diff options
Diffstat (limited to 'scene/2d/navigation_agent_2d.cpp')
| -rw-r--r-- | scene/2d/navigation_agent_2d.cpp | 222 |
1 files changed, 182 insertions, 40 deletions
diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp index d101cac4eb..936244fdb1 100644 --- a/scene/2d/navigation_agent_2d.cpp +++ b/scene/2d/navigation_agent_2d.cpp @@ -56,8 +56,11 @@ void NavigationAgent2D::_bind_methods() { 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", "time_horizon"), &NavigationAgent2D::set_time_horizon); - ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent2D::get_time_horizon); + 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); @@ -87,9 +90,16 @@ void NavigationAgent2D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent2D::get_target_position); ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent2D::get_next_path_position); - ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent2D::distance_to_target); + + 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); @@ -99,6 +109,17 @@ void NavigationAgent2D::_bind_methods() { 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"); @@ -111,11 +132,16 @@ void NavigationAgent2D::_bind_methods() { ADD_GROUP("Avoidance", ""); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,500,0.01,or_greater,suffix:px"), "set_radius", "get_radius"); + 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,or_greater,1"), "set_max_neighbors", "get_max_neighbors"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10,0.01,or_greater,suffix:s"), "set_time_horizon", "get_time_horizon"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01,or_greater,suffix:px/s"), "set_max_speed", "get_max_speed"); + 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); @@ -143,6 +169,34 @@ void NavigationAgent2D::_bind_methods() { 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: { @@ -151,11 +205,16 @@ void NavigationAgent2D::_notification(int p_what) { 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: { @@ -208,10 +267,18 @@ void NavigationAgent2D::_notification(int p_what) { case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { if (agent_parent && target_position_submitted) { - if (avoidance_enabled) { - // agent_position on NavigationServer is avoidance only and has nothing to do with pathfinding - // no point in flooding NavigationServer queue with agent position updates that get send to the void if avoidance is not used - NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position()); + if (velocity_submitted) { + velocity_submitted = false; + if (avoidance_enabled) { + NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position()); + 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); + } } _check_distance_to_target(); } @@ -226,9 +293,11 @@ void NavigationAgent2D::_notification(int p_what) { 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(agent, time_horizon); + 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); @@ -239,6 +308,11 @@ NavigationAgent2D::NavigationAgent2D() { navigation_result = Ref<NavigationPathQueryResult2D>(); navigation_result.instantiate(); + set_avoidance_layers(avoidance_layers); + set_avoidance_mask(avoidance_mask); + set_avoidance_priority(avoidance_priority); + set_avoidance_enabled(avoidance_enabled); + #ifdef DEBUG_ENABLED NavigationServer2D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed)); #endif // DEBUG_ENABLED @@ -267,9 +341,11 @@ void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) { avoidance_enabled = p_enabled; if (avoidance_enabled) { - NavigationServer2D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done)); + 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_callback(agent, Callable()); + NavigationServer2D::get_singleton()->agent_set_avoidance_enabled(agent, false); + NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, Callable()); } } @@ -283,7 +359,7 @@ void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) { } // remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map - NavigationServer2D::get_singleton()->agent_set_callback(agent, Callable()); + 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 @@ -296,7 +372,7 @@ void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) { // create new avoidance callback if enabled if (avoidance_enabled) { - NavigationServer2D::get_singleton()->agent_set_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done)); + NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done)); } } else { agent_parent = nullptr; @@ -401,6 +477,7 @@ void NavigationAgent2D::set_target_desired_distance(real_t p_target_desired_dist } 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; } @@ -430,21 +507,29 @@ void NavigationAgent2D::set_max_neighbors(int p_count) { NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors); } -void NavigationAgent2D::set_time_horizon(real_t p_time) { - if (Math::is_equal_approx(time_horizon, p_time)) { +void NavigationAgent2D::set_time_horizon_agents(real_t p_time_horizon) { + ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion 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); +} - time_horizon = p_time; - - NavigationServer2D::get_singleton()->agent_set_time_horizon(agent, time_horizon); +void NavigationAgent2D::set_time_horizon_obstacles(real_t p_time_horizon) { + ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion 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); @@ -516,29 +601,24 @@ Vector2 NavigationAgent2D::get_final_position() { return navigation_path[navigation_path.size() - 1]; } -void NavigationAgent2D::set_velocity(Vector2 p_velocity) { +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. - target_velocity = p_velocity; - velocity_submitted = true; + velocity_forced = p_velocity; + velocity_forced_submitted = true; +} - NavigationServer2D::get_singleton()->agent_set_target_velocity(agent, target_velocity); - NavigationServer2D::get_singleton()->agent_set_velocity(agent, prev_safe_velocity); +void NavigationAgent2D::set_velocity(const Vector2 p_velocity) { + velocity = p_velocity; + velocity_submitted = true; } void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) { - const Vector2 velocity = Vector2(p_new_velocity.x, p_new_velocity.z); - prev_safe_velocity = velocity; - - if (!velocity_submitted) { - target_velocity = Vector2(); - return; - } - velocity_submitted = false; - - emit_signal(SNAME("velocity_computed"), 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 { @@ -561,9 +641,6 @@ void NavigationAgent2D::update_navigation() { if (!target_position_submitted) { return; } - if (update_frame_id == Engine::get_singleton()->get_physics_frames()) { - return; - } update_frame_id = Engine::get_singleton()->get_physics_frames(); @@ -709,6 +786,71 @@ void NavigationAgent2D::_check_distance_to_target() { } } +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) { |