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Add navigation path query parameter limits

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Adds navigation path query parameter limits.
This commit is contained in:
smix8
2025-02-08 22:08:04 +01:00
parent 591e70ff78
commit cbd446ac29
23 changed files with 698 additions and 0 deletions
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19
doc/classes/NavigationAgent2D.xml
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@@ -75,6 +75,12 @@
Returns the next position in global coordinates that can be moved to, making sure that there are no static objects in the way. If the agent does not have a navigation path, it will return the position of the agent's parent. The use of this function once every physics frame is required to update the internal path logic of the NavigationAgent.
</description>
</method>
<method name="get_path_length" qualifiers="const">
<return type="float" />
<description>
Returns the length of the currently calculated path. The returned value is [code]0.0[/code], if the path is still calculating or no calculation has been requested yet.
</description>
</method>
<method name="get_rid" qualifiers="const">
<return type="RID" />
<description>
@@ -191,6 +197,19 @@
<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters2D.PathPostProcessing" default="0">
The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
</member>
<member name="path_return_max_length" type="float" setter="set_path_return_max_length" getter="get_path_return_max_length" default="0.0">
The maximum allowed length of the returned path in world units. A path will be clipped when going over this length.
</member>
<member name="path_return_max_radius" type="float" setter="set_path_return_max_radius" getter="get_path_return_max_radius" default="0.0">
The maximum allowed radius in world units that the returned path can be from the path start. The path will be clipped when going over this radius. Compared to [member path_return_max_length], this allows the agent to go that much further, if they need to walk around a corner.
[b]Note:[/b] This will perform a sphere clip considering only the actual navigation mesh path points with the first path position being the sphere's center.
</member>
<member name="path_search_max_distance" type="float" setter="set_path_search_max_distance" getter="get_path_search_max_distance" default="0.0">
The maximum distance a searched polygon can be away from the start polygon before the pathfinding cancels the search for a path to the (possibly unreachable or very far away) target position polygon. In this case the pathfinding resets and builds a path from the start polygon to the polygon that was found closest to the target position so far. A value of [code]0[/code] or below counts as unlimited. In case of unlimited the pathfinding will search all polygons connected with the start polygon until either the target position polygon is found or all available polygon search options are exhausted.
</member>
<member name="path_search_max_polygons" type="int" setter="set_path_search_max_polygons" getter="get_path_search_max_polygons" default="4096">
The maximum number of polygons that are searched before the pathfinding cancels the search for a path to the (possibly unreachable or very far away) target position polygon. In this case the pathfinding resets and builds a path from the start polygon to the polygon that was found closest to the target position so far. A value of [code]0[/code] or below counts as unlimited. In case of unlimited the pathfinding will search all polygons connected with the start polygon until either the target position polygon is found or all available polygon search options are exhausted.
</member>
<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters2D.PathfindingAlgorithm" default="0">
The pathfinding algorithm used in the path query.
</member>

19
doc/classes/NavigationAgent3D.xml
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@@ -75,6 +75,12 @@
Returns the next position in global coordinates that can be moved to, making sure that there are no static objects in the way. If the agent does not have a navigation path, it will return the position of the agent's parent. The use of this function once every physics frame is required to update the internal path logic of the NavigationAgent.
</description>
</method>
<method name="get_path_length" qualifiers="const">
<return type="float" />
<description>
Returns the length of the currently calculated path. The returned value is [code]0.0[/code], if the path is still calculating or no calculation has been requested yet.
</description>
</method>
<method name="get_rid" qualifiers="const">
<return type="RID" />
<description>
@@ -197,6 +203,19 @@
<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters3D.PathPostProcessing" default="0">
The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
</member>
<member name="path_return_max_length" type="float" setter="set_path_return_max_length" getter="get_path_return_max_length" default="0.0">
The maximum allowed length of the returned path in world units. A path will be clipped when going over this length.
</member>
<member name="path_return_max_radius" type="float" setter="set_path_return_max_radius" getter="get_path_return_max_radius" default="0.0">
The maximum allowed radius in world units that the returned path can be from the path start. The path will be clipped when going over this radius. Compared to [member path_return_max_length], this allows the agent to go that much further, if they need to walk around a corner.
[b]Note:[/b] This will perform a sphere clip considering only the actual navigation mesh path points with the first path position being the sphere's center.
</member>
<member name="path_search_max_distance" type="float" setter="set_path_search_max_distance" getter="get_path_search_max_distance" default="0.0">
The maximum distance a searched polygon can be away from the start polygon before the pathfinding cancels the search for a path to the (possibly unreachable or very far away) target position polygon. In this case the pathfinding resets and builds a path from the start polygon to the polygon that was found closest to the target position so far. A value of [code]0[/code] or below counts as unlimited. In case of unlimited the pathfinding will search all polygons connected with the start polygon until either the target position polygon is found or all available polygon search options are exhausted.
</member>
<member name="path_search_max_polygons" type="int" setter="set_path_search_max_polygons" getter="get_path_search_max_polygons" default="4096">
The maximum number of polygons that are searched before the pathfinding cancels the search for a path to the (possibly unreachable or very far away) target position polygon. In this case the pathfinding resets and builds a path from the start polygon to the polygon that was found closest to the target position so far. A value of [code]0[/code] or below counts as unlimited. In case of unlimited the pathfinding will search all polygons connected with the start polygon until either the target position polygon is found or all available polygon search options are exhausted.
</member>
<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters3D.PathfindingAlgorithm" default="0">
The pathfinding algorithm used in the path query.
</member>

