2020-01-10 19:22:34 +08:00
|
|
|
/*************************************************************************/
|
|
|
|
/* navigation_obstacle.cpp */
|
|
|
|
/*************************************************************************/
|
|
|
|
/* This file is part of: */
|
|
|
|
/* GODOT ENGINE */
|
|
|
|
/* https://godotengine.org */
|
|
|
|
/*************************************************************************/
|
|
|
|
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
|
2020-02-11 21:01:43 +08:00
|
|
|
/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
|
2020-01-10 19:22:34 +08:00
|
|
|
/* */
|
|
|
|
/* 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.h"
|
|
|
|
|
|
|
|
#include "scene/3d/collision_shape.h"
|
|
|
|
#include "scene/3d/navigation.h"
|
|
|
|
#include "scene/3d/physics_body.h"
|
|
|
|
#include "servers/navigation_server.h"
|
|
|
|
|
|
|
|
void NavigationObstacle::_bind_methods() {
|
|
|
|
|
|
|
|
ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle::set_navigation_node);
|
|
|
|
ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle::get_navigation_node);
|
|
|
|
}
|
|
|
|
|
|
|
|
void NavigationObstacle::_notification(int p_what) {
|
|
|
|
switch (p_what) {
|
|
|
|
case NOTIFICATION_READY: {
|
|
|
|
|
|
|
|
update_agent_shape();
|
|
|
|
|
|
|
|
// Search the navigation node and set it
|
|
|
|
{
|
|
|
|
Navigation *nav = NULL;
|
|
|
|
Node *p = get_parent();
|
|
|
|
while (p != NULL) {
|
|
|
|
nav = Object::cast_to<Navigation>(p);
|
|
|
|
if (nav != NULL)
|
|
|
|
p = NULL;
|
|
|
|
else
|
|
|
|
p = p->get_parent();
|
|
|
|
}
|
|
|
|
|
|
|
|
set_navigation(nav);
|
|
|
|
}
|
|
|
|
|
|
|
|
set_physics_process_internal(true);
|
|
|
|
} break;
|
|
|
|
case NOTIFICATION_EXIT_TREE: {
|
|
|
|
set_navigation(NULL);
|
|
|
|
set_physics_process_internal(false);
|
|
|
|
} break;
|
|
|
|
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
|
|
|
|
Spatial *spatial = Object::cast_to<Spatial>(get_parent());
|
|
|
|
if (spatial) {
|
|
|
|
NavigationServer::get_singleton()->agent_set_position(agent, spatial->get_global_transform().origin);
|
|
|
|
}
|
|
|
|
|
|
|
|
PhysicsBody *rigid = Object::cast_to<PhysicsBody>(get_parent());
|
|
|
|
if (rigid) {
|
|
|
|
|
|
|
|
Vector3 v = rigid->get_linear_velocity();
|
|
|
|
NavigationServer::get_singleton()->agent_set_velocity(agent, v);
|
|
|
|
NavigationServer::get_singleton()->agent_set_target_velocity(agent, v);
|
|
|
|
}
|
|
|
|
|
|
|
|
} break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
NavigationObstacle::NavigationObstacle() :
|
|
|
|
navigation(NULL),
|
|
|
|
agent(RID()) {
|
|
|
|
agent = NavigationServer::get_singleton()->agent_create();
|
|
|
|
}
|
|
|
|
|
|
|
|
NavigationObstacle::~NavigationObstacle() {
|
|
|
|
NavigationServer::get_singleton()->free(agent);
|
|
|
|
agent = RID(); // Pointless
|
|
|
|
}
|
|
|
|
|
|
|
|
void NavigationObstacle::set_navigation(Navigation *p_nav) {
|
|
|
|
if (navigation == p_nav)
|
|
|
|
return; // Pointless
|
|
|
|
|
|
|
|
navigation = p_nav;
|
|
|
|
NavigationServer::get_singleton()->agent_set_map(agent, navigation == NULL ? RID() : navigation->get_rid());
|
|
|
|
}
|
|
|
|
|
|
|
|
void NavigationObstacle::set_navigation_node(Node *p_nav) {
|
|
|
|
Navigation *nav = Object::cast_to<Navigation>(p_nav);
|
|
|
|
ERR_FAIL_COND(nav == NULL);
|
|
|
|
set_navigation(nav);
|
|
|
|
}
|
|
|
|
|
|
|
|
Node *NavigationObstacle::get_navigation_node() const {
|
|
|
|
return Object::cast_to<Node>(navigation);
|
|
|
|
}
|
|
|
|
|
|
|
|
String NavigationObstacle::get_configuration_warning() const {
|
|
|
|
if (!Object::cast_to<Spatial>(get_parent())) {
|
|
|
|
|
|
|
|
return TTR("The NavigationObstacle only serves to provide collision avoidance to a spatial object.");
|
|
|
|
}
|
|
|
|
|
|
|
|
return String();
|
|
|
|
}
|
|
|
|
|
|
|
|
void NavigationObstacle::update_agent_shape() {
|
|
|
|
Node *node = get_parent();
|
|
|
|
|
|
|
|
// Estimate the radius of this physics body
|
|
|
|
real_t radius = 0.0;
|
|
|
|
for (int i(0); i < node->get_child_count(); i++) {
|
|
|
|
// For each collision shape
|
|
|
|
CollisionShape *cs = Object::cast_to<CollisionShape>(node->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);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
Spatial *spa = Object::cast_to<Spatial>(node);
|
|
|
|
if (spa) {
|
|
|
|
Vector3 s = spa->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
|
|
|
|
NavigationServer::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
|
|
|
|
NavigationServer::get_singleton()->agent_set_max_neighbors(agent, 0);
|
|
|
|
NavigationServer::get_singleton()->agent_set_time_horizon(agent, 0.0);
|
|
|
|
NavigationServer::get_singleton()->agent_set_radius(agent, radius);
|
|
|
|
NavigationServer::get_singleton()->agent_set_max_speed(agent, 0.0);
|
|
|
|
}
|