1/**************************************************************************/
2/* navigation_obstacle_3d.cpp */
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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30
31#include "navigation_obstacle_3d.h"
32
33#include "core/math/geometry_2d.h"
34#include "scene/3d/collision_shape_3d.h"
35#include "scene/3d/physics_body_3d.h"
36#include "servers/navigation_server_3d.h"
37
38void NavigationObstacle3D::_bind_methods() {
39 ClassDB::bind_method(D_METHOD("get_rid"), &NavigationObstacle3D::get_rid);
40
41 ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationObstacle3D::set_avoidance_enabled);
42 ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationObstacle3D::get_avoidance_enabled);
43
44 ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationObstacle3D::set_navigation_map);
45 ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationObstacle3D::get_navigation_map);
46
47 ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle3D::set_radius);
48 ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle3D::get_radius);
49
50 ClassDB::bind_method(D_METHOD("set_height", "height"), &NavigationObstacle3D::set_height);
51 ClassDB::bind_method(D_METHOD("get_height"), &NavigationObstacle3D::get_height);
52
53 ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationObstacle3D::set_velocity);
54 ClassDB::bind_method(D_METHOD("get_velocity"), &NavigationObstacle3D::get_velocity);
55
56 ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationObstacle3D::set_vertices);
57 ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationObstacle3D::get_vertices);
58
59 ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationObstacle3D::set_avoidance_layers);
60 ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationObstacle3D::get_avoidance_layers);
61
62 ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationObstacle3D::set_avoidance_layer_value);
63 ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationObstacle3D::get_avoidance_layer_value);
64
65 ClassDB::bind_method(D_METHOD("set_use_3d_avoidance", "enabled"), &NavigationObstacle3D::set_use_3d_avoidance);
66 ClassDB::bind_method(D_METHOD("get_use_3d_avoidance"), &NavigationObstacle3D::get_use_3d_avoidance);
67
68 ADD_GROUP("Avoidance", "");
69 ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
70 ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity");
71 ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.0,100,0.01,suffix:m"), "set_radius", "get_radius");
72 ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "height", PROPERTY_HINT_RANGE, "0.0,100,0.01,suffix:m"), "set_height", "get_height");
73 ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR3_ARRAY, "vertices"), "set_vertices", "get_vertices");
74 ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers");
75 ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_3d_avoidance"), "set_use_3d_avoidance", "get_use_3d_avoidance");
76}
77
78void NavigationObstacle3D::_notification(int p_what) {
79 switch (p_what) {
80 case NOTIFICATION_POST_ENTER_TREE: {
81 if (map_override.is_valid()) {
82 _update_map(map_override);
83 } else if (is_inside_tree()) {
84 _update_map(get_world_3d()->get_navigation_map());
85 } else {
86 _update_map(RID());
87 }
88 previous_transform = get_global_transform();
89 // need to trigger map controlled agent assignment somehow for the fake_agent since obstacles use no callback like regular agents
90 NavigationServer3D::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
91 _update_position(get_global_transform().origin);
92 set_physics_process_internal(true);
93#ifdef DEBUG_ENABLED
94 if ((NavigationServer3D::get_singleton()->get_debug_avoidance_enabled()) &&
95 (NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_radius())) {
96 _update_fake_agent_radius_debug();
97 _update_static_obstacle_debug();
98 }
99#endif // DEBUG_ENABLED
100 } break;
101
102 case NOTIFICATION_EXIT_TREE: {
103 set_physics_process_internal(false);
104 _update_map(RID());
