path: root/doc/classes/NavigationServer3D.xml

<?xml version="1.0" encoding="UTF-8" ?>
<class name="NavigationServer3D" inherits="Object" is_experimental="true" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
	<brief_description>
		Server interface for low-level 3D navigation access.
	</brief_description>
	<description>
		NavigationServer3D is the server responsible for all 3D navigation. It handles several objects, namely maps, regions and agents.
		Maps are made up of regions, which are made of navigation meshes. Together, they define the navigable areas in the 3D 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 NavigationServer3D.region_set_navigation_layers], which then can be checked upon when requesting a path with [method NavigationServer3D.map_get_path]. This allows allowing or forbidding some areas to 3D 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="3D Navmesh Demo">https://godotengine.org/asset-library/asset/124</link>
		<link title="Using NavigationServer">$DOCS_URL/tutorials/navigation/navigation_using_navigationservers.html</link>
	</tutorials>
	<methods>
		<method name="agent_create">
			<return type="RID" />
			<description>
				Creates the agent.
			</description>
		</method>
		<method name="agent_get_map" qualifiers="const">
			<return type="RID" />
			<param index="0" name="agent" type="RID" />
			<description>
				Returns the navigation map [RID] the requested [param agent] is currently assigned to.
			</description>
		</method>
		<method name="agent_is_map_changed" qualifiers="const">
			<return type="bool" />
			<param index="0" name="agent" type="RID" />
			<description>
				Returns true if the map got changed the previous frame.
			</description>
		</method>
		<method name="agent_set_callback">
			<return type="void" />
			<param index="0" name="agent" type="RID" />
			<param index="1" name="callback" type="Callable" />
			<description>
				Sets the callback that gets called after each avoidance processing step for the [param agent]. The calculated [code]safe_velocity[/code] will be passed as the first parameter just before the physics calculations.
				[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 an empty [Callable].
			</description>
		</method>
		<method name="agent_set_map">
			<return type="void" />
			<param index="0" name="agent" type="RID" />
			<param index="1" name="map" type="RID" />
			<description>
				Puts the agent in the map.
			</description>
		</method>
		<method name="agent_set_max_neighbors">
			<return type="void" />
			<param index="0" name="agent" type="RID" />
			<param 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">
			<return type="void" />
			<param index="0" name="agent" type="RID" />
			<param 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_distance">
			<return type="void" />
			<param index="0" name="agent" type="RID" />
			<param index="1" name="distance" 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">
			<return type="void" />
			<param index="0" name="agent" type="RID" />
			<param index="1" name="position" type="Vector3" />
			<description>
				Sets the position of the agent in world space.
			</description>
		</method>
		<method name="agent_set_radius">
			<return type="void" />
			<param index="0" name="agent" type="RID" />
			<param index="1" name="radius" type="float" />
			<description>
				Sets the radius of the agent.
			</description>
		</method>
		<method name="agent_set_target_velocity">
			<return type="void" />
			<param index="0" name="agent" type="RID" />
			<param index="1" name="target_velocity" type="Vector3" />
			<description>
				Sets the new target velocity.
			</description>
		</method>
		<method name="agent_set_time_horizon">
			<return type="void" />
			<param index="0" name="agent" type="RID" />
			<param 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">
			<return type="void" />
			<param index="0" name="agent" type="RID" />
			<param index="1" name="velocity" type="Vector3" />
			<description>
				Sets the current velocity of the agent.
			</description>
		</method>
		<method name="free_rid">
			<return type="void" />
			<param index="0" name="rid" type="RID" />
			<description>
				Destroys the given RID.
			</description>
		</method>
		<method name="get_maps" qualifiers="const">
			<return type="RID[]" />
			<description>
				Returns all created navigation map [RID]s on the NavigationServer. This returns both 2D and 3D created navigation maps as there is technically no distinction between them.
			</description>
		</method>
		<method name="get_process_info" qualifiers="const">
			<return type="int" />
			<param index="0" name="process_info" type="int" enum="NavigationServer3D.ProcessInfo" />
			<description>
				Returns information about the current state of the NavigationServer. See [enum ProcessInfo] for a list of available states.
