/**************************************************************************/
/* navigation_obstacle_3d.cpp */
/**************************************************************************/
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/* GODOT ENGINE */
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
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#include "navigation_obstacle_3d.h"
#include "core/config/engine.h"
#include "core/math/geometry_2d.h"
#include "core/object/callable_mp.h"
#include "core/object/class_db.h"
#include "scene/main/scene_tree.h"
#include "scene/resources/3d/navigation_mesh_source_geometry_data_3d.h"
#include "scene/resources/navigation_mesh.h"
#include "servers/navigation_3d/navigation_server_3d.h"
#include "servers/rendering/rendering_server.h"
Callable NavigationObstacle3D::_navmesh_source_geometry_parsing_callback;
RID NavigationObstacle3D::_navmesh_source_geometry_parser;
void NavigationObstacle3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_rid"), &NavigationObstacle3D::get_rid);
ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationObstacle3D::set_avoidance_enabled);
ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationObstacle3D::get_avoidance_enabled);
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationObstacle3D::set_navigation_map);
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationObstacle3D::get_navigation_map);
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle3D::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle3D::get_radius);
ClassDB::bind_method(D_METHOD("set_height", "height"), &NavigationObstacle3D::set_height);
ClassDB::bind_method(D_METHOD("get_height"), &NavigationObstacle3D::get_height);
ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationObstacle3D::set_velocity);
ClassDB::bind_method(D_METHOD("get_velocity"), &NavigationObstacle3D::get_velocity);
ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationObstacle3D::set_vertices);
ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationObstacle3D::get_vertices);
ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationObstacle3D::set_avoidance_layers);
ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationObstacle3D::get_avoidance_layers);
ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationObstacle3D::set_avoidance_layer_value);
ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationObstacle3D::get_avoidance_layer_value);
ClassDB::bind_method(D_METHOD("set_use_3d_avoidance", "enabled"), &NavigationObstacle3D::set_use_3d_avoidance);
ClassDB::bind_method(D_METHOD("get_use_3d_avoidance"), &NavigationObstacle3D::get_use_3d_avoidance);
ClassDB::bind_method(D_METHOD("set_affect_navigation_mesh", "enabled"), &NavigationObstacle3D::set_affect_navigation_mesh);
ClassDB::bind_method(D_METHOD("get_affect_navigation_mesh"), &NavigationObstacle3D::get_affect_navigation_mesh);
ClassDB::bind_method(D_METHOD("set_carve_navigation_mesh", "enabled"), &NavigationObstacle3D::set_carve_navigation_mesh);
ClassDB::bind_method(D_METHOD("get_carve_navigation_mesh"), &NavigationObstacle3D::get_carve_navigation_mesh);
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.0,100,0.01,suffix:m"), "set_radius", "get_radius");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "height", PROPERTY_HINT_RANGE, "0.0,100,0.01,suffix:m"), "set_height", "get_height");
ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR3_ARRAY, "vertices"), "set_vertices", "get_vertices");
ADD_GROUP("NavigationMesh", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "affect_navigation_mesh"), "set_affect_navigation_mesh", "get_affect_navigation_mesh");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "carve_navigation_mesh"), "set_carve_navigation_mesh", "get_carve_navigation_mesh");
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled", PROPERTY_HINT_GROUP_ENABLE), "set_avoidance_enabled", "get_avoidance_enabled");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity");
ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_3d_avoidance"), "set_use_3d_avoidance", "get_use_3d_avoidance");
}
void NavigationObstacle3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_POST_ENTER_TREE: {
if (map_override.is_valid()) {
_update_map(map_override);
} else if (is_inside_tree()) {
_update_map(get_world_3d()->get_navigation_map());
} else {
_update_map(RID());
}
// need to trigger map controlled agent assignment somehow for the fake_agent since obstacles use no callback like regular agents
NavigationServer3D::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
_update_transform();
set_physics_process_internal(true);
#ifdef DEBUG_ENABLED
_update_debug();
#endif // DEBUG_ENABLED
} break;
#ifdef TOOLS_ENABLED
case NOTIFICATION_TRANSFORM_CHANGED: {
update_gizmos();
} break;
#endif // TOOLS_ENABLED
case NOTIFICATION_EXIT_TREE: {
set_physics_process_internal(false);
_update_map(RID());
#ifdef DEBUG_ENABLED
_clear_debug();
#endif // DEBUG_ENABLED
} break;
case NOTIFICATION_SUSPENDED:
case NOTIFICATION_PAUSED: {
if (!can_process()) {
map_before_pause = map_current;
_update_map(RID());
} else if (can_process() && !(map_before_pause == RID())) {
_update_map(map_before_pause);
map_before_pause = RID();
}
NavigationServer3D::get_singleton()->obstacle_set_paused(obstacle, !can_process());
} break;
case NOTIFICATION_UNSUSPENDED: {
if (get_tree()->is_paused()) {
break;
}
[[fallthrough]];
}
case NOTIFICATION_UNPAUSED: {
if (!can_process()) {
map_before_pause = map_current;
_update_map(RID());
} else if (can_process() && !(map_before_pause == RID())) {
_update_map(map_before_pause);
map_before_pause = RID();
}
NavigationServer3D::get_singleton()->obstacle_set_paused(obstacle, !can_process());
} break;
#ifdef DEBUG_ENABLED
case NOTIFICATION_VISIBILITY_CHANGED: {
_update_debug();
} break;
#endif // DEBUG_ENABLED
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (is_inside_tree()) {
_update_transform();
if (velocity_submitted) {
velocity_submitted = false;
// only update if there is a noticeable change, else the rvo agent preferred velocity stays the same
if (!previous_velocity.is_equal_approx(velocity)) {
NavigationServer3D::get_singleton()->obstacle_set_velocity(obstacle, velocity);
}
previous_velocity = velocity;
}
#ifdef DEBUG_ENABLED
if (fake_agent_radius_debug_instance_rid.is_valid() && radius > 0.0) {
// Prevent non-positive scaling.
const Vector3 safe_scale = get_global_basis().get_scale().abs().maxf(0.001);
// Agent radius is a scalar value and does not support non-uniform scaling, choose the largest axis.
const float scaling_max_value = safe_scale[safe_scale.max_axis_index()];
const Vector3 uniform_max_scale = Vector3(scaling_max_value, scaling_max_value, scaling_max_value);
const Transform3D debug_transform = Transform3D(Basis().scaled(uniform_max_scale), get_global_position());
RS::get_singleton()->instance_set_transform(fake_agent_radius_debug_instance_rid, debug_transform);
}
if (static_obstacle_debug_instance_rid.is_valid() && get_vertices().size() > 0) {
// Prevent non-positive scaling.
const Vector3 safe_scale = get_global_basis().get_scale().abs().maxf(0.001);
// Obstacles are projected to the xz-plane, so only rotation around the y-axis can be taken into account.
const Transform3D debug_transform = Transform3D(Basis().scaled(safe_scale).rotated(Vector3(0.0, 1.0, 0.0), get_global_rotation().y), get_global_position());
RS::get_singleton()->instance_set_transform(static_obstacle_debug_instance_rid, debug_transform);
}
#endif // DEBUG_ENABLED
}
} break;
}
}
NavigationObstacle3D::NavigationObstacle3D() {
NavigationServer3D *ns3d = NavigationServer3D::get_singleton();
obstacle = ns3d->obstacle_create();
ns3d->obstacle_set_height(obstacle, height);
ns3d->obstacle_set_radius(obstacle, radius);