105#ifdef DEBUG_ENABLED
106 if (fake_agent_radius_debug_instance.is_valid()) {
107 RS::get_singleton()->instance_set_visible(fake_agent_radius_debug_instance, false);
108 }
109 if (static_obstacle_debug_instance.is_valid()) {
110 RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, false);
111 }
112#endif // DEBUG_ENABLED
113 } break;
114
115 case NOTIFICATION_PAUSED: {
116 if (!can_process()) {
117 map_before_pause = map_current;
118 _update_map(RID());
119 } else if (can_process() && !(map_before_pause == RID())) {
120 _update_map(map_before_pause);
121 map_before_pause = RID();
122 }
123 NavigationServer3D::get_singleton()->obstacle_set_paused(obstacle, !can_process());
124 } break;
125
126 case NOTIFICATION_UNPAUSED: {
127 if (!can_process()) {
128 map_before_pause = map_current;
129 _update_map(RID());
130 } else if (can_process() && !(map_before_pause == RID())) {
131 _update_map(map_before_pause);
132 map_before_pause = RID();
133 }
134 NavigationServer3D::get_singleton()->obstacle_set_paused(obstacle, !can_process());
135 } break;
136
137 case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
138 if (is_inside_tree()) {
139 _update_position(get_global_transform().origin);
140
141 if (velocity_submitted) {
142 velocity_submitted = false;
143 // only update if there is a noticeable change, else the rvo agent preferred velocity stays the same
144 if (!previous_velocity.is_equal_approx(velocity)) {
145 NavigationServer3D::get_singleton()->obstacle_set_velocity(obstacle, velocity);
146 }
147 previous_velocity = velocity;
148 }
149#ifdef DEBUG_ENABLED
150 if (fake_agent_radius_debug_instance.is_valid() && radius > 0.0) {
151 RS::get_singleton()->instance_set_transform(fake_agent_radius_debug_instance, get_global_transform());
152 }
153 if (static_obstacle_debug_instance.is_valid() && get_vertices().size() > 0) {
154 RS::get_singleton()->instance_set_transform(static_obstacle_debug_instance, get_global_transform());
155 }
156#endif // DEBUG_ENABLED
157 }
158 } break;
159 }
160}
161
162NavigationObstacle3D::NavigationObstacle3D() {
163 obstacle = NavigationServer3D::get_singleton()->obstacle_create();
164
165 set_radius(radius);
166 set_height(height);
167 set_vertices(vertices);
168 set_avoidance_layers(avoidance_layers);
169 set_avoidance_enabled(avoidance_enabled);
170 set_use_3d_avoidance(use_3d_avoidance);
171
172#ifdef DEBUG_ENABLED
173 NavigationServer3D::get_singleton()->connect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_fake_agent_radius_debug));
174 NavigationServer3D::get_singleton()->connect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_static_obstacle_debug));
175 _update_fake_agent_radius_debug();
176 _update_static_obstacle_debug();
177#endif // DEBUG_ENABLED
178}
179
180NavigationObstacle3D::~NavigationObstacle3D() {
181 ERR_FAIL_NULL(NavigationServer3D::get_singleton());
182
183 NavigationServer3D::get_singleton()->free(obstacle);
184 obstacle = RID();
185
186#ifdef DEBUG_ENABLED
187 NavigationServer3D::get_singleton()->disconnect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_fake_agent_radius_debug));
188 NavigationServer3D::get_singleton()->disconnect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_static_obstacle_debug));
189 if (fake_agent_radius_debug_instance.is_valid()) {
190 RenderingServer::get_singleton()->free(fake_agent_radius_debug_instance);
191 }
192 if (fake_agent_radius_debug_mesh.is_valid()) {
193 RenderingServer::get_singleton()->free(fake_agent_radius_debug_mesh->get_rid());
194 }
195
196 if (static_obstacle_debug_instance.is_valid()) {
197 RenderingServer::get_singleton()->free(static_obstacle_debug_instance);
198 }
199 if (static_obstacle_debug_mesh.is_valid()) {
200 RenderingServer::get_singleton()->free(static_obstacle_debug_mesh->get_rid());
201 }
202#endif // DEBUG_ENABLED
203}
204
205void NavigationObstacle3D::set_vertices(const Vector<Vector3> &p_vertices) {
206 vertices = p_vertices;
207 NavigationServer3D::get_singleton()->obstacle_set_vertices(obstacle, vertices);
