1/**************************************************************************/
2/* navigation_agent_2d.cpp */
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 */
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17/* the following conditions: */
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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. */
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28/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
29/**************************************************************************/
30
31#include "navigation_agent_2d.h"
32
33#include "core/math/geometry_2d.h"
34#include "scene/2d/navigation_link_2d.h"
35#include "scene/resources/world_2d.h"
36#include "servers/navigation_server_2d.h"
37
38void NavigationAgent2D::_bind_methods() {
39 ClassDB::bind_method(D_METHOD("get_rid"), &NavigationAgent2D::get_rid);
40
41 ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationAgent2D::set_avoidance_enabled);
42 ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationAgent2D::get_avoidance_enabled);
43
44 ClassDB::bind_method(D_METHOD("set_path_desired_distance", "desired_distance"), &NavigationAgent2D::set_path_desired_distance);
45 ClassDB::bind_method(D_METHOD("get_path_desired_distance"), &NavigationAgent2D::get_path_desired_distance);
46
47 ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent2D::set_target_desired_distance);
48 ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent2D::get_target_desired_distance);
49
50 ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent2D::set_radius);
51 ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent2D::get_radius);
52
53 ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent2D::set_neighbor_distance);
54 ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent2D::get_neighbor_distance);
55
56 ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent2D::set_max_neighbors);
57 ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent2D::get_max_neighbors);
58
59 ClassDB::bind_method(D_METHOD("set_time_horizon_agents", "time_horizon"), &NavigationAgent2D::set_time_horizon_agents);
60 ClassDB::bind_method(D_METHOD("get_time_horizon_agents"), &NavigationAgent2D::get_time_horizon_agents);
61
62 ClassDB::bind_method(D_METHOD("set_time_horizon_obstacles", "time_horizon"), &NavigationAgent2D::set_time_horizon_obstacles);
63 ClassDB::bind_method(D_METHOD("get_time_horizon_obstacles"), &NavigationAgent2D::get_time_horizon_obstacles);
64
65 ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent2D::set_max_speed);
66 ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent2D::get_max_speed);
67
68 ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent2D::set_path_max_distance);
69 ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent2D::get_path_max_distance);
70
71 ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationAgent2D::set_navigation_layers);
72 ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationAgent2D::get_navigation_layers);
73
74 ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent2D::set_navigation_layer_value);
75 ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent2D::get_navigation_layer_value);
76
77 ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent2D::set_pathfinding_algorithm);
78 ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent2D::get_pathfinding_algorithm);
79
80 ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent2D::set_path_postprocessing);
81 ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent2D::get_path_postprocessing);
82
83 ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent2D::set_path_metadata_flags);
84 ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent2D::get_path_metadata_flags);
85
86 ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationAgent2D::set_navigation_map);
87 ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationAgent2D::get_navigation_map);
88
89 ClassDB::bind_method(D_METHOD("set_target_position", "position"), &NavigationAgent2D::set_target_position);
90 ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent2D::get_target_position);
91
92 ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent2D::get_next_path_position);
93
94 ClassDB::bind_method(D_METHOD("set_velocity_forced", "velocity"), &NavigationAgent2D::set_velocity_forced);
95
96 ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent2D::set_velocity);
97 ClassDB::bind_method(D_METHOD("get_velocity"), &NavigationAgent2D::get_velocity);
98
99 ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent2D::distance_to_target);
100
101 ClassDB::bind_method(D_METHOD("get_current_navigation_result"), &NavigationAgent2D::get_current_navigation_result);
102
103 ClassDB::bind_method(D_METHOD("get_current_navigation_path"), &NavigationAgent2D::get_current_navigation_path);
104 ClassDB::bind_method(D_METHOD("get_current_navigation_path_index"), &NavigationAgent2D::get_current_navigation_path_index);
105 ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent2D::is_target_reached);
106 ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent2D::is_target_reachable);
107 ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent2D::is_navigation_finished);
108 ClassDB::bind_method(D_METHOD("get_final_position"), &NavigationAgent2D::get_final_position);
109
110 ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent2D::_avoidance_done);
111
