/**************************************************************************/ /* navigation_obstacle_3d.cpp */ /**************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /**************************************************************************/ /* 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 */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /**************************************************************************/ #include "navigation_obstacle_3d.h" #include "core/math/geometry_2d.h" #include "scene/resources/3d/navigation_mesh_source_geometry_data_3d.h" #include "scene/resources/navigation_mesh.h" #include "servers/navigation_server_3d.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"), "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(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(fake_agent_radius_debug_instance_rid); fake_agent_radius_debug_instance_rid = RID(); } if (fake_agent_radius_debug_mesh_rid.is_valid()) { rs->free(fake_agent_radius_debug_mesh_rid); fake_agent_radius_debug_mesh_rid = RID(); } if (static_obstacle_debug_instance_rid.is_valid()) { rs->free(static_obstacle_debug_instance_rid); static_obstacle_debug_instance_rid = RID(); } if (static_obstacle_debug_mesh_rid.is_valid()) { rs->free(static_obstacle_debug_mesh_rid); static_obstacle_debug_mesh_rid = RID(); } #endif // DEBUG_ENABLED } void NavigationObstacle3D::set_vertices(const Vector &p_vertices) { vertices = p_vertices; Vector 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 &p_navigation_mesh, Ref p_source_geometry_data, Node *p_node) { NavigationObstacle3D *obstacle = Object::cast_to(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 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 &obstacle_vertices = obstacle->get_vertices(); if (obstacle_vertices.is_empty()) { return; } Vector 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 face_vertex_array; Vector 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 = sin(Math::PI * v); y = (radius)*cos(Math::PI * v); for (i = 0; i <= radial_segments; i++) { float u = i; u /= radial_segments; x = sin(u * Math::TAU); z = 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, RS::PRIMITIVE_TRIANGLES, face_mesh_array); Ref 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 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, RS::PRIMITIVE_LINES, edge_mesh_array); Ref 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