/*************************************************************************/ /* navigation_obstacle_3d.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_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() { 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 { String warning = Node::get_configuration_warning(); if (!Object::cast_to<Node3D>(get_parent())) { if (!warning.is_empty()) { warning += "\n\n"; } warning += TTR("The NavigationObstacle3D only serves to provide collision avoidance to a spatial object."); } return warning; } 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); }