112 ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationAgent2D::set_avoidance_layers);
113 ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationAgent2D::get_avoidance_layers);
114 ClassDB::bind_method(D_METHOD("set_avoidance_mask", "mask"), &NavigationAgent2D::set_avoidance_mask);
115 ClassDB::bind_method(D_METHOD("get_avoidance_mask"), &NavigationAgent2D::get_avoidance_mask);
116 ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationAgent2D::set_avoidance_layer_value);
117 ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationAgent2D::get_avoidance_layer_value);
118 ClassDB::bind_method(D_METHOD("set_avoidance_mask_value", "mask_number", "value"), &NavigationAgent2D::set_avoidance_mask_value);
119 ClassDB::bind_method(D_METHOD("get_avoidance_mask_value", "mask_number"), &NavigationAgent2D::get_avoidance_mask_value);
120 ClassDB::bind_method(D_METHOD("set_avoidance_priority", "priority"), &NavigationAgent2D::set_avoidance_priority);
121 ClassDB::bind_method(D_METHOD("get_avoidance_priority"), &NavigationAgent2D::get_avoidance_priority);
122
123 ADD_GROUP("Pathfinding", "");
124 ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "target_position", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_target_position", "get_target_position");
125 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");
126 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");
127 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");
128 ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
129 ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
130 ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
131 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");
132
133 ADD_GROUP("Avoidance", "");
134 ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
135 ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity");
136 ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.01,500,0.01,or_greater,suffix:px"), "set_radius", "get_radius");
137 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");
138 ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1,or_greater"), "set_max_neighbors", "get_max_neighbors");
139 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");
140 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");
141 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");
142 ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers");
143 ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_mask", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_mask", "get_avoidance_mask");
144 ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "avoidance_priority", PROPERTY_HINT_RANGE, "0.0,1.0,0.01"), "set_avoidance_priority", "get_avoidance_priority");
145
146 ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent2D::set_debug_enabled);
147 ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent2D::get_debug_enabled);
148 ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent2D::set_debug_use_custom);
149 ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent2D::get_debug_use_custom);
150 ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent2D::set_debug_path_custom_color);
151 ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent2D::get_debug_path_custom_color);
152 ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent2D::set_debug_path_custom_point_size);
153 ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent2D::get_debug_path_custom_point_size);
154 ClassDB::bind_method(D_METHOD("set_debug_path_custom_line_width", "line_width"), &NavigationAgent2D::set_debug_path_custom_line_width);
155 ClassDB::bind_method(D_METHOD("get_debug_path_custom_line_width"), &NavigationAgent2D::get_debug_path_custom_line_width);
156
157 ADD_GROUP("Debug", "debug_");
158 ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled");
159 ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom");
160 ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color");
161 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");
162 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");
163
164 ADD_SIGNAL(MethodInfo("path_changed"));
165 ADD_SIGNAL(MethodInfo("target_reached"));
166 ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details")));
167 ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details")));
168 ADD_SIGNAL(MethodInfo("navigation_finished"));
169 ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR2, "safe_velocity")));
170}
171
172#ifndef DISABLE_DEPRECATED
173// Compatibility with Godot 4.0 beta 10 or below.
174// Functions in block below all renamed or replaced in 4.0 beta 1X avoidance rework.
175bool NavigationAgent2D::_set(const StringName &p_name, const Variant &p_value) {
176 if (p_name == "time_horizon") {
177 set_time_horizon_agents(p_value);
178 return true;
179 }
180 if (p_name == "target_location") {
181 set_target_position(p_value);
182 return true;
183 }
184 return false;
185}
186
187bool NavigationAgent2D::_get(const StringName &p_name, Variant &r_ret) const {
188 if (p_name == "time_horizon") {
189 r_ret = get_time_horizon_agents();
190 return true;
191 }
192 if (p_name == "target_location") {
193 r_ret = get_target_position();
194 return true;
195 }
196 return false;
197}
198#endif // DISABLE_DEPRECATED
199
200void NavigationAgent2D::_notification(int p_what) {
201 switch (p_what) {
202 case NOTIFICATION_POST_ENTER_TREE: {
203 // need to use POST_ENTER_TREE cause with normal ENTER_TREE not all required Nodes are ready.
