From 0ab764e84bc9d7f21292f954fb2be215377a7276 Mon Sep 17 00:00:00 2001 From: smix8 <52464204+smix8@users.noreply.github.com> Date: Mon, 16 Jan 2023 17:45:03 +0100 Subject: [PATCH] Add NavigationAgent Path Debug Visualization Adds path debug visuals for NavigationAgent2D, NavigationAgent3D and NavigationServer. --- doc/classes/NavigationAgent2D.xml | 15 +++ doc/classes/NavigationAgent3D.xml | 12 ++ doc/classes/NavigationServer2D.xml | 5 + doc/classes/ProjectSettings.xml | 12 ++ scene/2d/navigation_agent_2d.cpp | 162 ++++++++++++++++++++++++++ scene/2d/navigation_agent_2d.h | 31 +++++ scene/3d/navigation_agent_3d.cpp | 180 +++++++++++++++++++++++++++++ scene/3d/navigation_agent_3d.h | 30 +++++ servers/navigation_server_2d.cpp | 36 ++++++ servers/navigation_server_2d.h | 14 +++ servers/navigation_server_3d.cpp | 98 ++++++++++++++++ servers/navigation_server_3d.h | 23 ++++ 12 files changed, 618 insertions(+) diff --git a/doc/classes/NavigationAgent2D.xml b/doc/classes/NavigationAgent2D.xml index 6ae4dc417798..92fd8bcc6adf 100644 --- a/doc/classes/NavigationAgent2D.xml +++ b/doc/classes/NavigationAgent2D.xml @@ -111,6 +111,21 @@ If [code]true[/code] the agent is registered for an RVO avoidance callback on the [NavigationServer2D]. When [method NavigationAgent2D.set_velocity] is used and the processing is completed a [code]safe_velocity[/code] Vector2 is received with a signal connection to [signal velocity_computed]. Avoidance processing with many registered agents has a significant performance cost and should only be enabled on agents that currently require it. + + If [code]true[/code] shows debug visuals for this agent. + + + If [member debug_use_custom] is [code]true[/code] uses this color for this agent instead of global color. + + + If [member debug_use_custom] is [code]true[/code] uses this line width for rendering paths for this agent instead of global line width. + + + If [member debug_use_custom] is [code]true[/code] uses this rasterized point size for rendering path points for this agent instead of global point size. + + + If [code]true[/code] uses the defined [member debug_path_custom_color] for this agent instead of global color. + The maximum number of neighbors for the agent to consider. diff --git a/doc/classes/NavigationAgent3D.xml b/doc/classes/NavigationAgent3D.xml index a22cd6dd4689..0ed11bc47777 100644 --- a/doc/classes/NavigationAgent3D.xml +++ b/doc/classes/NavigationAgent3D.xml @@ -114,6 +114,18 @@ If [code]true[/code] the agent is registered for an RVO avoidance callback on the [NavigationServer3D]. When [method NavigationAgent3D.set_velocity] is used and the processing is completed a [code]safe_velocity[/code] Vector3 is received with a signal connection to [signal velocity_computed]. Avoidance processing with many registered agents has a significant performance cost and should only be enabled on agents that currently require it. + + If [code]true[/code] shows debug visuals for this agent. + + + If [member debug_use_custom] is [code]true[/code] uses this color for this agent instead of global color. + + + If [member debug_use_custom] is [code]true[/code] uses this rasterized point size for rendering path points for this agent instead of global point size. + + + If [code]true[/code] uses the defined [member debug_path_custom_color] for this agent instead of global color. + Ignores collisions on the Y axis. Must be true to move on a horizontal plane. diff --git a/doc/classes/NavigationServer2D.xml b/doc/classes/NavigationServer2D.xml index 16f6de523800..7270a19b4d74 100644 --- a/doc/classes/NavigationServer2D.xml +++ b/doc/classes/NavigationServer2D.xml @@ -528,5 +528,10 @@ Emitted when a navigation map is updated, when a region moves or is modified. + + + Emitted when navigation debug settings are changed. Only available in debug builds. + + diff --git a/doc/classes/ProjectSettings.xml b/doc/classes/ProjectSettings.xml index 95bd060fc6c9..f2ef93c6d290 100644 --- a/doc/classes/ProjectSettings.xml +++ b/doc/classes/ProjectSettings.xml @@ -528,9 +528,21 @@ Color of the collision shapes, visible when "Visible Collision Shapes" is enabled in the Debug menu. + + Color to display enabled navigation agent paths when an agent has debug enabled. + + + Rasterized size (pixel) used to render navigation agent path points when an agent has debug enabled. + Color to display edge connections between navigation regions, visible when "Visible Navigation" is enabled in the Debug menu. + + If enabled, displays navigation agent paths when an agent has debug enabled. + + + If enabled, displays navigation agent