ns3d->obstacle_set_vertices(obstacle, vertices);
ns3d->obstacle_set_avoidance_layers(obstacle, avoidance_layers);
ns3d->obstacle_set_use_3d_avoidance(obstacle, use_3d_avoidance);
ns3d->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
#ifdef DEBUG_ENABLED
RenderingServer *rs = RenderingServer::get_singleton();
fake_agent_radius_debug_mesh_rid = rs->mesh_create();
static_obstacle_debug_mesh_rid = rs->mesh_create();
fake_agent_radius_debug_instance_rid = rs->instance_create();
static_obstacle_debug_instance_rid = rs->instance_create();
rs->instance_set_base(fake_agent_radius_debug_instance_rid, fake_agent_radius_debug_mesh_rid);
rs->instance_set_base(static_obstacle_debug_instance_rid, static_obstacle_debug_mesh_rid);
ns3d->connect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_fake_agent_radius_debug));
ns3d->connect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_static_obstacle_debug));
_update_fake_agent_radius_debug();
_update_static_obstacle_debug();
#endif // DEBUG_ENABLED
#ifdef TOOLS_ENABLED
set_notify_transform(true);
#endif // TOOLS_ENABLED
}
NavigationObstacle3D::~NavigationObstacle3D() {
NavigationServer3D *ns3d = NavigationServer3D::get_singleton();
ERR_FAIL_NULL(ns3d);
ns3d->free_rid(obstacle);
obstacle = RID();
#ifdef DEBUG_ENABLED
ns3d->disconnect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_fake_agent_radius_debug));
ns3d->disconnect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_static_obstacle_debug));
RenderingServer *rs = RenderingServer::get_singleton();
ERR_FAIL_NULL(rs);
if (fake_agent_radius_debug_instance_rid.is_valid()) {
rs->free_rid(fake_agent_radius_debug_instance_rid);
fake_agent_radius_debug_instance_rid = RID();
}
if (fake_agent_radius_debug_mesh_rid.is_valid()) {
rs->free_rid(fake_agent_radius_debug_mesh_rid);
fake_agent_radius_debug_mesh_rid = RID();
}
if (static_obstacle_debug_instance_rid.is_valid()) {
rs->free_rid(static_obstacle_debug_instance_rid);
static_obstacle_debug_instance_rid = RID();
}
if (static_obstacle_debug_mesh_rid.is_valid()) {
rs->free_rid(static_obstacle_debug_mesh_rid);
static_obstacle_debug_mesh_rid = RID();
}
#endif // DEBUG_ENABLED
}
void NavigationObstacle3D::set_vertices(const Vector<Vector3> &p_vertices) {
vertices = p_vertices;
Vector<Vector2> vertices_2d;
vertices_2d.resize(vertices.size());
const Vector3 *vertices_ptr = vertices.ptr();
Vector2 *vertices_2d_ptrw = vertices_2d.ptrw();
for (int i = 0; i < vertices.size(); i++) {
vertices_2d_ptrw[i] = Vector2(vertices_ptr[i].x, vertices_ptr[i].z);
}
vertices_are_clockwise = !Geometry2D::is_polygon_clockwise(vertices_2d); // Geometry2D is inverted.
vertices_are_valid = !Geometry2D::triangulate_polygon(vertices_2d).is_empty();
const Basis basis = is_inside_tree() ? get_global_basis() : get_basis();
const float rotation_y = is_inside_tree() ? get_global_rotation().y : get_rotation().y;
const Vector3 safe_scale = basis.get_scale().abs().maxf(0.001);
const Transform3D safe_transform = Transform3D(Basis().scaled(safe_scale).rotated(Vector3(0.0, 1.0, 0.0), rotation_y), Vector3());
NavigationServer3D::get_singleton()->obstacle_set_vertices(obstacle, safe_transform.xform(vertices));
#ifdef DEBUG_ENABLED
_update_static_obstacle_debug();
update_gizmos();
#endif // DEBUG_ENABLED
}
void NavigationObstacle3D::set_navigation_map(RID p_navigation_map) {
if (map_override == p_navigation_map) {
return;
}
map_override = p_navigation_map;
_update_map(map_override);
}
RID NavigationObstacle3D::get_navigation_map() const {
if (map_override.is_valid()) {
return map_override;
} else if (is_inside_tree()) {
return get_world_3d()->get_navigation_map();
}
return RID();
}
void NavigationObstacle3D::set_radius(real_t p_radius) {
ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
if (Math::is_equal_approx(radius, p_radius)) {
return;
}
radius = p_radius;
// Prevent non-positive or non-uniform scaling of dynamic obstacle radius.
