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-rw-r--r--scene/2d/navigation_agent_2d.cpp42
-rw-r--r--scene/2d/navigation_agent_2d.h9
-rw-r--r--scene/3d/navigation_agent_3d.cpp42
-rw-r--r--scene/3d/navigation_agent_3d.h9
4 files changed, 76 insertions, 26 deletions
diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp
index 55cebdaadc..f077f7f5e6 100644
--- a/scene/2d/navigation_agent_2d.cpp
+++ b/scene/2d/navigation_agent_2d.cpp
@@ -178,6 +178,13 @@ NavigationAgent2D::NavigationAgent2D() {
set_time_horizon(20.0);
set_radius(10.0);
set_max_speed(200.0);
+
+ // Preallocate query and result objects to improve performance.
+ navigation_query = Ref<NavigationPathQueryParameters2D>();
+ navigation_query.instantiate();
+
+ navigation_result = Ref<NavigationPathQueryResult2D>();
+ navigation_result.instantiate();
}
NavigationAgent2D::~NavigationAgent2D() {
@@ -314,6 +321,8 @@ Vector2 NavigationAgent2D::get_target_location() const {
Vector2 NavigationAgent2D::get_next_location() {
update_navigation();
+
+ const Vector<Vector2> &navigation_path = navigation_result->get_path();
if (navigation_path.size() == 0) {
ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector2(), "The agent has no parent.");
return agent_parent->get_global_position();
@@ -322,6 +331,10 @@ Vector2 NavigationAgent2D::get_next_location() {
}
}
+const Vector<Vector2> &NavigationAgent2D::get_nav_path() const {
+ return navigation_result->get_path();
+}
+
real_t NavigationAgent2D::distance_to_target() const {
ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent.");
return agent_parent->get_global_position().distance_to(target_location);
@@ -342,6 +355,8 @@ bool NavigationAgent2D::is_navigation_finished() {
Vector2 NavigationAgent2D::get_final_location() {
update_navigation();
+
+ const Vector<Vector2> &navigation_path = navigation_result->get_path();
if (navigation_path.size() == 0) {
return Vector2();
}
@@ -391,22 +406,24 @@ void NavigationAgent2D::update_navigation() {
update_frame_id = Engine::get_singleton()->get_physics_frames();
- Vector2 o = agent_parent->get_global_position();
+ Vector2 origin = agent_parent->get_global_position();
bool reload_path = false;
if (NavigationServer2D::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<Vector2> &navigation_path = navigation_result->get_path();
+
Vector2 segment[2];
segment[0] = navigation_path[nav_path_index - 1];
segment[1] = navigation_path[nav_path_index];
- Vector2 p = Geometry2D::get_closest_point_to_segment(o, segment);
- if (o.distance_to(p) >= path_max_distance) {
+ Vector2 p = Geometry2D::get_closest_point_to_segment(origin, segment);
+ if (origin.distance_to(p) >= path_max_distance) {
// To faraway, reload path
reload_path = true;
}
@@ -414,24 +431,31 @@ void NavigationAgent2D::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 = NavigationServer2D::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers);
+ navigation_query->set_map(map_override);
} else {
- navigation_path = NavigationServer2D::get_singleton()->map_get_path(agent_parent->get_world_2d()->get_navigation_map(), o, target_location, true, navigation_layers);
+ navigation_query->set_map(agent_parent->get_world_2d()->get_navigation_map());
}
+
+ NavigationServer2D::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]) < path_desired_distance) {
+ const Vector<Vector2> &navigation_path = navigation_result->get_path();
+ while (origin.distance_to(navigation_path[nav_path_index]) < path_desired_distance) {
nav_path_index += 1;
if (nav_path_index == navigation_path.size()) {
_check_distance_to_target();
@@ -445,7 +469,7 @@ void NavigationAgent2D::update_navigation() {
}
void NavigationAgent2D::_request_repath() {
- navigation_path.clear();
+ navigation_result->reset();
target_reached = false;
navigation_finished = false;
update_frame_id = 0;
diff --git a/scene/2d/navigation_agent_2d.h b/scene/2d/navigation_agent_2d.h
index 2fbacc4c76..5abd3c0317 100644
--- a/scene/2d/navigation_agent_2d.h
+++ b/scene/2d/navigation_agent_2d.h
@@ -34,6 +34,8 @@
#include "scene/main/node.h"
class Node2D;
+class NavigationPathQueryParameters2D;
+class NavigationPathQueryResult2D;
class NavigationAgent2D : public Node {
GDCLASS(NavigationAgent2D, Node);
@@ -58,7 +60,8 @@ class NavigationAgent2D : public Node {
real_t path_max_distance = 3.0;
Vector2 target_location;
- Vector<Vector2> navigation_path;
+ Ref<NavigationPathQueryParameters2D> navigation_query;
+ Ref<NavigationPathQueryResult2D> navigation_result;
int nav_path_index = 0;
bool velocity_submitted = false;
Vector2 prev_safe_velocity;
@@ -138,9 +141,7 @@ public:
Vector2 get_next_location();
- Vector<Vector2> get_nav_path() const {
- return navigation_path;
- }
+ const Vector<Vector2> &get_nav_path() const;
int get_nav_path_index() const {
return nav_path_index;
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 3476ced6ee..39068fe83c 100644
--- a/scene/3d/navigation_agent_3d.cpp
+++ b/scene/3d/navigation_agent_3d.cpp
@@ -185,6 +185,13 @@ 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 +337,8 @@ 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 +347,10 @@ 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 +371,8 @@ 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();
}
@@ -406,24 +421,26 @@ 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 +448,31 @@ 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 +486,7 @@ void NavigationAgent3D::update_navigation() {
}
void NavigationAgent3D::_request_repath() {
- navigation_path.clear();
+ navigation_result->reset();
target_reached = false;
navigation_finished = false;
update_frame_id = 0;
diff --git a/scene/3d/navigation_agent_3d.h b/scene/3d/navigation_agent_3d.h
index eed6457f4a..90ceab0242 100644
--- a/scene/3d/navigation_agent_3d.h
+++ b/scene/3d/navigation_agent_3d.h
@@ -34,6 +34,8 @@
#include "scene/main/node.h"
class Node3D;
+class NavigationPathQueryParameters3D;
+class NavigationPathQueryResult3D;
class NavigationAgent3D : public Node {
GDCLASS(NavigationAgent3D, Node);
@@ -60,7 +62,8 @@ class NavigationAgent3D : public Node {
real_t path_max_distance = 3.0;
Vector3 target_location;
- Vector<Vector3> navigation_path;
+ Ref<NavigationPathQueryParameters3D> navigation_query;
+ Ref<NavigationPathQueryResult3D> navigation_result;
int nav_path_index = 0;
bool velocity_submitted = false;
Vector3 prev_safe_velocity;
@@ -150,9 +153,7 @@ public:
Vector3 get_next_location();
- Vector<Vector3> get_nav_path() const {
- return navigation_path;
- }
+ const Vector<Vector3> &get_nav_path() const;
int get_nav_path_index() const {
return nav_path_index;
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-24 12:08:49 +0000