			</description>
		</method>
		<method name="link_create">
			<return type="RID" />
			<description>
				Create a new link between two positions on a map.
			</description>
		</method>
		<method name="link_get_end_position" qualifiers="const">
			<return type="Vector3" />
			<param index="0" name="link" type="RID" />
			<description>
				Returns the ending position of this [code]link[/code].
			</description>
		</method>
		<method name="link_get_enter_cost" qualifiers="const">
			<return type="float" />
			<param index="0" name="link" type="RID" />
			<description>
				Returns the [code]enter_cost[/code] of this [code]link[/code].
			</description>
		</method>
		<method name="link_get_map" qualifiers="const">
			<return type="RID" />
			<param index="0" name="link" type="RID" />
			<description>
				Returns the navigation map [RID] the requested [code]link[/code] is currently assigned to.
			</description>
		</method>
		<method name="link_get_navigation_layers" qualifiers="const">
			<return type="int" />
			<param index="0" name="link" type="RID" />
			<description>
				Returns the navigation layers for this [code]link[/code].
			</description>
		</method>
		<method name="link_get_owner_id" qualifiers="const">
			<return type="int" />
			<param index="0" name="link" type="RID" />
			<description>
				Returns the [code]ObjectID[/code] of the object which manages this link.
			</description>
		</method>
		<method name="link_get_start_position" qualifiers="const">
			<return type="Vector3" />
			<param index="0" name="link" type="RID" />
			<description>
				Returns the starting position of this [code]link[/code].
			</description>
		</method>
		<method name="link_get_travel_cost" qualifiers="const">
			<return type="float" />
			<param index="0" name="link" type="RID" />
			<description>
				Returns the [code]travel_cost[/code] of this [code]link[/code].
			</description>
		</method>
		<method name="link_is_bidirectional" qualifiers="const">
			<return type="bool" />
			<param index="0" name="link" type="RID" />
			<description>
				Returns whether this [code]link[/code] can be travelled in both directions.
			</description>
		</method>
		<method name="link_set_bidirectional">
			<return type="void" />
			<param index="0" name="link" type="RID" />
			<param index="1" name="bidirectional" type="bool" />
			<description>
				Sets whether this [code]link[/code] can be travelled in both directions.
			</description>
		</method>
		<method name="link_set_end_position">
			<return type="void" />
			<param index="0" name="link" type="RID" />
			<param index="1" name="position" type="Vector3" />
			<description>
				Sets the exit position for the [code]link[/code].
			</description>
		</method>
		<method name="link_set_enter_cost">
			<return type="void" />
			<param index="0" name="link" type="RID" />
			<param index="1" name="enter_cost" type="float" />
			<description>
				Sets the [code]enter_cost[/code] for this [code]link[/code].
			</description>
		</method>
		<method name="link_set_map">
			<return type="void" />
			<param index="0" name="link" type="RID" />
			<param index="1" name="map" type="RID" />
			<description>
				Sets the navigation map [RID] for the link.
			</description>
		</method>
		<method name="link_set_navigation_layers">
			<return type="void" />
			<param index="0" name="link" type="RID" />
			<param index="1" name="navigation_layers" type="int" />
			<description>
				Set the links's navigation layers. This allows selecting links from a path request (when using [method NavigationServer3D.map_get_path]).
			</description>
		</method>
		<method name="link_set_owner_id">
			<return type="void" />
			<param index="0" name="link" type="RID" />
			<param index="1" name="owner_id" type="int" />
			<description>
				Set the [code]ObjectID[/code] of the object which manages this link.
			</description>
		</method>
		<method name="link_set_start_position">
			<return type="void" />
			<param index="0" name="link" type="RID" />
			<param index="1" name="position" type="Vector3" />
			<description>
				Sets the entry position for this [code]link[/code].
			</description>
		</method>
		<method name="link_set_travel_cost">
			<return type="void" />
			<param index="0" name="link" type="RID" />
			<param index="1" name="travel_cost" type="float" />
			<description>
				Sets the [code]travel_cost[/code] for this [code]link[/code].