paths through geometry when an agent has debug enabled. + If enabled, displays edge connections between navigation regions when "Visible Navigation" is enabled in the Debug menu. diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp index e73b6e7e23a2..380a684c9b58 100644 --- a/scene/2d/navigation_agent_2d.cpp +++ b/scene/2d/navigation_agent_2d.cpp @@ -108,6 +108,26 @@ void NavigationAgent2D::_bind_methods() { ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10,0.01,suffix:s"), "set_time_horizon", "get_time_horizon"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:px/s"), "set_max_speed", "get_max_speed"); +#ifdef DEBUG_ENABLED + ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent2D::set_debug_enabled); + ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent2D::get_debug_enabled); + ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent2D::set_debug_use_custom); + ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent2D::get_debug_use_custom); + ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent2D::set_debug_path_custom_color); + ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent2D::get_debug_path_custom_color); + ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent2D::set_debug_path_custom_point_size); + ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent2D::get_debug_path_custom_point_size); + ClassDB::bind_method(D_METHOD("set_debug_path_custom_line_width", "line_width"), &NavigationAgent2D::set_debug_path_custom_line_width); + ClassDB::bind_method(D_METHOD("get_debug_path_custom_line_width"), &NavigationAgent2D::get_debug_path_custom_line_width); + + ADD_GROUP("Debug", ""); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom"); + ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_point_size", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_line_width", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_line_width", "get_debug_path_custom_line_width"); +#endif // DEBUG_ENABLED + ADD_SIGNAL(MethodInfo("path_changed")); ADD_SIGNAL(MethodInfo("target_reached")); ADD_SIGNAL(MethodInfo("waypoint_reached", PropertyInfo(Variant::DICTIONARY, "details"))); @@ -123,6 +143,12 @@ void NavigationAgent2D::_notification(int p_what) { // cannot use READY as ready does not get called if Node is readded to SceneTree set_agent_parent(get_parent()); set_physics_process_internal(true); + +#ifdef DEBUG_ENABLED + if (NavigationServer2D::get_singleton()->get_debug_enabled()) { + debug_path_dirty = true; + } +#endif // DEBUG_ENABLED } break; case NOTIFICATION_PARENTED: { @@ -165,6 +191,12 @@ void NavigationAgent2D::_notification(int p_what) { case NOTIFICATION_EXIT_TREE: { agent_parent = nullptr; set_physics_process_internal(false); + +#ifdef DEBUG_ENABLED + if (debug_path_instance.is_valid()) { + RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, false); + } +#endif // DEBUG_ENABLED } break; case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: { @@ -176,6 +208,12 @@ void NavigationAgent2D::_notification(int p_what) { } _check_distance_to_target(); } + +#ifdef DEBUG_ENABLED + if (debug_path_dirty) { + _update_debug_path(); + } +#endif // DEBUG_ENABLED } break; } } @@ -194,12 +232,25 @@ NavigationAgent2D::NavigationAgent2D() { navigation_result = Ref(); navigation_result.instantiate(); + +#ifdef DEBUG_ENABLED + NavigationServer2D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed)); +#endif // DEBUG_ENABLED } NavigationAgent2D::~NavigationAgent2D() { ERR_FAIL_NULL(NavigationServer2D::get_singleton()); NavigationServer2D::get_singleton()->free(agent); agent = RID(); // Pointless + +#ifdef DEBUG_ENABLED + NavigationServer2D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent2D::_navigation_debug_changed)); + + ERR_FAIL_NULL(RenderingServer::get_singleton()); + if (debug_path_instance.is_valid()) { + RenderingServer::get_singleton()->free(debug_path_instance); + } +#endif // DEBUG_ENABLED } void NavigationAgent2D::set_avoidance_enabled(bool p_enabled) { @@ -463,6 +514,9 @@ void NavigationAgent2D::update_navigation() { } NavigationServer2D::get_singleton()->query_path(navigation_query, navigation_result); +#ifdef DEBUG_ENABLED + debug_path_dirty = true; +#endif // DEBUG_ENABLED navigation_finished = false; navigation_path_index = 0; emit_signal(SNAME("path_changed")); @@ -549,3 +603,111 @@ void NavigationAgent2D::_check_distance_to_target() { } } } + +////////DEBUG//////////////////////////////////////////////////////////// + +#ifdef DEBUG_ENABLED +void NavigationAgent2D::set_debug_enabled(bool p_enabled) { + debug_enabled = p_enabled; + debug_path_dirty = true; +} + +bool NavigationAgent2D::get_debug_enabled() const { + return debug_enabled; +} + +void NavigationAgent2D::set_debug_use_custom(bool p_enabled) { + debug_use_custom = p_enabled; + debug_path_dirty = true; +} + +bool NavigationAgent2D::get_debug_use_custom() const { + return debug_use_custom; +} + +void NavigationAgent2D::set_debug_path_custom_color(Color p_color) { + debug_path_custom_color = p_color; + debug_path_dirty = true; +} + +Color NavigationAgent2D::get_debug_path_custom_color() const { + return debug_path_custom_color; +} + +void NavigationAgent2D::set_debug_path_custom_point_size(float p_point_size) { + debug_path_custom_point_size = MAX(0.1, p_point_size); + debug_path_dirty = true; +} + +float NavigationAgent2D::get_debug_path_custom_point_size() const { + return debug_path_custom_point_size; +} + +void NavigationAgent2D::set_debug_path_custom_line_width(float p_line_width) { + debug_path_custom_line_width = p_line_width; + debug_path_dirty = true; +} + +float NavigationAgent2D::get_debug_path_custom_line_width() const { + return debug_path_custom_line_width; +} + +void NavigationAgent2D::_navigation_debug_changed() { + debug_path_dirty = true; +} + +void NavigationAgent2D::_update_debug_path() { + if (!debug_path_dirty) { + return; + } + debug_path_dirty = false; + + if (!debug_path_instance.is_valid()) { + debug_path_instance = RenderingServer::get_singleton()->canvas_item_create(); + } + + RenderingServer::get_singleton()->canvas_item_clear(debug_path_instance); + + if (!(debug_enabled && NavigationServer2D::get_singleton()->get_debug_navigation_enable_agent_paths())) { + return; + } + + if (!(agent_parent && agent_parent->is_inside_tree())) { + return; + } + + RenderingServer::get_singleton()->canvas_item_set_parent(debug_path_instance, agent_parent->get_canvas()); + RenderingServer::get_singleton()->canvas_item_set_visible(debug_path_instance, agent_parent->is_visible_in_tree()); + + const Vector &navigation_path = navigation_result->get_path(); + + if (navigation_path.size() <= 1) { + return; + } + + Color debug_path_color = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_color(); + if (debug_use_custom) { + debug_path_color = debug_path_custom_color; + } + + Vector debug_path_colors; + debug_path_colors.resize(navigation_path.size()); + debug_path_colors.fill(debug_path_color); + + RenderingServer::get_singleton()->canvas_item_add_polyline(debug_path_instance, navigation_path, debug_path_colors, debug_path_custom_line_width, false); + + float point_size = NavigationServer2D::get_singleton()->get_debug_navigation_agent_path_point_size(); + float half_point_size = point_size * 0.5; + + if (debug_use_custom) { + point_size = debug_path_custom_point_size; + half_point_size = debug_path_custom_point_size * 0.5; + } + + for (int i = 0; i < navigation_path.size(); i++) { + const Vector2 &vert = navigation_path[i]; + Rect2 path_point_rect = Rect2(vert.x - half_point_size, vert.y - half_point_size, point_size, point_size); + RenderingServer::get_singleton()->canvas_item_add_rect(debug_path_instance, path_point_rect, debug_path_color); + } +} +#endif // DEBUG_ENABLED diff --git a/scene/2d/navigation_agent_2d.h b/scene/2d/navigation_agent_2d.h index 9787bb1bdbb6..8f4a373327c7 100644 --- a/scene/2d/navigation_agent_2d.h +++ b/scene/2d/navigation_agent_2d.h @@ -74,6 +74,20 @@ class NavigationAgent2D : public Node { // No initialized on purpose uint32_t update_frame_id = 0; +#ifdef DEBUG_ENABLED + bool debug_enabled = false; + bool debug_path_dirty = true; + RID debug_path_instance; + float debug_path_custom_point_size = 4.0; + float debug_path_custom_line_width = 1.0; + bool debug_use_custom = false; + Color debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0); + +private: + void _navigation_debug_changed(); + void _update_debug_path(); +#endif // DEBUG_ENABLED + protected: static void _bind_methods(); void _notification(int p_what); @@ -169,6 +183,23 @@ public: PackedStringArray get_configuration_warnings() const override; +#ifdef DEBUG_ENABLED + void set_debug_enabled(bool p_enabled); + bool get_debug_enabled() const; + + void set_debug_use_custom(bool p_enabled); + bool get_debug_use_custom() const; + + void set_debug_path_custom_color(Color p_color); + Color get_debug_path_custom_color() const; + + void set_debug_path_custom_point_size(float p_point_size); + float get_debug_path_custom_point_size() const; + + void set_debug_path_custom_line_width(float p_line_width); + float get_debug_path_custom_line_width() const; +#endif // DEBUG_ENABLED + private: void update_navigation(); void _request_repath(); diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp index 4aa6e61ec547..5db8611d72a1 100644 --- a/scene/3d/navigation_agent_3d.cpp +++ b/scene/3d/navigation_agent_3d.cpp @@ -120,6 +120,23 @@ void NavigationAgent3D::_bind_methods() { ADD_SIGNAL(MethodInfo("link_reached", PropertyInfo(Variant::DICTIONARY, "details"))); ADD_SIGNAL(MethodInfo("navigation_finished")); ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR3, "safe_velocity"))); + +#ifdef DEBUG_ENABLED + ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationAgent3D::set_debug_enabled); + ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationAgent3D::get_debug_enabled); + ClassDB::bind_method(D_METHOD("set_debug_use_custom", "enabled"), &NavigationAgent3D::set_debug_use_custom); + ClassDB::bind_method(D_METHOD("get_debug_use_custom"), &NavigationAgent3D::get_debug_use_custom); + ClassDB::bind_method(D_METHOD("set_debug_path_custom_color", "color"), &NavigationAgent3D::set_debug_path_custom_color); + ClassDB::bind_method(D_METHOD("get_debug_path_custom_color"), &NavigationAgent3D::get_debug_path_custom_color); + ClassDB::bind_method(D_METHOD("set_debug_path_custom_point_size", "point_size"), &NavigationAgent3D::set_debug_path_custom_point_size); + ClassDB::bind_method(D_METHOD("get_debug_path_custom_point_size"), &NavigationAgent3D::get_debug_path_custom_point_size); + + ADD_GROUP("Debug", ""); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_enabled"), "set_debug_enabled", "get_debug_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_use_custom"), "set_debug_use_custom", "get_debug_use_custom"); + ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_path_custom_color"), "set_debug_path_custom_color", "get_debug_path_custom_color"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "debug_path_custom_point_size", PROPERTY_HINT_RANGE, "1,50,1,suffix:px"), "set_debug_path_custom_point_size", "get_debug_path_custom_point_size"); +#endif // DEBUG_ENABLED } void NavigationAgent3D::_notification(int p_what) { @@ -129,6 +146,12 @@ void NavigationAgent3D::_notification(int p_what) { // cannot use READY as ready does not get called if Node is readded to SceneTree set_agent_parent(get_parent()); set_physics_process_internal(true); + +#ifdef DEBUG_ENABLED + if (NavigationServer3D::get_singleton()->get_debug_enabled()) { + debug_path_dirty = true; + } +#endif // DEBUG_ENABLED } break; case NOTIFICATION_PARENTED: { @@ -151,6 +174,12 @@ void NavigationAgent3D::_notification(int p_what) { case NOTIFICATION_EXIT_TREE: { set_agent_parent(nullptr); set_physics_process_internal(false); + +#ifdef DEBUG_ENABLED + if (debug_path_instance.is_valid()) { + RS::get_singleton()->instance_set_visible(debug_path_instance, false); + } +#endif // DEBUG_ENABLED } break; case NOTIFICATION_PAUSED: { @@ -182,6 +211,11 @@ void NavigationAgent3D::_notification(int p_what) { } _check_distance_to_target(); } +#ifdef DEBUG_ENABLED + if (debug_path_dirty) { + _update_debug_path(); + } +#endif // DEBUG_ENABLED } break; } } @@ -201,12 +235,28 @@ NavigationAgent3D::NavigationAgent3D() { navigation_result = Ref(); navigation_result.instantiate(); + +#ifdef DEBUG_ENABLED + NavigationServer3D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent3D::_navigation_debug_changed)); +#endif // DEBUG_ENABLED } NavigationAgent3D::~NavigationAgent3D() { ERR_FAIL_NULL(NavigationServer3D::get_singleton()); NavigationServer3D::get_singleton()->free(agent); agent = RID(); // Pointless + +#ifdef DEBUG_ENABLED + NavigationServer3D::get_singleton()->disconnect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationAgent3D::_navigation_debug_changed)); + + ERR_FAIL_NULL(RenderingServer::get_singleton()); + if (debug_path_instance.is_valid()) { + RenderingServer::get_singleton()->free(debug_path_instance); + } + if (debug_path_mesh.is_valid()) { + RenderingServer::get_singleton()->free(debug_path_mesh->get_rid()); + } +#endif // DEBUG_ENABLED } void NavigationAgent3D::set_avoidance_enabled(bool p_enabled) { @@ -480,6 +530,9 @@ void NavigationAgent3D::update_navigation() { } NavigationServer3D::get_singleton()->query_path(navigation_query, navigation_result); +#ifdef DEBUG_ENABLED + debug_path_dirty = true; +#endif // DEBUG_ENABLED navigation_finished = false; navigation_path_index = 0; emit_signal(SNAME("path_changed")); @@ -566,3 +619,130 @@ void NavigationAgent3D::_check_distance_to_target() { } } } + +////////DEBUG//////////////////////////////////////////////////////////// + +#ifdef DEBUG_ENABLED +void NavigationAgent3D::set_debug_enabled(bool