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Merge pull request #107255 from smix8/navagent_defaults

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Match avoidance defaults for NavigationAgent and NavigationServer NavAgent
This commit is contained in:
Rémi Verschelde
2025-06-09 00:45:35 +02:00
parent 77f2623c54 03e5d64dd9
commit 1eee38b06f
5 changed files with 49 additions and 26 deletions
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13
modules/navigation_2d/nav_agent_2d.h
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@@ -34,6 +34,7 @@
#include "core/object/class_db.h" #include "core/object/class_db.h"
#include "core/templates/self_list.h" #include "core/templates/self_list.h"
#include "servers/navigation/navigation_globals.h"
#include <Agent2d.h> #include <Agent2d.h>
@@ -44,12 +45,12 @@ class NavAgent2D : public NavRid2D {
Vector2 target_position; Vector2 target_position;
Vector2 velocity; Vector2 velocity;
Vector2 velocity_forced; Vector2 velocity_forced;
real_t radius = 1.0; real_t radius = NavigationDefaults2D::AVOIDANCE_AGENT_RADIUS;
real_t max_speed = 1.0; real_t max_speed = NavigationDefaults2D::AVOIDANCE_AGENT_MAX_SPEED;
real_t time_horizon_agents = 1.0; real_t time_horizon_agents = NavigationDefaults2D::AVOIDANCE_AGENT_TIME_HORIZON_AGENTS;
real_t time_horizon_obstacles = 0.0; real_t time_horizon_obstacles = NavigationDefaults2D::AVOIDANCE_AGENT_TIME_HORIZON_OBSTACLES;
int max_neighbors = 5; int max_neighbors = NavigationDefaults2D::AVOIDANCE_AGENT_MAX_NEIGHBORS;
real_t neighbor_distance = 5.0; real_t neighbor_distance = NavigationDefaults2D::AVOIDANCE_AGENT_NEIGHBOR_DISTANCE;
Vector2 safe_velocity; Vector2 safe_velocity;
bool clamp_speed = true; // Experimental, clamps velocity to max_speed. bool clamp_speed = true; // Experimental, clamps velocity to max_speed.

15
modules/navigation_3d/nav_agent_3d.h
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@@ -34,6 +34,7 @@
#include "core/object/class_db.h" #include "core/object/class_db.h"
#include "core/templates/self_list.h" #include "core/templates/self_list.h"
#include "servers/navigation/navigation_globals.h"
#include <Agent2d.h> #include <Agent2d.h>
#include <Agent3d.h> #include <Agent3d.h>
@@ -45,13 +46,13 @@ class NavAgent3D : public NavRid3D {
Vector3 target_position; Vector3 target_position;
Vector3 velocity; Vector3 velocity;
Vector3 velocity_forced; Vector3 velocity_forced;
real_t height = 1.0; real_t height = NavigationDefaults3D::AVOIDANCE_AGENT_HEIGHT;
real_t radius = 1.0; real_t radius = NavigationDefaults3D::AVOIDANCE_AGENT_RADIUS;
real_t max_speed = 1.0; real_t max_speed = NavigationDefaults3D::AVOIDANCE_AGENT_MAX_SPEED;
real_t time_horizon_agents = 1.0; real_t time_horizon_agents = NavigationDefaults3D::AVOIDANCE_AGENT_TIME_HORIZON_AGENTS;
real_t time_horizon_obstacles = 0.0; real_t time_horizon_obstacles = NavigationDefaults3D::AVOIDANCE_AGENT_TIME_HORIZON_OBSTACLES;
int max_neighbors = 5; int max_neighbors = NavigationDefaults3D::AVOIDANCE_AGENT_MAX_NEIGHBORS;
real_t neighbor_distance = 5.0; real_t neighbor_distance = NavigationDefaults3D::AVOIDANCE_AGENT_NEIGHBOR_DISTANCE;
Vector3 safe_velocity; Vector3 safe_velocity;
bool clamp_speed = true; // Experimental, clamps velocity to max_speed. bool clamp_speed = true; // Experimental, clamps velocity to max_speed.

13
scene/2d/navigation/navigation_agent_2d.h
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@@ -31,6 +31,7 @@
#pragma once #pragma once
#include "scene/main/node.h" #include "scene/main/node.h"
#include "servers/navigation/navigation_globals.h"
#include "servers/navigation/navigation_path_query_parameters_2d.h" #include "servers/navigation/navigation_path_query_parameters_2d.h"
#include "servers/navigation/navigation_path_query_result_2d.h" #include "servers/navigation/navigation_path_query_result_2d.h"
@@ -55,12 +56,12 @@ class NavigationAgent2D : public Node {
real_t path_desired_distance = 20.0; real_t path_desired_distance = 20.0;
real_t target_desired_distance = 10.0; real_t target_desired_distance = 10.0;
real_t radius = 10.0; real_t radius = NavigationDefaults2D::AVOIDANCE_AGENT_RADIUS;
real_t neighbor_distance = 500.0; real_t neighbor_distance = NavigationDefaults2D::AVOIDANCE_AGENT_NEIGHBOR_DISTANCE;
int max_neighbors = 10; int max_neighbors = NavigationDefaults2D::AVOIDANCE_AGENT_MAX_NEIGHBORS;
real_t time_horizon_agents = 1.0; real_t time_horizon_agents = NavigationDefaults2D::AVOIDANCE_AGENT_TIME_HORIZON_AGENTS;
real_t time_horizon_obstacles = 0.0; real_t time_horizon_obstacles = NavigationDefaults2D::AVOIDANCE_AGENT_TIME_HORIZON_OBSTACLES;
real_t max_speed = 100.0; real_t max_speed = NavigationDefaults2D::AVOIDANCE_AGENT_MAX_SPEED;
real_t path_max_distance = 100.0; real_t path_max_distance = 100.0;
bool simplify_path = false; bool simplify_path = false;
real_t simplify_epsilon = 0.0; real_t simplify_epsilon = 0.0;