			</description>
		</method>
		<method name="map_create">
			<return type="RID" />
			<description>
				Create a new map.
			</description>
		</method>
		<method name="map_force_update">
			<return type="void" />
			<param index="0" name="map" type="RID" />
			<description>
				This function immediately forces synchronization of the specified navigation [param map] [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="RID[]" />
			<param index="0" name="map" type="RID" />
			<description>
				Returns all navigation agents [RID]s that are currently assigned to the requested navigation [param map].
			</description>
		</method>
		<method name="map_get_cell_size" qualifiers="const">
			<return type="float" />
			<param index="0" name="map" type="RID" />
			<description>
				Returns the map cell size.
			</description>
		</method>
		<method name="map_get_closest_point" qualifiers="const">
			<return type="Vector3" />
			<param index="0" name="map" type="RID" />
			<param index="1" name="to_point" type="Vector3" />
			<description>
				Returns the point closest to the provided [param to_point] on the navigation mesh surface.
			</description>
		</method>
		<method name="map_get_closest_point_normal" qualifiers="const">
			<return type="Vector3" />
			<param index="0" name="map" type="RID" />
			<param index="1" name="to_point" type="Vector3" />
			<description>
				Returns the normal for the point returned by [method map_get_closest_point].
			</description>
		</method>
		<method name="map_get_closest_point_owner" qualifiers="const">
			<return type="RID" />
			<param index="0" name="map" type="RID" />
			<param index="1" name="to_point" type="Vector3" />
			<description>
				Returns the owner region RID for the point returned by [method map_get_closest_point].
			</description>
		</method>
		<method name="map_get_closest_point_to_segment" qualifiers="const">
			<return type="Vector3" />
			<param index="0" name="map" type="RID" />
			<param index="1" name="start" type="Vector3" />
			<param index="2" name="end" type="Vector3" />
			<param index="3" name="use_collision" type="bool" default="false" />
			<description>
				Returns the closest point between the navigation surface and the segment.
			</description>
		</method>
		<method name="map_get_edge_connection_margin" qualifiers="const">
			<return type="float" />
			<param index="0" name="map" type="RID" />
			<description>
				Returns the edge connection margin of the map. This distance is the minimum vertex distance needed to connect two edges from different regions.
			</description>
		</method>
		<method name="map_get_link_connection_radius" qualifiers="const">
			<return type="float" />
			<param index="0" name="map" type="RID" />
			<description>
				Returns the link connection radius of the map. This distance is the maximum range any link will search for navigation mesh polygons to connect to.
			</description>
		</method>
		<method name="map_get_links" qualifiers="const">
			<return type="RID[]" />
			<param index="0" name="map" type="RID" />
			<description>
				Returns all navigation link [RID]s that are currently assigned to the requested navigation [code]map[/code].
			</description>
		</method>
		<method name="map_get_path" qualifiers="const">
			<return type="PackedVector3Array" />
			<param index="0" name="map" type="RID" />
			<param index="1" name="origin" type="Vector3" />
			<param index="2" name="destination" type="Vector3" />
			<param index="3" name="optimize" type="bool" />
			<param index="4" name="navigation_layers" type="int" default="1" />
			<description>
				Returns the navigation path to reach the destination from the origin. [param navigation_layers] 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="RID[]" />
			<param index="0" name="map" type="RID" />
			<description>
				Returns all navigation regions [RID]s that are currently assigned to the requested navigation [param map].
			</description>
		</method>
		<method name="map_get_up" qualifiers="const">
			<return type="Vector3" />
			<param index="0" name="map" type="RID" />
			<description>
				Returns the map's up direction.
			</description>
		</method>
		<method name="map_is_active" qualifiers="const">
			<return type="bool" />
			<param index="0" name="map" type="RID" />
			<description>
				Returns true if the map is active.
			</description>
		</method>
		<method name="map_set_active">
			<return type="void" />
			<param index="0" name="map" type="RID" />
			<param index="1" name="active" type="bool" />
			<description>
				Sets the map active.