204 // cannot use READY as ready does not get called if Node is re-added to SceneTree
205 set_agent_parent(get_parent());
206 set_physics_process_internal(true);
207
208 if (agent_parent && avoidance_enabled) {
209 NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
210 }
211
212#ifdef DEBUG_ENABLED
213 if (NavigationServer2D::get_singleton()->get_debug_enabled()) {
214 debug_path_dirty = true;
215 }
216#endif // DEBUG_ENABLED
217
218 } break;
219
220 case NOTIFICATION_PARENTED: {
221 if (is_inside_tree() && (get_parent() != agent_parent)) {
222 // only react to PARENTED notifications when already inside_tree and parent changed, e.g. users switch nodes around
223 // PARENTED notification fires also when Node is added in scripts to a parent
224 // this would spam transforms fails and world fails while Node is outside SceneTree
225 // when node gets reparented when joining the tree POST_ENTER_TREE takes care of this
226 set_agent_parent(get_parent());
227 set_physics_process_internal(true);
228 }
229 } break;
230
231 case NOTIFICATION_UNPARENTED: {
232 // if agent has no parent no point in processing it until reparented
233 set_agent_parent(nullptr);
234 set_physics_process_internal(false);
235 } break;
236
237 case NOTIFICATION_EXIT_TREE: {
238 set_agent_parent(nullptr);
239 set_physics_process_internal(false);
240
241#ifdef DEBUG_ENABLED
242 if (debug_path_instance.is_valid()) {
243 RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, false);
244 }
245#endif // DEBUG_ENABLED
246 } break;
247
248 case NOTIFICATION_PAUSED: {
249 if (agent_parent) {
250 NavigationServer2D::get_singleton()->agent_set_paused(get_rid(), !agent_parent->can_process());
251 }
252 } break;
253
254 case NOTIFICATION_UNPAUSED: {
255 if (agent_parent) {
256 NavigationServer2D::get_singleton()->agent_set_paused(get_rid(), !agent_parent->can_process());
257 }
258 } break;
259
260 case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
261 if (agent_parent && avoidance_enabled) {
262 NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
263 }
264 if (agent_parent && target_position_submitted) {
265 if (velocity_submitted) {
266 velocity_submitted = false;
267 if (avoidance_enabled) {
268 NavigationServer2D::get_singleton()->agent_set_velocity(agent, velocity);
269 }
270 }
271 if (velocity_forced_submitted) {
272 velocity_forced_submitted = false;
273 if (avoidance_enabled) {
274 NavigationServer2D::get_singleton()->agent_set_velocity_forced(agent, velocity_forced);
275 }
276 }
277 _check_distance_to_target();
278 }
279#ifdef DEBUG_ENABLED
280 if (debug_path_dirty) {
281 _update_debug_path();
282 }
283#endif // DEBUG_ENABLED
284 } break;
285 }
286}
287
288NavigationAgent2D::NavigationAgent2D() {
289 agent = NavigationServer2D::get_singleton()->agent_create();
290
291 NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
292 NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
293 NavigationServer2D::get_singleton()->agent_set_time_horizon_agents(agent, time_horizon_agents);
294 NavigationServer2D::get_singleton()->agent_set_time_horizon_obstacles(agent, time_horizon_obstacles);
295 NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
296 NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed);
297
298 // Preallocate query and result objects to improve performance.
299 navigation_query = Ref<NavigationPathQueryParameters2D>();
300 navigation_query.instantiate();
301
302 navigation_result = Ref<NavigationPathQueryResult2D>();
303 navigation_result.instantiate();
304
305 set_avoidance_layers(avoidance_layers);
306 set_avoidance_mask(avoidance_mask);
307 set_avoidance_priority(avoidance_priority);
308 set_avoidance_enabled(avoidance_enabled);
309
310#ifdef DEBUG_ENABLED
311 NavigationServer2D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed));
312#endif // DEBUG_ENABLED
313}
314
315NavigationAgent2D::~NavigationAgent2D() {
316 ERR_FAIL_NULL(NavigationServer2D::get_singleton());
317 NavigationServer2D::get_singleton()->free(agent);
318 agent = RID(); // Pointless
319
320#ifdef DEBUG_ENABLED
321 NavigationServer2D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed));
322
323 ERR_FAIL_NULL(RenderingServer::get_singleton());
324 if (debug_path_instance.is_valid()) {
325 RenderingServer::get_singleton()->free(debug_path_instance);
326 }
327#endif // DEBUG_ENABLED
328}
329
330void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) {
331 if (avoidance_enabled == p_enabled) {
332 return;
333 }
334
335 avoidance_enabled = p_enabled;
336
337 if (avoidance_enabled) {
338 NavigationServer2D::get_singleton()->agent_set_avoidance_enabled(agent, true);
339 NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done));
340 } else {
341 NavigationServer2D::get_singleton()->agent_set_avoidance_enabled(agent, false);
342 NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, Callable());
343 }
344}
345
346bool NavigationAgent2D::get_avoidance_enabled() const {
347 return avoidance_enabled;
348}
349
350void NavigationAgent2D::set_agent_parent(Node *p_agent_parent) {
351 if (agent_parent == p_agent_parent) {
352 return;
353 }
354
355 // remove agent from any avoidance map before changing parent or there will be leftovers on the RVO map
356 NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, Callable());
357
358 if (Object::cast_to<Node2D>(p_agent_parent) != nullptr) {
359 // place agent on navigation map first or else the RVO agent callback creation fails silently later
360 agent_parent = Object::cast_to<Node2D>(p_agent_parent);
361 if (map_override.is_valid()) {
362 NavigationServer2D::get_singleton()->agent_set_map(get_rid(), map_override);
363 } else {
364 NavigationServer2D::get_singleton()->agent_set_map(get_rid(), agent_parent->get_world_2d()->get_navigation_map());
365 }
366
