diff options
Diffstat (limited to 'scene/3d/navigation_agent_3d.cpp')
| -rw-r--r-- | scene/3d/navigation_agent_3d.cpp | 212 |
1 files changed, 150 insertions, 62 deletions
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp index 3752713d6a..0034bf78b9 100644 --- a/scene/3d/navigation_agent_3d.cpp +++ b/scene/3d/navigation_agent_3d.cpp @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* navigation_agent_3d.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ -/* */ -/* 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. */ -/*************************************************************************/ +/**************************************************************************/ +/* navigation_agent_3d.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, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #include "navigation_agent_3d.h" @@ -53,8 +53,8 @@ void NavigationAgent3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent3D::set_ignore_y); ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent3D::get_ignore_y); - ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent3D::set_neighbor_dist); - ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent3D::get_neighbor_dist); + ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent3D::set_neighbor_distance); + ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent3D::get_neighbor_distance); ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent3D::set_max_neighbors); ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent3D::get_max_neighbors); @@ -74,16 +74,21 @@ void NavigationAgent3D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent3D::set_navigation_layer_value); ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent3D::get_navigation_layer_value); + ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent3D::set_path_metadata_flags); + ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent3D::get_path_metadata_flags); + ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent3D::set_navigation_map); ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent3D::get_navigation_map); ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent3D::set_target_location); ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent3D::get_target_location); + ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent3D::get_next_location); ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent3D::distance_to_target); ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent3D::set_velocity); - ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent3D::get_nav_path); - ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent3D::get_nav_path_index); + ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent3D::get_current_navigation_result); + ClassDB::bind_method(D_METHOD("get_current_navigation_path"), &NavigationAgent3D::get_current_navigation_path); + ClassDB::bind_method(D_METHOD("get_current_navigation_path_index"), &NavigationAgent3D::get_current_navigation_path_index); ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent3D::is_target_reached); ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent3D::is_target_reachable); ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent3D::is_navigation_finished); @@ -92,16 +97,18 @@ void NavigationAgent3D::_bind_methods() { ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent3D::_avoidance_done); ADD_GROUP("Pathfinding", ""); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_location", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_target_location", "get_target_location"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,suffix:m"), "set_path_desired_distance", "get_path_desired_distance"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01,suffix:m"), "set_target_desired_distance", "get_target_desired_distance"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01,suffix:m"), "set_agent_height_offset", "get_agent_height_offset"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1,suffix:m"), "set_path_max_distance", "get_path_max_distance"); ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers"); + 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_GROUP("Avoidance", ""); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,100,0.01,suffix:m"), "set_radius", "get_radius"); - ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m"), "set_neighbor_dist", "get_neighbor_dist"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m"), "set_neighbor_distance", "get_neighbor_distance"); ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1"), "set_max_neighbors", "get_max_neighbors"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.01,100,0.01,suffix:s"), "set_time_horizon", "get_time_horizon"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m/s"), "set_max_speed", "get_max_speed"); @@ -109,6 +116,8 @@ void NavigationAgent3D::_bind_methods() { 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::VECTOR3, "safe_velocity"))); } @@ -165,7 +174,7 @@ void NavigationAgent3D::_notification(int p_what) { } break; case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { - if (agent_parent) { + 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 @@ -179,15 +188,23 @@ void NavigationAgent3D::_notification(int p_what) { NavigationAgent3D::NavigationAgent3D() { agent = NavigationServer3D::get_singleton()->agent_create(); - set_neighbor_dist(50.0); + set_neighbor_distance(50.0); set_max_neighbors(10); set_time_horizon(5.0); set_radius(1.0); set_max_speed(10.0); set_ignore_y(true); + + // Preallocate query and result objects to improve performance. + navigation_query = Ref<NavigationPathQueryParameters3D>(); + navigation_query.instantiate(); + + navigation_result = Ref<NavigationPathQueryResult3D>(); + navigation_result.instantiate(); } NavigationAgent3D::~NavigationAgent3D() { + ERR_FAIL_NULL(NavigationServer3D::get_singleton()); NavigationServer3D::get_singleton()->free(agent); agent = RID(); // Pointless } @@ -195,9 +212,9 @@ NavigationAgent3D::~NavigationAgent3D() { void NavigationAgent3D::set_avoidance_enabled(bool p_enabled) { avoidance_enabled = p_enabled; if (avoidance_enabled) { - NavigationServer3D::get_singleton()->agent_set_callback(agent, this, "_avoidance_done"); + NavigationServer3D::get_singleton()->agent_set_callback(agent, get_instance_id(), "_avoidance_done"); } else { - NavigationServer3D::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done"); + NavigationServer3D::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done"); } } @@ -207,7 +224,7 @@ bool NavigationAgent3D::get_avoidance_enabled() const { void NavigationAgent3D::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 - NavigationServer3D::get_singleton()->agent_set_callback(agent, nullptr, "_avoidance_done"); + NavigationServer3D::get_singleton()->agent_set_callback(agent, ObjectID(), "_avoidance_done"); if (Object::cast_to<Node3D>(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<Node3D>(p_agent_parent); @@ -254,6 +271,14 @@ bool NavigationAgent3D::get_navigation_layer_value(int p_layer_number) const { return get_navigation_layers() & (1 << (p_layer_number - 1)); } +void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_path_metadata_flags) { + if (path_metadata_flags == p_path_metadata_flags) { + return; + } + + path_metadata_flags = p_path_metadata_flags; +} + void NavigationAgent3D::set_navigation_map(RID p_navigation_map) { map_override = p_navigation_map; NavigationServer3D::get_singleton()->agent_set_map(agent, map_override); @@ -291,9 +316,9 @@ void NavigationAgent3D::set_ignore_y(bool p_ignore_y) { NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y); } -void NavigationAgent3D::set_neighbor_dist(real_t p_dist) { - neighbor_dist = p_dist; - NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist); +void NavigationAgent3D::set_neighbor_distance(real_t p_distance) { + neighbor_distance = p_distance; + NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance); } void NavigationAgent3D::set_max_neighbors(int p_count) { @@ -321,6 +346,7 @@ real_t NavigationAgent3D::get_path_max_distance() { void NavigationAgent3D::set_target_location(Vector3 p_location) { target_location = p_location; + target_position_submitted = true; _request_repath(); } @@ -330,11 +356,13 @@ Vector3 NavigationAgent3D::get_target_location() const { Vector3 NavigationAgent3D::get_next_location() { update_navigation(); + + const Vector<Vector3> &navigation_path = navigation_result->get_path(); if (navigation_path.size() == 0) { ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent."); return agent_parent->get_global_transform().origin; } else { - return navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0); + return navigation_path[navigation_path_index] - Vector3(0, navigation_height_offset, 0); } } @@ -358,6 +386,8 @@ bool NavigationAgent3D::is_navigation_finished() { Vector3 NavigationAgent3D::get_final_location() { update_navigation(); + + const Vector<Vector3> &navigation_path = navigation_result->get_path(); if (navigation_path.size() == 0) { return Vector3(); } @@ -383,8 +413,8 @@ void NavigationAgent3D::_avoidance_done(Vector3 p_new_velocity) { emit_signal(SNAME("velocity_computed"), p_new_velocity); } -TypedArray<String> NavigationAgent3D::get_configuration_warnings() const { - TypedArray<String> warnings = Node::get_configuration_warnings(); +PackedStringArray NavigationAgent3D::get_configuration_warnings() const { + PackedStringArray warnings = Node::get_configuration_warnings(); if (!Object::cast_to<Node3D>(get_parent())) { warnings.push_back(RTR("The