			</description>
		</method>
		<method name="map_set_cell_size">
			<return type="void" />
			<param index="0" name="map" type="RID" />
			<param 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">
			<return type="void" />
			<param index="0" name="map" type="RID" />
			<param index="1" name="margin" type="float" />
			<description>
				Set the map edge connection margin used to weld the compatible region edges.
			</description>
		</method>
		<method name="map_set_link_connection_radius">
			<return type="void" />
			<param index="0" name="map" type="RID" />
			<param index="1" name="radius" type="float" />
			<description>
				Set the map's link connection radius used to connect links to navigation polygons.
			</description>
		</method>
		<method name="map_set_up">
			<return type="void" />
			<param index="0" name="map" type="RID" />
			<param index="1" name="up" type="Vector3" />
			<description>
				Sets the map up direction.
			</description>
		</method>
		<method name="process">
			<return type="void" />
			<param index="0" name="delta_time" type="float" />
			<description>
				Process the collision avoidance agents.
				The result of this process is needed by the physics server, so this must be called in the main thread.
				[b]Note:[/b] This function is not thread safe.
			</description>
		</method>
		<method name="query_path" qualifiers="const">
			<return type="void" />
			<param index="0" name="parameters" type="NavigationPathQueryParameters3D" />
			<param index="1" name="result" type="NavigationPathQueryResult3D" />
			<description>
				Queries a path in a given navigation map. Start and target position and other parameters are defined through [NavigationPathQueryParameters3D]. Updates the provided [NavigationPathQueryResult3D] result object with the path among other results requested by the query.
			</description>
		</method>
		<method name="region_bake_navigation_mesh">
			<return type="void" />
			<param index="0" name="navigation_mesh" type="NavigationMesh" />
			<param index="1" name="root_node" type="Node" />
			<description>
				Bakes the [param navigation_mesh] with bake source geometry collected starting from the [param root_node].
			</description>
		</method>
		<method name="region_create">
			<return type="RID" />
			<description>
				Creates a new region.
			</description>
		</method>
		<method name="region_get_connection_pathway_end" qualifiers="const">
			<return type="Vector3" />
			<param index="0" name="region" type="RID" />
			<param index="1" name="connection" type="int" />
			<description>
				Returns the ending point of a connection door. [param connection] 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="Vector3" />
			<param index="0" name="region" type="RID" />
			<param index="1" name="connection" type="int" />
			<description>
				Returns the starting point of a connection door. [param connection] 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" />
			<param index="0" name="region" type="RID" />
			<description>
				Returns how many connections this [param region] has with other regions in the map.
			</description>
		</method>
		<method name="region_get_enter_cost" qualifiers="const">
			<return type="float" />
			<param index="0" name="region" type="RID" />
			<description>
				Returns the [code]enter_cost[/code] of this [param region].
			</description>
		</method>
		<method name="region_get_map" qualifiers="const">
			<return type="RID" />
			<param index="0" name="region" type="RID" />
			<description>
				Returns the navigation map [RID] the requested [param region] is currently assigned to.
			</description>
		</method>
		<method name="region_get_navigation_layers" qualifiers="const">
			<return type="int" />
			<param index="0" name="region" type="RID" />
			<description>
				Returns the region's navigation layers.
			</description>
		</method>
		<method name="region_get_owner_id" qualifiers="const">
			<return type="int" />
			<param index="0" name="region" type="RID" />
			<description>
				Returns the [code]ObjectID[/code] of the object which manages this region.
			</description>
		</method>
		<method name="region_get_travel_cost" qualifiers="const">
			<return type="float" />
			<param index="0" name="region" type="RID" />
			<description>
				Returns the [code]travel_cost[/code] of this [param region].
			</description>
		</method>
		<method name="region_owns_point" qualifiers="const">
			<return type="bool" />
			<param index="0" name="region" type="RID" />
			<param index="1" name="point" type="Vector3" />
			<description>
				Returns [code]true[/code] if the provided [param point] in world space is currently owned by the provided navigation [param region]. Owned in this context means that one of the region's navigation mesh polygon faces has a possible position at the closest distance to this point compared to all other navigation meshes from other navigation regions that are also registered on the navigation map of the provided region.