367 // create new avoidance callback if enabled
368 if (avoidance_enabled) {
369 NavigationServer2D::get_singleton()->agent_set_avoidance_callback(agent, callable_mp(this, &NavigationAgent2D::_avoidance_done));
370 }
371 } else {
372 agent_parent = nullptr;
373 NavigationServer2D::get_singleton()->agent_set_map(get_rid(), RID());
374 }
375}
376
377void NavigationAgent2D::set_navigation_layers(uint32_t p_navigation_layers) {
378 if (navigation_layers == p_navigation_layers) {
379 return;
380 }
381
382 navigation_layers = p_navigation_layers;
383
384 _request_repath();
385}
386
387uint32_t NavigationAgent2D::get_navigation_layers() const {
388 return navigation_layers;
389}
390
391void NavigationAgent2D::set_navigation_layer_value(int p_layer_number, bool p_value) {
392 ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive.");
393 ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive.");
394 uint32_t _navigation_layers = get_navigation_layers();
395 if (p_value) {
396 _navigation_layers |= 1 << (p_layer_number - 1);
397 } else {
398 _navigation_layers &= ~(1 << (p_layer_number - 1));
399 }
400 set_navigation_layers(_navigation_layers);
401}
402
403bool NavigationAgent2D::get_navigation_layer_value(int p_layer_number) const {
404 ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive.");
405 ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive.");
406 return get_navigation_layers() & (1 << (p_layer_number - 1));
407}
408
409void NavigationAgent2D::set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm) {
410 if (pathfinding_algorithm == p_pathfinding_algorithm) {
411 return;
412 }
413
414 pathfinding_algorithm = p_pathfinding_algorithm;
415
416 navigation_query->set_pathfinding_algorithm(pathfinding_algorithm);
417}
418
419void NavigationAgent2D::set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing) {
420 if (path_postprocessing == p_path_postprocessing) {
421 return;
422 }
423
424 path_postprocessing = p_path_postprocessing;
425
426 navigation_query->set_path_postprocessing(path_postprocessing);
427}
428
429void NavigationAgent2D::set_path_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_path_metadata_flags) {
430 if (path_metadata_flags == p_path_metadata_flags) {
431 return;
432 }
433
434 path_metadata_flags = p_path_metadata_flags;
435}
436
437void NavigationAgent2D::set_navigation_map(RID p_navigation_map) {
438 if (map_override == p_navigation_map) {
439 return;
440 }
441
442 map_override = p_navigation_map;
443
444 NavigationServer2D::get_singleton()->agent_set_map(agent, map_override);
445 _request_repath();
446}
447
448RID NavigationAgent2D::get_navigation_map() const {
449 if (map_override.is_valid()) {
450 return map_override;
451 } else if (agent_parent != nullptr) {
452 return agent_parent->get_world_2d()->get_navigation_map();
453 }
454 return RID();
455}
456
457void NavigationAgent2D::set_path_desired_distance(real_t p_path_desired_distance) {
458 if (Math::is_equal_approx(path_desired_distance, p_path_desired_distance)) {
459 return;
460 }
461
462 path_desired_distance = p_path_desired_distance;
463}
464
465void NavigationAgent2D::set_target_desired_distance(real_t p_target_desired_distance) {
466 if (Math::is_equal_approx(target_desired_distance, p_target_desired_distance)) {
467 return;
468 }
469
470 target_desired_distance = p_target_desired_distance;
471}
472
473void NavigationAgent2D::set_radius(real_t p_radius) {
474 ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
475 if (Math::is_equal_approx(radius, p_radius)) {
476 return;
477 }
478
479 radius = p_radius;
480
481 NavigationServer2D::get_singleton()->agent_set_radius(agent, radius);
482}
483
484void NavigationAgent2D::set_neighbor_distance(real_t p_distance) {
485 if (Math::is_equal_approx(neighbor_distance, p_distance)) {
486 return;
487 }
488
489 neighbor_distance = p_distance;
490
491 NavigationServer2D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
492}
493
494void NavigationAgent2D::set_max_neighbors(int p_count) {
495 if (max_neighbors == p_count) {
496 return;
497 }
498
499 max_neighbors = p_count;
500
501 NavigationServer2D::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
502}
503
504void NavigationAgent2D::set_time_horizon_agents(real_t p_time_horizon) {
505 ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion must be positive.");
506 if (Math::is_equal_approx(time_horizon_agents, p_time_horizon)) {
507 return;
508 }
509 time_horizon_agents = p_time_horizon;
510 NavigationServer2D::get_singleton()->agent_set_time_horizon_agents(agent, time_horizon_agents);
511}
512
513void NavigationAgent2D::set_time_horizon_obstacles(real_t p_time_horizon) {
514 ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion must be positive.");
515 if (Math::is_equal_approx(time_horizon_obstacles, p_time_horizon)) {
516 return;
517 }
518 time_horizon_obstacles = p_time_horizon;
519 NavigationServer2D::get_singleton()->agent_set_time_horizon_obstacles(agent, time_horizon_obstacles);
520}
521
522void NavigationAgent2D::set_max_speed(real_t p_max_speed) {
523 ERR_FAIL_COND_MSG(p_max_speed < 0.0, "Max speed must be positive.");
524 if (Math::is_equal_approx(max_speed, p_max_speed)) {
525 return;
526 }
527 max_speed = p_max_speed;
528
529 NavigationServer2D::get_singleton()->agent_set_max_speed(agent, max_speed);
530}
531
532void NavigationAgent2D::set_path_max_distance(real_t p_path_max_distance) {
533 if (Math::is_equal_approx(path_max_distance, p_path_max_distance)) {
534 return;
535 }
536
537 path_max_distance = p_path_max_distance;
538}
539
540real_t NavigationAgent2D::get_path_max_distance() {
541 return path_max_distance;
542}
543
544void NavigationAgent2D::set_target_position(Vector2 p_position) {
545 // 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.
