/**************************************************************************/
/*  navigation_obstacle_2d.cpp                                            */
/**************************************************************************/
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/*                             GODOT ENGINE                               */
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#include "navigation_obstacle_2d.h"

#include "scene/2d/collision_shape_2d.h"
#include "scene/2d/physics_body_2d.h"
#include "scene/resources/world_2d.h"
#include "servers/navigation_server_2d.h"

void NavigationObstacle2D::_bind_methods() {
	ClassDB::bind_method(D_METHOD("get_rid"), &NavigationObstacle2D::get_rid);

	ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationObstacle2D::set_navigation_map);
	ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationObstacle2D::get_navigation_map);

	ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle2D::set_estimate_radius);
	ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle2D::is_radius_estimated);
	ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle2D::set_radius);
	ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle2D::get_radius);

	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,500,0.01"), "set_radius", "get_radius");
}

void NavigationObstacle2D::_validate_property(PropertyInfo &p_property) const {
	if (p_property.name == "radius") {
		if (estimate_radius) {
			p_property.usage = PROPERTY_USAGE_NO_EDITOR;
		}
	}
}

void NavigationObstacle2D::_notification(int p_what) {
	switch (p_what) {
		case NOTIFICATION_POST_ENTER_TREE: {
			set_agent_parent(get_parent());
			set_physics_process_internal(true);
		} break;

		case NOTIFICATION_EXIT_TREE: {
			set_agent_parent(nullptr);
			set_physics_process_internal(false);
		} break;

		case NOTIFICATION_PARENTED: {
			if (is_inside_tree() && (get_parent() != parent_node2d)) {
				set_agent_parent(get_parent());
				set_physics_process_internal(true);
			}
		} break;

		case NOTIFICATION_UNPARENTED: {
			set_agent_parent(nullptr);
			set_physics_process_internal(false);
		} break;

		case NOTIFICATION_PAUSED: {
			if (parent_node2d && !parent_node2d->can_process()) {
				map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid());
				NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
			} else if (parent_node2d && parent_node2d->can_process() && !(map_before_pause == RID())) {
				NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
				map_before_pause = RID();
			}
		} break;

		case NOTIFICATION_UNPAUSED: {
			if (parent_node2d && !parent_node2d->can_process()) {
				map_before_pause = NavigationServer2D::get_singleton()->agent_get_map(get_rid());
				NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
			} else if (parent_node2d && parent_node2d->can_process() && !(map_before_pause == RID())) {
				NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
				map_before_pause = RID();
			}
		} break;

		case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
			if (parent_node2d && parent_node2d->is_inside_tree()) {
				NavigationServer2D::get_singleton()->agent_set_position(agent, parent_node2d->get_global_position());
			}
		} break;
	}
}

NavigationObstacle2D::NavigationObstacle2D() {
	agent = NavigationServer2D::get_singleton()->agent_create();
	initialize_agent();
}

NavigationObstacle2D::~NavigationObstacle2D() {
	ERR_FAIL_NULL(NavigationServer2D::get_singleton());
	NavigationServer2D::get_singleton()->free(agent);
	agent = RID(); // Pointless
}

PackedStringArray NavigationObstacle2D::get_configuration_warnings() const {
	PackedStringArray warnings = Node::get_configuration_warnings();

	if (!Object::cast_to<Node2D>(get_parent())) {
		warnings.push_back(RTR("The NavigationObstacle2D only serves to provide collision avoidance to a Node2D object."));
	}

	if (Object::cast_to<StaticBody2D>(get_parent())) {
		warnings.push_back(RTR("The NavigationObstacle2D is intended for constantly moving bodies like CharacterBody2D or RigidBody2D as it creates only an RVO avoidance radius and does not follow scene geometry exactly."
							   "\nNot constantly moving or complete static objects should be captured with a refreshed NavigationPolygon so agents can not only avoid them but also move along those objects outline at high detail"));
	}

	return warnings;
}

void NavigationObstacle2D::initialize_agent() {
	NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, 0.0);
	NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, 0);
	NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, 0.0);
	NavigationServer2D::get_singleton()->agent_set_max_speed(agent, 0.0);
}

void NavigationObstacle2D::reevaluate_agent_radius() {
	if (!estimate_radius) {
		NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
	} else if (parent_node2d && parent_node2d->is_inside_tree()) {
		NavigationServer2D::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
	}
}

real_t NavigationObstacle2D::estimate_agent_radius() const {
	if (parent_node2d && parent_node2d->is_inside_tree()) {
		// Estimate the radius of this physics body
		real_t max_radius = 0.0;
		for (int i(0); i < parent_node2d->get_child_count(); i++) {
			// For each collision shape
			CollisionShape2D *cs = Object::cast_to<CollisionShape2D>(parent_node2d->get_child(i));
			if (cs && cs->is_inside_tree()) {
				// Take the distance between the Body center to the shape center
				real_t r = cs->get_transform().get_origin().length();
				if (cs->get_shape().is_valid()) {
					// and add the enclosing shape radius
					r += cs->get_shape()->get_enclosing_radius();
				}
				Size2 s = cs->get_global_scale();
				r *= MAX(s.x, s.y);
				// Takes the biggest radius
				max_radius = MAX(max_radius, r);
			} else if (cs && !cs->is_inside_tree()) {
				WARN_PRINT("A CollisionShape2D of the NavigationObstacle2D parent node was not inside the SceneTree when estimating the obstacle radius."
						   "\nMove the NavigationObstacle2D to a child position below any CollisionShape2D node of the parent node so the CollisionShape2D is already inside the SceneTree.");
			}
		}
		Vector2 s = parent_node2d->get_global_scale();
		max_radius *= MAX(s.x, s.y);

		if (max_radius > 0.0) {
			return max_radius;
		}
	}
	return 1.0; // Never a 0 radius
}

void NavigationObstacle2D::set_agent_parent(Node *p_agent_parent) {
	if (parent_node2d == p_agent_parent) {
		return;
	}

	if (Object::cast_to<Node2D>(p_agent_parent) != nullptr) {
		parent_node2d = Object::cast_to<Node2D>(p_agent_parent);
		if (map_override.is_valid()) {
			NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_override);
		} else {
			NavigationServer2D::get_singleton()->agent_set_map(get_rid(), parent_node2d->get_world_2d()->get_navigation_map());
		}
		reevaluate_agent_radius();
	} else {
		parent_node2d = nullptr;
		NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
	}
}

void NavigationObstacle2D::set_navigation_map(RID p_navigation_map) {
	if (map_override == p_navigation_map) {
		return;
	}

	map_override = p_navigation_map;

	NavigationServer2D::get_singleton()->agent_set_map(agent, map_override);
}

RID NavigationObstacle2D::get_navigation_map() const {
	if (map_override.is_valid()) {
		return map_override;
	} else if (parent_node2d != nullptr) {
		return parent_node2d->get_world_2d()->get_navigation_map();
	}
	return RID();
}

void NavigationObstacle2D::set_estimate_radius(bool p_estimate_radius) {
	if (estimate_radius == p_estimate_radius) {
		return;
	}

	estimate_radius = p_estimate_radius;

	notify_property_list_changed();
	reevaluate_agent_radius();
}

void NavigationObstacle2D::set_radius(real_t p_radius) {
	ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
	if (Math::is_equal_approx(radius, p_radius)) {
		return;
	}

	radius = p_radius;

	reevaluate_agent_radius();
}