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310 lines
13 KiB
C++
310 lines
13 KiB
C++
/**************************************************************************/
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/* navigation_obstacle_2d.cpp */
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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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#include "navigation_obstacle_2d.h"
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#include "core/math/geometry_2d.h"
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#include "scene/resources/world_2d.h"
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#include "servers/navigation_server_2d.h"
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#include "servers/navigation_server_3d.h"
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void NavigationObstacle2D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("get_obstacle_rid"), &NavigationObstacle2D::get_obstacle_rid);
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ClassDB::bind_method(D_METHOD("get_agent_rid"), &NavigationObstacle2D::get_agent_rid);
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ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationObstacle2D::set_navigation_map);
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ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationObstacle2D::get_navigation_map);
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ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle2D::set_radius);
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ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle2D::get_radius);
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ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationObstacle2D::set_velocity);
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ClassDB::bind_method(D_METHOD("get_velocity"), &NavigationObstacle2D::get_velocity);
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ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationObstacle2D::set_vertices);
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ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationObstacle2D::get_vertices);
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ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationObstacle2D::set_avoidance_layers);
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ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationObstacle2D::get_avoidance_layers);
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ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationObstacle2D::set_avoidance_layer_value);
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ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationObstacle2D::get_avoidance_layer_value);
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ADD_GROUP("Avoidance", "avoidance_");
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ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.0,500,0.01,suffix:px"), "set_radius", "get_radius");
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ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR2_ARRAY, "vertices"), "set_vertices", "get_vertices");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers");
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}
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void NavigationObstacle2D::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_POST_ENTER_TREE: {
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if (map_override.is_valid()) {
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_update_map(map_override);
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} else if (is_inside_tree()) {
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_update_map(get_world_2d()->get_navigation_map());
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} else {
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_update_map(RID());
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}
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previous_transform = get_global_transform();
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// need to trigger map controlled agent assignment somehow for the fake_agent since obstacles use no callback like regular agents
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NavigationServer2D::get_singleton()->agent_set_avoidance_enabled(fake_agent, radius > 0);
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_update_position(get_global_transform().get_origin());
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set_physics_process_internal(true);
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} break;
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case NOTIFICATION_EXIT_TREE: {
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set_physics_process_internal(false);
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_update_map(RID());
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} break;
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case NOTIFICATION_PAUSED: {
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if (!can_process()) {
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map_before_pause = map_current;
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_update_map(RID());
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} else if (can_process() && !(map_before_pause == RID())) {
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_update_map(map_before_pause);
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map_before_pause = RID();
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}
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} break;
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case NOTIFICATION_UNPAUSED: {
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if (!can_process()) {
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map_before_pause = map_current;
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_update_map(RID());
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} else if (can_process() && !(map_before_pause == RID())) {
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_update_map(map_before_pause);
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map_before_pause = RID();
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}
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} break;
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case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
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if (is_inside_tree()) {
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_update_position(get_global_transform().get_origin());
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if (velocity_submitted) {
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velocity_submitted = false;
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// only update if there is a noticeable change, else the rvo agent preferred velocity stays the same
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if (!previous_velocity.is_equal_approx(velocity)) {
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NavigationServer2D::get_singleton()->agent_set_velocity(fake_agent, velocity);
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}
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previous_velocity = velocity;
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}
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}
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} break;
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case NOTIFICATION_DRAW: {
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#ifdef DEBUG_ENABLED
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if (is_inside_tree()) {
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bool is_debug_enabled = false;
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if (Engine::get_singleton()->is_editor_hint()) {
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is_debug_enabled = true;
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} else if (NavigationServer2D::get_singleton()->get_debug_enabled() && NavigationServer2D::get_singleton()->get_debug_avoidance_enabled()) {
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is_debug_enabled = true;
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}
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if (is_debug_enabled) {
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_update_fake_agent_radius_debug();
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_update_static_obstacle_debug();
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}
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}
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#endif // DEBUG_ENABLED
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} break;
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}
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}
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NavigationObstacle2D::NavigationObstacle2D() {
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obstacle = NavigationServer2D::get_singleton()->obstacle_create();
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fake_agent = NavigationServer2D::get_singleton()->agent_create();
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// change properties of the fake agent so it can act as fake obstacle with a radius
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NavigationServer2D::get_singleton()->agent_set_neighbor_distance(fake_agent, 0.0);
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NavigationServer2D::get_singleton()->agent_set_max_neighbors(fake_agent, 0);
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NavigationServer2D::get_singleton()->agent_set_time_horizon_agents(fake_agent, 0.0);
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NavigationServer2D::get_singleton()->agent_set_time_horizon_obstacles(fake_agent, 0.0);
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NavigationServer2D::get_singleton()->agent_set_max_speed(fake_agent, 0.0);
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NavigationServer2D::get_singleton()->agent_set_avoidance_mask(fake_agent, 0);
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NavigationServer2D::get_singleton()->agent_set_avoidance_priority(fake_agent, 1.0);
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NavigationServer2D::get_singleton()->agent_set_avoidance_enabled(fake_agent, radius > 0);
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set_radius(radius);
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set_vertices(vertices);
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set_avoidance_layers(avoidance_layers);
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}
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NavigationObstacle2D::~NavigationObstacle2D() {
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ERR_FAIL_NULL(NavigationServer2D::get_singleton());
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NavigationServer2D::get_singleton()->free(obstacle);
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obstacle = RID();
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NavigationServer2D::get_singleton()->free(fake_agent);
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fake_agent = RID();
