diff options
Diffstat (limited to 'scene/3d/navigation_obstacle_3d.cpp')
| -rw-r--r-- | scene/3d/navigation_obstacle_3d.cpp | 163 |
1 files changed, 163 insertions, 0 deletions
diff --git a/scene/3d/navigation_obstacle_3d.cpp b/scene/3d/navigation_obstacle_3d.cpp new file mode 100644 index 0000000000..2ee2008799 --- /dev/null +++ b/scene/3d/navigation_obstacle_3d.cpp @@ -0,0 +1,163 @@ +/*************************************************************************/ +/* navigation_obstacle_3d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 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. */ +/*************************************************************************/ + +#include "navigation_obstacle_3d.h" + +#include "scene/3d/collision_shape_3d.h" +#include "scene/3d/navigation_3d.h" +#include "scene/3d/physics_body_3d.h" +#include "servers/navigation_server_3d.h" + +void NavigationObstacle3D::_bind_methods() { + + ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle3D::set_navigation_node); + ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle3D::get_navigation_node); +} + +void NavigationObstacle3D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_READY: { + + update_agent_shape(); + + // Search the navigation node and set it + { + Navigation3D *nav = nullptr; + Node *p = get_parent(); + while (p != nullptr) { + nav = Object::cast_to<Navigation3D>(p); + if (nav != nullptr) + p = nullptr; + else + p = p->get_parent(); + } + + set_navigation(nav); + } + + set_physics_process_internal(true); + } break; + case NOTIFICATION_EXIT_TREE: { + set_navigation(nullptr); + set_physics_process_internal(false); + } break; + case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { + Node3D *spatial = Object::cast_to<Node3D>(get_parent()); + if (spatial) { + NavigationServer3D::get_singleton()->agent_set_position(agent, spatial->get_global_transform().origin); + } + + PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent()); + if (rigid) { + + Vector3 v = rigid->get_linear_velocity(); + NavigationServer3D::get_singleton()->agent_set_velocity(agent, v); + NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, v); + } + + } break; + } +} + +NavigationObstacle3D::NavigationObstacle3D() : + navigation(nullptr), + agent(RID()) { + agent = NavigationServer3D::get_singleton()->agent_create(); +} + +NavigationObstacle3D::~NavigationObstacle3D() { + NavigationServer3D::get_singleton()->free(agent); + agent = RID(); // Pointless +} + +void NavigationObstacle3D::set_navigation(Navigation3D *p_nav) { + if (navigation == p_nav) + return; // Pointless + + navigation = p_nav; + NavigationServer3D::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid()); +} + +void NavigationObstacle3D::set_navigation_node(Node *p_nav) { + Navigation3D *nav = Object::cast_to<Navigation3D>(p_nav); + ERR_FAIL_COND(nav == nullptr); + set_navigation(nav); +} + +Node *NavigationObstacle3D::get_navigation_node() const { + return Object::cast_to<Node>(navigation); +} + +String NavigationObstacle3D::get_configuration_warning() const { + if (!Object::cast_to<Node3D>(get_parent())) { + + return TTR("The NavigationObstacle3D only serves to provide collision avoidance to a spatial object."); + } + + return String(); +} + +void NavigationObstacle3D::update_agent_shape() { + Node *node = get_parent(); + + // Estimate the radius of this physics body + real_t radius = 0.0; + for (int i(0); i < node->get_child_count(); i++) { + // For each collision shape + CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(node->get_child(i)); + if (cs) { + // Take the distance between the Body center to the shape center + real_t r = cs->get_transform().origin.length(); + if (cs->get_shape().is_valid()) { + // and add the enclosing shape radius + r += cs->get_shape()->get_enclosing_radius(); + } + Vector3 s = cs->get_global_transform().basis.get_scale(); + r *= MAX(s.x, MAX(s.y, s.z)); + // Takes the biggest radius + radius = MAX(radius, r); + } + } + Node3D *spa = Object::cast_to<Node3D>(node); + if (spa) { + Vector3 s = spa->get_global_transform().basis.get_scale(); + radius *= MAX(s.x, MAX(s.y, s.z)); + } + + if (radius == 0.0) + radius = 1.0; // Never a 0 radius + + // Initialize the Agent as an object + NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, 0.0); + NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0); + NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0); + NavigationServer3D::get_singleton()->agent_set_radius(agent, radius); + NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0); +} |