546 // Revisit later when the navigation server can update the path without requesting a new path.
547
548 target_position = p_position;
549 target_position_submitted = true;
550
551 _request_repath();
552}
553
554Vector2 NavigationAgent2D::get_target_position() const {
555 return target_position;
556}
557
558Vector2 NavigationAgent2D::get_next_path_position() {
559 update_navigation();
560
561 const Vector<Vector2> &navigation_path = navigation_result->get_path();
562 if (navigation_path.size() == 0) {
563 ERR_FAIL_NULL_V_MSG(agent_parent, Vector2(), "The agent has no parent.");
564 return agent_parent->get_global_position();
565 } else {
566 return navigation_path[navigation_path_index];
567 }
568}
569
570real_t NavigationAgent2D::distance_to_target() const {
571 ERR_FAIL_NULL_V_MSG(agent_parent, 0.0, "The agent has no parent.");
572 return agent_parent->get_global_position().distance_to(target_position);
573}
574
575bool NavigationAgent2D::is_target_reached() const {
576 return target_reached;
577}
578
579bool NavigationAgent2D::is_target_reachable() {
580 return target_desired_distance >= get_final_position().distance_to(target_position);
581}
582
583bool NavigationAgent2D::is_navigation_finished() {
584 update_navigation();
585 return navigation_finished;
586}
587
588Vector2 NavigationAgent2D::get_final_position() {
589 update_navigation();
590
591 const Vector<Vector2> &navigation_path = navigation_result->get_path();
592 if (navigation_path.size() == 0) {
593 return Vector2();
594 }
595 return navigation_path[navigation_path.size() - 1];
596}
597
598void NavigationAgent2D::set_velocity_forced(Vector2 p_velocity) {
599 // Intentionally not checking for equality of the parameter.
600 // We need to always submit the velocity to the navigation server, even when it is the same, in order to run avoidance every frame.
601 // Revisit later when the navigation server can update avoidance without users resubmitting the velocity.
