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285 lines
11 KiB
C++
285 lines
11 KiB
C++
/**************************************************************************/
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/* navigation_agent_3d.h */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#ifndef NAVIGATION_AGENT_3D_H
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#define NAVIGATION_AGENT_3D_H
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#include "scene/main/node.h"
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#include "servers/navigation/navigation_path_query_parameters_3d.h"
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#include "servers/navigation/navigation_path_query_result_3d.h"
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class Node3D;
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class NavigationAgent3D : public Node {
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GDCLASS(NavigationAgent3D, Node);
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Node3D *agent_parent = nullptr;
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RID agent;
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RID map_override;
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bool avoidance_enabled = false;
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bool use_3d_avoidance = false;
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uint32_t avoidance_layers = 1;
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uint32_t avoidance_mask = 1;
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real_t avoidance_priority = 1.0;
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uint32_t navigation_layers = 1;
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NavigationPathQueryParameters3D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters3D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
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NavigationPathQueryParameters3D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
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BitField<NavigationPathQueryParameters3D::PathMetadataFlags> path_metadata_flags = NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL;
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real_t path_desired_distance = 1.0;
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real_t target_desired_distance = 1.0;
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real_t height = 1.0;
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real_t radius = 0.5;
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real_t path_height_offset = 0.0;
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real_t neighbor_distance = 50.0;
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int max_neighbors = 10;
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real_t time_horizon_agents = 1.0;
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real_t time_horizon_obstacles = 0.0;
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real_t max_speed = 10.0;
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real_t path_max_distance = 5.0;
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bool simplify_path = false;
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real_t simplify_epsilon = 0.0;
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Vector3 target_position;
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Ref<NavigationPathQueryParameters3D> navigation_query;
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Ref<NavigationPathQueryResult3D> navigation_result;
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int navigation_path_index = 0;
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// the velocity result of the avoidance simulation step
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Vector3 safe_velocity;
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/// The submitted target velocity, sets the "wanted" rvo agent velocity on the next update
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// this velocity is not guaranteed, the simulation will try to fulfill it if possible
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// if other agents or obstacles interfere it will be changed accordingly
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Vector3 velocity;
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bool velocity_submitted = false;
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/// The submitted forced velocity, overrides the rvo agent velocity on the next update
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// should only be used very intentionally and not every frame as it interferes with the simulation stability
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Vector3 velocity_forced;
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bool velocity_forced_submitted = false;
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// 2D avoidance has no y-axis. This stores and reapplies the y-axis velocity to the agent before and after the avoidance step.
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// While not perfect it at least looks way better than agent's that clip through everything that is not a flat surface
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bool keep_y_velocity = true;
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float stored_y_velocity = 0.0;
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bool target_position_submitted = false;
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bool target_reached = false;
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bool navigation_finished = true;
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bool last_waypoint_reached = false;
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// No initialized on purpose
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uint32_t update_frame_id = 0;
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// Debug properties for exposed bindings
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bool debug_enabled = false;
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float debug_path_custom_point_size = 4.0;
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bool debug_use_custom = false;
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Color debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0);
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#ifdef DEBUG_ENABLED
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// Debug properties internal only
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bool debug_path_dirty = true;
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RID debug_path_instance;
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Ref<ArrayMesh> debug_path_mesh;
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Ref<StandardMaterial3D> debug_agent_path_line_custom_material;
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Ref<StandardMaterial3D> debug_agent_path_point_custom_material;
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#endif // DEBUG_ENABLED
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protected:
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static void _bind_methods();
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void _notification(int p_what);
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void _validate_property(PropertyInfo &p_property) const;
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#ifndef DISABLE_DEPRECATED
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bool _set(const StringName &p_name, const Variant &p_value);
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bool _get(const StringName &p_name, Variant &r_ret) const;
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#endif // DISABLE_DEPRECATED
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public:
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NavigationAgent3D();
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virtual ~NavigationAgent3D();
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RID get_rid() const { return agent; }
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void set_avoidance_enabled(bool p_enabled);
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bool get_avoidance_enabled() const;
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void set_agent_parent(Node *p_agent_parent);
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void set_navigation_layers(uint32_t p_navigation_layers);
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uint32_t get_navigation_layers() const;
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void set_navigation_layer_value(int p_layer_number, bool p_value);
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bool get_navigation_layer_value(int p_layer_number) const;
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void set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm);
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NavigationPathQueryParameters3D::PathfindingAlgorithm get_pathfinding_algorithm() const {
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return pathfinding_algorithm;