208#ifdef DEBUG_ENABLED
209 _update_static_obstacle_debug();
210#endif // DEBUG_ENABLED
211}
212
213void NavigationObstacle3D::set_navigation_map(RID p_navigation_map) {
214 if (map_override == p_navigation_map) {
215 return;
216 }
217 map_override = p_navigation_map;
218 _update_map(map_override);
219}
220
221RID NavigationObstacle3D::get_navigation_map() const {
222 if (map_override.is_valid()) {
223 return map_override;
224 } else if (is_inside_tree()) {
225 return get_world_3d()->get_navigation_map();
226 }
227 return RID();
228}
229
230void NavigationObstacle3D::set_radius(real_t p_radius) {
231 ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
232 if (Math::is_equal_approx(radius, p_radius)) {
233 return;
234 }
235
236 radius = p_radius;
237 NavigationServer3D::get_singleton()->obstacle_set_radius(obstacle, radius);
238
239#ifdef DEBUG_ENABLED
240 _update_fake_agent_radius_debug();
241#endif // DEBUG_ENABLED
242}
243
244void NavigationObstacle3D::set_height(real_t p_height) {
245 ERR_FAIL_COND_MSG(p_height < 0.0, "Height must be positive.");
246 if (Math::is_equal_approx(height, p_height)) {
247 return;
248 }
249
250 height = p_height;
251 NavigationServer3D::get_singleton()->obstacle_set_height(obstacle, height);
252
253#ifdef DEBUG_ENABLED
254 _update_static_obstacle_debug();
255#endif // DEBUG_ENABLED
256}
257
258void NavigationObstacle3D::set_avoidance_layers(uint32_t p_layers) {
259 avoidance_layers = p_layers;
260 NavigationServer3D::get_singleton()->obstacle_set_avoidance_layers(obstacle, avoidance_layers);
261}
262
263uint32_t NavigationObstacle3D::get_avoidance_layers() const {
264 return avoidance_layers;
265}
266
267void NavigationObstacle3D::set_avoidance_layer_value(int p_layer_number, bool p_value) {
268 ERR_FAIL_COND_MSG(p_layer_number < 1, "Avoidance layer number must be between 1 and 32 inclusive.");
269 ERR_FAIL_COND_MSG(p_layer_number > 32, "Avoidance layer number must be between 1 and 32 inclusive.");
270 uint32_t avoidance_layers_new = get_avoidance_layers();
271 if (p_value) {
272 avoidance_layers_new |= 1 << (p_layer_number - 1);
273 } else {
274 avoidance_layers_new &= ~(1 << (p_layer_number - 1));
275 }
276 set_avoidance_layers(avoidance_layers_new);
277}
278
279bool NavigationObstacle3D::get_avoidance_layer_value(int p_layer_number) const {
280 ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Avoidance layer number must be between 1 and 32 inclusive.");
281 ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Avoidance layer number must be between 1 and 32 inclusive.");
282 return get_avoidance_layers() & (1 << (p_layer_number - 1));
283}
284
285void NavigationObstacle3D::set_avoidance_enabled(bool p_enabled) {
286 if (avoidance_enabled == p_enabled) {
287 return;
288 }
289
290 avoidance_enabled = p_enabled;
291 NavigationServer3D::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
292}
293
294bool NavigationObstacle3D::get_avoidance_enabled() const {
295 return avoidance_enabled;
296}
297
298void NavigationObstacle3D::set_use_3d_avoidance(bool p_use_3d_avoidance) {
299 use_3d_avoidance = p_use_3d_avoidance;
300 _update_use_3d_avoidance(use_3d_avoidance);
301 notify_property_list_changed();
302}
303
304void NavigationObstacle3D::set_velocity(const Vector3 p_velocity) {
305 velocity = p_velocity;
306 velocity_submitted = true;
307}
308
309void NavigationObstacle3D::_update_map(RID p_map) {
310 NavigationServer3D::get_singleton()->obstacle_set_map(obstacle, p_map);
311 map_current = p_map;
312}
313
314void NavigationObstacle3D::_update_position(const Vector3 p_position) {
315 NavigationServer3D::get_singleton()->obstacle_set_position(obstacle, p_position);
316}
317
318void NavigationObstacle3D::_update_use_3d_avoidance(bool p_use_3d_avoidance) {
319 NavigationServer3D::get_singleton()->obstacle_set_use_3d_avoidance(obstacle, use_3d_avoidance);
320 _update_map(map_current);
321}
322
323#ifdef DEBUG_ENABLED
324void NavigationObstacle3D::_update_fake_agent_radius_debug() {
325 bool is_debug_enabled = false;