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}
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void NavigationObstacle2D::set_vertices(const Vector<Vector2> &p_vertices) {
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vertices = p_vertices;
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NavigationServer2D::get_singleton()->obstacle_set_vertices(obstacle, vertices);
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if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint())) {
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queue_redraw();
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}
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}
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void NavigationObstacle2D::set_navigation_map(RID p_navigation_map) {
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if (map_override == p_navigation_map) {
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return;
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}
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map_override = p_navigation_map;
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_update_map(map_override);
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}
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RID NavigationObstacle2D::get_navigation_map() const {
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if (map_override.is_valid()) {
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return map_override;
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} else if (is_inside_tree()) {
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return get_world_2d()->get_navigation_map();
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}
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return RID();
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}
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void NavigationObstacle2D::set_radius(real_t p_radius) {
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ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
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if (Math::is_equal_approx(radius, p_radius)) {
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return;
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}
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radius = p_radius;
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NavigationServer2D::get_singleton()->agent_set_avoidance_enabled(fake_agent, radius > 0.0);
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NavigationServer2D::get_singleton()->agent_set_radius(fake_agent, radius);
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if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint())) {
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queue_redraw();
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}
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}
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void NavigationObstacle2D::set_avoidance_layers(uint32_t p_layers) {
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avoidance_layers = p_layers;
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NavigationServer2D::get_singleton()->obstacle_set_avoidance_layers(obstacle, avoidance_layers);
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NavigationServer2D::get_singleton()->agent_set_avoidance_layers(fake_agent, avoidance_layers);
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}
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uint32_t NavigationObstacle2D::get_avoidance_layers() const {
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return avoidance_layers;
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}
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void NavigationObstacle2D::set_avoidance_layer_value(int p_layer_number, bool p_value) {
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ERR_FAIL_COND_MSG(p_layer_number < 1, "Avoidance layer number must be between 1 and 32 inclusive.");
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ERR_FAIL_COND_MSG(p_layer_number > 32, "Avoidance layer number must be between 1 and 32 inclusive.");
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uint32_t avoidance_layers_new = get_avoidance_layers();
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if (p_value) {
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avoidance_layers_new |= 1 << (p_layer_number - 1);
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} else {
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avoidance_layers_new &= ~(1 << (p_layer_number - 1));
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}
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set_avoidance_layers(avoidance_layers_new);
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}
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bool NavigationObstacle2D::get_avoidance_layer_value(int p_layer_number) const {
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ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Avoidance layer number must be between 1 and 32 inclusive.");
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ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Avoidance layer number must be between 1 and 32 inclusive.");
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return get_avoidance_layers() & (1 << (p_layer_number - 1));
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}
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void NavigationObstacle2D::set_velocity(const Vector2 p_velocity) {
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velocity = p_velocity;
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velocity_submitted = true;
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}
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void NavigationObstacle2D::_update_map(RID p_map) {
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NavigationServer2D::get_singleton()->obstacle_set_map(obstacle, p_map);
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NavigationServer2D::get_singleton()->agent_set_map(fake_agent, p_map);
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map_current = p_map;
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}
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void NavigationObstacle2D::_update_position(const Vector2 p_position) {
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if (vertices.size() > 0) {
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NavigationServer2D::get_singleton()->obstacle_set_position(obstacle, p_position);
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}
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if (radius > 0.0) {
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NavigationServer2D::get_singleton()->agent_set_position(fake_agent, p_position);
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}
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}
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#ifdef DEBUG_ENABLED
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void NavigationObstacle2D::_update_fake_agent_radius_debug() {
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if (radius > 0.0 && NavigationServer2D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_radius()) {
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Color debug_radius_color = NavigationServer2D::get_singleton()->get_debug_navigation_avoidance_obstacles_radius_color();
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draw_circle(get_global_transform().get_origin(), radius, debug_radius_color);
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}
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}
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#endif // DEBUG_ENABLED
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#ifdef DEBUG_ENABLED
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void NavigationObstacle2D::_update_static_obstacle_debug() {
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if (get_vertices().size() > 2 && NavigationServer2D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_static()) {
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bool obstacle_pushes_inward = Geometry2D::is_polygon_clockwise(get_vertices());
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Color debug_static_obstacle_face_color;
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if (obstacle_pushes_inward) {
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debug_static_obstacle_face_color = NavigationServer2D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushin_face_color();
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} else {
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debug_static_obstacle_face_color = NavigationServer2D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushout_face_color();
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}
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Vector<Vector2> debug_obstacle_polygon_vertices = get_vertices();
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Vector<Color> debug_obstacle_polygon_colors;
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debug_obstacle_polygon_colors.resize(debug_obstacle_polygon_vertices.size());
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debug_obstacle_polygon_colors.fill(debug_static_obstacle_face_color);
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RS::get_singleton()->canvas_item_add_polygon(get_canvas_item(), debug_obstacle_polygon_vertices, debug_obstacle_polygon_colors);
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Color debug_static_obstacle_edge_color;
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if (obstacle_pushes_inward) {
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debug_static_obstacle_edge_color = NavigationServer2D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushin_edge_color();
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} else {
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debug_static_obstacle_edge_color = NavigationServer2D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushout_edge_color();
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}
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Vector<Vector2> debug_obstacle_line_vertices = get_vertices();
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debug_obstacle_line_vertices.push_back(debug_obstacle_line_vertices[0]);
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debug_obstacle_line_vertices.resize(debug_obstacle_line_vertices.size());
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Vector<Color> debug_obstacle_line_colors;
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debug_obstacle_line_colors.resize(debug_obstacle_line_vertices.size());
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debug_obstacle_line_colors.fill(debug_static_obstacle_edge_color);
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RS::get_singleton()->canvas_item_add_polyline(get_canvas_item(), debug_obstacle_line_vertices, debug_obstacle_line_colors, 4.0);
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}
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}
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#endif // DEBUG_ENABLED
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