godot/modules/navigation/nav_agent.h
smix8 ae9dd47d0c Add agent pause mode to NavigationServer
Adds agent pause mode to NavigationServer.
2023-06-18 12:37:03 +02:00

158 lines
5.6 KiB
C++

/**************************************************************************/
/* nav_agent.h */
/**************************************************************************/
/* 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. */
/**************************************************************************/
#ifndef NAV_AGENT_H
#define NAV_AGENT_H
#include "nav_agent.h"
#include "nav_rid.h"
#include "core/object/class_db.h"
#include "core/templates/local_vector.h"
#include <Agent2d.h>
#include <Agent3d.h>
class NavMap;
class NavAgent : public NavRid {
Vector3 position;
Vector3 target_position;
Vector3 velocity;
Vector3 velocity_forced;
real_t height = 1.0;
real_t radius = 1.0;
real_t max_speed = 1.0;
real_t time_horizon_agents = 1.0;
real_t time_horizon_obstacles = 0.0;
int max_neighbors = 5;
real_t neighbor_distance = 5.0;
Vector3 safe_velocity;
bool clamp_speed = true; // Experimental, clamps velocity to max_speed.
NavMap *map = nullptr;
RVO2D::Agent2D rvo_agent_2d;
RVO3D::Agent3D rvo_agent_3d;
bool use_3d_avoidance = false;
bool avoidance_enabled = false;
uint32_t avoidance_layers = 1;
uint32_t avoidance_mask = 1;
real_t avoidance_priority = 1.0;
Callable avoidance_callback = Callable();
bool agent_dirty = true;
uint32_t map_update_id = 0;
bool paused = false;
public:
NavAgent();
void set_avoidance_enabled(bool p_enabled);
bool is_avoidance_enabled() { return avoidance_enabled; }
void set_use_3d_avoidance(bool p_enabled);
bool get_use_3d_avoidance() { return use_3d_avoidance; }
void set_map(NavMap *p_map);
NavMap *get_map() { return map; }
bool is_map_changed();
RVO2D::Agent2D *get_rvo_agent_2d() { return &rvo_agent_2d; }
RVO3D::Agent3D *get_rvo_agent_3d() { return &rvo_agent_3d; }
void set_avoidance_callback(Callable p_callback);
bool has_avoidance_callback() const;
void dispatch_avoidance_callback();
void set_neighbor_distance(real_t p_neighbor_distance);
real_t get_neighbor_distance() const { return neighbor_distance; }
void set_max_neighbors(int p_max_neighbors);
int get_max_neighbors() const { return max_neighbors; }
void set_time_horizon_agents(real_t p_time_horizon);
real_t get_time_horizon_agents() const { return time_horizon_agents; }
void set_time_horizon_obstacles(real_t p_time_horizon);
real_t get_time_horizon_obstacles() const { return time_horizon_obstacles; }
void set_radius(real_t p_radius);
real_t get_radius() const { return radius; }
void set_height(real_t p_height);
real_t get_height() const { return height; }
void set_max_speed(real_t p_max_speed);
real_t get_max_speed() const { return max_speed; }
void set_position(const Vector3 p_position);
const Vector3 &get_position() const { return position; }
void set_target_position(const Vector3 p_target_position);
const Vector3 &get_target_position() const { return target_position; }
void set_velocity(const Vector3 p_velocity);
const Vector3 &get_velocity() const { return velocity; }
void set_velocity_forced(const Vector3 p_velocity);
const Vector3 &get_velocity_forced() const { return velocity_forced; }
void set_avoidance_layers(uint32_t p_layers);
uint32_t get_avoidance_layers() const { return avoidance_layers; };
void set_avoidance_mask(uint32_t p_mask);
uint32_t get_avoidance_mask() const { return avoidance_mask; };
void set_avoidance_priority(real_t p_priority);
real_t get_avoidance_priority() const { return avoidance_priority; };
void set_paused(bool p_paused);
bool get_paused() const;
bool check_dirty();
// Updates this agent with rvo data after the rvo simulation avoidance step.
void update();
// RVO debug data from the last frame update.
const Dictionary get_avoidance_data() const;
private:
void _update_rvo_agent_properties();
};
#endif // NAV_AGENT_H