1/**************************************************************************/
2/* navigation_server_2d.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_SERVER_2D_H
32#define NAVIGATION_SERVER_2D_H
33
34#include "core/object/class_db.h"
35#include "core/templates/rid.h"
36
37#include "scene/resources/navigation_polygon.h"
38#include "servers/navigation/navigation_path_query_parameters_2d.h"
39#include "servers/navigation/navigation_path_query_result_2d.h"
40
41// This server exposes the `NavigationServer3D` features in the 2D world.
42class NavigationServer2D : public Object {
43 GDCLASS(NavigationServer2D, Object);
44
45 static NavigationServer2D *singleton;
46
47 void _emit_map_changed(RID p_map);
48
49protected:
50 static void _bind_methods();
51
52public:
53 /// Thread safe, can be used across many threads.
54 static NavigationServer2D *get_singleton() { return singleton; }
55
56 virtual TypedArray<RID> get_maps() const;
57
58 /// Create a new map.
59 virtual RID map_create();
60
61 /// Set map active.
62 virtual void map_set_active(RID p_map, bool p_active);
63
64 /// Returns true if the map is active.
65 virtual bool map_is_active(RID p_map) const;
66
67 /// Set the map cell size used to weld the navigation mesh polygons.
68 virtual void map_set_cell_size(RID p_map, real_t p_cell_size);
69
70 /// Returns the map cell size.
71 virtual real_t map_get_cell_size(RID p_map) const;
72
73 virtual void map_set_use_edge_connections(RID p_map, bool p_enabled);
74 virtual bool map_get_use_edge_connections(RID p_map) const;
75
76 /// Set the map edge connection margin used to weld the compatible region edges.
77 virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin);
78
79 /// Returns the edge connection margin of this map.
80 virtual real_t map_get_edge_connection_margin(RID p_map) const;
81
82 /// Set the map link connection radius used to attach links to the nav mesh.
83 virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius);
84
85 /// Returns the link connection radius of this map.
86 virtual real_t map_get_link_connection_radius(RID p_map) const;
87
88 /// Returns the navigation path to reach the destination from the origin.
89 virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const;
90
91 virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const;
92 virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const;
93
94 virtual TypedArray<RID> map_get_links(RID p_map) const;
95 virtual TypedArray<RID> map_get_regions(RID p_map) const;
96 virtual TypedArray<RID> map_get_agents(RID p_map) const;
97 virtual TypedArray<RID> map_get_obstacles(RID p_map) const;
98
99 virtual void map_force_update(RID p_map);
100
101 /// Creates a new region.
102 virtual RID region_create();
103
104 virtual void region_set_enabled(RID p_region, bool p_enabled);
105 virtual bool region_get_enabled(RID p_region) const;
106
107 virtual void region_set_use_edge_connections(RID p_region, bool p_enabled);
108 virtual bool region_get_use_edge_connections(RID p_region) const;
109
110 /// Set the enter_cost of a region
111 virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost);
112 virtual real_t region_get_enter_cost(RID p_region) const;
113
114 /// Set the travel_cost of a region
115 virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost);
116 virtual real_t region_get_travel_cost(RID p_region) const;
117
118 /// Set the node which manages this region.
119 virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id);
120 virtual ObjectID region_get_owner_id(RID p_region) const;
121
122 virtual bool region_owns_point(RID p_region, const Vector2 &p_point) const;
123
124 /// Set the map of this region.
125 virtual void region_set_map(RID p_region, RID p_map);
126 virtual RID region_get_map(RID p_region) const;
127
128 /// Set the region's layers
129 virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers);
130 virtual uint32_t region_get_navigation_layers(RID p_region) const;
131
132 /// Set the global transformation of this region.
133 virtual void region_set_transform(RID p_region, Transform2D p_transform);
134
135 /// Set the navigation poly of this region.
136 virtual void region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon);
137
138 /// Get a list of a region's connection to other regions.
139 virtual int region_get_connections_count(RID p_region) const;
140 virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const;
141 virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const;
142
143 /// Creates a new link between positions in the nav map.
144 virtual RID link_create();
145
146 /// Set the map of this link.