326 if (Engine::get_singleton()->is_editor_hint()) {
327 is_debug_enabled = true;
328 } else if (NavigationServer3D::get_singleton()->get_debug_enabled() &&
329 NavigationServer3D::get_singleton()->get_debug_avoidance_enabled() &&
330 NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_radius()) {
331 is_debug_enabled = true;
332 }
333
334 if (is_debug_enabled == false) {
335 if (fake_agent_radius_debug_instance.is_valid()) {
336 RS::get_singleton()->instance_set_visible(fake_agent_radius_debug_instance, false);
337 }
338 return;
339 }
340
341 if (!fake_agent_radius_debug_instance.is_valid()) {
342 fake_agent_radius_debug_instance = RenderingServer::get_singleton()->instance_create();
343 }
344 if (!fake_agent_radius_debug_mesh.is_valid()) {
345 fake_agent_radius_debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
346 }
347 fake_agent_radius_debug_mesh->clear_surfaces();
348
349 Vector<Vector3> face_vertex_array;
350 Vector<int> face_indices_array;
351
352 int i, j, prevrow, thisrow, point;
353 float x, y, z;
354
355 int rings = 16;
356 int radial_segments = 32;
357
358 point = 0;
359
360 thisrow = 0;
361 prevrow = 0;
362 for (j = 0; j <= (rings + 1); j++) {
363 float v = j;
364 float w;
365
366 v /= (rings + 1);
367 w = sin(Math_PI * v);
368 y = (radius)*cos(Math_PI * v);
369
370 for (i = 0; i <= radial_segments; i++) {
371 float u = i;
372 u /= radial_segments;
373
374 x = sin(u * Math_TAU);
375 z = cos(u * Math_TAU);
376
377 Vector3 p = Vector3(x * radius * w, y, z * radius * w);
378 face_vertex_array.push_back(p);
379
380 point++;
381
382 if (i > 0 && j > 0) {
383 face_indices_array.push_back(prevrow + i - 1);
384 face_indices_array.push_back(prevrow + i);
385 face_indices_array.push_back(thisrow + i - 1);
386
387 face_indices_array.push_back(prevrow + i);
388 face_indices_array.push_back(thisrow + i);
389 face_indices_array.push_back(thisrow + i - 1);
390 };
391 };
392
393 prevrow = thisrow;
394 thisrow = point;
395 };
396
397 Array face_mesh_array;
398 face_mesh_array.resize(Mesh::ARRAY_MAX);
399 face_mesh_array[Mesh::ARRAY_VERTEX] = face_vertex_array;
400 face_mesh_array[Mesh::ARRAY_INDEX] = face_indices_array;
401
402 fake_agent_radius_debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, face_mesh_array);
403 Ref<StandardMaterial3D> face_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_obstacles_radius_material();
404 fake_agent_radius_debug_mesh->surface_set_material(0, face_material);
405
406 RS::get_singleton()->instance_set_base(fake_agent_radius_debug_instance, fake_agent_radius_debug_mesh->get_rid());
407 if (is_inside_tree()) {
408 RS::get_singleton()->instance_set_scenario(fake_agent_radius_debug_instance, get_world_3d()->get_scenario());
409 RS::get_singleton()->instance_set_visible(fake_agent_radius_debug_instance, is_visible_in_tree());
410 }
411}
412#endif // DEBUG_ENABLED
413
414#ifdef DEBUG_ENABLED
415void NavigationObstacle3D::_update_static_obstacle_debug() {
416 bool is_debug_enabled = false;
417 if (Engine::get_singleton()->is_editor_hint()) {
418 is_debug_enabled = true;
419 } else if (NavigationServer3D::get_singleton()->get_debug_enabled() &&
420 NavigationServer3D::get_singleton()->get_debug_avoidance_enabled() &&
421 NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_static()) {
422 is_debug_enabled = true;
423 }
424
425 if (is_debug_enabled == false) {
426 if (static_obstacle_debug_instance.is_valid()) {
427 RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, false);
428 }
429 return;
430 }
431
432 if (vertices.size() < 3) {
433 if (static_obstacle_debug_instance.is_valid()) {
434 RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, false);
435 }
436 return;
437 }
438
439 if (!static_obstacle_debug_instance.is_valid()) {
440 static_obstacle_debug_instance = RenderingServer::get_singleton()->instance_create();
441 }
442 if (!static_obstacle_debug_mesh.is_valid()) {
443 static_obstacle_debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
444 }
445 static_obstacle_debug_mesh->clear_surfaces();
446
