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/*************************************************************************/
/* navigation_obstacle_3d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 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_3d.h"
#include "scene/3d/collision_shape_3d.h"
#include "scene/3d/physics_body_3d.h"
#include "servers/navigation_server_3d.h"
void NavigationObstacle3D::_bind_methods() {
}
void NavigationObstacle3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_READY: {
set_physics_process_internal(true);
} break;
case NOTIFICATION_EXIT_TREE: {
set_physics_process_internal(false);
} break;
case NOTIFICATION_PARENTED: {
parent_node3d = Object::cast_to<Node3D>(get_parent());
update_agent_shape();
} break;
case NOTIFICATION_UNPARENTED: {
parent_node3d = nullptr;
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (parent_node3d) {
NavigationServer3D::get_singleton()->agent_set_position(agent, parent_node3d->get_global_transform().origin);
PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent());
if (rigid) {
Vector3 v = rigid->get_linear_velocity();
NavigationServer3D::get_singleton()->agent_set_velocity(agent, v);
NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, v);
}
}
} break;
}
}
NavigationObstacle3D::NavigationObstacle3D() {
agent = NavigationServer3D::get_singleton()->agent_create();
}
NavigationObstacle3D::~NavigationObstacle3D() {
NavigationServer3D::get_singleton()->free(agent);
agent = RID(); // Pointless
}
TypedArray<String> NavigationObstacle3D::get_configuration_warnings() const {
TypedArray<String> warnings = Node::get_configuration_warnings();
if (!Object::cast_to<Node3D>(get_parent())) {
warnings.push_back(TTR("The NavigationObstacle3D only serves to provide collision avoidance to a spatial object."));
}
return warnings;
}
void NavigationObstacle3D::update_agent_shape() {
if (parent_node3d) {
// Estimate the radius of this physics body
real_t radius = 0.0;
for (int i(0); i < parent_node3d->get_child_count(); i++) {
// For each collision shape
CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(parent_node3d->get_child(i));
if (cs) {
// Take the distance between the Body center to the shape center
real_t r = cs->get_transform().origin.length();
if (cs->get_shape().is_valid()) {
// and add the enclosing shape radius
r += cs->get_shape()->get_enclosing_radius();
}
Vector3 s = cs->get_global_transform().basis.get_scale();
r *= MAX(s.x, MAX(s.y, s.z));
// Takes the biggest radius
radius = MAX(radius, r);
}
}
Vector3 s = parent_node3d->get_global_transform().basis.get_scale();
radius *= MAX(s.x, MAX(s.y, s.z));
if (radius == 0.0) {
radius = 1.0; // Never a 0 radius
}
// Initialize the Agent as an object
NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
}
}
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