const Vector3 safe_scale = (is_inside_tree() ? get_global_basis() : get_basis()).get_scale().abs().maxf(0.001);
NavigationServer3D::get_singleton()->obstacle_set_radius(obstacle, safe_scale[safe_scale.max_axis_index()] * radius);
#ifdef DEBUG_ENABLED
_update_fake_agent_radius_debug();
update_gizmos();
#endif // DEBUG_ENABLED
}
void NavigationObstacle3D::set_height(real_t p_height) {
ERR_FAIL_COND_MSG(p_height < 0.0, "Height must be positive.");
if (Math::is_equal_approx(height, p_height)) {
return;
}
height = p_height;
const float scale_factor = MAX(Math::abs((is_inside_tree() ? get_global_basis() : get_basis()).get_scale().y), 0.001);
NavigationServer3D::get_singleton()->obstacle_set_height(obstacle, scale_factor * height);
#ifdef DEBUG_ENABLED
_update_static_obstacle_debug();
update_gizmos();
#endif // DEBUG_ENABLED
}
void NavigationObstacle3D::set_avoidance_layers(uint32_t p_layers) {
avoidance_layers = p_layers;
NavigationServer3D::get_singleton()->obstacle_set_avoidance_layers(obstacle, avoidance_layers);
}
uint32_t NavigationObstacle3D::get_avoidance_layers() const {
return avoidance_layers;
}
void NavigationObstacle3D::set_avoidance_layer_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Avoidance layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Avoidance layer number must be between 1 and 32 inclusive.");
uint32_t avoidance_layers_new = get_avoidance_layers();
if (p_value) {
avoidance_layers_new |= 1 << (p_layer_number - 1);
} else {
avoidance_layers_new &= ~(1 << (p_layer_number - 1));
}
set_avoidance_layers(avoidance_layers_new);
}
bool NavigationObstacle3D::get_avoidance_layer_value(int p_layer_number) const {
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Avoidance layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Avoidance layer number must be between 1 and 32 inclusive.");
return get_avoidance_layers() & (1 << (p_layer_number - 1));
}
void NavigationObstacle3D::set_avoidance_enabled(bool p_enabled) {
if (avoidance_enabled == p_enabled) {
return;
}
avoidance_enabled = p_enabled;
NavigationServer3D::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
}
bool NavigationObstacle3D::get_avoidance_enabled() const {
return avoidance_enabled;
}
void NavigationObstacle3D::set_use_3d_avoidance(bool p_use_3d_avoidance) {
use_3d_avoidance = p_use_3d_avoidance;
_update_use_3d_avoidance(use_3d_avoidance);
notify_property_list_changed();
}
void NavigationObstacle3D::set_velocity(const Vector3 p_velocity) {
velocity = p_velocity;
velocity_submitted = true;
}
void NavigationObstacle3D::set_affect_navigation_mesh(bool p_enabled) {
affect_navigation_mesh = p_enabled;
}
bool NavigationObstacle3D::get_affect_navigation_mesh() const {
return affect_navigation_mesh;
}
void NavigationObstacle3D::set_carve_navigation_mesh(bool p_enabled) {
carve_navigation_mesh = p_enabled;
}
bool NavigationObstacle3D::get_carve_navigation_mesh() const {
return carve_navigation_mesh;
}
PackedStringArray NavigationObstacle3D::get_configuration_warnings() const {
PackedStringArray warnings = Node3D::get_configuration_warnings();
if (get_global_rotation().x != 0.0 || get_global_rotation().z != 0.0) {
warnings.push_back(RTR("NavigationObstacle3D only takes global rotation around the y-axis into account. Rotations around the x-axis or z-axis might lead to unexpected results."));
}
const Vector3 global_scale = get_global_basis().get_scale();
if (global_scale.x < 0.001 || global_scale.y < 0.001 || global_scale.z < 0.001) {
warnings.push_back(RTR("NavigationObstacle3D does not support negative or zero scaling."));
}
if (radius > 0.0 && !get_global_basis().is_conformal()) {
warnings.push_back(RTR("The agent radius can only be scaled uniformly. The largest scale value along the three axes will be used."));
}
return warnings;
}
void NavigationObstacle3D::navmesh_parse_init() {
ERR_FAIL_NULL(NavigationServer3D::get_singleton());
if (!_navmesh_source_geometry_parser.is_valid()) {
_navmesh_source_geometry_parsing_callback = callable_mp_static(&NavigationObstacle3D::navmesh_parse_source_geometry);
_navmesh_source_geometry_parser = NavigationServer3D::get_singleton()->source_geometry_parser_create();
NavigationServer3D::get_singleton()->source_geometry_parser_set_callback(_navmesh_source_geometry_parser, _navmesh_source_geometry_parsing_callback);
}
}
void NavigationObstacle3D::navmesh_parse_source_geometry(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node) {
NavigationObstacle3D *obstacle = Object::cast_to<NavigationObstacle3D>(p_node);
if (obstacle == nullptr) {
return;
}
if (!obstacle->get_affect_navigation_mesh()) {
return;
}
const float elevation = obstacle->get_global_position().y + p_source_geometry_data->root_node_transform.origin.y;
// Prevent non-positive scaling.