p_enabled) { + debug_enabled = p_enabled; + debug_path_dirty = true; +} + +bool NavigationAgent3D::get_debug_enabled() const { + return debug_enabled; +} + +void NavigationAgent3D::set_debug_use_custom(bool p_enabled) { + debug_use_custom = p_enabled; + debug_path_dirty = true; +} + +bool NavigationAgent3D::get_debug_use_custom() const { + return debug_use_custom; +} + +void NavigationAgent3D::set_debug_path_custom_color(Color p_color) { + debug_path_custom_color = p_color; + debug_path_dirty = true; +} + +Color NavigationAgent3D::get_debug_path_custom_color() const { + return debug_path_custom_color; +} + +void NavigationAgent3D::set_debug_path_custom_point_size(float p_point_size) { + debug_path_custom_point_size = p_point_size; + debug_path_dirty = true; +} + +float NavigationAgent3D::get_debug_path_custom_point_size() const { + return debug_path_custom_point_size; +} + +void NavigationAgent3D::_navigation_debug_changed() { + debug_path_dirty = true; +} + +void NavigationAgent3D::_update_debug_path() { + if (!debug_path_dirty) { + return; + } + debug_path_dirty = false; + + if (!debug_path_instance.is_valid()) { + debug_path_instance = RenderingServer::get_singleton()->instance_create(); + } + + if (!debug_path_mesh.is_valid()) { + debug_path_mesh = Ref(memnew(ArrayMesh)); + } + + debug_path_mesh->clear_surfaces(); + + if (!(debug_enabled && NavigationServer3D::get_singleton()->get_debug_navigation_enable_agent_paths())) { + return; + } + + if (!(agent_parent && agent_parent->is_inside_tree())) { + return; + } + + const Vector &navigation_path = navigation_result->get_path(); + + if (navigation_path.size() <= 1) { + return; + } + + Vector debug_path_lines_vertex_array; + + for (int i = 0; i < navigation_path.size() - 1; i++) { + debug_path_lines_vertex_array.push_back(navigation_path[i]); + debug_path_lines_vertex_array.push_back(navigation_path[i + 1]); + } + + Array debug_path_lines_mesh_array; + debug_path_lines_mesh_array.resize(Mesh::ARRAY_MAX); + debug_path_lines_mesh_array[Mesh::ARRAY_VERTEX] = debug_path_lines_vertex_array; + + debug_path_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, debug_path_lines_mesh_array); + + Ref debug_agent_path_line_material = NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_line_material(); + if (debug_use_custom) { + if (!debug_agent_path_line_custom_material.is_valid()) { + debug_agent_path_line_custom_material = debug_agent_path_line_material->duplicate(); + } + debug_agent_path_line_custom_material->set_albedo(debug_path_custom_color); + debug_path_mesh->surface_set_material(0, debug_agent_path_line_custom_material); + } else { + debug_path_mesh->surface_set_material(0, debug_agent_path_line_material); + } + + Vector debug_path_points_vertex_array; + + for (int i = 0; i < navigation_path.size(); i++) { + debug_path_points_vertex_array.push_back(navigation_path[i]); + } + + Array debug_path_points_mesh_array; + debug_path_points_mesh_array.resize(Mesh::ARRAY_MAX); + debug_path_points_mesh_array[Mesh::ARRAY_VERTEX] = debug_path_lines_vertex_array; + + debug_path_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_POINTS, debug_path_points_mesh_array); + + Ref debug_agent_path_point_material = NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_point_material(); + if (debug_use_custom) { + if (!debug_agent_path_point_custom_material.is_valid()) { + debug_agent_path_point_custom_material = debug_agent_path_point_material->duplicate(); + } + debug_agent_path_point_custom_material->set_albedo(debug_path_custom_color); + debug_agent_path_point_custom_material->set_point_size(debug_path_custom_point_size); + debug_path_mesh->surface_set_material(1, debug_agent_path_point_custom_material); + } else { + debug_path_mesh->surface_set_material(1, debug_agent_path_point_material); + } + + RS::get_singleton()->instance_set_base(debug_path_instance, debug_path_mesh->get_rid()); + RS::get_singleton()->instance_set_scenario(debug_path_instance, agent_parent->get_world_3d()->get_scenario()); + RS::get_singleton()->instance_set_visible(debug_path_instance, agent_parent->is_visible_in_tree()); +} +#endif // DEBUG_ENABLED diff --git a/scene/3d/navigation_agent_3d.h b/scene/3d/navigation_agent_3d.h index 12f83ce6a8b7..98bf395d7c3f 100644 --- a/scene/3d/navigation_agent_3d.h +++ b/scene/3d/navigation_agent_3d.h @@ -76,6 +76,22 @@ class NavigationAgent3D : public Node { // No initialized on purpose uint32_t update_frame_id = 0; +#ifdef DEBUG_ENABLED + bool debug_enabled = false; + bool debug_path_dirty = true; + RID debug_path_instance; + Ref debug_path_mesh; + float debug_path_custom_point_size = 4.0; + bool debug_use_custom = false; + Color debug_path_custom_color = Color(1.0, 1.0, 1.0, 1.0); + Ref debug_agent_path_line_custom_material; + Ref debug_agent_path_point_custom_material; + +private: + void _navigation_debug_changed(); + void _update_debug_path(); +#endif // DEBUG_ENABLED + protected: static void _bind_methods(); void _notification(int p_what); @@ -181,6 +197,20 @@ public: PackedStringArray get_configuration_warnings() const override; +#ifdef DEBUG_ENABLED + void set_debug_enabled(bool p_enabled); + bool get_debug_enabled() const; + + void set_debug_use_custom(bool p_enabled); + bool get_debug_use_custom() const; + + void set_debug_path_custom_color(Color p_color); + Color get_debug_path_custom_color() const; + + void set_debug_path_custom_point_size(float p_point_size); + float get_debug_path_custom_point_size() const; +#endif // DEBUG_ENABLED + private: void update_navigation(); void _request_repath(); diff --git a/servers/navigation_server_2d.cpp b/servers/navigation_server_2d.cpp index 2e4087c1de51..85ba8ed4317f 100644 --- a/servers/navigation_server_2d.cpp +++ b/servers/navigation_server_2d.cpp @@ -207,6 +207,30 @@ void NavigationServer2D::set_debug_navigation_enable_edge_connections(const bool bool NavigationServer2D::get_debug_navigation_enable_edge_connections() const { return NavigationServer3D::get_singleton()->get_debug_navigation_enable_edge_connections(); } + +void NavigationServer2D::set_debug_navigation_agent_path_color(const Color &p_color) { + NavigationServer3D::get_singleton()->set_debug_navigation_agent_path_color(p_color); +} + +Color NavigationServer2D::get_debug_navigation_agent_path_color() const { + return NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_color(); +} + +void NavigationServer2D::set_debug_navigation_enable_agent_paths(const bool p_value) { + NavigationServer3D::get_singleton()->set_debug_navigation_enable_agent_paths(p_value); +} + +bool NavigationServer2D::get_debug_navigation_enable_agent_paths() const { + return NavigationServer3D::get_singleton()->get_debug_navigation_enable_agent_paths(); +} + +void NavigationServer2D::set_debug_navigation_agent_path_point_size(float p_point_size) { + NavigationServer3D::get_singleton()->set_debug_navigation_agent_path_point_size(p_point_size); +} + +float NavigationServer2D::get_debug_navigation_agent_path_point_size() const { + return NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_point_size(); +} #endif // DEBUG_ENABLED void NavigationServer2D::_bind_methods() { @@ -286,14 +310,26 @@ void NavigationServer2D::_bind_methods() { ClassDB::bind_method(D_METHOD("free_rid", "rid"), &NavigationServer2D::free); ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map"))); + + ADD_SIGNAL(MethodInfo("navigation_debug_changed")); } NavigationServer2D::NavigationServer2D() { singleton = this; ERR_FAIL_COND_MSG(!NavigationServer3D::get_singleton(), "The Navigation3D singleton should be initialized before the 2D one."); NavigationServer3D::get_singleton()->connect("map_changed", callable_mp(this, &NavigationServer2D::_emit_map_changed)); + +#ifdef DEBUG_ENABLED + NavigationServer3D::get_singleton()->connect(SNAME("navigation_debug_changed"), callable_mp(this, &NavigationServer2D::_emit_navigation_debug_changed_signal)); +#endif // DEBUG_ENABLED } +#ifdef DEBUG_ENABLED +void NavigationServer2D::_emit_navigation_debug_changed_signal() { + emit_signal(SNAME("navigation_debug_changed")); +} +#endif // DEBUG_ENABLED + NavigationServer2D::~NavigationServer2D() { singleton = nullptr; } diff --git a/servers/navigation_server_2d.h b/servers/navigation_server_2d.h index cd18476182f9..746389404b19 100644 --- a/servers/navigation_server_2d.h +++ b/servers/navigation_server_2d.h @@ -254,6 +254,20 @@ public: void set_debug_navigation_enable_edge_connections(const bool p_value); bool get_debug_navigation_enable_edge_connections() const; + + void set_debug_navigation_agent_path_color(const Color &p_color); + Color get_debug_navigation_agent_path_color() const; + + void set_debug_navigation_enable_agent_paths(const bool p_value); + bool get_debug_navigation_enable_agent_paths() const; + + void set_debug_navigation_agent_path_point_size(float p_point_size); + float get_debug_navigation_agent_path_point_size() const; +#endif // DEBUG_ENABLED + +#ifdef DEBUG_ENABLED +private: + void _emit_navigation_debug_changed_signal(); #endif // DEBUG_ENABLED }; diff --git a/servers/navigation_server_3d.cpp b/servers/navigation_server_3d.cpp index 8f2cff0e0485..70897ae75c0e 100644 --- a/servers/navigation_server_3d.cpp +++ b/servers/navigation_server_3d.cpp @@ -159,6 +159,7 @@ NavigationServer3D::NavigationServer3D() { debug_navigation_geometry_face_disabled_color = GLOBAL_DEF("debug/shapes/navigation/geometry_face_disabled_color", Color(0.5, 0.5, 0.5, 0.4)); debug_navigation_link_connection_color = GLOBAL_DEF("debug/shapes/navigation/link_connection_color", Color(1.0, 0.5, 1.0, 1.0)); debug_navigation_link_connection_disabled_color = GLOBAL_DEF("debug/shapes/navigation/link_connection_disabled_color", Color(0.5, 0.5, 0.5, 1.0)); + debug_navigation_agent_path_color = GLOBAL_DEF("debug/shapes/navigation/agent_path_color", Color(1.0, 0.0, 0.0, 1.0)); debug_navigation_enable_edge_connections = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections", true); debug_navigation_enable_edge_connections_xray = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections_xray", true); @@ -168,6 +169,11 @@ NavigationServer3D::NavigationServer3D() { debug_navigation_enable_link_connections = GLOBAL_DEF("debug/shapes/navigation/enable_link_connections", true); debug_navigation_enable_link_connections_xray = GLOBAL_DEF("debug/shapes/navigation/enable_link_connections_xray", true); + debug_navigation_enable_agent_paths = GLOBAL_DEF("debug/shapes/navigation/enable_agent_paths", true); + debug_navigation_enable_agent_paths_xray = GLOBAL_DEF("debug/shapes/navigation/enable_agent_paths_xray", true); + + debug_navigation_agent_path_point_size = GLOBAL_DEF("debug/shapes/navigation/agent_path_point_size", 4.0); + if (Engine::get_singleton()->is_editor_hint()) { // enable NavigationServer3D when in Editor or else navigation mesh edge connections are invisible // on runtime tests SceneTree has "Visible Navigation" set and main iteration takes care of this @@ -329,6 +335,42 @@ Ref NavigationServer3D::get_debug_navigation_link_connection return debug_navigation_link_connections_disabled_material; } +Ref NavigationServer3D::get_debug_navigation_agent_path_line_material() { + if (debug_navigation_agent_path_line_material.is_valid()) { + return debug_navigation_agent_path_line_material; + } + + Ref material = Ref(memnew(StandardMaterial3D)); + material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); + material->set_albedo(debug_navigation_agent_path_color); + if (debug_navigation_enable_agent_paths_xray) { + material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true); + } + material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2); + + debug_navigation_agent_path_line_material = material; + return debug_navigation_agent_path_line_material; +} + +Ref NavigationServer3D::get_debug_navigation_agent_path_point_material() { + if (debug_navigation_agent_path_point_material.is_valid()) { + return debug_navigation_agent_path_point_material; + } + + Ref material = Ref(memnew(StandardMaterial3D)); + material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); + material->set_albedo(debug_navigation_agent_path_color); + material->set_flag(StandardMaterial3D::FLAG_USE_POINT_SIZE, true); + material->set_point_size(debug_navigation_agent_path_point_size); + if (debug_navigation_enable_agent_paths_xray) { + material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true); + } + material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2); + + debug_navigation_agent_path_point_material = material; + return debug_navigation_agent_path_point_material; +} + void NavigationServer3D::set_debug_navigation_edge_connection_color(const Color &p_color) { debug_navigation_edge_connection_color = p_color; if (debug_navigation_edge_connections_material.is_valid()) { @@ -406,6 +448,31 @@ Color NavigationServer3D::get_debug_navigation_link_connection_disabled_color() return debug_navigation_link_connection_disabled_color; } +void NavigationServer3D::set_debug_navigation_agent_path_point_size(float p_point_size) { + debug_navigation_agent_path_point_size = MAX(0.1, p_point_size); + if (debug_navigation_agent_path_point_material.is_valid()) { + debug_navigation_agent_path_point_material->set_point_size(debug_navigation_agent_path_point_size); + } +} + +float NavigationServer3D::get_debug_navigation_agent_path_point_size() const { + return debug_navigation_agent_path_point_size; +} + +void NavigationServer3D::set_debug_navigation_agent_path_color(const Color &p_color) { + debug_navigation_agent_path_color = p_color; + if (debug_navigation_agent_path_line_material.is_valid()) { + debug_navigation_agent_path_line_material->set_albedo(debug_navigation_agent_path_color); + } + if (debug_navigation_agent_path_point_material.is_valid()) { + debug_navigation_agent_path_point_material->set_albedo(debug_navigation_agent_path_color); + } +} + +Color