1/**************************************************************************/
2/* navigation_agent_3d.h */
3/**************************************************************************/
4/* This file is part of: */
5/* GODOT ENGINE */
6/* https://godotengine.org */
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8/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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29/**************************************************************************/
30
31#ifndef NAVIGATION_AGENT_3D_H
32#define NAVIGATION_AGENT_3D_H
33
34#include "scene/main/node.h"
35#include "servers/navigation/navigation_path_query_parameters_3d.h"
36#include "servers/navigation/navigation_path_query_result_3d.h"
37
38class Node3D;
39
40class NavigationAgent3D : public Node {
41 GDCLASS(NavigationAgent3D, Node);
42
43 Node3D *agent_parent = nullptr;
44
45 RID agent;
46 RID map_override;
47
48 bool avoidance_enabled = false;
49 bool use_3d_avoidance = false;
50 uint32_t avoidance_layers = 1;
51 uint32_t avoidance_mask = 1;
52 real_t avoidance_priority = 1.0;
53 uint32_t navigation_layers = 1;
54 NavigationPathQueryParameters3D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters3D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
55 NavigationPathQueryParameters3D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
56 BitField<NavigationPathQueryParameters3D::PathMetadataFlags> path_metadata_flags = NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL;
57
58 real_t path_desired_distance = 1.0;
59 real_t target_desired_distance = 1.0;
60 real_t height = 1.0;
61 real_t radius = 0.5;
62 real_t path_height_offset = 0.0;
63 real_t neighbor_distance = 50.0;
64 int max_neighbors = 10;
65 real_t time_horizon_agents = 1.0;
66 real_t time_horizon_obstacles = 0.0;
67 real_t max_speed = 10.0;
68 real_t path_max_distance = 5.0;
69
70 Vector3 target_position;
71
72 Ref<NavigationPathQueryParameters3D> navigation_query;
73 Ref<NavigationPathQueryResult3D> navigation_result;
74 int navigation_path_index = 0;
75
76 // the velocity result of the avoidance simulation step
77 Vector3 safe_velocity;
78
79 /// The submitted target velocity, sets the "wanted" rvo agent velocity on the next update
80 // this velocity is not guaranteed, the simulation will try to fulfill it if possible
81 // if other agents or obstacles interfere it will be changed accordingly
82 Vector3 velocity;
83 bool velocity_submitted = false;
84
85 /// The submitted forced velocity, overrides the rvo agent velocity on the next update
86 // should only be used very intentionally and not every frame as it interferes with the simulation stability
87 Vector3 velocity_forced;
88 bool velocity_forced_submitted = false;
89
90 // 2D avoidance has no y-axis. This stores and reapplies the y-axis velocity to the agent before and after the avoidance step.
91 // While not perfect it at least looks way better than agent's that clip through everything that is not a flat surface
92 float stored_y_velocity = 0.0;
93
94 bool target_position_submitted = false;
95 bool target_reached = false;
96 bool navigation_finished = true;
97 // No initialized on purpose
98 uint32_t update_frame_id = 0;
99
100 // Debug properties for exposed bindings
101 bool debug_enabled = false;
102 float debug_path_custom_point_size = 4.0;
103 bool debug_use_custom = false;
104 Color debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0);
105#ifdef DEBUG_ENABLED
106 // Debug properties internal only
107 bool debug_path_dirty = true;
108 RID debug_path_instance;
109 Ref<ArrayMesh> debug_path_mesh;
110 Ref<StandardMaterial3D> debug_agent_path_line_custom_material;
111 Ref<StandardMaterial3D> debug_agent_path_point_custom_material;
112#endif // DEBUG_ENABLED
113
114protected:
115 static void _bind_methods();
116 void _notification(int p_what);
117
118#ifndef DISABLE_DEPRECATED
119 bool _set(const StringName &p_name, const Variant &p_value);
120 bool _get(const StringName &p_name, Variant &r_ret) const;
121#endif // DISABLE_DEPRECATED
122
123public:
124 NavigationAgent3D();
125 virtual ~NavigationAgent3D();
126
127 RID get_rid() const { return agent; }
128
129 void set_avoidance_enabled(bool p_enabled);
130 bool get_avoidance_enabled() const;
131
132 void set_agent_parent(Node *p_agent_parent);
133
134 void set_navigation_layers(uint32_t p_navigation_layers);
135 uint32_t get_navigation_layers() const;