15
scene/3d/navigation/navigation_agent_3d.h
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@@ -31,6 +31,7 @@
#pragma once #pragma once
#include "scene/main/node.h" #include "scene/main/node.h"
#include "servers/navigation/navigation_globals.h"
#include "servers/navigation/navigation_path_query_parameters_3d.h" #include "servers/navigation/navigation_path_query_parameters_3d.h"
#include "servers/navigation/navigation_path_query_result_3d.h" #include "servers/navigation/navigation_path_query_result_3d.h"
@@ -56,14 +57,14 @@ class NavigationAgent3D : public Node {
real_t path_desired_distance = 1.0; real_t path_desired_distance = 1.0;
real_t target_desired_distance = 1.0; real_t target_desired_distance = 1.0;
real_t height = 1.0; real_t height = NavigationDefaults3D::AVOIDANCE_AGENT_HEIGHT;
real_t radius = 0.5; real_t radius = NavigationDefaults3D::AVOIDANCE_AGENT_RADIUS;
real_t path_height_offset = 0.0; real_t path_height_offset = 0.0;
real_t neighbor_distance = 50.0; real_t neighbor_distance = NavigationDefaults3D::AVOIDANCE_AGENT_NEIGHBOR_DISTANCE;
int max_neighbors = 10; int max_neighbors = NavigationDefaults3D::AVOIDANCE_AGENT_MAX_NEIGHBORS;
real_t time_horizon_agents = 1.0; real_t time_horizon_agents = NavigationDefaults3D::AVOIDANCE_AGENT_TIME_HORIZON_AGENTS;
real_t time_horizon_obstacles = 0.0; real_t time_horizon_obstacles = NavigationDefaults3D::AVOIDANCE_AGENT_TIME_HORIZON_OBSTACLES;
real_t max_speed = 10.0; real_t max_speed = NavigationDefaults3D::AVOIDANCE_AGENT_MAX_SPEED;
real_t path_max_distance = 5.0; real_t path_max_distance = 5.0;
bool simplify_path = false; bool simplify_path = false;
real_t simplify_epsilon = 0.0; real_t simplify_epsilon = 0.0;

19
servers/navigation/navigation_globals.h
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@@ -46,6 +46,16 @@ constexpr const char *const NAV_MESH_CELL_SIZE_HINT = "0.001,100,0.001,or_greate
constexpr float EDGE_CONNECTION_MARGIN = 0.25f; constexpr float EDGE_CONNECTION_MARGIN = 0.25f;
constexpr float LINK_CONNECTION_RADIUS = 1.0f; constexpr float LINK_CONNECTION_RADIUS = 1.0f;
// Agent.
constexpr float AVOIDANCE_AGENT_HEIGHT = 1.0;
constexpr float AVOIDANCE_AGENT_RADIUS = 0.5;
constexpr float AVOIDANCE_AGENT_MAX_SPEED = 10.0;
constexpr float AVOIDANCE_AGENT_TIME_HORIZON_AGENTS = 1.0;
constexpr float AVOIDANCE_AGENT_TIME_HORIZON_OBSTACLES = 0.0;
constexpr int AVOIDANCE_AGENT_MAX_NEIGHBORS = 10;
constexpr float AVOIDANCE_AGENT_NEIGHBOR_DISTANCE = 50.0;
} //namespace NavigationDefaults3D } //namespace NavigationDefaults3D
namespace NavigationDefaults2D { namespace NavigationDefaults2D {
@@ -62,4 +72,13 @@ constexpr const char *const NAV_MESH_CELL_SIZE_HINT = "0.001,100,0.001,or_greate
constexpr float EDGE_CONNECTION_MARGIN = 1.0f; constexpr float EDGE_CONNECTION_MARGIN = 1.0f;
constexpr float LINK_CONNECTION_RADIUS = 4.0f; constexpr float LINK_CONNECTION_RADIUS = 4.0f;
// Agent.
constexpr float AVOIDANCE_AGENT_RADIUS = 10.0;
constexpr float AVOIDANCE_AGENT_MAX_SPEED = 100.0;
constexpr float AVOIDANCE_AGENT_TIME_HORIZON_AGENTS = 1.0;
constexpr float AVOIDANCE_AGENT_TIME_HORIZON_OBSTACLES = 0.0;
constexpr int AVOIDANCE_AGENT_MAX_NEIGHBORS = 10;
constexpr float AVOIDANCE_AGENT_NEIGHBOR_DISTANCE = 500.0;
} //namespace NavigationDefaults2D } //namespace NavigationDefaults2D