13
doc/classes/NavigationPathQueryParameters2D.xml
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@@ -30,6 +30,19 @@
<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters2D.PathPostProcessing" default="0">
The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
</member>
<member name="path_return_max_length" type="float" setter="set_path_return_max_length" getter="get_path_return_max_length" default="0.0">
The maximum allowed length of the returned path in world units. A path will be clipped when going over this length. A value of [code]0[/code] or below counts as disabled.
</member>
<member name="path_return_max_radius" type="float" setter="set_path_return_max_radius" getter="get_path_return_max_radius" default="0.0">
The maximum allowed radius in world units that the returned path can be from the path start. The path will be clipped when going over this radius. A value of [code]0[/code] or below counts as disabled.
[b]Note:[/b] This will perform a circle shaped clip operation on the path with the first path position being the circle's center position.
</member>
<member name="path_search_max_distance" type="float" setter="set_path_search_max_distance" getter="get_path_search_max_distance" default="0.0">
The maximum distance a searched polygon can be away from the start polygon before the pathfinding cancels the search for a path to the (possibly unreachable or very far away) target position polygon. In this case the pathfinding resets and builds a path from the start polygon to the polygon that was found closest to the target position so far. A value of [code]0[/code] or below counts as unlimited. In case of unlimited the pathfinding will search all polygons connected with the start polygon until either the target position polygon is found or all available polygon search options are exhausted.
</member>
<member name="path_search_max_polygons" type="int" setter="set_path_search_max_polygons" getter="get_path_search_max_polygons" default="4096">
The maximum number of polygons that are searched before the pathfinding cancels the search for a path to the (possibly unreachable or very far away) target position polygon. In this case the pathfinding resets and builds a path from the start polygon to the polygon that was found closest to the target position so far. A value of [code]0[/code] or below counts as unlimited. In case of unlimited the pathfinding will search all polygons connected with the start polygon until either the target position polygon is found or all available polygon search options are exhausted.
</member>
<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters2D.PathfindingAlgorithm" default="0">
The pathfinding algorithm used in the path query.
</member>

13
doc/classes/NavigationPathQueryParameters3D.xml
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@@ -30,6 +30,19 @@
<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters3D.PathPostProcessing" default="0">
The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
</member>
<member name="path_return_max_length" type="float" setter="set_path_return_max_length" getter="get_path_return_max_length" default="0.0">
The maximum allowed length of the returned path in world units. A path will be clipped when going over this length. A value of [code]0[/code] or below counts as disabled.
</member>
<member name="path_return_max_radius" type="float" setter="set_path_return_max_radius" getter="get_path_return_max_radius" default="0.0">
The maximum allowed radius in world units that the returned path can be from the path start. The path will be clipped when going over this radius. A value of [code]0[/code] or below counts as disabled.
[b]Note:[/b] This will perform a sphere shaped clip operation on the path with the first path position being the sphere's center position.
</member>
<member name="path_search_max_distance" type="float" setter="set_path_search_max_distance" getter="get_path_search_max_distance" default="0.0">
The maximum distance a searched polygon can be away from the start polygon before the pathfinding cancels the search for a path to the (possibly unreachable or very far away) target position polygon. In this case the pathfinding resets and builds a path from the start polygon to the polygon that was found closest to the target position so far. A value of [code]0[/code] or below counts as unlimited. In case of unlimited the pathfinding will search all polygons connected with the start polygon until either the target position polygon is found or all available polygon search options are exhausted.
</member>
<member name="path_search_max_polygons" type="int" setter="set_path_search_max_polygons" getter="get_path_search_max_polygons" default="4096">
The maximum number of polygons that are searched before the pathfinding cancels the search for a path to the (possibly unreachable or very far away) target position polygon. In this case the pathfinding resets and builds a path from the start polygon to the polygon that was found closest to the target position so far. A value of [code]0[/code] or below counts as unlimited. In case of unlimited the pathfinding will search all polygons connected with the start polygon until either the target position polygon is found or all available polygon search options are exhausted.
</member>
<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters3D.PathfindingAlgorithm" default="0">
The pathfinding algorithm used in the path query.
</member>

3
doc/classes/NavigationPathQueryResult2D.xml
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@@ -21,6 +21,9 @@
<member name="path" type="PackedVector2Array" setter="set_path" getter="get_path" default="PackedVector2Array()">
The resulting path array from the navigation query. All path array positions are in global coordinates. Without customized query parameters this is the same path as returned by [method NavigationServer2D.map_get_path].
</member>
<member name="path_length" type="float" setter="set_path_length" getter="get_path_length" default="0.0">
Returns the length of the path.
</member>
<member name="path_owner_ids" type="PackedInt64Array" setter="set_path_owner_ids" getter="get_path_owner_ids" default="PackedInt64Array()">
The [code]ObjectID[/code]s of the [Object]s which manage the regions and links each point of the path goes through.
</member>