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}
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void set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing);
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NavigationPathQueryParameters3D::PathPostProcessing get_path_postprocessing() const {
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return path_postprocessing;
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}
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void set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_flags);
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BitField<NavigationPathQueryParameters3D::PathMetadataFlags> get_path_metadata_flags() const {
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return path_metadata_flags;
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}
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void set_navigation_map(RID p_navigation_map);
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RID get_navigation_map() const;
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void set_path_desired_distance(real_t p_dd);
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real_t get_path_desired_distance() const { return path_desired_distance; }
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void set_target_desired_distance(real_t p_dd);
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real_t get_target_desired_distance() const { return target_desired_distance; }
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void set_radius(real_t p_radius);
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real_t get_radius() const { return radius; }
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void set_height(real_t p_height);
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real_t get_height() const { return height; }
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void set_path_height_offset(real_t p_path_height_offset);
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real_t get_path_height_offset() const { return path_height_offset; }
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void set_use_3d_avoidance(bool p_use_3d_avoidance);
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bool get_use_3d_avoidance() const { return use_3d_avoidance; }
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void set_keep_y_velocity(bool p_enabled);
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bool get_keep_y_velocity() const;
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void set_neighbor_distance(real_t p_distance);
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real_t get_neighbor_distance() const { return neighbor_distance; }
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void set_max_neighbors(int p_count);
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int get_max_neighbors() const { return max_neighbors; }
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void set_time_horizon_agents(real_t p_time_horizon);
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real_t get_time_horizon_agents() const { return time_horizon_agents; }
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void set_time_horizon_obstacles(real_t p_time_horizon);
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real_t get_time_horizon_obstacles() const { return time_horizon_obstacles; }
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void set_max_speed(real_t p_max_speed);
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real_t get_max_speed() const { return max_speed; }
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void set_path_max_distance(real_t p_pmd);
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real_t get_path_max_distance();
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void set_target_position(Vector3 p_position);
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Vector3 get_target_position() const;
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void set_simplify_path(bool p_enabled);
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bool get_simplify_path() const;
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void set_simplify_epsilon(real_t p_epsilon);
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real_t get_simplify_epsilon() const;
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Vector3 get_next_path_position();
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Ref<NavigationPathQueryResult3D> get_current_navigation_result() const { return navigation_result; }
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const Vector<Vector3> &get_current_navigation_path() const { return navigation_result->get_path(); }
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int get_current_navigation_path_index() const { return navigation_path_index; }
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real_t distance_to_target() const;
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bool is_target_reached() const;
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bool is_target_reachable();
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bool is_navigation_finished();
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Vector3 get_final_position();
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void set_velocity(const Vector3 p_velocity);
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Vector3 get_velocity() { return velocity; }
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void set_velocity_forced(const Vector3 p_velocity);
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void _avoidance_done(Vector3 p_new_velocity);
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PackedStringArray get_configuration_warnings() const override;
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void set_avoidance_layers(uint32_t p_layers);
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uint32_t get_avoidance_layers() const;
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void set_avoidance_mask(uint32_t p_mask);
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uint32_t get_avoidance_mask() const;
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void set_avoidance_layer_value(int p_layer_number, bool p_value);
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bool get_avoidance_layer_value(int p_layer_number) const;
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void set_avoidance_mask_value(int p_mask_number, bool p_value);
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bool get_avoidance_mask_value(int p_mask_number) const;
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void set_avoidance_priority(real_t p_priority);
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real_t get_avoidance_priority() const;
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void set_debug_enabled(bool p_enabled);
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bool get_debug_enabled() const;
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void set_debug_use_custom(bool p_enabled);
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bool get_debug_use_custom() const;
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void set_debug_path_custom_color(Color p_color);
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Color get_debug_path_custom_color() const;
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void set_debug_path_custom_point_size(float p_point_size);
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float get_debug_path_custom_point_size() const;
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private:
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bool _is_target_reachable() const;
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Vector3 _get_final_position() const;
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void _update_navigation();
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void _advance_waypoints(const Vector3 &p_origin);
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void _request_repath();
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bool _is_last_waypoint() const;
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void _move_to_next_waypoint();
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bool _is_within_waypoint_distance(const Vector3 &p_origin) const;
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bool _is_within_target_distance(const Vector3 &p_origin) const;
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void _trigger_waypoint_reached();
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void _transition_to_navigation_finished();
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void _transition_to_target_reached();
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#ifdef DEBUG_ENABLED
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void _navigation_debug_changed();
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void _update_debug_path();
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#endif // DEBUG_ENABLED
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};
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#endif // NAVIGATION_AGENT_3D_H
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