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godot/scene/2d/navigation_agent_2d.cpp
Ricardo Buring 23521635d2 Fix physics tick counter 
The counter is now incremented at the start of a physics tick rather than at the end.

Co-authored-by: lawnjelly <lawnjelly@gmail.com>
2024-07-07 19:04:05 +02:00

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/**************************************************************************/
/* navigation_agent_2d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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, */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#include "navigation_agent_2d.h"
#include "core/math/geometry_2d.h"
#include "scene/2d/navigation_link_2d.h"
#include "scene/resources/world_2d.h"
#include "servers/navigation_server_2d.h"
void NavigationAgent2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent2D::get_rid);
ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent2D::set_avoidance_enabled);
ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent2D::get_avoidance_enabled);
ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent2D::set_path_desired_distance);
ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent2D::get_path_desired_distance);
ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent2D::set_target_desired_distance);
ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent2D::get_target_desired_distance);
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent2D::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent2D::get_radius);
ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent2D::set_neighbor_distance);
ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent2D::get_neighbor_distance);
ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent2D::set_max_neighbors);
ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent2D::get_max_neighbors);
ClassDB::bind_method(D_METHOD("set_time_horizon_agents", "time_horizon"), &NavigationAgent2D::set_time_horizon_agents);
ClassDB::bind_method(D_METHOD("get_time_horizon_agents"), &NavigationAgent2D::get_time_horizon_agents);
ClassDB::bind_method(D_METHOD("set_time_horizon_obstacles", "time_horizon"), &NavigationAgent2D::set_time_horizon_obstacles);
ClassDB::bind_method(D_METHOD("get_time_horizon_obstacles"), &NavigationAgent2D::get_time_horizon_obstacles);
ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent2D::set_max_speed);
ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent2D::get_max_speed);
ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent2D::set_path_max_distance);
ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent2D::get_path_max_distance);
ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent2D::set_navigation_layers);
ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent2D::get_navigation_layers);
ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent2D::set_navigation_layer_value);
ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent2D::get_navigation_layer_value);
ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent2D::set_pathfinding_algorithm);
ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent2D::get_pathfinding_algorithm);
ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent2D::set_path_postprocessing);
ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent2D::get_path_postprocessing);
ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent2D::set_path_metadata_flags);
ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent2D::get_path_metadata_flags);
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent2D::set_navigation_map);
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent2D::get_navigation_map);
ClassDB::bind_method(D_METHOD("set_target_position", "position"), &NavigationAgent2D::set_target_position);
ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent2D::get_target_position);
ClassDB::bind_method(D_METHOD("set_simplify_path", "enabled"), &NavigationAgent2D::set_simplify_path);
ClassDB::bind_method(D_METHOD("get_simplify_path"), &NavigationAgent2D::get_simplify_path);
ClassDB::bind_method(D_METHOD("set_simplify_epsilon", "epsilon"), &NavigationAgent2D::set_simplify_epsilon);
ClassDB::bind_method(D_METHOD("get_simplify_epsilon"), &NavigationAgent2D::get_simplify_epsilon);
ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent2D::get_next_path_position);
ClassDB::bind_method(D_METHOD("set_velocity_forced", "velocity"), &NavigationAgent2D::set_velocity_forced);
ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent2D::set_velocity);
ClassDB::bind_method(D_METHOD("get_velocity"), &NavigationAgent2D::get_velocity);
ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent2D::distance_to_target);
ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent2D::get_current_navigation_result);
ClassDB::bind_method(D_METHOD("get_current_navigation_path"), &NavigationAgent2D::get_current_navigation_path);
ClassDB::bind_method(D_METHOD("get_current_navigation_path_index"), &NavigationAgent2D::get_current_navigation_path_index);
ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent2D::is_target_reached);
ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent2D::is_target_reachable);
ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent2D::is_navigation_finished);
ClassDB::bind_method(D_METHOD("get_final_position"), &NavigationAgent2D::get_final_position);
ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent2D::_avoidance_done);
ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationAgent2D::set_avoidance_layers);
ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationAgent2D::get_avoidance_layers);
ClassDB::bind_method(D_METHOD("set_avoidance_mask", "mask"), &NavigationAgent2D::set_avoidance_mask);
ClassDB::bind_method(D_METHOD("get_avoidance_mask"), &NavigationAgent2D::get_avoidance_mask);
ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationAgent2D::set_avoidance_layer_value);
ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationAgent2D::get_avoidance_layer_value);
ClassDB::bind_method(D_METHOD("set_avoidance_mask_value", "mask_number", "value"), &NavigationAgent2D::set_avoidance_mask_value);
ClassDB::bind_method(D_METHOD("get_avoidance_mask_value", "mask_number"), &NavigationAgent2D::get_avoidance_mask_value);
ClassDB::bind_method(D_METHOD("set_avoidance_priority", "priority"), &NavigationAgent2D::set_avoidance_priority);
ClassDB::bind_method(D_METHOD("get_avoidance_priority"), &NavigationAgent2D::get_avoidance_priority);
ADD_GROUP("Pathfinding", "");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "target_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_target_position", "get_target_position");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,1000,0.01,or_greater,suffix:px"), "set_path_desired_distance", "get_path_desired_distance");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,1000,0.01,or_greater,suffix:px"), "set_target_desired_distance", "get_target_desired_distance");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "10,1000,1,or_greater,suffix:px"), "set_path_max_distance", "get_path_max_distance");
ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "simplify_path"), "set_simplify_path", "get_simplify_path");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "simplify_epsilon", PROPERTY_HINT_RANGE, "0.0,10.0,0.001,or_greater,suffix:px"), "set_simplify_epsilon", "get_simplify_epsilon");
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,500,0.01,or_greater,suffix:px"), "set_radius", "get_radius");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,100000,0.01,or_greater,suffix:px"), "set_neighbor_distance", "get_neighbor_distance");
ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1,or_greater"), "set_max_neighbors", "get_max_neighbors");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon_agents", PROPERTY_HINT_RANGE, "0.0,10,0.01,or_greater,suffix:s"), "set_time_horizon_agents", "get_time_horizon_agents");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon_obstacles", PROPERTY_HINT_RANGE, "0.0,10,0.01,or_greater,suffix:s"), "set_time_horizon_obstacles", "get_time_horizon_obstacles");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.01,100000,0.01,or_greater,suffix:px/s"), "set_max_speed", "get_max_speed");
ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers");
ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_mask", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_mask", "get_avoidance_mask");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "avoidance_priority", PROPERTY_HINT_RANGE, "0.0,1.0,0.01"), "set_avoidance_priority", "get_avoidance_priority");
ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent2D::set_debug_enabled);
ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent2D::get_debug_enabled);
ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent2D::set_debug_use_custom);
ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent2D::get_debug_use_custom);
ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent2D::set_debug_path_custom_color);
ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent2D::get_debug_path_custom_color);
ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent2D::set_debug_path_custom_point_size);
ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent2D::get_debug_path_custom_point_size);
ClassDB::bind_method(D_METHOD("set_debug_path_custom_line_width", "line_width"), &NavigationAgent2D::set_debug_path_custom_line_width);
ClassDB::bind_method(D_METHOD("get_debug_path_custom_line_width"), &NavigationAgent2D::get_debug_path_custom_line_width);
ADD_GROUP("Debug", "debug_");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom");
ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_point_size", PROPERTY_HINT_RANGE, "0,50,0.01,or_greater,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_line_width", PROPERTY_HINT_RANGE, "-1,50,0.01,or_greater,suffix:px"), "set_debug_path_custom_line_width", "get_debug_path_custom_line_width");
ADD_SIGNAL(MethodInfo("path_changed"));
ADD_SIGNAL(MethodInfo("target_reached"));
ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details")));
ADD_SIGNAL(MethodInfo("navigation_finished"));
ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR2, "safe_velocity")));
}
#ifndef DISABLE_DEPRECATED
// Compatibility with Godot 4.0 beta 10 or below.
// Functions in block below all renamed or replaced in 4.0 beta 1X avoidance rework.
bool NavigationAgent2D::_set(const StringName &p_name, const Variant &p_value) {
if (p_name == "time_horizon") {
set_time_horizon_agents(p_value);
return true;
}
if (p_name == "target_location") {
set_target_position(p_value);
return true;
}
return false;
}
bool NavigationAgent2D::_get(const StringName &p_name, Variant &r_ret) const {
if (p_name == "time_horizon") {
r_ret = get_time_horizon_agents();
return true;
}
if (p_name == "target_location") {
r_ret = get_target_position();
return true;
}
return false;
}
#endif // DISABLE_DEPRECATED
void NavigationAgent2D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_POST_ENTER_TREE: {
// need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready.
