diff options
Diffstat (limited to 'scene/3d/navigation_agent_3d.cpp')
| -rw-r--r-- | scene/3d/navigation_agent_3d.cpp | 328 |
1 files changed, 300 insertions, 28 deletions
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp index fe7ddcb06e..524304425c 100644 --- a/scene/3d/navigation_agent_3d.cpp +++ b/scene/3d/navigation_agent_3d.cpp @@ -120,15 +120,38 @@ 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) { switch (p_what) { 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 + // cannot use READY as ready does not get called if Node is re-added 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: { @@ -178,22 +207,27 @@ void NavigationAgent3D::_notification(int p_what) { 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); + NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position()); } _check_distance_to_target(); } +#ifdef DEBUG_ENABLED + if (debug_path_dirty) { + _update_debug_path(); + } +#endif // DEBUG_ENABLED } break; } } NavigationAgent3D::NavigationAgent3D() { agent = NavigationServer3D::get_singleton()->agent_create(); - set_neighbor_distance(50.0); - set_max_neighbors(10); - set_time_horizon(5.0); - set_radius(1.0); - set_max_speed(10.0); - set_ignore_y(true); + NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance); + NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); + NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, time_horizon); + NavigationServer3D::get_singleton()->agent_set_radius(agent, radius); + NavigationServer3D::get_singleton()->agent_set_max_speed(agent, max_speed); + NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y); // Preallocate query and result objects to improve performance. navigation_query = Ref<NavigationPathQueryParameters3D>(); @@ -201,20 +235,41 @@ 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) { + if (avoidance_enabled == p_enabled) { + return; + } + 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()); } } @@ -223,8 +278,13 @@ bool NavigationAgent3D::get_avoidance_enabled() const { } void NavigationAgent3D::set_agent_parent(Node *p_agent_parent) { + if (agent_parent == p_agent_parent) { + return; + } + // 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); @@ -233,8 +293,11 @@ 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); + if (avoidance_enabled) { + NavigationServer3D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent3D::_avoidance_done)); + } } else { agent_parent = nullptr; NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID()); @@ -242,11 +305,13 @@ void NavigationAgent3D::set_agent_parent(Node *p_agent_parent) { } 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(); + if (navigation_layers == p_navigation_layers) { + return; } + + navigation_layers = p_navigation_layers; + + _request_repath(); } uint32_t NavigationAgent3D::get_navigation_layers() const { @@ -280,7 +345,12 @@ void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryPara } void NavigationAgent3D::set_navigation_map(RID p_navigation_map) { + if (map_override == p_navigation_map) { + return; + } + map_override = p_navigation_map; + NavigationServer3D::get_singleton()->agent_set_map(agent, map_override); _request_repath(); } @@ -294,50 +364,96 @@ RID NavigationAgent3D::get_navigation_map() const { return RID(); } -void NavigationAgent3D::set_path_desired_distance(real_t p_dd) { - path_desired_distance = p_dd; +void NavigationAgent3D::set_path_desired_distance(real_t p_path_desired_distance) { + if (Math::is_equal_approx(path_desired_distance, p_path_desired_distance)) { + return; + } + + path_desired_distance = p_path_desired_distance; } -void NavigationAgent3D::set_target_desired_distance(real_t p_dd) { - target_desired_distance = p_dd; +void NavigationAgent3D::set_target_desired_distance(real_t p_target_desired_distance) { + if (Math::is_equal_approx(target_desired_distance, p_target_desired_distance)) { + return; + } + + target_desired_distance = p_target_desired_distance; } void NavigationAgent3D::set_radius(real_t p_radius) { + if (Math::is_equal_approx(radius, p_radius)) { + return; + } + radius = p_radius; + NavigationServer3D::get_singleton()->agent_set_radius(agent, radius); } -void NavigationAgent3D::set_agent_height_offset(real_t p_hh) { - navigation_height_offset = p_hh; +void NavigationAgent3D::set_agent_height_offset(real_t p_agent_height_offset) { + if (Math::is_equal_approx(navigation_height_offset, p_agent_height_offset)) { + return; + } + + navigation_height_offset = p_agent_height_offset; } void NavigationAgent3D::set_ignore_y(bool p_ignore_y) { + if (ignore_y == p_ignore_y) { + return; + } + ignore_y = p_ignore_y; + NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y); } void NavigationAgent3D::set_neighbor_distance(real_t p_distance) { + if (Math::is_equal_approx(neighbor_distance, p_distance)) { + return; + } + neighbor_distance = p_distance; + NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance); } void NavigationAgent3D::set_max_neighbors(int p_count) { + if (max_neighbors == p_count) { + return; + } + max_neighbors = p_count; + NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); } void NavigationAgent3D::set_time_horizon(real_t p_time) { + if (Math::is_equal_approx(time_horizon, p_time)) { + return; + } + time_horizon = p_time; + NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, time_horizon); } void NavigationAgent3D::set_max_speed(real_t p_max_speed) { + if (Math::is_equal_approx(max_speed, p_max_speed)) { + return; + } + max_speed = p_max_speed; + NavigationServer3D::get_singleton()->agent_set_max_speed(agent, max_speed); } -void NavigationAgent3D::set_path_max_distance(real_t p_pmd) { - path_max_distance = p_pmd; +void NavigationAgent3D::set_path_max_distance(real_t p_path_max_distance) { + if (Math::is_equal_approx(path_max_distance, p_path_max_distance)) { + return; + } + + path_max_distance = p_path_max_distance; } real_t NavigationAgent3D::get_path_max_distance() { @@ -345,8 +461,13 @@ real_t NavigationAgent3D::get_path_max_distance() { } void NavigationAgent3D::set_target_position(Vector3 p_position) { + if (target_position.is_equal_approx(p_position)) { + return; + } + target_position = p_position; target_position_submitted = true; + _request_repath(); } @@ -360,7 +481,7 @@ Vector3 NavigationAgent3D::get_next_path_position() { const Vector<Vector3> &navigation_path = navigation_result->get_path(); if (navigation_path.size() == 0) { ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent."); - return agent_parent->get_global_transform().origin; + return agent_parent->get_global_position(); } else { return navigation_path[navigation_path_index] - Vector3(0, navigation_height_offset, 0); } @@ -368,7 +489,7 @@ Vector3 NavigationAgent3D::get_next_path_position() { 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_position); + return agent_parent->get_global_position().distance_to(target_position); } bool NavigationAgent3D::is_target_reached() const { @@ -395,10 +516,15 @@ Vector3 NavigationAgent3D::get_final_position() { } void NavigationAgent3D::set_velocity(Vector3 p_velocity) { + if (target_velocity.is_equal_approx(p_velocity)) { + return; + } + target_velocity = p_velocity; + velocity_submitted = true; + NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, target_velocity); NavigationServer3D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity); - velocity_submitted = true; } void NavigationAgent3D::_avoidance_done(Vector3 p_new_velocity) { @@ -439,7 +565,7 @@ void NavigationAgent3D::update_navigation() { update_frame_id = Engine::get_singleton()->get_physics_frames(); - Vector3 origin = agent_parent->get_global_transform().origin; + Vector3 origin = agent_parent->get_global_position(); bool reload_path = false; @@ -478,6 +604,9 @@ 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")); @@ -564,3 +693,146 @@ void NavigationAgent3D::_check_distance_to_target() { } } } + +////////DEBUG//////////////////////////////////////////////////////////// + +#ifdef DEBUG_ENABLED +void NavigationAgent3D::set_debug_enabled(bool p_enabled) { + if (debug_enabled == p_enabled) { + return; + } + + 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) { + if (debug_use_custom == p_enabled) { + return; + } + + 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) { + if (debug_path_custom_color == p_color) { + return; + } + + 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) { + 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; +} + +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 |