2020-01-10 12:22:34 +01:00
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/*************************************************************************/
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/* navigation_obstacle.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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2020-02-11 14:01:43 +01:00
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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2020-01-10 12:22:34 +01:00
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "navigation_obstacle.h"
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#include "scene/3d/collision_shape.h"
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#include "scene/3d/navigation.h"
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#include "scene/3d/physics_body.h"
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#include "servers/navigation_server.h"
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void NavigationObstacle::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle::set_navigation_node);
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ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle::get_navigation_node);
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}
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void NavigationObstacle::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_READY: {
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update_agent_shape();
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// Search the navigation node and set it
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{
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Navigation *nav = NULL;
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Node *p = get_parent();
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while (p != NULL) {
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nav = Object::cast_to<Navigation>(p);
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if (nav != NULL)
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p = NULL;
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else
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p = p->get_parent();
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}
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set_navigation(nav);
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}
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set_physics_process_internal(true);
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} break;
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case NOTIFICATION_EXIT_TREE: {
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set_navigation(NULL);
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set_physics_process_internal(false);
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} break;
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case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
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Spatial *spatial = Object::cast_to<Spatial>(get_parent());
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if (spatial) {
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NavigationServer::get_singleton()->agent_set_position(agent, spatial->get_global_transform().origin);
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}
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PhysicsBody *rigid = Object::cast_to<PhysicsBody>(get_parent());
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if (rigid) {
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Vector3 v = rigid->get_linear_velocity();
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NavigationServer::get_singleton()->agent_set_velocity(agent, v);
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NavigationServer::get_singleton()->agent_set_target_velocity(agent, v);
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}
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} break;
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}
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}
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NavigationObstacle::NavigationObstacle() :
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navigation(NULL),
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agent(RID()) {
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agent = NavigationServer::get_singleton()->agent_create();
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}
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NavigationObstacle::~NavigationObstacle() {
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NavigationServer::get_singleton()->free(agent);
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agent = RID(); // Pointless
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}
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void NavigationObstacle::set_navigation(Navigation *p_nav) {
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if (navigation == p_nav)
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return; // Pointless
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navigation = p_nav;
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NavigationServer::get_singleton()->agent_set_map(agent, navigation == NULL ? RID() : navigation->get_rid());
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}
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void NavigationObstacle::set_navigation_node(Node *p_nav) {
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Navigation *nav = Object::cast_to<Navigation>(p_nav);
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ERR_FAIL_COND(nav == NULL);
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set_navigation(nav);
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}
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Node *NavigationObstacle::get_navigation_node() const {
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return Object::cast_to<Node>(navigation);
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}
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String NavigationObstacle::get_configuration_warning() const {
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if (!Object::cast_to<Spatial>(get_parent())) {
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return TTR("The NavigationObstacle only serves to provide collision avoidance to a spatial object.");
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}
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return String();
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}
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void NavigationObstacle::update_agent_shape() {
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Node *node = get_parent();
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// Estimate the radius of this physics body
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real_t radius = 0.0;
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for (int i(0); i < node->get_child_count(); i++) {
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// For each collision shape
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CollisionShape *cs = Object::cast_to<CollisionShape>(node->get_child(i));
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if (cs) {
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// Take the distance between the Body center to the shape center
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real_t r = cs->get_transform().origin.length();
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if (cs->get_shape().is_valid()) {
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// and add the enclosing shape radius
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r += cs->get_shape()->get_enclosing_radius();
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}
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Vector3 s = cs->get_global_transform().basis.get_scale();
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r *= MAX(s.x, MAX(s.y, s.z));
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// Takes the biggest radius
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radius = MAX(radius, r);
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}
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}
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Spatial *spa = Object::cast_to<Spatial>(node);
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if (spa) {
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Vector3 s = spa->get_global_transform().basis.get_scale();
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radius *= MAX(s.x, MAX(s.y, s.z));
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}
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if (radius == 0.0)
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radius = 1.0; // Never a 0 radius
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// Initialize the Agent as an object
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NavigationServer::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
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NavigationServer::get_singleton()->agent_set_max_neighbors(agent, 0);
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NavigationServer::get_singleton()->agent_set_time_horizon(agent, 0.0);
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NavigationServer::get_singleton()->agent_set_radius(agent, radius);
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NavigationServer::get_singleton()->agent_set_max_speed(agent, 0.0);
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}
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