const Vector3 safe_scale = obstacle->get_global_basis().get_scale().abs().maxf(0.001);
const float obstacle_radius = obstacle->get_radius();
if (obstacle_radius > 0.0) {
// Radius defined obstacle should be uniformly scaled from obstacle basis max scale axis.
const float scaling_max_value = safe_scale[safe_scale.max_axis_index()];
const Vector3 uniform_max_scale = Vector3(scaling_max_value, scaling_max_value, scaling_max_value);
const Transform3D obstacle_circle_transform = p_source_geometry_data->root_node_transform * Transform3D(Basis().scaled(uniform_max_scale), obstacle->get_global_position());
Vector<Vector3> obstruction_circle_vertices;
// The point of this is that the moving obstacle can make a simple hole in the navigation mesh and affect the pathfinding.
// Without, navigation paths can go directly through the middle of the obstacle and conflict with the avoidance to get agents stuck.
// No place for excessive "round" detail here. Every additional edge adds a high cost for something that needs to be quick, not pretty.
static const int circle_points = 12;
obstruction_circle_vertices.resize(circle_points);
Vector3 *circle_vertices_ptrw = obstruction_circle_vertices.ptrw();
const real_t circle_point_step = Math::TAU / circle_points;
for (int i = 0; i < circle_points; i++) {
const float angle = i * circle_point_step;
circle_vertices_ptrw[i] = obstacle_circle_transform.xform(Vector3(Math::cos(angle) * obstacle_radius, 0.0, Math::sin(angle) * obstacle_radius));
}
p_source_geometry_data->add_projected_obstruction(obstruction_circle_vertices, elevation - obstacle_radius, scaling_max_value * obstacle_radius, obstacle->get_carve_navigation_mesh());
}
// Obstacles are projected to the xz-plane, so only rotation around the y-axis can be taken into account.
const Transform3D node_xform = p_source_geometry_data->root_node_transform * Transform3D(Basis().scaled(safe_scale).rotated(Vector3(0.0, 1.0, 0.0), obstacle->get_global_rotation().y), obstacle->get_global_position());
const Vector<Vector3> &obstacle_vertices = obstacle->get_vertices();
if (obstacle_vertices.is_empty()) {
return;
}
Vector<Vector3> obstruction_shape_vertices;
obstruction_shape_vertices.resize(obstacle_vertices.size());
const Vector3 *obstacle_vertices_ptr = obstacle_vertices.ptr();
Vector3 *obstruction_shape_vertices_ptrw = obstruction_shape_vertices.ptrw();
for (int i = 0; i < obstacle_vertices.size(); i++) {
obstruction_shape_vertices_ptrw[i] = node_xform.xform(obstacle_vertices_ptr[i]);
obstruction_shape_vertices_ptrw[i].y = 0.0;
}
p_source_geometry_data->add_projected_obstruction(obstruction_shape_vertices, elevation, safe_scale.y * obstacle->get_height(), obstacle->get_carve_navigation_mesh());
}
void NavigationObstacle3D::_update_map(RID p_map) {
NavigationServer3D::get_singleton()->obstacle_set_map(obstacle, p_map);
map_current = p_map;
}
void NavigationObstacle3D::_update_position(const Vector3 p_position) {
NavigationServer3D::get_singleton()->obstacle_set_position(obstacle, p_position);
}
void NavigationObstacle3D::_update_transform() {
_update_position(get_global_position());
// Prevent non-positive or non-uniform scaling of dynamic obstacle radius.
const Vector3 safe_scale = get_global_basis().get_scale().abs().maxf(0.001);
const float scaling_max_value = safe_scale[safe_scale.max_axis_index()];
NavigationServer3D::get_singleton()->obstacle_set_radius(obstacle, scaling_max_value * radius);
// Apply modified node transform which only takes y-axis rotation into account to vertices.