				If multiple navigation meshes have positions at equal distance the navigation region whose polygons are processed first wins the ownership. Polygons are processed in the same order that navigation regions were registered on the NavigationServer.
				[b]Note:[/b] If navigation meshes from different navigation regions overlap (which should be avoided in general) the result might not be what is expected.
			</description>
		</method>
		<method name="region_set_enter_cost">
			<return type="void" />
			<param index="0" name="region" type="RID" />
			<param index="1" name="enter_cost" type="float" />
			<description>
				Sets the [param enter_cost] for this [param region].
			</description>
		</method>
		<method name="region_set_map">
			<return type="void" />
			<param index="0" name="region" type="RID" />
			<param index="1" name="map" type="RID" />
			<description>
				Sets the map for the region.
			</description>
		</method>
		<method name="region_set_navigation_layers">
			<return type="void" />
			<param index="0" name="region" type="RID" />
			<param 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 NavigationServer3D.map_get_path]).
			</description>
		</method>
		<method name="region_set_navigation_mesh">
			<return type="void" />
			<param index="0" name="region" type="RID" />
			<param index="1" name="navigation_mesh" type="NavigationMesh" />
			<description>
				Sets the navigation mesh for the region.
			</description>
		</method>
		<method name="region_set_owner_id">
			<return type="void" />
			<param index="0" name="region" type="RID" />
			<param index="1" name="owner_id" type="int" />
			<description>
				Set the [code]ObjectID[/code] of the object which manages this region.
			</description>
		</method>
		<method name="region_set_transform">
			<return type="void" />
			<param index="0" name="region" type="RID" />
			<param index="1" name="transform" type="Transform3D" />
			<description>
				Sets the global transformation for the region.
			</description>
		</method>
		<method name="region_set_travel_cost">
			<return type="void" />
			<param index="0" name="region" type="RID" />
			<param index="1" name="travel_cost" type="float" />
			<description>
				Sets the [param travel_cost] for this [param region].
			</description>
		</method>
		<method name="set_active">
			<return type="void" />
			<param index="0" name="active" type="bool" />
			<description>
				Control activation of this server.
			</description>
		</method>
	</methods>
	<signals>
		<signal name="map_changed">
			<param index="0" name="map" type="RID" />
			<description>
				Emitted when a navigation map is updated, when a region moves or is modified.
			</description>
		</signal>
		<signal name="navigation_debug_changed">
			<description>
				Emitted when navigation debug settings are changed. Only available in debug builds.
			</description>
		</signal>
	</signals>
	<constants>
		<constant name="INFO_ACTIVE_MAPS" value="0" enum="ProcessInfo">
			Constant to get the number of active navigation maps.
		</constant>
		<constant name="INFO_REGION_COUNT" value="1" enum="ProcessInfo">
			Constant to get the number of active navigation regions.
		</constant>
		<constant name="INFO_AGENT_COUNT" value="2" enum="ProcessInfo">
			Constant to get the number of active navigation agents processing avoidance.
		</constant>
		<constant name="INFO_LINK_COUNT" value="3" enum="ProcessInfo">
			Constant to get the number of active navigation links.
		</constant>
		<constant name="INFO_POLYGON_COUNT" value="4" enum="ProcessInfo">
			Constant to get the number of navigation mesh polygons.
		</constant>
		<constant name="INFO_EDGE_COUNT" value="5" enum="ProcessInfo">
			Constant to get the number of navigation mesh polygon edges.
		</constant>
		<constant name="INFO_EDGE_MERGE_COUNT" value="6" enum="ProcessInfo">
			Constant to get the number of navigation mesh polygon edges that were merged due to edge key overlap.
		</constant>
		<constant name="INFO_EDGE_CONNECTION_COUNT" value="7" enum="ProcessInfo">
			Constant to get the number of navigation mesh polygon edges that are considered connected by edge proximity.
		</constant>
		<constant name="INFO_EDGE_FREE_COUNT" value="8" enum="ProcessInfo">
			Constant to get the number of navigation mesh polygon edges that could not be merged but may be still connected by edge proximity or with links.
		</constant>
	</constants>
</class>