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<?xml version="1.0" encoding="UTF-8" ?>
<class name="NavigationServer2D" inherits="Object" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
Server interface for low-level 2D navigation access
</brief_description>
<description>
NavigationServer2D is the server responsible for all 2D navigation. It handles several objects, namely maps, regions and agents.
Maps are made up of regions, which are made of navigation polygons. Together, they define the navigable areas in the 2D world.
[b]Note:[/b] Most NavigationServer changes take effect after the next physics frame and not immediately. This includes all changes made to maps, regions or agents by navigation related Nodes in the SceneTree or made through scripts.
For two regions to be connected to each other, they must share a similar edge. An edge is considered connected to another if both of its two vertices are at a distance less than [code]edge_connection_margin[/code] to the respective other edge's vertex.
You may assign navigation layers to regions with [method NavigationServer2D.region_set_layers], which then can be checked upon when requesting a path with [method NavigationServer2D.map_get_path]. This allows allowing or forbidding some areas to 2D objects.
To use the collision avoidance system, you may use agents. You can set an agent's target velocity, then the servers will emit a callback with a modified velocity.
[b]Note:[/b] The collision avoidance system ignores regions. Using the modified velocity as-is might lead to pushing and agent outside of a navigable area. This is a limitation of the collision avoidance system, any more complex situation may require the use of the physics engine.
This server keeps tracks of any call and executes them during the sync phase. This means that you can request any change to the map, using any thread, without worrying.
</description>
<tutorials>
<link title="2D Navigation Demo">https://godotengine.org/asset-library/asset/117</link>
</tutorials>
<methods>
<method name="agent_create" qualifiers="const">
<return type="RID" />
<description>
Creates the agent.
</description>
</method>
<method name="agent_get_map" qualifiers="const">
<return type="RID" />
<argument index="0" name="agent" type="RID" />
<description>
Returns the navigation map [RID] the requested [code]agent[/code] is currently assigned to.
</description>
</method>
<method name="agent_is_map_changed" qualifiers="const">
<return type="bool" />
<argument index="0" name="agent" type="RID" />
<description>
Returns true if the map got changed the previous frame.
</description>
</method>
<method name="agent_set_callback" qualifiers="const">
<return type="void" />
<argument index="0" name="agent" type="RID" />
<argument index="1" name="receiver" type="Object" />
<argument index="2" name="method" type="StringName" />
<argument index="3" name="userdata" type="Variant" default="null" />
<description>
Callback called at the end of the RVO process.
</description>
</method>
<method name="agent_set_map" qualifiers="const">
<return type="void" />
<argument index="0" name="agent" type="RID" />
<argument index="1" name="map" type="RID" />
<description>
Puts the agent in the map.
</description>
</method>
<method name="agent_set_max_neighbors" qualifiers="const">
<return type="void" />
<argument index="0" name="agent" type="RID" />
<argument index="1" name="count" type="int" />
<description>
Sets the maximum number of other agents the agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.
</description>
</method>
<method name="agent_set_max_speed" qualifiers="const">
<return type="void" />
<argument index="0" name="agent" type="RID" />
<argument index="1" name="max_speed" type="float" />
<description>
Sets the maximum speed of the agent. Must be positive.
</description>
</method>
<method name="agent_set_neighbor_dist" qualifiers="const">
<return type="void" />
<argument index="0" name="agent" type="RID" />
<argument index="1" name="dist" type="float" />
<description>
Sets the maximum distance to other agents this agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.
</description>
</method>
<method name="agent_set_position" qualifiers="const">
<return type="void" />
<argument index="0" name="agent" type="RID" />
<argument index="1" name="position" type="Vector2" />
<description>
Sets the position of the agent in world space.
</description>
</method>
<method name="agent_set_radius" qualifiers="const">
<return type="void" />
<argument index="0" name="agent" type="RID" />
<argument index="1" name="radius" type="float" />
<description>
Sets the radius of the agent.