const Transform3D safe_transform = Transform3D(Basis().scaled(safe_scale).rotated(Vector3(0.0, 1.0, 0.0), get_global_rotation().y), Vector3());
NavigationServer3D::get_singleton()->obstacle_set_vertices(obstacle, safe_transform.xform(vertices));
NavigationServer3D::get_singleton()->obstacle_set_height(obstacle, safe_scale.y * height);
}
void NavigationObstacle3D::_update_use_3d_avoidance(bool p_use_3d_avoidance) {
NavigationServer3D::get_singleton()->obstacle_set_use_3d_avoidance(obstacle, use_3d_avoidance);
_update_map(map_current);
}
#ifdef DEBUG_ENABLED
void NavigationObstacle3D::_update_debug() {
RenderingServer *rs = RenderingServer::get_singleton();
if (is_inside_tree()) {
rs->instance_set_visible(fake_agent_radius_debug_instance_rid, is_visible_in_tree());
rs->instance_set_visible(static_obstacle_debug_instance_rid, is_visible_in_tree());
rs->instance_set_scenario(fake_agent_radius_debug_instance_rid, get_world_3d()->get_scenario());
rs->instance_set_scenario(static_obstacle_debug_instance_rid, get_world_3d()->get_scenario());
rs->instance_set_transform(fake_agent_radius_debug_instance_rid, Transform3D(Basis(), get_global_position()));
rs->instance_set_transform(static_obstacle_debug_instance_rid, Transform3D(Basis(), get_global_position()));
_update_fake_agent_radius_debug();
_update_static_obstacle_debug();
} else {
rs->mesh_clear(fake_agent_radius_debug_mesh_rid);
rs->mesh_clear(static_obstacle_debug_mesh_rid);
rs->instance_set_scenario(fake_agent_radius_debug_instance_rid, RID());
rs->instance_set_scenario(static_obstacle_debug_instance_rid, RID());
}
}
void NavigationObstacle3D::_update_fake_agent_radius_debug() {
NavigationServer3D *ns3d = NavigationServer3D::get_singleton();
RenderingServer *rs = RenderingServer::get_singleton();
bool is_debug_enabled = false;
if (Engine::get_singleton()->is_editor_hint()) {
is_debug_enabled = true;
} else if (ns3d->get_debug_enabled() &&
ns3d->get_debug_avoidance_enabled() &&
ns3d->get_debug_navigation_avoidance_enable_obstacles_radius()) {
is_debug_enabled = true;
}
rs->mesh_clear(fake_agent_radius_debug_mesh_rid);
if (!is_debug_enabled) {
return;
}
Vector<Vector3> face_vertex_array;
Vector<int> face_indices_array;
int i, j, prevrow, thisrow, point;
float x, y, z;
int rings = 16;
int radial_segments = 32;
point = 0;
thisrow = 0;
prevrow = 0;
for (j = 0; j <= (rings + 1); j++) {
float v = j;
float w;
v /= (rings + 1);
w = std::sin(Math::PI * v);
y = (radius)*std::cos(Math::PI * v);
for (i = 0; i <= radial_segments; i++) {
float u = i;
u /= radial_segments;
x = std::sin(u * Math::TAU);
z = std::cos(u * Math::TAU);
Vector3 p = Vector3(x * radius * w, y, z * radius * w);
face_vertex_array.push_back(p);
point++;
if (i > 0 && j > 0) {
face_indices_array.push_back(prevrow + i - 1);
face_indices_array.push_back(prevrow + i);
face_indices_array.push_back(thisrow + i - 1);
face_indices_array.push_back(prevrow + i);
face_indices_array.push_back(thisrow + i);
face_indices_array.push_back(thisrow + i - 1);
};
};
prevrow = thisrow;
thisrow = point;
};
Array face_mesh_array;
face_mesh_array.resize(Mesh::ARRAY_MAX);
face_mesh_array[Mesh::ARRAY_VERTEX] = face_vertex_array;
face_mesh_array[Mesh::ARRAY_INDEX] = face_indices_array;
rs->mesh_add_surface_from_arrays(fake_agent_radius_debug_mesh_rid, RSE::PRIMITIVE_TRIANGLES, face_mesh_array);
Ref<StandardMaterial3D> face_material = ns3d->get_debug_navigation_avoidance_obstacles_radius_material();
rs->instance_set_surface_override_material(fake_agent_radius_debug_instance_rid, 0, face_material->get_rid());
if (is_inside_tree()) {
rs->instance_set_scenario(fake_agent_radius_debug_instance_rid, get_world_3d()->get_scenario());
rs->instance_set_visible(fake_agent_radius_debug_instance_rid, is_visible_in_tree());
}
}
#endif // DEBUG_ENABLED
#ifdef DEBUG_ENABLED
void NavigationObstacle3D::_update_static_obstacle_debug() {
if (Engine::get_singleton()->is_editor_hint()) {
// Don't update inside Editor as Node3D gizmo takes care of this.