602
603 velocity_forced = p_velocity;
604 velocity_forced_submitted = true;
605}
606
607void NavigationAgent2D::set_velocity(const Vector2 p_velocity) {
608 velocity = p_velocity;
609 velocity_submitted = true;
610}
611
612void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) {
613 const Vector2 new_safe_velocity = Vector2(p_new_velocity.x, p_new_velocity.z);
614 safe_velocity = new_safe_velocity;
615 emit_signal(SNAME("velocity_computed"), safe_velocity);
616}
617
618PackedStringArray NavigationAgent2D::get_configuration_warnings() const {
619 PackedStringArray warnings = Node::get_configuration_warnings();
620
621 if (!Object::cast_to<Node2D>(get_parent())) {
622 warnings.push_back(RTR("The NavigationAgent2D can be used only under a Node2D inheriting parent node."));
623 }
624
625 return warnings;
626}
627
628void NavigationAgent2D::update_navigation() {
629 if (agent_parent == nullptr) {
630 return;
631 }
632 if (!agent_parent->is_inside_tree()) {
633 return;
634 }
635 if (!target_position_submitted) {
636 return;
637 }
638
639 update_frame_id = Engine::get_singleton()->get_physics_frames();
640
641 Vector2 origin = agent_parent->get_global_position();
642
643 bool reload_path = false;
644
645 if (NavigationServer2D::get_singleton()->agent_is_map_changed(agent)) {
646 reload_path = true;
647 } else if (navigation_result->get_path().size() == 0) {
648 reload_path = true;
649 } else {
650 // Check if too far from the navigation path
651 if (navigation_path_index > 0) {
652 const Vector<Vector2> &navigation_path = navigation_result->get_path();
653
654 Vector2 segment[2];
655 segment[0] = navigation_path[navigation_path_index - 1];
656 segment[1] = navigation_path[navigation_path_index];
657 Vector2 p = Geometry2D::get_closest_point_to_segment(origin, segment);
658 if (origin.distance_to(p) >= path_max_distance) {
659 // To faraway, reload path
660 reload_path = true;
661 }
662 }
663 }
664
665 if (reload_path) {
666 navigation_query->set_start_position(origin);
667 navigation_query->set_target_position(target_position);
668 navigation_query->set_navigation_layers(navigation_layers);
669 navigation_query->set_metadata_flags(path_metadata_flags);
670
671 if (map_override.is_valid()) {
672 navigation_query->set_map(map_override);
673 } else {
674 navigation_query->set_map(agent_parent->get_world_2d()->get_navigation_map());
675 }
676
677 NavigationServer2D::get_singleton()->query_path(navigation_query, navigation_result);
678#ifdef DEBUG_ENABLED
679 debug_path_dirty = true;
680#endif // DEBUG_ENABLED
681 navigation_finished = false;
682 navigation_path_index = 0;
683 emit_signal(SNAME("path_changed"));
684 }
685
686 if (navigation_result->get_path().size() == 0) {
687 return;
688 }
689
690 // Check if we can advance the navigation path
691 if (navigation_finished == false) {
692 // Advances to the next far away position.
693 const Vector<Vector2> &navigation_path = navigation_result->get_path();
694 const Vector<int32_t> &navigation_path_types = navigation_result->get_path_types();
695 const TypedArray<RID> &navigation_path_rids = navigation_result->get_path_rids();
696 const Vector<int64_t> &navigation_path_owners = navigation_result->get_path_owner_ids();
697
698 while (origin.distance_to(navigation_path[navigation_path_index]) < path_desired_distance) {
699 Dictionary details;
700
701 const Vector2 waypoint = navigation_path[navigation_path_index];
702 details[SNAME("position")] = waypoint;
703
704 int waypoint_type = -1;
705 if (path_metadata_flags.has_flag(NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_TYPES)) {
706 const NavigationPathQueryResult2D::PathSegmentType type = NavigationPathQueryResult2D::PathSegmentType(navigation_path_types[navigation_path_index]);
707
708 details[SNAME("type")] = type;
709 waypoint_type = type;
710 }
711
712 if (path_metadata_flags.has_flag(NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_RIDS)) {
713 details[SNAME("rid")] = navigation_path_rids[navigation_path_index];
714 }
715
716 if (path_metadata_flags.has_flag(NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_OWNERS)) {
717 const ObjectID waypoint_owner_id = ObjectID(navigation_path_owners[navigation_path_index]);
718
719 // Get a reference to the owning object.
720 Object *owner = nullptr;
721 if (waypoint_owner_id.is_valid()) {
722 owner = ObjectDB::get_instance(waypoint_owner_id);
723 }
724
725 details[SNAME("owner")] = owner;
726
727 if (waypoint_type == NavigationPathQueryResult2D::PATH_SEGMENT_TYPE_LINK) {
728 const NavigationLink2D *navlink = Object::cast_to<NavigationLink2D>(owner);
729 if (navlink) {