// cannot use READY as ready does not get called if Node is re-added to SceneTree
set_agent_parent(get_parent());
set_physics_process_internal(true);
if (agent_parent && avoidance_enabled) {
NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
}
#ifdef DEBUG_ENABLED
if (NavigationServer2D::get_singleton()->get_debug_enabled()) {
debug_path_dirty = true;
}
#endif // DEBUG_ENABLED
} break;
case NOTIFICATION_PARENTED: {
if (is_inside_tree() && (get_parent() != agent_parent)) {
// only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around
// PARENTED notification fires also when Node is added in scripts to a parent
// this would spam transforms fails and world fails while Node is outside SceneTree
// when node gets reparented when joining the tree POST_ENTER_TREE takes care of this
set_agent_parent(get_parent());
set_physics_process_internal(true);
}
} break;
case NOTIFICATION_UNPARENTED: {
// if agent has no parent no point in processing it until reparented
set_agent_parent(nullptr);
set_physics_process_internal(false);
} break;
case NOTIFICATION_EXIT_TREE: {
set_agent_parent(nullptr);
set_physics_process_internal(false);
#ifdef DEBUG_ENABLED
if (debug_path_instance.is_valid()) {
RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, false);
}
#endif // DEBUG_ENABLED
} break;
case NOTIFICATION_PAUSED: {
if (agent_parent) {
NavigationServer2D::get_singleton()->agent_set_paused(get_rid(), !agent_parent->can_process());
}
} break;
case NOTIFICATION_UNPAUSED: {
if (agent_parent) {
NavigationServer2D::get_singleton()->agent_set_paused(get_rid(), !agent_parent->can_process());
}
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (agent_parent && avoidance_enabled) {
NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
}
if (agent_parent && target_position_submitted) {
if (velocity_submitted) {
velocity_submitted = false;
if (avoidance_enabled) {
NavigationServer2D::get_singleton()->agent_set_velocity(agent, velocity);
}
}
if (velocity_forced_submitted) {
velocity_forced_submitted = false;
if (avoidance_enabled) {
NavigationServer2D::get_singleton()->agent_set_velocity_forced(agent, velocity_forced);
}
}
}
#ifdef DEBUG_ENABLED
if (debug_path_dirty) {
_update_debug_path();
}
#endif // DEBUG_ENABLED
} break;
}
}
NavigationAgent2D::NavigationAgent2D() {
agent = NavigationServer2D::get_singleton()->agent_create();
NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
NavigationServer2D::get_singleton()->agent_set_time_horizon_agents(agent, time_horizon_agents);
NavigationServer2D::get_singleton()->agent_set_time_horizon_obstacles(agent, time_horizon_obstacles);
NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed);
NavigationServer2D::get_singleton()->agent_set_avoidance_layers(agent, avoidance_layers);
NavigationServer2D::get_singleton()->agent_set_avoidance_mask(agent, avoidance_mask);
NavigationServer2D::get_singleton()->agent_set_avoidance_priority(agent, avoidance_priority);
NavigationServer2D::get_singleton()->agent_set_avoidance_enabled(agent, avoidance_enabled);
if (avoidance_enabled) {
NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done));
}
// Preallocate query and result objects to improve performance.