</description>
</method>
<method name="agent_set_target_velocity" qualifiers="const">
<return type="void" />
<argument index="0" name="agent" type="RID" />
<argument index="1" name="target_velocity" type="Vector2" />
<description>
Sets the new target velocity.
</description>
</method>
<method name="agent_set_time_horizon" qualifiers="const">
<return type="void" />
<argument index="0" name="agent" type="RID" />
<argument index="1" name="time" type="float" />
<description>
The minimal amount of time for which the agent's velocities that are computed by the simulation are safe with respect to other agents. The larger this number, the sooner this agent will respond to the presence of other agents, but the less freedom this agent has in choosing its velocities. Must be positive.
</description>
</method>
<method name="agent_set_velocity" qualifiers="const">
<return type="void" />
<argument index="0" name="agent" type="RID" />
<argument index="1" name="velocity" type="Vector2" />
<description>
Sets the current velocity of the agent.
</description>
</method>
<method name="free_rid" qualifiers="const">
<return type="void" />
<argument index="0" name="rid" type="RID" />
<description>
Destroys the given RID.
</description>
</method>
<method name="map_create" qualifiers="const">
<return type="RID" />
<description>
Create a new map.
</description>
</method>
<method name="map_get_agents" qualifiers="const">
<return type="Array" />
<argument index="0" name="map" type="RID" />
<description>
Returns all navigation agents [RID]s that are currently assigned to the requested navigation [code]map[/code].
</description>
</method>
<method name="map_get_cell_size" qualifiers="const">
<return type="float" />
<argument index="0" name="map" type="RID" />
<description>
Returns the map cell size.
</description>
</method>
<method name="map_get_closest_point" qualifiers="const">
<return type="Vector2" />
<argument index="0" name="map" type="RID" />
<argument index="1" name="to_point" type="Vector2" />
<description>
Returns the point closest to the provided [code]to_point[/code] on the navigation mesh surface.
</description>
</method>
<method name="map_get_closest_point_owner" qualifiers="const">
<return type="RID" />
<argument index="0" name="map" type="RID" />
<argument index="1" name="to_point" type="Vector2" />
<description>
Returns the owner region RID for the point returned by [method map_get_closest_point].
</description>
</method>
<method name="map_get_edge_connection_margin" qualifiers="const">
<return type="float" />
<argument index="0" name="map" type="RID" />
<description>
Returns the edge connection margin of the map. The edge connection margin is a distance used to connect two regions.
</description>
</method>
<method name="map_get_path" qualifiers="const">
<return type="PackedVector2Array" />
<argument index="0" name="map" type="RID" />
<argument index="1" name="origin" type="Vector2" />
<argument index="2" name="destination" type="Vector2" />
<argument index="3" name="optimize" type="bool" />
<argument index="4" name="layers" type="int" default="1" />
<description>
Returns the navigation path to reach the destination from the origin. [code]layers[/code] is a bitmask of all region layers that are allowed to be in the path.
</description>
</method>
<method name="map_get_regions" qualifiers="const">
<return type="Array" />
<argument index="0" name="map" type="RID" />
<description>
Returns all navigation regions [RID]s that are currently assigned to the requested navigation [code]map[/code].
</description>
</method>
<method name="map_is_active" qualifiers="const">
<return type="bool" />
<argument index="0" name="nap" type="RID" />
<description>
Returns true if the map is active.
</description>
</method>
<method name="map_set_active" qualifiers="const">
<return type="void" />
<argument index="0" name="map" type="RID" />
<argument index="1" name="active" type="bool" />
<description>
Sets the map active.
</description>
</method>
<method name="map_set_cell_size" qualifiers="const">
<return type="void" />
<argument index="0" name="map" type="RID" />
<argument index="1" name="cell_size" type="float" />
<description>
Set the map cell size used to weld the navigation mesh polygons.