730 Vector2 link_global_start_position = navlink->get_global_start_position();
731 Vector2 link_global_end_position = navlink->get_global_end_position();
732 if (waypoint.distance_to(link_global_start_position) < waypoint.distance_to(link_global_end_position)) {
733 details[SNAME("link_entry_position")] = link_global_start_position;
734 details[SNAME("link_exit_position")] = link_global_end_position;
735 } else {
736 details[SNAME("link_entry_position")] = link_global_end_position;
737 details[SNAME("link_exit_position")] = link_global_start_position;
738 }
739 }
740 }
741 }
742
743 // Emit a signal for the waypoint
744 emit_signal(SNAME("waypoint_reached"), details);
745
746 // Emit a signal if we've reached a navigation link
747 if (waypoint_type == NavigationPathQueryResult2D::PATH_SEGMENT_TYPE_LINK) {
748 emit_signal(SNAME("link_reached"), details);
749 }
750
751 // Move to the next waypoint on the list
752 navigation_path_index += 1;
753
754 // Check to see if we've finished our route
755 if (navigation_path_index == navigation_path.size()) {
756 _check_distance_to_target();
757 navigation_path_index -= 1;
758 navigation_finished = true;
759 target_position_submitted = false;
760 if (avoidance_enabled) {
761 NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
762 NavigationServer2D::get_singleton()->agent_set_velocity(agent, Vector2(0.0, 0.0));
763 NavigationServer2D::get_singleton()->agent_set_velocity_forced(agent, Vector2(0.0, 0.0));
764 }
765 emit_signal(SNAME("navigation_finished"));
766 break;
767 }
768 }
769 }
770}
771
772void NavigationAgent2D::_request_repath() {
773 navigation_result->reset();
774 target_reached = false;
775 navigation_finished = false;
776 update_frame_id = 0;
777}
778
779void NavigationAgent2D::_check_distance_to_target() {
780 if (!target_reached) {
781 if (distance_to_target() < target_desired_distance) {
782 target_reached = true;
783 emit_signal(SNAME("target_reached"));
784 }
785 }
786}
787
788void NavigationAgent2D::set_avoidance_layers(uint32_t p_layers) {
789 avoidance_layers = p_layers;
790 NavigationServer2D::get_singleton()->agent_set_avoidance_layers(get_rid(), avoidance_layers);
791}
792
793uint32_t NavigationAgent2D::get_avoidance_layers() const {
794 return avoidance_layers;
795}
796
797void NavigationAgent2D::set_avoidance_mask(uint32_t p_mask) {
798 avoidance_mask = p_mask;
799 NavigationServer2D::get_singleton()->agent_set_avoidance_mask(get_rid(), p_mask);
800}
801
802uint32_t NavigationAgent2D::get_avoidance_mask() const {
803 return avoidance_mask;
804}
805
806void NavigationAgent2D::set_avoidance_layer_value(int p_layer_number, bool p_value) {
807 ERR_FAIL_COND_MSG(p_layer_number < 1, "Avoidance layer number must be between 1 and 32 inclusive.");
808 ERR_FAIL_COND_MSG(p_layer_number > 32, "Avoidance layer number must be between 1 and 32 inclusive.");
809 uint32_t avoidance_layers_new = get_avoidance_layers();
810 if (p_value) {
811 avoidance_layers_new |= 1 << (p_layer_number - 1);
812 } else {
813 avoidance_layers_new &= ~(1 << (p_layer_number - 1));
814 }
815 set_avoidance_layers(avoidance_layers_new);
816}
817
818bool NavigationAgent2D::get_avoidance_layer_value(int p_layer_number) const {
819 ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Avoidance layer number must be between 1 and 32 inclusive.");
820 ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Avoidance layer number must be between 1 and 32 inclusive.");
821 return get_avoidance_layers() & (1 << (p_layer_number - 1));
822}
823
824void NavigationAgent2D::set_avoidance_mask_value(int p_mask_number, bool p_value) {
825 ERR_FAIL_COND_MSG(p_mask_number < 1, "Avoidance mask number must be between 1 and 32 inclusive.");
826 ERR_FAIL_COND_MSG(p_mask_number > 32, "Avoidance mask number must be between 1 and 32 inclusive.");
827 uint32_t mask = get_avoidance_mask();
828 if (p_value) {
829 mask |= 1 << (p_mask_number - 1);
830 } else {
831 mask &= ~(1 << (p_mask_number - 1));
832 }
833 set_avoidance_mask(mask);
834}
835
836bool NavigationAgent2D::get_avoidance_mask_value(int p_mask_number) const {
837 ERR_FAIL_COND_V_MSG(p_mask_number < 1, false, "Avoidance mask number must be between 1 and 32 inclusive.");
838 ERR_FAIL_COND_V_MSG(p_mask_number > 32, false, "Avoidance mask number must be between 1 and 32 inclusive.");
839 return get_avoidance_mask() & (1 << (p_mask_number - 1));
840}
841
842void NavigationAgent2D::set_avoidance_priority(real_t p_priority) {
843 ERR_FAIL_COND_MSG(p_priority < 0.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
844 ERR_FAIL_COND_MSG(p_priority > 1.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