navigation_query = Ref<NavigationPathQueryParameters2D>();
navigation_query.instantiate();
navigation_result = Ref<NavigationPathQueryResult2D>();
navigation_result.instantiate();
#ifdef DEBUG_ENABLED
NavigationServer2D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed));
#endif // DEBUG_ENABLED
}
NavigationAgent2D::~NavigationAgent2D() {
ERR_FAIL_NULL(NavigationServer2D::get_singleton());
NavigationServer2D::get_singleton()->free(agent);
agent = RID(); // Pointless
#ifdef DEBUG_ENABLED
NavigationServer2D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed));
ERR_FAIL_NULL(RenderingServer::get_singleton());
if (debug_path_instance.is_valid()) {
RenderingServer::get_singleton()->free(debug_path_instance);
}
#endif // DEBUG_ENABLED
}
void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) {
if (avoidance_enabled == p_enabled) {
return;
}
avoidance_enabled = p_enabled;
if (avoidance_enabled) {
NavigationServer2D::get_singleton()->agent_set_avoidance_enabled(agent, true);
NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done));
} else {
NavigationServer2D::get_singleton()->agent_set_avoidance_enabled(agent, false);
NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, Callable());
}
}
bool NavigationAgent2D::get_avoidance_enabled() const {
return avoidance_enabled;
}
void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) {
if (agent_parent == p_agent_parent) {
return;
}
// remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, Callable());
if (Object::cast_to<Node2D>(p_agent_parent) != nullptr) {
// place agent on navigation map first or else the RVO agent callback creation fails silently later
agent_parent = Object::cast_to<Node2D>(p_agent_parent);
if (map_override.is_valid()) {
NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_override);
} else {
NavigationServer2D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_2d()->get_navigation_map());
}
// create new avoidance callback if enabled
if (avoidance_enabled) {
NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done));
}
} else {
agent_parent = nullptr;
NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
}
}
void NavigationAgent2D::set_navigation_layers(uint32_t p_navigation_layers) {
if (navigation_layers == p_navigation_layers) {
return;
}
navigation_layers = p_navigation_layers;
_request_repath();
}
uint32_t NavigationAgent2D::get_navigation_layers() const {
return navigation_layers;
}
void NavigationAgent2D::set_navigation_layer_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive.");
uint32_t _navigation_layers = get_navigation_layers();
if (p_value) {
_navigation_layers |= 1 << (p_layer_number - 1);
} else {
_navigation_layers &= ~(1 << (p_layer_number - 1));
}
set_navigation_layers(_navigation_layers);
}
bool NavigationAgent2D::get_navigation_layer_value(int p_layer_number) const {
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive.");
return get_navigation_layers() & (1 << (p_layer_number - 1));
}
void NavigationAgent2D::set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm) {
if (pathfinding_algorithm == p_pathfinding_algorithm) {
return;
}
pathfinding_algorithm = p_pathfinding_algorithm;
navigation_query->set_pathfinding_algorithm(pathfinding_algorithm);
}
void NavigationAgent2D::set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing) {
if (path_postprocessing == p_path_postprocessing) {
return;
}
path_postprocessing = p_path_postprocessing;
navigation_query->set_path_postprocessing(path_postprocessing);
}
void NavigationAgent2D::set_simplify_path(bool p_enabled) {
simplify_path = p_enabled;
navigation_query->set_simplify_path(simplify_path);
}
bool NavigationAgent2D::get_simplify_path() const {
return simplify_path;
}
void NavigationAgent2D::set_simplify_epsilon(real_t p_epsilon) {
simplify_epsilon = MAX(0.0, p_epsilon);
navigation_query->set_simplify_epsilon(simplify_epsilon);
}
real_t NavigationAgent2D::get_simplify_epsilon() const {
return simplify_epsilon;
}
void NavigationAgent2D::set_path_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_path_metadata_flags) {
if (path_metadata_flags == p_path_metadata_flags) {
return;
}
path_metadata_flags = p_path_metadata_flags;
}
void NavigationAgent2D::set_navigation_map(RID p_navigation_map) {
if (map_override == p_navigation_map) {
return;
}
map_override = p_navigation_map;
NavigationServer2D::get_singleton()->agent_set_map(agent, map_override);
_request_repath();
}
RID NavigationAgent2D::get_navigation_map() const {
if (map_override.is_valid()) {
return map_override;
} else if (agent_parent != nullptr) {
return agent_parent->get_world_2d()->get_navigation_map();
