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/*************************************************************************/
/* navigation_obstacle_2d.cpp */
/*************************************************************************/
/* 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. */
/*************************************************************************/
#include "navigation_obstacle_2d.h"
#include "scene/2d/collision_shape_2d.h"
#include "servers/navigation_server_2d.h"
void NavigationObstacle2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle2D::set_estimate_radius);
ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle2D::is_radius_estimated);
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle2D::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle2D::get_radius);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,500,0.01"), "set_radius", "get_radius");
}
void NavigationObstacle2D::_validate_property(PropertyInfo &p_property) const {
if (p_property.name == "radius") {
if (estimate_radius) {
p_property.usage = PROPERTY_USAGE_NO_EDITOR;
}
}
}
void NavigationObstacle2D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_READY: {
initialize_agent();
parent_node2d = Object::cast_to<Node2D>(get_parent());
if (parent_node2d != nullptr) {
// place agent on navigation map first or else the RVO agent callback creation fails silently later
NavigationServer2D::get_singleton()->agent_set_map(get_rid(), parent_node2d->get_world_2d()->get_navigation_map());
}
set_physics_process_internal(true);
} break;
case NOTIFICATION_EXIT_TREE: {
parent_node2d = nullptr;
set_physics_process_internal(false);
} break;
case NOTIFICATION_PARENTED: {
parent_node2d = Object::cast_to<Node2D>(get_parent());
reevaluate_agent_radius();
} break;
case NOTIFICATION_UNPARENTED: {
parent_node2d = nullptr;
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (parent_node2d) {
NavigationServer2D::get_singleton()->agent_set_position(agent, parent_node2d->get_global_position());
}
} break;
}
}
NavigationObstacle2D::NavigationObstacle2D() {
agent = NavigationServer2D::get_singleton()->agent_create();
}
NavigationObstacle2D::~NavigationObstacle2D() {
NavigationServer2D::get_singleton()->free(agent);
agent = RID(); // Pointless
}
TypedArray<String> NavigationObstacle2D::get_configuration_warnings() const {
TypedArray<String> warnings = Node::get_configuration_warnings();
if (!Object::cast_to<Node2D>(get_parent())) {
warnings.push_back(TTR("The NavigationObstacle2D only serves to provide collision avoidance to a Node2D object."));
}
return warnings;
}
void NavigationObstacle2D::initialize_agent() {
NavigationServer2D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, 0);
NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, 0.0);
NavigationServer2D::get_singleton()->agent_set_max_speed(agent, 0.0);
}
void NavigationObstacle2D::reevaluate_agent_radius() {
if (!estimate_radius) {
NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
} else if (parent_node2d) {
NavigationServer2D::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
}
}
real_t NavigationObstacle2D::estimate_agent_radius() const {
if (parent_node2d) {
// Estimate the radius of this physics body
real_t radius = 0.0;
for (int i(0); i < parent_node2d->get_child_count(); i++) {
// For each collision shape
CollisionShape2D *cs = Object::cast_to<CollisionShape2D>(parent_node2d->get_child(i));
if (cs) {
// Take the distance between the Body center to the shape center
real_t r = cs->get_transform().get_origin().length();
if (cs->get_shape().is_valid()) {
// and add the enclosing shape radius
r += cs->get_shape()->get_enclosing_radius();
}
Size2 s = cs->get_global_scale();
r *= MAX(s.x, s.y);
// Takes the biggest radius
radius = MAX(radius, r);
}
}
Vector2 s = parent_node2d->get_global_scale();
radius *= MAX(s.x, s.y);
if (radius > 0.0) {
return radius;
}
}
return 1.0; // Never a 0 radius
}
void NavigationObstacle2D::set_estimate_radius(bool p_estimate_radius) {
estimate_radius = p_estimate_radius;
notify_property_list_changed();
reevaluate_agent_radius();
}
void NavigationObstacle2D::set_radius(real_t p_radius) {
ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
radius = p_radius;
reevaluate_agent_radius();
}
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