return;
}
NavigationServer3D *ns3d = NavigationServer3D::get_singleton();
RenderingServer *rs = RenderingServer::get_singleton();
bool is_debug_enabled = false;
if (ns3d->get_debug_enabled() &&
ns3d->get_debug_avoidance_enabled() &&
ns3d->get_debug_navigation_avoidance_enable_obstacles_static()) {
is_debug_enabled = true;
}
rs->mesh_clear(static_obstacle_debug_mesh_rid);
if (!is_debug_enabled) {
return;
}
const int vertex_count = vertices.size();
if (vertex_count < 3) {
if (static_obstacle_debug_instance_rid.is_valid()) {
rs->instance_set_visible(static_obstacle_debug_instance_rid, false);
}
return;
}
Vector<Vector3> edge_vertex_array;
edge_vertex_array.resize(vertex_count * 8);
Vector3 *edge_vertex_array_ptrw = edge_vertex_array.ptrw();
int vertex_index = 0;
for (int i = 0; i < vertex_count; i++) {
Vector3 point = vertices[i];
Vector3 next_point = vertices[(i + 1) % vertex_count];
Vector3 direction = next_point.direction_to(point);
Vector3 arrow_dir = direction.cross(Vector3(0.0, 1.0, 0.0));
Vector3 edge_middle = point + ((next_point - point) * 0.5);
edge_vertex_array_ptrw[vertex_index++] = edge_middle;
edge_vertex_array_ptrw[vertex_index++] = edge_middle + (arrow_dir * 0.5);
edge_vertex_array_ptrw[vertex_index++] = point;
edge_vertex_array_ptrw[vertex_index++] = next_point;
edge_vertex_array_ptrw[vertex_index++] = Vector3(point.x, height, point.z);
edge_vertex_array_ptrw[vertex_index++] = Vector3(next_point.x, height, next_point.z);
edge_vertex_array_ptrw[vertex_index++] = point;
edge_vertex_array_ptrw[vertex_index++] = Vector3(point.x, height, point.z);
}
Array edge_mesh_array;
edge_mesh_array.resize(Mesh::ARRAY_MAX);
edge_mesh_array[Mesh::ARRAY_VERTEX] = edge_vertex_array;
rs->mesh_add_surface_from_arrays(static_obstacle_debug_mesh_rid, RSE::PRIMITIVE_LINES, edge_mesh_array);
Ref<StandardMaterial3D> edge_material;
if (are_vertices_valid()) {
edge_material = ns3d->get_debug_navigation_avoidance_static_obstacle_pushout_edge_material();
} else {
edge_material = ns3d->get_debug_navigation_avoidance_static_obstacle_pushin_edge_material();
}
rs->instance_set_surface_override_material(static_obstacle_debug_instance_rid, 0, edge_material->get_rid());
if (is_inside_tree()) {
rs->instance_set_scenario(static_obstacle_debug_instance_rid, get_world_3d()->get_scenario());
rs->instance_set_visible(static_obstacle_debug_instance_rid, is_visible_in_tree());
}
}
#endif // DEBUG_ENABLED
#ifdef DEBUG_ENABLED
void NavigationObstacle3D::_clear_debug() {
RenderingServer *rs = RenderingServer::get_singleton();
ERR_FAIL_NULL(rs);
rs->mesh_clear(fake_agent_radius_debug_mesh_rid);
rs->mesh_clear(static_obstacle_debug_mesh_rid);
rs->instance_set_scenario(fake_agent_radius_debug_instance_rid, RID());
rs->instance_set_scenario(static_obstacle_debug_instance_rid, RID());
}
#endif // DEBUG_ENABLED