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/**************************************************************************/
/* navigation_agent_2d.h */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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"
#include "servers/navigation/navigation_path_query_parameters_2d.h"
#include "servers/navigation/navigation_path_query_result_2d.h"
class Node2D;
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;
BitField<NavigationPathQueryParameters2D::PathMetadataFlags> path_metadata_flags = NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL;
real_t path_desired_distance = 20.0;
real_t target_desired_distance = 10.0;
real_t radius = 10.0;
real_t neighbor_distance = 500.0;
int max_neighbors = 10;
real_t time_horizon = 1.0;
real_t max_speed = 100.0;
real_t path_max_distance = 100.0;
Vector2 target_position;
bool target_position_submitted = false;
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;
// Debug properties for exposed bindings
bool debug_enabled = false;
float debug_path_custom_point_size = 4.0;
float debug_path_custom_line_width = 1.0;
bool debug_use_custom = false;
Color debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0);
#ifdef DEBUG_ENABLED
// Debug properties internal only
bool debug_path_dirty = true;
RID debug_path_instance;
private:
void _navigation_debug_changed();
void _update_debug_path();
#endif // DEBUG_ENABLED
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_path_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_flags);
BitField<NavigationPathQueryParameters2D::PathMetadataFlags> get_path_metadata_flags() const {
return path_metadata_flags;
}
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_position(Vector2 p_position);
Vector2 get_target_position() const;
Vector2 get_next_path_position();
Ref<NavigationPathQueryResult2D> get_current_navigation_result() const {
return navigation_result;
}
const Vector<Vector2> &get_current_navigation_path() const {
return navigation_result->get_path();
}
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_position();
void set_velocity(Vector2 p_velocity);
void _avoidance_done(Vector3 p_new_velocity);
PackedStringArray get_configuration_warnings() const override;
void set_debug_enabled(bool p_enabled);
bool get_debug_enabled() const;
void set_debug_use_custom(bool p_enabled);
bool get_debug_use_custom() const;
void set_debug_path_custom_color(Color p_color);
Color get_debug_path_custom_color() const;
void set_debug_path_custom_point_size(float p_point_size);
float get_debug_path_custom_point_size() const;
void set_debug_path_custom_line_width(float p_line_width);
float get_debug_path_custom_line_width() const;
private:
void update_navigation();
void _request_repath();
void _check_distance_to_target();
};
#endif // NAVIGATION_AGENT_2D_H
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