/*************************************************************************/ /* navigation_agent_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2021 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_agent_2d.h" #include "core/config/engine.h" #include "core/math/geometry_2d.h" #include "servers/navigation_server_2d.h" void NavigationAgent2D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent2D::set_target_desired_distance); ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent2D::get_target_desired_distance); ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent2D::set_radius); ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent2D::get_radius); ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent2D::set_neighbor_dist); ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent2D::get_neighbor_dist); ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent2D::set_max_neighbors); ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent2D::get_max_neighbors); ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent2D::set_time_horizon); ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent2D::get_time_horizon); ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent2D::set_max_speed); ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent2D::get_max_speed); ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent2D::set_path_max_distance); ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent2D::get_path_max_distance); ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent2D::set_target_location); ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent2D::get_target_location); ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent2D::get_next_location); ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent2D::distance_to_target); ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent2D::set_velocity); ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent2D::get_nav_path); ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent2D::get_nav_path_index); ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent2D::is_target_reached); ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent2D::is_target_reachable); ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent2D::is_navigation_finished); ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent2D::get_final_location); ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent2D::_avoidance_done); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_target_desired_distance", "get_target_desired_distance"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,500,0.01"), "set_radius", "get_radius"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_neighbor_dist", "get_neighbor_dist"); 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, "0.1,10000,0.01"), "set_time_horizon", "get_time_horizon"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_max_speed", "get_max_speed"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "10,100,1"), "set_path_max_distance", "get_path_max_distance"); ADD_SIGNAL(MethodInfo("path_changed")); ADD_SIGNAL(MethodInfo("target_reached")); ADD_SIGNAL(MethodInfo("navigation_finished")); ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity"))); } void NavigationAgent2D::_notification(int p_what) { switch (p_what) { case NOTIFICATION_READY: { agent_parent = Object::cast_to<Node2D>(get_parent()); NavigationServer2D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done"); set_physics_process_internal(true); } break; case NOTIFICATION_EXIT_TREE: { agent_parent = nullptr; set_physics_process_internal(false); } break; case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { if (agent_parent) { NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().get_origin()); if (!target_reached) { if (distance_to_target() < target_desired_distance) { emit_signal("target_reached"); target_reached = true; } } } } break; } } NavigationAgent2D::NavigationAgent2D() { agent = NavigationServer2D::get_singleton()->agent_create(); set_neighbor_dist(500.0); set_max_neighbors(10); set_time_horizon(20.0); set_radius(10.0); set_max_speed(200.0); } NavigationAgent2D::~NavigationAgent2D() { NavigationServer2D::get_singleton()->free(agent); agent = RID(); // Pointless } void NavigationAgent2D::set_navigable_layers(uint32_t p_layers) { navigable_layers = p_layers; update_navigation(); } uint32_t NavigationAgent2D::get_navigable_layers() const { return navigable_layers; } void NavigationAgent2D::set_target_desired_distance(real_t p_dd) { target_desired_distance = p_dd; } void NavigationAgent2D::set_radius(real_t p_radius) { radius = p_radius; NavigationServer2D::get_singleton()->agent_set_radius(agent, radius); } void NavigationAgent2D::set_neighbor_dist(real_t p_dist) { neighbor_dist = p_dist; NavigationServer2D::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist); } void NavigationAgent2D::set_max_neighbors(int p_count) { max_neighbors = p_count; NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); } void NavigationAgent2D::set_time_horizon(real_t p_time) { time_horizon = p_time; NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, time_horizon); } void NavigationAgent2D::set_max_speed(real_t p_max_speed) { max_speed = p_max_speed; NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed); } void NavigationAgent2D::set_path_max_distance(real_t p_pmd) { path_max_distance = p_pmd; } real_t NavigationAgent2D::get_path_max_distance() { return path_max_distance; } void NavigationAgent2D::set_target_location(Vector2 p_location) { target_location = p_location; navigation_path.clear(); target_reached = false; navigation_finished = false; update_frame_id = 0; } Vector2 NavigationAgent2D::get_target_location() const { return target_location; } Vector2 NavigationAgent2D::get_next_location() { update_navigation(); if (navigation_path.size() == 0) { ERR_FAIL_COND_V(agent_parent == nullptr, Vector2()); return agent_parent->get_global_transform().get_origin(); } else { return navigation_path[nav_path_index]; } } real_t NavigationAgent2D::distance_to_target() const { ERR_FAIL_COND_V(agent_parent == nullptr, 0.0); return agent_parent->get_global_transform().get_origin().distance_to(target_location); } bool NavigationAgent2D::is_target_reached() const { return target_reached; } bool NavigationAgent2D::is_target_reachable() { return target_desired_distance >= get_final_location().distance_to(target_location); } bool NavigationAgent2D::is_navigation_finished() { update_navigation(); return navigation_finished; } Vector2 NavigationAgent2D::get_final_location() { update_navigation(); if (navigation_path.size() == 0) { return Vector2(); } return navigation_path[navigation_path.size() - 1]; } void NavigationAgent2D::set_velocity(Vector2 p_velocity) { target_velocity = p_velocity; NavigationServer2D::get_singleton()->agent_set_target_velocity(agent, target_velocity); NavigationServer2D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity); velocity_submitted = true; } void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) { const Vector2 velocity = Vector2(p_new_velocity.x, p_new_velocity.z); prev_safe_velocity = velocity; if (!velocity_submitted) { target_velocity = Vector2(); return; } velocity_submitted = false; emit_signal("velocity_computed", velocity); } TypedArray<String> NavigationAgent2D::get_configuration_warnings() const { TypedArray<String> warnings = Node::get_configuration_warnings(); if (!Object::cast_to<Node2D>(get_parent())) { warnings.push_back(TTR("The NavigationAgent2D can be used only under a Node2D node")); } return warnings; } void NavigationAgent2D::update_navigation() { if (agent_parent == nullptr) { return; } if (!agent_parent->is_inside_tree()) { return; } if (update_frame_id == Engine::get_singleton()->get_physics_frames()) { return; } update_frame_id = Engine::get_singleton()->get_physics_frames(); Vector2 o = agent_parent->get_global_transform().get_origin(); bool reload_path = false; if (NavigationServer2D::get_singleton()->agent_is_map_changed(agent)) { reload_path = true; } else if (navigation_path.size() == 0) { reload_path = true; } else { // Check if too far from the navigation path if (nav_path_index > 0) { 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) { // To faraway, reload path reload_path = true; } } } if (reload_path) { navigation_path = NavigationServer2D::get_singleton()->map_get_path(agent_parent->get_world_2d()->get_navigation_map(), o, target_location, true, navigable_layers); navigation_finished = false; nav_path_index = 0; emit_signal("path_changed"); } if (navigation_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]) < target_desired_distance) { nav_path_index += 1; if (nav_path_index == navigation_path.size()) { nav_path_index -= 1; navigation_finished = true; emit_signal("navigation_finished"); break; } } } }