}
return RID();
}
void NavigationAgent2D::set_path_desired_distance(real_t p_path_desired_distance) {
if (Math::is_equal_approx(path_desired_distance, p_path_desired_distance)) {
return;
}
path_desired_distance = p_path_desired_distance;
}
void NavigationAgent2D::set_target_desired_distance(real_t p_target_desired_distance) {
if (Math::is_equal_approx(target_desired_distance, p_target_desired_distance)) {
return;
}
target_desired_distance = p_target_desired_distance;
}
void NavigationAgent2D::set_radius(real_t p_radius) {
ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
if (Math::is_equal_approx(radius, p_radius)) {
return;
}
radius = p_radius;
NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
}
void NavigationAgent2D::set_neighbor_distance(real_t p_distance) {
if (Math::is_equal_approx(neighbor_distance, p_distance)) {
return;
}
neighbor_distance = p_distance;
NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
}
void NavigationAgent2D::set_max_neighbors(int p_count) {
if (max_neighbors == p_count) {
return;
}
max_neighbors = p_count;
NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
}
void NavigationAgent2D::set_time_horizon_agents(real_t p_time_horizon) {
ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizon must be positive.");
if (Math::is_equal_approx(time_horizon_agents, p_time_horizon)) {
return;
}
time_horizon_agents = p_time_horizon;
NavigationServer2D::get_singleton()->agent_set_time_horizon_agents(agent, time_horizon_agents);
}
void NavigationAgent2D::set_time_horizon_obstacles(real_t p_time_horizon) {
ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizon must be positive.");
if (Math::is_equal_approx(time_horizon_obstacles, p_time_horizon)) {
return;
}
time_horizon_obstacles = p_time_horizon;
NavigationServer2D::get_singleton()->agent_set_time_horizon_obstacles(agent, time_horizon_obstacles);
}
void NavigationAgent2D::set_max_speed(real_t p_max_speed) {
ERR_FAIL_COND_MSG(p_max_speed < 0.0, "Max speed must be positive.");
if (Math::is_equal_approx(max_speed, p_max_speed)) {
return;
}
max_speed = p_max_speed;
NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed);
}
void NavigationAgent2D::set_path_max_distance(real_t p_path_max_distance) {
if (Math::is_equal_approx(path_max_distance, p_path_max_distance)) {
return;
}
path_max_distance = p_path_max_distance;
}
real_t NavigationAgent2D::get_path_max_distance() {
return path_max_distance;
}
void NavigationAgent2D::set_target_position(Vector2 p_position) {
// Intentionally not checking for equality of the parameter, as we want to update the path even if the target position is the same in case the world changed.
// Revisit later when the navigation server can update the path without requesting a new path.
target_position = p_position;
target_position_submitted = true;
_request_repath();
}
Vector2 NavigationAgent2D::get_target_position() const {
return target_position;
}
Vector2 NavigationAgent2D::get_next_path_position() {
_update_navigation();
const Vector<Vector2> &navigation_path = navigation_result->get_path();
if (navigation_path.size() == 0) {
ERR_FAIL_NULL_V_MSG(agent_parent, Vector2(), "The agent has no parent.");
return agent_parent->get_global_position();
} else {
return navigation_path[navigation_path_index];
}
}
real_t NavigationAgent2D::distance_to_target() const {
ERR_FAIL_NULL_V_MSG(agent_parent, 0.0, "The agent has no parent.");
return agent_parent->get_global_position().distance_to(target_position);
}
bool NavigationAgent2D::is_target_reached() const {
return target_reached;
}
bool NavigationAgent2D::is_target_reachable() {
_update_navigation();
return _is_target_reachable();
}
bool NavigationAgent2D::_is_target_reachable() const {
return target_desired_distance >= _get_final_position().distance_to(target_position);
}
bool NavigationAgent2D::is_navigation_finished() {
_update_navigation();
return navigation_finished;
}
Vector2 NavigationAgent2D::get_final_position() {
_update_navigation();
return _get_final_position();
}
Vector2 NavigationAgent2D::_get_final_position() const {
const Vector<Vector2> &navigation_path = navigation_result->get_path();
if (navigation_path.size() == 0) {
return Vector2();
}
return navigation_path[navigation_path.size() - 1];
}
void NavigationAgent2D::set_velocity_forced(Vector2 p_velocity) {
// Intentionally not checking for equality of the parameter.
// We need to always submit the velocity to the navigation server, even when it is the same, in order to run avoidance every frame.
// Revisit later when the navigation server can update avoidance without users resubmitting the velocity.