NavigationAgent3D can be used only under a Node3D inheriting parent node.")); @@ -400,30 +430,35 @@ void NavigationAgent3D::update_navigation() { if (!agent_parent->is_inside_tree()) { return; } + 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(); - Vector3 o = agent_parent->get_global_transform().origin; + Vector3 origin = agent_parent->get_global_transform().origin; bool reload_path = false; if (NavigationServer3D::get_singleton()->agent_is_map_changed(agent)) { reload_path = true; - } else if (navigation_path.size() == 0) { + } else if (navigation_result->get_path().size() == 0) { reload_path = true; } else { // Check if too far from the navigation path - if (nav_path_index > 0) { + if (navigation_path_index > 0) { + const Vector<Vector3> &navigation_path = navigation_result->get_path(); + Vector3 segment[2]; - segment[0] = navigation_path[nav_path_index - 1]; - segment[1] = navigation_path[nav_path_index]; + segment[0] = navigation_path[navigation_path_index - 1]; + segment[1] = navigation_path[navigation_path_index]; segment[0].y -= navigation_height_offset; segment[1].y -= navigation_height_offset; - Vector3 p = Geometry3D::get_closest_point_to_segment(o, segment); - if (o.distance_to(p) >= path_max_distance) { + Vector3 p = Geometry3D::get_closest_point_to_segment(origin, segment); + if (origin.distance_to(p) >= path_max_distance) { // To faraway, reload path reload_path = true; } @@ -431,29 +466,82 @@ void NavigationAgent3D::update_navigation() { } if (reload_path) { + navigation_query->set_start_position(origin); + navigation_query->set_target_position(target_location); + navigation_query->set_navigation_layers(navigation_layers); + navigation_query->set_metadata_flags(path_metadata_flags); + if (map_override.is_valid()) { - navigation_path = NavigationServer3D::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers); + navigation_query->set_map(map_override); } else { - navigation_path = NavigationServer3D::get_singleton()->map_get_path(agent_parent->get_world_3d()->get_navigation_map(), o, target_location, true, navigation_layers); + navigation_query->set_map(agent_parent->get_world_3d()->get_navigation_map()); } + + NavigationServer3D::get_singleton()->query_path(navigation_query, navigation_result); navigation_finished = false; - nav_path_index = 0; + navigation_path_index = 0; emit_signal(SNAME("path_changed")); } - if (navigation_path.size() == 0) { + if (navigation_result->get_path().size() == 0) { return; } // Check if we can advance the navigation path if (navigation_finished == false) { // Advances to the next far away location. - while (o.distance_to(navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) { - nav_path_index += 1; - if (nav_path_index == navigation_path.size()) { + const Vector<Vector3> &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(); + + while (origin.distance_to(navigation_path[navigation_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) { + Dictionary details; + + const Vector3 waypoint = navigation_path[navigation_path_index]; + details[SNAME("location")] = waypoint; + + int waypoint_type = -1; + if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_TYPES)) { + const NavigationPathQueryResult3D::PathSegmentType type = NavigationPathQueryResult3D::PathSegmentType(navigation_path_types[navigation_path_index]); + + details[SNAME("type")] = type; + waypoint_type = type; + } + + if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_RIDS)) { + details[SNAME("rid")] = navigation_path_rids[navigation_path_index]; + } + + if (path_metadata_flags.has_flag(NavigationPathQueryParameters3D::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; + } + + // 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 == NavigationPathQueryResult3D::PATH_SEGMENT_TYPE_LINK) { + emit_signal(SNAME("link_reached"), details); + } + + // Move to the next waypoint on the list + navigation_path_index += 1; + + // Check to see if we've finished our route + if (navigation_path_index == navigation_path.size()) { _check_distance_to_target(); - nav_path_index -= 1; + navigation_path_index -= 1; navigation_finished = true; + target_position_submitted = false; emit_signal(SNAME("navigation_finished")); break; } @@ -462,7 +550,7 @@ void NavigationAgent3D::update_navigation() { } void NavigationAgent3D::_request_repath() { - navigation_path.clear(); + navigation_result->reset(); target_reached = false; navigation_finished = false; update_frame_id = 0; @@ -471,8 +559,8 @@ void NavigationAgent3D::_request_repath() { void NavigationAgent3D::_check_distance_to_target() { if (!target_reached) { if (distance_to_target() < target_desired_distance) { - emit_signal(SNAME("target_reached")); target_reached = true; + emit_signal(SNAME("target_reached")); } } } |