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/*************************************************************************/
/* 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 NavigationAgent2D : public Node {
GDCLASS(NavigationAgent2D, Node);
Node2D *agent_parent = nullptr;
RID agent;
uint32_t navigable_layers = 1;
real_t target_desired_distance = 1.0;
real_t radius;
real_t neighbor_dist;
int max_neighbors;
real_t time_horizon;
real_t max_speed;
real_t path_max_distance = 3.0;
Vector2 target_location;
Vector<Vector2> navigation_path;
int nav_path_index;
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;
protected:
static void _bind_methods();
void _notification(int p_what);
public:
NavigationAgent2D();
virtual ~NavigationAgent2D();
RID get_rid() const {
return agent;
}
void set_navigable_layers(uint32_t p_layers);
uint32_t get_navigable_layers() const;
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_dist(real_t p_dist);
real_t get_neighbor_dist() const {
return neighbor_dist;
}
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();
Vector<Vector2> get_nav_path() const {
return navigation_path;
}
int get_nav_path_index() const {
return nav_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);
TypedArray<String> get_configuration_warnings() const override;
private:
void update_navigation();
void _request_repath();
void _check_distance_to_target();
};
#endif
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