velocity_forced = p_velocity;
velocity_forced_submitted = true;
}
void NavigationAgent2D::set_velocity(const Vector2 p_velocity) {
velocity = p_velocity;
velocity_submitted = true;
}
void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) {
const Vector2 new_safe_velocity = Vector2(p_new_velocity.x, p_new_velocity.z);
safe_velocity = new_safe_velocity;
emit_signal(SNAME("velocity_computed"), safe_velocity);
}
PackedStringArray NavigationAgent2D::get_configuration_warnings() const {
PackedStringArray warnings = Node::get_configuration_warnings();
if (!Object::cast_to<Node2D>(get_parent())) {
warnings.push_back(RTR("The NavigationAgent2D can be used only under a Node2D inheriting parent node."));
}
return warnings;
}
void NavigationAgent2D::_update_navigation() {
if (agent_parent == nullptr) {
return;
}
if (!agent_parent->is_inside_tree()) {
return;
}
if (!target_position_submitted) {
return;
}
Vector2 origin = agent_parent->get_global_position();
bool reload_path = false;
if (NavigationServer2D::get_singleton()->agent_is_map_changed(agent)) {
reload_path = true;
} else if (navigation_result->get_path().size() == 0) {
reload_path = true;
} else {
// Check if too far from the navigation path
if (navigation_path_index > 0) {
const Vector<Vector2> &navigation_path = navigation_result->get_path();
Vector2 segment[2];
segment[0] = navigation_path[navigation_path_index - 1];
segment[1] = navigation_path[navigation_path_index];
Vector2 p = Geometry2D::get_closest_point_to_segment(origin, segment);
if (origin.distance_to(p) >= path_max_distance) {
// To faraway, reload path
reload_path = true;
}
}
}
if (reload_path) {
navigation_query->set_start_position(origin);
navigation_query->set_target_position(target_position);
navigation_query->set_navigation_layers(navigation_layers);
navigation_query->set_metadata_flags(path_metadata_flags);
if (map_override.is_valid()) {
navigation_query->set_map(map_override);
} else {
navigation_query->set_map(agent_parent->get_world_2d()->get_navigation_map());
}
NavigationServer2D::get_singleton()->query_path(navigation_query, navigation_result);
#ifdef DEBUG_ENABLED
debug_path_dirty = true;
#endif // DEBUG_ENABLED
navigation_finished = false;
last_waypoint_reached = false;
navigation_path_index = 0;
emit_signal(SNAME("path_changed"));
}
if (navigation_result->get_path().size() == 0) {
return;
}
// Check if the navigation has already finished.
if (navigation_finished) {
return;
}
// Check if we reached the target.
if (_is_within_target_distance(origin)) {
// Emit waypoint_reached in case we also moved within distance of a waypoint.
_advance_waypoints(origin);
_transition_to_target_reached();
_transition_to_navigation_finished();
} else {
// Advance waypoints if possible.
_advance_waypoints(origin);
// Keep navigation running even after reaching the last waypoint if the target is reachable.
if (last_waypoint_reached && !_is_target_reachable()) {
_transition_to_navigation_finished();
}
}
}
void NavigationAgent2D::_advance_waypoints(const Vector2 &p_origin) {
if (last_waypoint_reached) {
return;
}
// Advance to the farthest possible waypoint.
while (_is_within_waypoint_distance(p_origin)) {
_trigger_waypoint_reached();
if (_is_last_waypoint()) {
last_waypoint_reached = true;
break;
}
_move_to_next_waypoint();
}
}
void NavigationAgent2D::_request_repath() {
navigation_result->reset();
target_reached = false;
navigation_finished = false;
last_waypoint_reached = false;
}
bool NavigationAgent2D::_is_last_waypoint() const {
return navigation_path_index == navigation_result->get_path().size() - 1;
}
void NavigationAgent2D::_move_to_next_waypoint() {
navigation_path_index += 1;
}
bool NavigationAgent2D::_is_within_waypoint_distance(const Vector2 &p_origin) const {
const Vector<Vector2> &navigation_path = navigation_result->get_path();
return p_origin.distance_to(navigation_path[navigation_path_index]) < path_desired_distance;
}
bool NavigationAgent2D::_is_within_target_distance(const Vector2 &p_origin) const {
return p_origin.distance_to(target_position) < target_desired_distance;
}
void NavigationAgent2D::_trigger_waypoint_reached() {
const Vector<Vector2> &navigation_path = navigation_result->get_path();
const Vector<int32_t> &navigation_path_types = navigation_result->get_path_types();
const TypedArray<RID> &navigation_path_rids = navigation_result->get_path_rids();
const Vector<int64_t> &navigation_path_owners = navigation_result->get_path_owner_ids();
Dictionary details;
const Vector2 waypoint = navigation_path[navigation_path_index];
details[CoreStringName(position)] = waypoint;
int waypoint_type = -1;
if (path_metadata_flags.has_flag(NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_TYPES)) {
const NavigationPathQueryResult2D::PathSegmentType type = NavigationPathQueryResult2D::PathSegmentType(navigation_path_types[navigation_path_index]);
details[SNAME("type")] = type;
waypoint_type = type;
}
if (path_metadata_flags.has_flag(NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_RIDS)) {
details[SNAME("rid")] = navigation_path_rids[navigation_path_index];
}
if (path_metadata_flags.has_flag(NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_OWNERS)) {
const ObjectID waypoint_owner_id = ObjectID(navigation_path_owners[navigation_path_index]);
// Get a reference to the owning object.