NavigationServer3D::get_debug_navigation_agent_path_color() const { + return debug_navigation_agent_path_color; +} + void NavigationServer3D::set_debug_navigation_enable_edge_connections(const bool p_value) { debug_navigation_enable_edge_connections = p_value; debug_dirty = true; @@ -494,6 +561,37 @@ void NavigationServer3D::set_debug_enabled(bool p_enabled) { bool NavigationServer3D::get_debug_enabled() const { return debug_enabled; } + +void NavigationServer3D::set_debug_navigation_enable_agent_paths(const bool p_value) { + if (debug_navigation_enable_agent_paths != p_value) { + debug_dirty = true; + } + + debug_navigation_enable_agent_paths = p_value; + + if (debug_dirty) { + call_deferred("_emit_navigation_debug_changed_signal"); + } +} + +bool NavigationServer3D::get_debug_navigation_enable_agent_paths() const { + return debug_navigation_enable_agent_paths; +} + +void NavigationServer3D::set_debug_navigation_enable_agent_paths_xray(const bool p_value) { + debug_navigation_enable_agent_paths_xray = p_value; + if (debug_navigation_agent_path_line_material.is_valid()) { + debug_navigation_agent_path_line_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_agent_paths_xray); + } + if (debug_navigation_agent_path_point_material.is_valid()) { + debug_navigation_agent_path_point_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_agent_paths_xray); + } +} + +bool NavigationServer3D::get_debug_navigation_enable_agent_paths_xray() const { + return debug_navigation_enable_agent_paths_xray; +} + #endif // DEBUG_ENABLED /////////////////////////////////////////////////////// diff --git a/servers/navigation_server_3d.h b/servers/navigation_server_3d.h index 9c468d1b10e1..bc4bdf2a307c 100644 --- a/servers/navigation_server_3d.h +++ b/servers/navigation_server_3d.h @@ -287,6 +287,9 @@ private: Color debug_navigation_geometry_face_disabled_color = Color(0.5, 0.5, 0.5, 0.4); Color debug_navigation_link_connection_color = Color(1.0, 0.5, 1.0, 1.0); Color debug_navigation_link_connection_disabled_color = Color(0.5, 0.5, 0.5, 1.0); + Color debug_navigation_agent_path_color = Color(1.0, 0.0, 0.0, 1.0); + + float debug_navigation_agent_path_point_size = 4.0; bool debug_navigation_enable_edge_connections = true; bool debug_navigation_enable_edge_connections_xray = true; @@ -295,6 +298,8 @@ private: bool debug_navigation_enable_geometry_face_random_color = true; bool debug_navigation_enable_link_connections = true; bool debug_navigation_enable_link_connections_xray = true; + bool debug_navigation_enable_agent_paths = true; + bool debug_navigation_enable_agent_paths_xray = true; Ref debug_navigation_geometry_edge_material; Ref debug_navigation_geometry_face_material; @@ -304,6 +309,9 @@ private: Ref debug_navigation_link_connections_material; Ref debug_navigation_link_connections_disabled_material; + Ref debug_navigation_agent_path_line_material; + Ref debug_navigation_agent_path_point_material; + public: void set_debug_enabled(bool p_enabled); bool get_debug_enabled() const; @@ -329,6 +337,9 @@ public: void set_debug_navigation_link_connection_disabled_color(const Color &p_color); Color get_debug_navigation_link_connection_disabled_color() const; + void set_debug_navigation_agent_path_color(const Color &p_color); + Color get_debug_navigation_agent_path_color() const; + void set_debug_navigation_enable_edge_connections(const bool p_value); bool get_debug_navigation_enable_edge_connections() const; @@ -350,6 +361,15 @@ public: void set_debug_navigation_enable_link_connections_xray(const bool p_value); bool get_debug_navigation_enable_link_connections_xray() const; + void set_debug_navigation_enable_agent_paths(const bool p_value); + bool get_debug_navigation_enable_agent_paths() const; + + void set_debug_navigation_enable_agent_paths_xray(const bool p_value); + bool get_debug_navigation_enable_agent_paths_xray() const; + + void set_debug_navigation_agent_path_point_size(float p_point_size); + float get_debug_navigation_agent_path_point_size() const; + Ref get_debug_navigation_geometry_face_material(); Ref get_debug_navigation_geometry_edge_material(); Ref get_debug_navigation_geometry_face_disabled_material(); @@ -357,6 +377,9 @@ public: Ref get_debug_navigation_edge_connections_material(); Ref get_debug_navigation_link_connections_material(); Ref get_debug_navigation_link_connections_disabled_material(); + + Ref get_debug_navigation_agent_path_line_material(); + Ref get_debug_navigation_agent_path_point_material(); #endif // DEBUG_ENABLED };