1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
|
<?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_navigation_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. If a callback is created manually and the agent is placed on a navigation map it will calculate avoidance for the agent and dispatch the calculated [code]safe_velocity[/code] to the [code]receiver[/code] object with a signal to the chosen [code]method[/code] name.
[b]Note:[/b] Created callbacks are always processed independently of the SceneTree state as long as the agent is on a navigation map and not freed. To disable the dispatch of a callback from an agent use [method agent_set_callback] again with a [code]null[/code] object as the [code]receiver[/code].
</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_force_update">
<return type="void" />
<argument index="0" name="map" type="RID" />
<description>
This function immediately forces synchronization of the specified navigation [code]map[/code] [RID]. By default navigation maps are only synchronized at the end of each physics frame. This function can be used to immediately (re)calculate all the navigation meshes and region connections of the navigation map. This makes it possible to query a navigation path for a changed map immediately and in the same frame (multiple times if needed).
Due to technical restrictions the current NavigationServer command queue will be flushed. This means all already queued update commands for this physics frame will be executed, even those intended for other maps, regions and agents not part of the specified map. The expensive computation of the navigation meshes and region connections of a map will only be done for the specified map. Other maps will receive the normal synchronization at the end of the physics frame. Should the specified map receive changes after the forced update it will update again as well when the other maps receive their update.
Avoidance processing and dispatch of the [code]safe_velocity[/code] signals is untouched by this function and continues to happen for all maps and agents at the end of the physics frame.
[b]Note:[/b] With great power comes great responsibility. This function should only be used by users that really know what they are doing and have a good reason for it. Forcing an immediate update of a navigation map requires locking the NavigationServer and flushing the entire NavigationServer command queue. Not only can this severely impact the performance of a game but it can also introduce bugs if used inappropriately without much foresight.
</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="navigation_layers" type="int" default="1" />
<description>
Returns the navigation path to reach the destination from the origin. [code]navigation_layers[/code] is a bitmask of all region navigation 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_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_navigation_layers" qualifiers="const">
<return type="int" />
<argument index="0" name="region" type="RID" />
<description>
Returns the region's navigation layers.
</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_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_navigation_layers" qualifiers="const">
<return type="void" />
<argument index="0" name="region" type="RID" />
<argument index="1" name="navigation_layers" type="int" />
<description>
Set the region's navigation layers. This allows selecting regions from a path request (when using [method NavigationServer2D.map_get_path]).
</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>
|