147 virtual void link_set_map(RID p_link, RID p_map);
148 virtual RID link_get_map(RID p_link) const;
149
150 virtual void link_set_enabled(RID p_link, bool p_enabled);
151 virtual bool link_get_enabled(RID p_link) const;
152
153 /// Set whether this link travels in both directions.
154 virtual void link_set_bidirectional(RID p_link, bool p_bidirectional);
155 virtual bool link_is_bidirectional(RID p_link) const;
156
157 /// Set the link's layers.
158 virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers);
159 virtual uint32_t link_get_navigation_layers(RID p_link) const;
160
161 /// Set the start position of the link.
162 virtual void link_set_start_position(RID p_link, Vector2 p_position);
163 virtual Vector2 link_get_start_position(RID p_link) const;
164
165 /// Set the end position of the link.
166 virtual void link_set_end_position(RID p_link, Vector2 p_position);
167 virtual Vector2 link_get_end_position(RID p_link) const;
168
169 /// Set the enter cost of the link.
170 virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost);
171 virtual real_t link_get_enter_cost(RID p_link) const;
172
173 /// Set the travel cost of the link.
174 virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost);
175 virtual real_t link_get_travel_cost(RID p_link) const;
176
177 /// Set the node which manages this link.
178 virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id);
179 virtual ObjectID link_get_owner_id(RID p_link) const;
180
181 /// Creates the agent.
182 virtual RID agent_create();
183
184 /// Put the agent in the map.
185 virtual void agent_set_map(RID p_agent, RID p_map);
186 virtual RID agent_get_map(RID p_agent) const;
187
188 virtual void agent_set_paused(RID p_agent, bool p_paused);
189 virtual bool agent_get_paused(RID p_agent) const;
190
191 virtual void agent_set_avoidance_enabled(RID p_agent, bool p_enabled);
192 virtual bool agent_get_avoidance_enabled(RID p_agent) const;
193
194 /// The maximum distance (center point to
195 /// center point) to other agents this agent
196 /// takes into account in the navigation. The
197 /// larger this number, the longer the running
198 /// time of the simulation. If the number is too
199 /// low, the simulation will not be safe.
200 /// Must be non-negative.
201 virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance);
202
203 /// The maximum number of other agents this
204 /// agent takes into account in the navigation.
205 /// The larger this number, the longer the
206 /// running time of the simulation. If the
207 /// number is too low, the simulation will not
208 /// be safe.
209 virtual void agent_set_max_neighbors(RID p_agent, int p_count);
210
211 /// The minimal amount of time for which this
212 /// agent's velocities that are computed by the
213 /// simulation are safe with respect to other
214 /// agents. The larger this number, the sooner
215 /// this agent will respond to the presence of
216 /// other agents, but the less freedom this
217 /// agent has in choosing its velocities.
218 /// Must be positive.
219
220 virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon);
221 virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon);
222
223 /// The radius of this agent.
224 /// Must be non-negative.
225 virtual void agent_set_radius(RID p_agent, real_t p_radius);
226
227 /// The maximum speed of this agent.
228 /// Must be non-negative.
229 virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed);
230
231 /// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly
232 virtual void agent_set_velocity_forced(RID p_agent, Vector2 p_velocity);
233
234 /// The wanted velocity for the agent as a "suggestion" to the avoidance simulation.
235 /// The simulation will try to fulfill this velocity wish if possible but may change the velocity depending on other agent's and obstacles'.
236 virtual void agent_set_velocity(RID p_agent, Vector2 p_velocity);
237
238 /// Position of the agent in world space.
239 virtual void agent_set_position(RID p_agent, Vector2 p_position);
240
241 /// Returns true if the map got changed the previous frame.
242 virtual bool agent_is_map_changed(RID p_agent) const;
243
244 /// Callback called at the end of the RVO process
245 virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback);
246
247 virtual void agent_set_avoidance_layers(RID p_agent, uint32_t p_layers);
248 virtual void agent_set_avoidance_mask(RID p_agent, uint32_t p_mask);
249 virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority);
250
251 /// Creates the obstacle.