Object *owner = nullptr;
if (waypoint_owner_id.is_valid()) {
owner = ObjectDB::get_instance(waypoint_owner_id);
}
details[SNAME("owner")] = owner;
if (waypoint_type == NavigationPathQueryResult2D::PATH_SEGMENT_TYPE_LINK) {
const NavigationLink2D *navlink = Object::cast_to<NavigationLink2D>(owner);
if (navlink) {
Vector2 link_global_start_position = navlink->get_global_start_position();
Vector2 link_global_end_position = navlink->get_global_end_position();
if (waypoint.distance_to(link_global_start_position) < waypoint.distance_to(link_global_end_position)) {
details[SNAME("link_entry_position")] = link_global_start_position;
details[SNAME("link_exit_position")] = link_global_end_position;
} else {
details[SNAME("link_entry_position")] = link_global_end_position;
details[SNAME("link_exit_position")] = link_global_start_position;
}
}
}
}
// Emit a signal for the waypoint.
emit_signal(SNAME("waypoint_reached"), details);
// Emit a signal if we've reached a navigation link.
if (waypoint_type == NavigationPathQueryResult2D::PATH_SEGMENT_TYPE_LINK) {
emit_signal(SNAME("link_reached"), details);
}
}
void NavigationAgent2D::_transition_to_navigation_finished() {
navigation_finished = true;
target_position_submitted = false;
if (avoidance_enabled) {
NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
NavigationServer2D::get_singleton()->agent_set_velocity(agent, Vector2(0.0, 0.0));
NavigationServer2D::get_singleton()->agent_set_velocity_forced(agent, Vector2(0.0, 0.0));
}
emit_signal(SNAME("navigation_finished"));
}
void NavigationAgent2D::_transition_to_target_reached() {
target_reached = true;
emit_signal(SNAME("target_reached"));
}
void NavigationAgent2D::set_avoidance_layers(uint32_t p_layers) {
avoidance_layers = p_layers;
NavigationServer2D::get_singleton()->agent_set_avoidance_layers(get_rid(), avoidance_layers);
}
uint32_t NavigationAgent2D::get_avoidance_layers() const {
return avoidance_layers;
}
void NavigationAgent2D::set_avoidance_mask(uint32_t p_mask) {
avoidance_mask = p_mask;
NavigationServer2D::get_singleton()->agent_set_avoidance_mask(get_rid(), p_mask);
}
uint32_t NavigationAgent2D::get_avoidance_mask() const {
return avoidance_mask;
}
void NavigationAgent2D::set_avoidance_layer_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Avoidance layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Avoidance layer number must be between 1 and 32 inclusive.");
uint32_t avoidance_layers_new = get_avoidance_layers();
if (p_value) {
avoidance_layers_new |= 1 << (p_layer_number - 1);
} else {
avoidance_layers_new &= ~(1 << (p_layer_number - 1));
}
set_avoidance_layers(avoidance_layers_new);
}
bool NavigationAgent2D::get_avoidance_layer_value(int p_layer_number) const {
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Avoidance layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Avoidance layer number must be between 1 and 32 inclusive.");
return get_avoidance_layers() & (1 << (p_layer_number - 1));
}
void NavigationAgent2D::set_avoidance_mask_value(int p_mask_number, bool p_value) {
ERR_FAIL_COND_MSG(p_mask_number < 1, "Avoidance mask number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_mask_number > 32, "Avoidance mask number must be between 1 and 32 inclusive.");
uint32_t mask = get_avoidance_mask();
if (p_value) {
mask |= 1 << (p_mask_number - 1);
} else {
mask &= ~(1 << (p_mask_number - 1));
}
set_avoidance_mask(mask);
}
bool NavigationAgent2D::get_avoidance_mask_value(int p_mask_number) const {
ERR_FAIL_COND_V_MSG(p_mask_number < 1, false, "Avoidance mask number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_mask_number > 32, false, "Avoidance mask number must be between 1 and 32 inclusive.");
return get_avoidance_mask() & (1 << (p_mask_number - 1));
}
void NavigationAgent2D::set_avoidance_priority(real_t p_priority) {
ERR_FAIL_COND_MSG(p_priority < 0.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
ERR_FAIL_COND_MSG(p_priority > 1.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
avoidance_priority = p_priority;
