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Diffstat (limited to 'scene/3d/navigation_agent_3d.cpp')
-rw-r--r--scene/3d/navigation_agent_3d.cpp50
1 files changed, 38 insertions, 12 deletions
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 34e84861a2..36350d251e 100644
--- a/scene/3d/navigation_agent_3d.cpp
+++ b/scene/3d/navigation_agent_3d.cpp
@@ -79,6 +79,7 @@ void NavigationAgent3D::_bind_methods() {
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("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);
@@ -92,6 +93,7 @@ void NavigationAgent3D::_bind_methods() {
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");
@@ -185,6 +187,13 @@ NavigationAgent3D::NavigationAgent3D() {
set_radius(1.0);
set_max_speed(10.0);
set_ignore_y(true);
+
+ // Preallocate query and result objects to improve performance.
+ navigation_query = Ref<NavigationPathQueryParameters3D>();
+ navigation_query.instantiate();
+
+ navigation_result = Ref<NavigationPathQueryResult3D>();
+ navigation_result.instantiate();
}
NavigationAgent3D::~NavigationAgent3D() {
@@ -330,6 +339,8 @@ Vector3 NavigationAgent3D::get_target_location() const {
Vector3 NavigationAgent3D::get_next_location() {
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;
@@ -338,6 +349,10 @@ Vector3 NavigationAgent3D::get_next_location() {
}
}
+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);
@@ -358,6 +373,8 @@ bool NavigationAgent3D::is_navigation_finished() {
Vector3 NavigationAgent3D::get_final_location() {
update_navigation();
+
+ const Vector<Vector3> &navigation_path = navigation_result->get_path();
if (navigation_path.size() == 0) {
return Vector3();
}
@@ -383,8 +400,8 @@ void NavigationAgent3D::_avoidance_done(Vector3 p_new_velocity) {
emit_signal(SNAME("velocity_computed"), p_new_velocity);
}
-TypedArray<String> NavigationAgent3D::get_configuration_warnings() const {
- TypedArray<String> warnings = Node::get_configuration_warnings();
+PackedStringArray NavigationAgent3D::get_configuration_warnings() const {
+ PackedStringArray warnings = Node::get_configuration_warnings();
if (!Object::cast_to<Node3D>(get_parent())) {
warnings.push_back(RTR("The NavigationAgent3D can be used only under a Node3D inheriting parent node."));
@@ -406,24 +423,26 @@ void NavigationAgent3D::update_navigation() {
update_frame_id = Engine::get_singleton()->get_physics_frames();
- Vector3 o = agent_parent->get_global_transform().origin;
+ Vector3 origin = agent_parent->get_global_transform().origin;
bool reload_path = false;
if (NavigationServer3D::get_singleton()->agent_is_map_changed(agent)) {
reload_path = true;
- } else if (navigation_path.size() == 0) {
+ } else if (navigation_result->get_path().size() == 0) {
reload_path = true;
} else {
// Check if too far from the navigation path
if (nav_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].y -= navigation_height_offset;
segment[1].y -= navigation_height_offset;
- Vector3 p = Geometry3D::get_closest_point_to_segment(o, segment);
- if (o.distance_to(p) >= path_max_distance) {
+ Vector3 p = Geometry3D::get_closest_point_to_segment(origin, segment);
+ if (origin.distance_to(p) >= path_max_distance) {
// To faraway, reload path
reload_path = true;
}
@@ -431,24 +450,31 @@ void NavigationAgent3D::update_navigation() {
}
if (reload_path) {
+ navigation_query->set_start_position(origin);
+ navigation_query->set_target_position(target_location);
+ navigation_query->set_navigation_layers(navigation_layers);
+
if (map_override.is_valid()) {
- navigation_path = NavigationServer3D::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers);
+ navigation_query->set_map(map_override);
} else {
- navigation_path = NavigationServer3D::get_singleton()->map_get_path(agent_parent->get_world_3d()->get_navigation_map(), o, target_location, true, navigation_layers);
+ navigation_query->set_map(agent_parent->get_world_3d()->get_navigation_map());
}
+
+ NavigationServer3D::get_singleton()->query_path(navigation_query, navigation_result);
navigation_finished = false;
nav_path_index = 0;
emit_signal(SNAME("path_changed"));
}
- if (navigation_path.size() == 0) {
+ if (navigation_result->get_path().size() == 0) {
return;
}
// Check if we can advance the navigation path
if (navigation_finished == false) {
// Advances to the next far away location.
- while (o.distance_to(navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) {
+ 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()) {
_check_distance_to_target();
@@ -462,7 +488,7 @@ void NavigationAgent3D::update_navigation() {
}
void NavigationAgent3D::_request_repath() {
- navigation_path.clear();
+ navigation_result->reset();
target_reached = false;
navigation_finished = false;
update_frame_id = 0;
@@ -471,8 +497,8 @@ void NavigationAgent3D::_request_repath() {
void NavigationAgent3D::_check_distance_to_target() {
if (!target_reached) {
if (distance_to_target() < target_desired_distance) {
- emit_signal(SNAME("target_reached"));
target_reached = true;
+ emit_signal(SNAME("target_reached"));
}
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-27 22:08:27 +0000