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Diffstat (limited to 'scene/3d/navigation_agent_3d.cpp')
-rw-r--r--scene/3d/navigation_agent_3d.cpp397
1 files changed, 345 insertions, 52 deletions
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 0034bf78b9..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() {
@@ -80,10 +81,10 @@ 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);
@@ -92,26 +93,26 @@ 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::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::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,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"));
@@ -120,15 +121,36 @@ 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")));
+
+ 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", "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");
}
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 +173,12 @@ 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 +206,27 @@ 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 +234,41 @@ 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 +277,13 @@ 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 +292,11 @@ 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 +304,13 @@ 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 +344,12 @@ 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();
}
@@ -294,73 +363,123 @@ 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() {
return path_max_distance;
}
-void NavigationAgent3D::set_target_location(Vector3 p_location) {
- target_location = p_location;
+void NavigationAgent3D::set_target_position(Vector3 p_position) {
+ // 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;
+
_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();
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 +487,7 @@ 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_position().distance_to(target_position);
}
bool NavigationAgent3D::is_target_reached() const {
@@ -376,7 +495,7 @@ 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 +503,7 @@ 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();
@@ -395,10 +514,15 @@ Vector3 NavigationAgent3D::get_final_location() {
}
void NavigationAgent3D::set_velocity(Vector3 p_velocity) {
+ // 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;
+
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 +563,7 @@ 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;
@@ -467,7 +591,7 @@ 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 +602,9 @@ 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 +616,7 @@ 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 +626,7 @@ 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)) {
@@ -523,6 +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
@@ -564,3 +706,154 @@ void NavigationAgent3D::_check_distance_to_target() {
}
}
}
+
+////////DEBUG////////////////////////////////////////////////////////////
+
+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 {
+ return debug_enabled;
+}
+
+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 {
+ return debug_use_custom;
+}
+
+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 {
+ return debug_path_custom_color;
+}
+
+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;
+}
+
+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
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-16 17:25:31 +0000