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Update navigation obstacle API

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Updates navigation obstacle API.
This commit is contained in:
smix8
2023-06-10 15:16:04 +02:00
parent 66423d440e
commit c1fc331b88
18 changed files with 413 additions and 115 deletions
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134
modules/navigation/nav_obstacle.cpp
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@@ -30,38 +30,121 @@
#include "nav_obstacle.h"
#include "nav_agent.h"
#include "nav_map.h"
NavObstacle::NavObstacle() {}
NavObstacle::~NavObstacle() {}
void NavObstacle::set_agent(NavAgent *p_agent) {
if (agent == p_agent) {
return;
}
agent = p_agent;
internal_update_agent();
}
void NavObstacle::set_avoidance_enabled(bool p_enabled) {
if (avoidance_enabled == p_enabled) {
return;
}
avoidance_enabled = p_enabled;
obstacle_dirty = true;
internal_update_agent();
}
void NavObstacle::set_use_3d_avoidance(bool p_enabled) {
if (use_3d_avoidance == p_enabled) {
return;
}
use_3d_avoidance = p_enabled;
obstacle_dirty = true;
if (agent) {
agent->set_use_3d_avoidance(use_3d_avoidance);
}
}
void NavObstacle::set_map(NavMap *p_map) {
if (map != p_map) {
map = p_map;
obstacle_dirty = true;
if (map == p_map) {
return;
}
if (map) {
map->remove_obstacle(this);
if (agent) {
agent->set_map(nullptr);
}
}
map = p_map;
obstacle_dirty = true;
if (map) {
map->add_obstacle(this);
internal_update_agent();
}
}
void NavObstacle::set_position(const Vector3 p_position) {
if (position != p_position) {
position = p_position;
obstacle_dirty = true;
if (position == p_position) {
return;
}
position = p_position;
obstacle_dirty = true;
if (agent) {
agent->set_position(position);
}
}
void NavObstacle::set_radius(real_t p_radius) {
if (radius == p_radius) {
return;
}
radius = p_radius;
if (agent) {
agent->set_radius(radius);
}
}
void NavObstacle::set_height(const real_t p_height) {
if (height != p_height) {
height = p_height;
obstacle_dirty = true;
if (height == p_height) {
return;
}
height = p_height;
obstacle_dirty = true;
if (agent) {
agent->set_height(height);
}
}
void NavObstacle::set_velocity(const Vector3 p_velocity) {
velocity = p_velocity;
if (agent) {
agent->set_velocity(velocity);
}
}
void NavObstacle::set_vertices(const Vector<Vector3> &p_vertices) {
if (vertices != p_vertices) {
vertices = p_vertices;
obstacle_dirty = true;
if (vertices == p_vertices) {
return;
}
vertices = p_vertices;
obstacle_dirty = true;
}
bool NavObstacle::is_map_changed() {
@@ -75,8 +158,16 @@ bool NavObstacle::is_map_changed() {
}
void NavObstacle::set_avoidance_layers(uint32_t p_layers) {
if (avoidance_layers == p_layers) {
return;
}
avoidance_layers = p_layers;
obstacle_dirty = true;
if (agent) {
agent->set_avoidance_layers(avoidance_layers);
}
}
bool NavObstacle::check_dirty() {
@@ -84,3 +175,22 @@ bool NavObstacle::check_dirty() {
obstacle_dirty = false;
return was_dirty;
}
void NavObstacle::internal_update_agent() {
if (agent) {
agent->set_neighbor_distance(0.0);
agent->set_max_neighbors(0.0);
agent->set_time_horizon_agents(0.0);
agent->set_time_horizon_obstacles(0.0);
agent->set_avoidance_mask(0.0);
agent->set_neighbor_distance(0.0);
agent->set_avoidance_priority(1.0);
agent->set_map(map);
agent->set_radius(radius);
agent->set_height(height);
agent->set_position(position);
agent->set_avoidance_layers(avoidance_layers);
agent->set_avoidance_enabled(avoidance_enabled);
agent->set_use_3d_avoidance(use_3d_avoidance);
}
}