</description>
</method>
<method name="map_set_edge_connection_margin" qualifiers="const">
<return type="void" />
<argument index="0" name="map" type="RID" />
<argument index="1" name="margin" type="float" />
<description>
Set the map edge connection margin used to weld the compatible region edges.
</description>
</method>
<method name="region_create" qualifiers="const">
<return type="RID" />
<description>
Creates a new region.
</description>
</method>
<method name="region_get_connection_pathway_end" qualifiers="const">
<return type="Vector2" />
<argument index="0" name="region" type="RID" />
<argument index="1" name="connection" type="int" />
<description>
Returns the ending point of a connection door. [code]connection[/code] is an index between 0 and the return value of [method region_get_connections_count].
</description>
</method>
<method name="region_get_connection_pathway_start" qualifiers="const">
<return type="Vector2" />
<argument index="0" name="region" type="RID" />
<argument index="1" name="connection" type="int" />
<description>
Returns the starting point of a connection door. [code]connection[/code] is an index between 0 and the return value of [method region_get_connections_count].
</description>
</method>
<method name="region_get_connections_count" qualifiers="const">
<return type="int" />
<argument index="0" name="region" type="RID" />
<description>
Returns how many connections this [code]region[/code] has with other regions in the map.
</description>
</method>
<method name="region_get_enter_cost" qualifiers="const">
<return type="float" />
<argument index="0" name="region" type="RID" />
<description>
Returns the [code]enter_cost[/code] of this [code]region[/code].
</description>
</method>
<method name="region_get_layers" qualifiers="const">
<return type="int" />
<argument index="0" name="region" type="RID" />
<description>
Returns the region's layers.
</description>
</method>
<method name="region_get_map" qualifiers="const">
<return type="RID" />
<argument index="0" name="region" type="RID" />
<description>
Returns the navigation map [RID] the requested [code]region[/code] is currently assigned to.
</description>
</method>
<method name="region_get_travel_cost" qualifiers="const">
<return type="float" />
<argument index="0" name="region" type="RID" />
<description>
Returns the [code]travel_cost[/code] of this [code]region[/code].
</description>
</method>
<method name="region_set_enter_cost" qualifiers="const">
<return type="void" />
<argument index="0" name="region" type="RID" />
<argument index="1" name="enter_cost" type="float" />
<description>
Sets the [code]enter_cost[/code] for this [code]region[/code].
</description>
</method>
<method name="region_set_layers" qualifiers="const">
<return type="void" />
<argument index="0" name="region" type="RID" />
<argument index="1" name="layers" type="int" />
<description>
Set the region's layers. This allows selecting regions from a path request (when using [method NavigationServer2D.map_get_path]).
</description>
</method>
<method name="region_set_map" qualifiers="const">
<return type="void" />
<argument index="0" name="region" type="RID" />
<argument index="1" name="map" type="RID" />
<description>
Sets the map for the region.
</description>
</method>
<method name="region_set_navpoly" qualifiers="const">
<return type="void" />
<argument index="0" name="region" type="RID" />
<argument index="1" name="nav_poly" type="NavigationPolygon" />
<description>
Sets the navigation mesh for the region.
</description>
</method>
<method name="region_set_transform" qualifiers="const">
<return type="void" />
<argument index="0" name="region" type="RID" />
<argument index="1" name="transform" type="Transform2D" />
<description>
Sets the global transformation for the region.
</description>
</method>
<method name="region_set_travel_cost" qualifiers="const">
<return type="void" />
<argument index="0" name="region" type="RID" />
<argument index="1" name="travel_cost" type="float" />
<description>
Sets the [code]travel_cost[/code] for this [code]region[/code].
</description>
</method>
</methods>
<signals>
<signal name="map_changed">
<argument index="0" name="map" type="RID" />
<description>
Emitted when a navigation map is updated, when a region moves or is modified.
</description>
</signal>
</signals>
</class>
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