845 avoidance_priority = p_priority;
846 NavigationServer2D::get_singleton()->agent_set_avoidance_priority(get_rid(), p_priority);
847}
848
849real_t NavigationAgent2D::get_avoidance_priority() const {
850 return avoidance_priority;
851}
852
853////////DEBUG////////////////////////////////////////////////////////////
854
855void NavigationAgent2D::set_debug_enabled(bool p_enabled) {
856#ifdef DEBUG_ENABLED
857 if (debug_enabled == p_enabled) {
858 return;
859 }
860
861 debug_enabled = p_enabled;
862 debug_path_dirty = true;
863#endif // DEBUG_ENABLED
864}
865
866bool NavigationAgent2D::get_debug_enabled() const {
867 return debug_enabled;
868}
869
870void NavigationAgent2D::set_debug_use_custom(bool p_enabled) {
871#ifdef DEBUG_ENABLED
872 if (debug_use_custom == p_enabled) {
873 return;
874 }
875
876 debug_use_custom = p_enabled;
877 debug_path_dirty = true;
878#endif // DEBUG_ENABLED
879}
880
881bool NavigationAgent2D::get_debug_use_custom() const {
882 return debug_use_custom;
883}
884
885void NavigationAgent2D::set_debug_path_custom_color(Color p_color) {
886#ifdef DEBUG_ENABLED
887 if (debug_path_custom_color == p_color) {
888 return;
889 }
890
891 debug_path_custom_color = p_color;
892 debug_path_dirty = true;
893#endif // DEBUG_ENABLED
894}
895
896Color NavigationAgent2D::get_debug_path_custom_color() const {
897 return debug_path_custom_color;
898}
899
900void NavigationAgent2D::set_debug_path_custom_point_size(float p_point_size) {
901#ifdef DEBUG_ENABLED
902 if (Math::is_equal_approx(debug_path_custom_point_size, p_point_size)) {
903 return;
904 }
905
906 debug_path_custom_point_size = MAX(0.0, p_point_size);
907 debug_path_dirty = true;
908#endif // DEBUG_ENABLED
909}
910
911float NavigationAgent2D::get_debug_path_custom_point_size() const {
912 return debug_path_custom_point_size;
913}
914
915void NavigationAgent2D::set_debug_path_custom_line_width(float p_line_width) {
916#ifdef DEBUG_ENABLED
917 if (Math::is_equal_approx(debug_path_custom_line_width, p_line_width)) {
918 return;
919 }
920
921 debug_path_custom_line_width = p_line_width;
922 debug_path_dirty = true;
923#endif // DEBUG_ENABLED
924}
925
926float NavigationAgent2D::get_debug_path_custom_line_width() const {
927 return debug_path_custom_line_width;
928}
929
930#ifdef DEBUG_ENABLED
931void NavigationAgent2D::_navigation_debug_changed() {
932 debug_path_dirty = true;
933}
934
935void NavigationAgent2D::_update_debug_path() {
936 if (!debug_path_dirty) {
937 return;
938 }
939 debug_path_dirty = false;
940
941 if (!debug_path_instance.is_valid()) {
942 debug_path_instance = RenderingServer::get_singleton()->canvas_item_create();
943 }
944
945 RenderingServer::get_singleton()->canvas_item_clear(debug_path_instance);
946
947 if (!(debug_enabled && NavigationServer2D::get_singleton()->get_debug_navigation_enable_agent_paths())) {
948 return;
949 }
950
951 if (!(agent_parent && agent_parent->is_inside_tree())) {
952 return;
953 }
954
955 RenderingServer::get_singleton()->canvas_item_set_parent(debug_path_instance, agent_parent->get_canvas());
956 RenderingServer::get_singleton()->canvas_item_set_z_index(debug_path_instance, RS::CANVAS_ITEM_Z_MAX - 1);
957 RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, agent_parent->is_visible_in_tree());
958
959 const Vector<Vector2> &navigation_path = navigation_result->get_path();
960
961 if (navigation_path.size() <= 1) {
962 return;
963 }
964
965 Color debug_path_color = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_color();
966 if (debug_use_custom) {
967 debug_path_color = debug_path_custom_color;
968 }
969
970 Vector<Color> debug_path_colors;
971 debug_path_colors.resize(navigation_path.size());
972 debug_path_colors.fill(debug_path_color);
973
974 RenderingServer::get_singleton()->canvas_item_add_polyline(debug_path_instance, navigation_path, debug_path_colors, debug_path_custom_line_width, false);
975
976 if (debug_path_custom_point_size <= 0.0) {
977 return;
978 }
979
980 float point_size = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_point_size();
981 float half_point_size = point_size * 0.5;
982
983 if (debug_use_custom) {
984 point_size = debug_path_custom_point_size;
985 half_point_size = debug_path_custom_point_size * 0.5;
986 }
987
988 for (int i = 0; i < navigation_path.size(); i++) {
989 const Vector2 &vert = navigation_path[i];
990 Rect2 path_point_rect = Rect2(vert.x - half_point_size, vert.y - half_point_size, point_size, point_size);
991 RenderingServer::get_singleton()->canvas_item_add_rect(debug_path_instance, path_point_rect, debug_path_color);
992 }
993}
994#endif // DEBUG_ENABLED
995