136
137 void set_navigation_layer_value(int p_layer_number, bool p_value);
138 bool get_navigation_layer_value(int p_layer_number) const;
139
140 void set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm);
141 NavigationPathQueryParameters3D::PathfindingAlgorithm get_pathfinding_algorithm() const {
142 return pathfinding_algorithm;
143 }
144
145 void set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing);
146 NavigationPathQueryParameters3D::PathPostProcessing get_path_postprocessing() const {
147 return path_postprocessing;
148 }
149
150 void set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_flags);
151 BitField<NavigationPathQueryParameters3D::PathMetadataFlags> get_path_metadata_flags() const {
152 return path_metadata_flags;
153 }
154
155 void set_navigation_map(RID p_navigation_map);
156 RID get_navigation_map() const;
157
158 void set_path_desired_distance(real_t p_dd);
159 real_t get_path_desired_distance() const { return path_desired_distance; }
160
161 void set_target_desired_distance(real_t p_dd);
162 real_t get_target_desired_distance() const { return target_desired_distance; }
163
164 void set_radius(real_t p_radius);
165 real_t get_radius() const { return radius; }
166
167 void set_height(real_t p_height);
168 real_t get_height() const { return height; }
169
170 void set_path_height_offset(real_t p_path_height_offset);
171 real_t get_path_height_offset() const { return path_height_offset; }
172
173 void set_use_3d_avoidance(bool p_use_3d_avoidance);
174 bool get_use_3d_avoidance() const { return use_3d_avoidance; }
175
176 void set_neighbor_distance(real_t p_distance);
177 real_t get_neighbor_distance() const { return neighbor_distance; }
178
179 void set_max_neighbors(int p_count);
180 int get_max_neighbors() const { return max_neighbors; }
181
182 void set_time_horizon_agents(real_t p_time_horizon);
183 real_t get_time_horizon_agents() const { return time_horizon_agents; }
184
185 void set_time_horizon_obstacles(real_t p_time_horizon);
186 real_t get_time_horizon_obstacles() const { return time_horizon_obstacles; }
187
188 void set_max_speed(real_t p_max_speed);
189 real_t get_max_speed() const { return max_speed; }
190
191 void set_path_max_distance(real_t p_pmd);
192 real_t get_path_max_distance();
193
194 void set_target_position(Vector3 p_position);
195 Vector3 get_target_position() const;
196
197 Vector3 get_next_path_position();
198
199 Ref<NavigationPathQueryResult3D> get_current_navigation_result() const { return navigation_result; }
200
201 const Vector<Vector3> &get_current_navigation_path() const { return navigation_result->get_path(); }
202
203 int get_current_navigation_path_index() const { return navigation_path_index; }
204
205 real_t distance_to_target() const;
206 bool is_target_reached() const;
207 bool is_target_reachable();
208 bool is_navigation_finished();
209 Vector3 get_final_position();
210
211 void set_velocity(const Vector3 p_velocity);
212 Vector3 get_velocity() { return velocity; }
213
214 void set_velocity_forced(const Vector3 p_velocity);
215
216 void _avoidance_done(Vector3 p_new_velocity);
217
218 PackedStringArray get_configuration_warnings() const override;
219
220 void set_avoidance_layers(uint32_t p_layers);
221 uint32_t get_avoidance_layers() const;
222
223 void set_avoidance_mask(uint32_t p_mask);
224 uint32_t get_avoidance_mask() const;
225
226 void set_avoidance_layer_value(int p_layer_number, bool p_value);
227 bool get_avoidance_layer_value(int p_layer_number) const;
228
229 void set_avoidance_mask_value(int p_mask_number, bool p_value);
230 bool get_avoidance_mask_value(int p_mask_number) const;
231
232 void set_avoidance_priority(real_t p_priority);
233 real_t get_avoidance_priority() const;
234
235 void set_debug_enabled(bool p_enabled);
236 bool get_debug_enabled() const;
237
238 void set_debug_use_custom(bool p_enabled);
239 bool get_debug_use_custom() const;
240
241 void set_debug_path_custom_color(Color p_color);
242 Color get_debug_path_custom_color() const;
243
244 void set_debug_path_custom_point_size(float p_point_size);
245 float get_debug_path_custom_point_size() const;
246
247private:
248 void update_navigation();
249 void _request_repath();
250 void _check_distance_to_target();
251
252#ifdef DEBUG_ENABLED
253 void _navigation_debug_changed();
254 void _update_debug_path();
255#endif // DEBUG_ENABLED
256};
257
258#endif // NAVIGATION_AGENT_3D_H
259