NavigationServer2D::get_singleton()->agent_set_avoidance_priority(get_rid(), p_priority);
}
real_t NavigationAgent2D::get_avoidance_priority() const {
return avoidance_priority;
}
////////DEBUG////////////////////////////////////////////////////////////
void NavigationAgent2D::set_debug_enabled(bool p_enabled) {
#ifdef DEBUG_ENABLED
if (debug_enabled == p_enabled) {
return;
}
debug_enabled = p_enabled;
debug_path_dirty = true;
#endif // DEBUG_ENABLED
}
bool NavigationAgent2D::get_debug_enabled() const {
return debug_enabled;
}
void NavigationAgent2D::set_debug_use_custom(bool p_enabled) {
#ifdef DEBUG_ENABLED
if (debug_use_custom == p_enabled) {
return;
}
debug_use_custom = p_enabled;
debug_path_dirty = true;
#endif // DEBUG_ENABLED
}
bool NavigationAgent2D::get_debug_use_custom() const {
return debug_use_custom;
}
void NavigationAgent2D::set_debug_path_custom_color(Color p_color) {
#ifdef DEBUG_ENABLED
if (debug_path_custom_color == p_color) {
return;
}
debug_path_custom_color = p_color;
debug_path_dirty = true;
#endif // DEBUG_ENABLED
}
Color NavigationAgent2D::get_debug_path_custom_color() const {
return debug_path_custom_color;
}
void NavigationAgent2D::set_debug_path_custom_point_size(float p_point_size) {
#ifdef DEBUG_ENABLED
if (Math::is_equal_approx(debug_path_custom_point_size, p_point_size)) {
return;
}
debug_path_custom_point_size = MAX(0.0, p_point_size);
debug_path_dirty = true;
#endif // DEBUG_ENABLED
}
float NavigationAgent2D::get_debug_path_custom_point_size() const {
return debug_path_custom_point_size;
}
void NavigationAgent2D::set_debug_path_custom_line_width(float p_line_width) {
#ifdef DEBUG_ENABLED
if (Math::is_equal_approx(debug_path_custom_line_width, p_line_width)) {
return;
}
debug_path_custom_line_width = p_line_width;
debug_path_dirty = true;
#endif // DEBUG_ENABLED
}
float NavigationAgent2D::get_debug_path_custom_line_width() const {
return debug_path_custom_line_width;
}
#ifdef DEBUG_ENABLED
void NavigationAgent2D::_navigation_debug_changed() {
debug_path_dirty = true;
}
void NavigationAgent2D::_update_debug_path() {
if (!debug_path_dirty) {
return;
}
debug_path_dirty = false;
if (!debug_path_instance.is_valid()) {
debug_path_instance = RenderingServer::get_singleton()->canvas_item_create();
}
RenderingServer::get_singleton()->canvas_item_clear(debug_path_instance);
if (!(debug_enabled && NavigationServer2D::get_singleton()->get_debug_navigation_enable_agent_paths())) {
return;
}
if (!(agent_parent && agent_parent->is_inside_tree())) {
return;
}
RenderingServer::get_singleton()->canvas_item_set_parent(debug_path_instance, agent_parent->get_canvas());
RenderingServer::get_singleton()->canvas_item_set_z_index(debug_path_instance, RS::CANVAS_ITEM_Z_MAX - 1);
RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, agent_parent->is_visible_in_tree());
const Vector<Vector2> &navigation_path = navigation_result->get_path();
if (navigation_path.size() <= 1) {
return;
}
Color debug_path_color = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_color();
if (debug_use_custom) {
debug_path_color = debug_path_custom_color;
}
Vector<Color> debug_path_colors;
debug_path_colors.resize(navigation_path.size());
debug_path_colors.fill(debug_path_color);
RenderingServer::get_singleton()->canvas_item_add_polyline(debug_path_instance, navigation_path, debug_path_colors, debug_path_custom_line_width, false);
if (debug_path_custom_point_size <= 0.0) {
return;
}
float point_size = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_point_size();
float half_point_size = point_size * 0.5;
if (debug_use_custom) {
point_size = debug_path_custom_point_size;
half_point_size = debug_path_custom_point_size * 0.5;
}
for (int i = 0; i < navigation_path.size(); i++) {
const Vector2 &vert = navigation_path[i];
Rect2 path_point_rect = Rect2(vert.x - half_point_size, vert.y - half_point_size, point_size, point_size);
RenderingServer::get_singleton()->canvas_item_add_rect(debug_path_instance, path_point_rect, debug_path_color);
}
}
#endif // DEBUG_ENABLED
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