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_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() {
ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle3D::set_estimate_radius);
ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle3D::is_radius_estimated);
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle3D::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle3D::get_radius);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,100,0.01"), "set_radius", "get_radius");
}
void NavigationObstacle3D::_validate_property(PropertyInfo &p_property) const {
if (p_property.name == "radius") {
if (estimate_radius) {
p_property.usage = PROPERTY_USAGE_NO_EDITOR;
}
}
}
void NavigationObstacle3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_READY: {
initialize_agent();
parent_node3d = Object::cast_to<Node3D>(get_parent());
if (parent_node3d != nullptr) {
// place agent on navigation map first or else the RVO agent callback creation fails silently later
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), parent_node3d->get_world_3d()->get_navigation_map());
}
set_physics_process_internal(true);
} break;
case NOTIFICATION_EXIT_TREE: {
parent_node3d = nullptr;
set_physics_process_internal(false);
} break;
case NOTIFICATION_PARENTED: {
parent_node3d = Object::cast_to<Node3D>(get_parent());
reevaluate_agent_radius();
} 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::initialize_agent() {
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_max_speed(agent, 0.0);
}
void NavigationObstacle3D::reevaluate_agent_radius() {
if (!estimate_radius) {
NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
} else if (parent_node3d) {
NavigationServer3D::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
}
}
real_t NavigationObstacle3D::estimate_agent_radius() const {
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) {
return radius;
}
}
return 1.0; // Never a 0 radius
}
void NavigationObstacle3D::set_estimate_radius(bool p_estimate_radius) {
estimate_radius = p_estimate_radius;
notify_property_list_changed();
reevaluate_agent_radius();
}
void NavigationObstacle3D::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();
}
|