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
|
/*************************************************************************/
/* navigation_agent_2d.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 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. */
/*************************************************************************/
#ifndef NAVIGATION_AGENT_2D_H
#define NAVIGATION_AGENT_2D_H
#include "scene/main/node.h"
class Node2D;
class NavigationPathQueryParameters2D;
class NavigationPathQueryResult2D;
class NavigationAgent2D : public Node {
GDCLASS(NavigationAgent2D, Node);
Node2D *agent_parent = nullptr;
RID agent;
RID map_before_pause;
RID map_override;
bool avoidance_enabled = false;
uint32_t navigation_layers = 1;
real_t path_desired_distance = 1.0;
real_t target_desired_distance = 1.0;
real_t radius = 0.0;
real_t neighbor_distance = 0.0;
int max_neighbors = 0;
real_t time_horizon = 0.0;
real_t max_speed = 0.0;
real_t path_max_distance = 3.0;
Vector2 target_location;
Ref<NavigationPathQueryParameters2D> navigation_query;
Ref<NavigationPathQueryResult2D> navigation_result;
int navigation_path_index = 0;
bool velocity_submitted = false;
Vector2 prev_safe_velocity;
/// The submitted target velocity
Vector2 target_velocity;
bool target_reached = false;
bool navigation_finished = true;
// No initialized on purpose
uint32_t update_frame_id = 0;
protected:
static void _bind_methods();
void _notification(int p_what);
public:
NavigationAgent2D();
virtual ~NavigationAgent2D();
RID get_rid() const {
return agent;
}
void set_avoidance_enabled(bool p_enabled);
bool get_avoidance_enabled() const;
void set_agent_parent(Node *p_agent_parent);
void set_navigation_layers(uint32_t p_navigation_layers);
uint32_t get_navigation_layers() const;
void set_navigation_layer_value(int p_layer_number, bool p_value);
bool get_navigation_layer_value(int p_layer_number) const;
void set_navigation_map(RID p_navigation_map);
RID get_navigation_map() const;
void set_path_desired_distance(real_t p_dd);
real_t get_path_desired_distance() const {
return path_desired_distance;
}
void set_target_desired_distance(real_t p_dd);
real_t get_target_desired_distance() const {
return target_desired_distance;
}
void set_radius(real_t p_radius);
real_t get_radius() const {
return radius;
}
void set_neighbor_distance(real_t p_distance);
real_t get_neighbor_distance() const {
return neighbor_distance;
}
void set_max_neighbors(int p_count);
int get_max_neighbors() const {
return max_neighbors;
}
void set_time_horizon(real_t p_time);
real_t get_time_horizon() const {
return time_horizon;
}
void set_max_speed(real_t p_max_speed);
real_t get_max_speed() const {
return max_speed;
}
void set_path_max_distance(real_t p_pmd);
real_t get_path_max_distance();
void set_target_location(Vector2 p_location);
Vector2 get_target_location() const;
Vector2 get_next_location();
const Vector<Vector2> &get_current_navigation_path() const;
int get_current_navigation_path_index() const {
return navigation_path_index;
}
real_t distance_to_target() const;
bool is_target_reached() const;
bool is_target_reachable();
bool is_navigation_finished();
Vector2 get_final_location();
void set_velocity(Vector2 p_velocity);
void _avoidance_done(Vector3 p_new_velocity);
PackedStringArray get_configuration_warnings() const override;
private:
void update_navigation();
void _request_repath();
void _check_distance_to_target();
};
#endif // NAVIGATION_AGENT_2D_H
|