252 virtual RID obstacle_create();
253 virtual void obstacle_set_avoidance_enabled(RID p_obstacle, bool p_enabled);
254 virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const;
255 virtual void obstacle_set_map(RID p_obstacle, RID p_map);
256 virtual RID obstacle_get_map(RID p_obstacle) const;
257 virtual void obstacle_set_paused(RID p_obstacle, bool p_paused);
258 virtual bool obstacle_get_paused(RID p_obstacle) const;
259 virtual void obstacle_set_radius(RID p_obstacle, real_t p_radius);
260 virtual void obstacle_set_velocity(RID p_obstacle, Vector2 p_velocity);
261 virtual void obstacle_set_position(RID p_obstacle, Vector2 p_position);
262 virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector2> &p_vertices);
263 virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers);
264
265 /// Returns a customized navigation path using a query parameters object
266 virtual void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const;
267
268 /// Destroy the `RID`
269 virtual void free(RID p_object);
270
271 NavigationServer2D();
272 virtual ~NavigationServer2D();
273
274 void set_debug_enabled(bool p_enabled);
275 bool get_debug_enabled() const;
276
277#ifdef DEBUG_ENABLED
278 void set_debug_navigation_enabled(bool p_enabled);
279 bool get_debug_navigation_enabled() const;
280
281 void set_debug_avoidance_enabled(bool p_enabled);
282 bool get_debug_avoidance_enabled() const;
283
284 void set_debug_navigation_edge_connection_color(const Color &p_color);
285 Color get_debug_navigation_edge_connection_color() const;
286
287 void set_debug_navigation_geometry_face_color(const Color &p_color);
288 Color get_debug_navigation_geometry_face_color() const;
289
290 void set_debug_navigation_geometry_face_disabled_color(const Color &p_color);
291 Color get_debug_navigation_geometry_face_disabled_color() const;
292
293 void set_debug_navigation_geometry_edge_color(const Color &p_color);
294 Color get_debug_navigation_geometry_edge_color() const;
295
296 void set_debug_navigation_geometry_edge_disabled_color(const Color &p_color);
297 Color get_debug_navigation_geometry_edge_disabled_color() const;
298
299 void set_debug_navigation_link_connection_color(const Color &p_color);
300 Color get_debug_navigation_link_connection_color() const;
301
302 void set_debug_navigation_link_connection_disabled_color(const Color &p_color);
303 Color get_debug_navigation_link_connection_disabled_color() const;
304
305 void set_debug_navigation_enable_edge_connections(const bool p_value);
306 bool get_debug_navigation_enable_edge_connections() const;
307
308 void set_debug_navigation_enable_geometry_face_random_color(const bool p_value);
309 bool get_debug_navigation_enable_geometry_face_random_color() const;
310
311 void set_debug_navigation_enable_edge_lines(const bool p_value);
312 bool get_debug_navigation_enable_edge_lines() const;
313
314 void set_debug_navigation_agent_path_color(const Color &p_color);
315 Color get_debug_navigation_agent_path_color() const;
316
317 void set_debug_navigation_enable_agent_paths(const bool p_value);
318 bool get_debug_navigation_enable_agent_paths() const;
319
320 void set_debug_navigation_agent_path_point_size(real_t p_point_size);
321 real_t get_debug_navigation_agent_path_point_size() const;
322
323 void set_debug_navigation_avoidance_enable_agents_radius(const bool p_value);
324 bool get_debug_navigation_avoidance_enable_agents_radius() const;
325
326 void set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value);
327 bool get_debug_navigation_avoidance_enable_obstacles_radius() const;
328
329 void set_debug_navigation_avoidance_agents_radius_color(const Color &p_color);
330 Color get_debug_navigation_avoidance_agents_radius_color() const;
331
332 void set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color);
333 Color get_debug_navigation_avoidance_obstacles_radius_color() const;
334
335 void set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color);
336 Color get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const;
337
338 void set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color);
339 Color get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const;
340
341 void set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color);
342 Color get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const;
343
344 void set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color);
345 Color get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const;
346
347 void set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value);
348 bool get_debug_navigation_avoidance_enable_obstacles_static() const;
349#endif // DEBUG_ENABLED
350
351#ifdef DEBUG_ENABLED
352private:
353 void _emit_navigation_debug_changed_signal();
354#endif // DEBUG_ENABLED
355};
356
357#endif // NAVIGATION_SERVER_2D_H
358