1/**************************************************************************/
2/* nav_agent.h */
3/**************************************************************************/
4/* This file is part of: */
5/* GODOT ENGINE */
6/* https://godotengine.org */
7/**************************************************************************/
8/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
10/* */
11/* Permission is hereby granted, free of charge, to any person obtaining */
12/* a copy of this software and associated documentation files (the */
13/* "Software"), to deal in the Software without restriction, including */
14/* without limitation the rights to use, copy, modify, merge, publish, */
15/* distribute, sublicense, and/or sell copies of the Software, and to */
16/* permit persons to whom the Software is furnished to do so, subject to */
17/* the following conditions: */
18/* */
19/* The above copyright notice and this permission notice shall be */
20/* included in all copies or substantial portions of the Software. */
21/* */
22/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
23/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
24/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
25/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
26/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
27/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
28/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
29/**************************************************************************/
30
31#ifndef NAV_AGENT_H
32#define NAV_AGENT_H
33
34#include "nav_agent.h"
35#include "nav_rid.h"
36
37#include "core/object/class_db.h"
38#include "core/templates/local_vector.h"
39
40#include <Agent2d.h>
41#include <Agent3d.h>
42
43class NavMap;
44
45class NavAgent : public NavRid {
46 Vector3 position;
47 Vector3 target_position;
48 Vector3 velocity;
49 Vector3 velocity_forced;
50 real_t height = 1.0;
51 real_t radius = 1.0;
52 real_t max_speed = 1.0;
53 real_t time_horizon_agents = 1.0;
54 real_t time_horizon_obstacles = 0.0;
55 int max_neighbors = 5;
56 real_t neighbor_distance = 5.0;
57 Vector3 safe_velocity;
58 bool clamp_speed = true; // Experimental, clamps velocity to max_speed.
59
60 NavMap *map = nullptr;
61
62 RVO2D::Agent2D rvo_agent_2d;
63 RVO3D::Agent3D rvo_agent_3d;
64 bool use_3d_avoidance = false;
65 bool avoidance_enabled = false;
66
67 uint32_t avoidance_layers = 1;
68 uint32_t avoidance_mask = 1;
69 real_t avoidance_priority = 1.0;
70
71 Callable avoidance_callback = Callable();
72
73 bool agent_dirty = true;
74
75 uint32_t map_update_id = 0;
76 bool paused = false;
77
78public:
79 NavAgent();
80
81 void set_avoidance_enabled(bool p_enabled);
82 bool is_avoidance_enabled() { return avoidance_enabled; }
83
84 void set_use_3d_avoidance(bool p_enabled);
85 bool get_use_3d_avoidance() { return use_3d_avoidance; }
86
87 void set_map(NavMap *p_map);
88 NavMap *get_map() { return map; }
89
90 bool is_map_changed();
91
92 RVO2D::Agent2D *get_rvo_agent_2d() { return &rvo_agent_2d; }
93 RVO3D::Agent3D *get_rvo_agent_3d() { return &rvo_agent_3d; }
94
95 void set_avoidance_callback(Callable p_callback);
96 bool has_avoidance_callback() const;
97
98 void dispatch_avoidance_callback();
99
100 void set_neighbor_distance(real_t p_neighbor_distance);
101 real_t get_neighbor_distance() const { return neighbor_distance; }
102
103 void set_max_neighbors(int p_max_neighbors);
104 int get_max_neighbors() const { return max_neighbors; }
105
106 void set_time_horizon_agents(real_t p_time_horizon);
107 real_t get_time_horizon_agents() const { return time_horizon_agents; }
108
109 void set_time_horizon_obstacles(real_t p_time_horizon);
110 real_t get_time_horizon_obstacles() const { return time_horizon_obstacles; }
111
112 void set_radius(real_t p_radius);
113 real_t get_radius() const { return radius; }
114
115 void set_height(real_t p_height);
116 real_t get_height() const { return height; }
117
118 void set_max_speed(real_t p_max_speed);
119 real_t get_max_speed() const { return max_speed; }
120
121 void set_position(const Vector3 p_position);
122 const Vector3 &get_position() const { return position; }
123
124 void set_target_position(const Vector3 p_target_position);
125 const Vector3 &get_target_position() const { return target_position; }
126
127 void set_velocity(const Vector3 p_velocity);
128 const Vector3 &get_velocity() const { return velocity; }
129
130 void set_velocity_forced(const Vector3 p_velocity);
131 const Vector3 &get_velocity_forced() const { return velocity_forced; }
132
133 void set_avoidance_layers(uint32_t p_layers);
134 uint32_t get_avoidance_layers() const { return avoidance_layers; };
135
136 void set_avoidance_mask(uint32_t p_mask);
137 uint32_t get_avoidance_mask() const { return avoidance_mask; };
138
139 void set_avoidance_priority(real_t p_priority);
140 real_t get_avoidance_priority() const { return avoidance_priority; };
141
142 void set_paused(bool p_paused);
143 bool get_paused() const;
144
145 bool check_dirty();
146
147 // Updates this agent with rvo data after the rvo simulation avoidance step.
148 void update();
149
150 // RVO debug data from the last frame update.
151 const Dictionary get_avoidance_data() const;
152
153private:
154 void _update_rvo_agent_properties();
155};
156
157#endif // NAV_AGENT_H
158