447 Vector<Vector2> polygon_2d_vertices;
448 polygon_2d_vertices.resize(vertices.size());
449 Vector2 *polygon_2d_vertices_ptr = polygon_2d_vertices.ptrw();
450
451 for (int i = 0; i < vertices.size(); ++i) {
452 Vector3 obstacle_vertex = vertices[i];
453 Vector2 obstacle_vertex_2d = Vector2(obstacle_vertex.x, obstacle_vertex.z);
454 polygon_2d_vertices_ptr[i] = obstacle_vertex_2d;
455 }
456
457 Vector<int> triangulated_polygon_2d_indices = Geometry2D::triangulate_polygon(polygon_2d_vertices);
458
459 if (triangulated_polygon_2d_indices.is_empty()) {
460 // failed triangulation
461 return;
462 }
463
464 bool obstacle_pushes_inward = Geometry2D::is_polygon_clockwise(polygon_2d_vertices);
465
466 Vector<Vector3> face_vertex_array;
467 Vector<int> face_indices_array;
468
469 face_vertex_array.resize(polygon_2d_vertices.size());
470 face_indices_array.resize(triangulated_polygon_2d_indices.size());
471
472 Vector3 *face_vertex_array_ptr = face_vertex_array.ptrw();
473 int *face_indices_array_ptr = face_indices_array.ptrw();
474
475 for (int i = 0; i < triangulated_polygon_2d_indices.size(); ++i) {
476 int vertex_index = triangulated_polygon_2d_indices[i];
477 const Vector2 &vertex_2d = polygon_2d_vertices[vertex_index];
478 Vector3 vertex_3d = Vector3(vertex_2d.x, 0.0, vertex_2d.y);
479 face_vertex_array_ptr[vertex_index] = vertex_3d;
480 face_indices_array_ptr[i] = vertex_index;
481 }
482
483 Array face_mesh_array;
484 face_mesh_array.resize(Mesh::ARRAY_MAX);
485 face_mesh_array[Mesh::ARRAY_VERTEX] = face_vertex_array;
486 face_mesh_array[Mesh::ARRAY_INDEX] = face_indices_array;
487
488 static_obstacle_debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, face_mesh_array);
489
490 Vector<Vector3> edge_vertex_array;
491
492 for (int i = 0; i < polygon_2d_vertices.size(); ++i) {
493 int from_index = i - 1;
494 int to_index = i;
495
496 if (i == 0) {
497 from_index = polygon_2d_vertices.size() - 1;
498 }
499
500 const Vector2 &vertex_2d_from = polygon_2d_vertices[from_index];
501 const Vector2 &vertex_2d_to = polygon_2d_vertices[to_index];
502
503 Vector3 vertex_3d_ground_from = Vector3(vertex_2d_from.x, 0.0, vertex_2d_from.y);
504 Vector3 vertex_3d_ground_to = Vector3(vertex_2d_to.x, 0.0, vertex_2d_to.y);
505
506 edge_vertex_array.push_back(vertex_3d_ground_from);
507 edge_vertex_array.push_back(vertex_3d_ground_to);
508
509 Vector3 vertex_3d_height_from = Vector3(vertex_2d_from.x, height, vertex_2d_from.y);
510 Vector3 vertex_3d_height_to = Vector3(vertex_2d_to.x, height, vertex_2d_to.y);
511
512 edge_vertex_array.push_back(vertex_3d_height_from);
513 edge_vertex_array.push_back(vertex_3d_height_to);
514
515 edge_vertex_array.push_back(vertex_3d_ground_from);
516 edge_vertex_array.push_back(vertex_3d_height_from);
517 }
518
519 Array edge_mesh_array;
520 edge_mesh_array.resize(Mesh::ARRAY_MAX);
521 edge_mesh_array[Mesh::ARRAY_VERTEX] = edge_vertex_array;
522
523 static_obstacle_debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, edge_mesh_array);
524
525 Ref<StandardMaterial3D> face_material;
526 Ref<StandardMaterial3D> edge_material;
527
528 if (obstacle_pushes_inward) {
529 face_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushin_face_material();
530 edge_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushin_edge_material();
531 } else {
532 face_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushout_face_material();
533 edge_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushout_edge_material();
534 }
535
536 static_obstacle_debug_mesh->surface_set_material(0, face_material);
537 static_obstacle_debug_mesh->surface_set_material(1, edge_material);
538
539 RS::get_singleton()->instance_set_base(static_obstacle_debug_instance, static_obstacle_debug_mesh->get_rid());
540 if (is_inside_tree()) {
541 RS::get_singleton()->instance_set_scenario(static_obstacle_debug_instance, get_world_3d()->get_scenario());
542 RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, is_visible_in_tree());
543 }
544}
545#endif // DEBUG_ENABLED
546