabled; debug_path_dirty = true; +#endif // DEBUG_ENABLED } bool NavigationAgent3D::get_debug_use_custom() const { @@ -724,12 +740,14 @@ bool NavigationAgent3D::get_debug_use_custom() const { } void NavigationAgent3D::set_debug_path_custom_color(Color p_color) { +#ifdef DEBUG_ENABLED if (debug_path_custom_color == p_color) { return; } debug_path_custom_color = p_color; debug_path_dirty = true; +#endif // DEBUG_ENABLED } Color NavigationAgent3D::get_debug_path_custom_color() const { @@ -737,18 +755,21 @@ Color NavigationAgent3D::get_debug_path_custom_color() const { } void NavigationAgent3D::set_debug_path_custom_point_size(float p_point_size) { +#ifdef DEBUG_ENABLED if (Math::is_equal_approx(debug_path_custom_point_size, p_point_size)) { return; } debug_path_custom_point_size = p_point_size; debug_path_dirty = true; +#endif // DEBUG_ENABLED } float NavigationAgent3D::get_debug_path_custom_point_size() const { return debug_path_custom_point_size; } +#ifdef DEBUG_ENABLED void NavigationAgent3D::_navigation_debug_changed() { debug_path_dirty = true; } |