3
doc/classes/NavigationPathQueryResult3D.xml
View File

@@ -21,6 +21,9 @@
<member name="path" type="PackedVector3Array" setter="set_path" getter="get_path" default="PackedVector3Array()">
The resulting path array from the navigation query. All path array positions are in global coordinates. Without customized query parameters this is the same path as returned by [method NavigationServer3D.map_get_path].
</member>
<member name="path_length" type="float" setter="set_path_length" getter="get_path_length" default="0.0">
Returns the length of the path.
</member>
<member name="path_owner_ids" type="PackedInt64Array" setter="set_path_owner_ids" getter="get_path_owner_ids" default="PackedInt64Array()">
The [code]ObjectID[/code]s of the [Object]s which manage the regions and links each point of the path goes through.
</member>

143
modules/navigation_2d/2d/nav_mesh_queries_2d.cpp
View File

@@ -211,6 +211,10 @@ void NavMeshQueries2D::map_query_path(NavMap2D *p_map, const Ref<NavigationPathQ
query_task.metadata_flags = (int64_t)p_query_parameters->get_metadata_flags();
query_task.simplify_path = p_query_parameters->get_simplify_path();
query_task.simplify_epsilon = p_query_parameters->get_simplify_epsilon();
query_task.path_return_max_length = p_query_parameters->get_path_return_max_length();
query_task.path_return_max_radius = p_query_parameters->get_path_return_max_radius();
query_task.path_search_max_polygons = p_query_parameters->get_path_search_max_polygons();
query_task.path_search_max_distance = p_query_parameters->get_path_search_max_distance();
query_task.status = NavMeshPathQueryTask2D::TaskStatus::QUERY_STARTED;
p_map->query_path(query_task);
@@ -220,6 +224,7 @@ void NavMeshQueries2D::map_query_path(NavMap2D *p_map, const Ref<NavigationPathQ
query_task.path_meta_point_types,
query_task.path_meta_point_rids,
query_task.path_meta_point_owners);
p_query_result->set_path_length(query_task.path_length);
if (query_task.callback.is_valid()) {
if (emit_callback(query_task.callback)) {
@@ -348,11 +353,24 @@ void NavMeshQueries2D::_query_task_build_path_corridor(NavMeshPathQueryTask2D &p
const HashMap<const NavBaseIteration2D *, LocalVector<LocalVector<Nav2D::Connection>>> &navbases_polygons_external_connections = p_map_iteration.navbases_polygons_external_connections;
// True if we reached the max polygon search count or distance from the begin position.
bool path_search_max_reached = false;
const float path_search_max_distance_sqr = p_query_task.path_search_max_distance * p_query_task.path_search_max_distance;
bool has_path_search_max_distance = path_search_max_distance_sqr > 0.0;
int processed_polygon_count = 0;
bool has_path_search_max_polygons = p_query_task.path_search_max_polygons > 0;
bool has_path_search_max = p_query_task.path_search_max_polygons > 0 || path_search_max_distance_sqr > 0.0;
while (true) {
const NavigationPoly &least_cost_poly = navigation_polys[least_cost_id];
const NavBaseIteration2D *least_cost_navbase = least_cost_poly.poly->owner;
processed_polygon_count += 1;
const uint32_t navbase_local_polygon_id = least_cost_poly.poly->id;
const LocalVector<LocalVector<Connection>> &navbase_polygons_to_connections = least_cost_poly.poly->owner->get_internal_connections();
@@ -369,6 +387,16 @@ void NavMeshQueries2D::_query_task_build_path_corridor(NavMeshPathQueryTask2D &p
_query_task_search_polygon_connections(p_query_task, connection, least_cost_id, least_cost_poly, poly_enter_cost, end_point);
}
if (has_path_search_max && !path_search_max_reached) {
if (has_path_search_max_polygons && processed_polygon_count >= p_query_task.path_search_max_polygons) {
path_search_max_reached = true;
traversable_polys.clear();
} else if (has_path_search_max_distance && begin_point.distance_squared_to(least_cost_poly.entry) > path_search_max_distance_sqr) {
path_search_max_reached = true;
traversable_polys.clear();
}
}
poly_enter_cost = 0;
// When the heap of traversable polygons is empty at this point it means the end polygon is
// unreachable.
@@ -498,6 +526,7 @@ void NavMeshQueries2D::query_task_map_iteration_get_path(NavMeshPathQueryTask2D
p_query_task.path_clear();
_query_task_push_back_point_with_metadata(p_query_task, p_query_task.begin_position, p_query_task.begin_polygon);
_query_task_push_back_point_with_metadata(p_query_task, p_query_task.end_position, p_query_task.end_polygon);
_query_task_process_path_result_limits(p_query_task);
p_query_task.status = NavMeshPathQueryTask2D::TaskStatus::QUERY_FINISHED;
return;
}
@@ -505,6 +534,7 @@ void NavMeshQueries2D::query_task_map_iteration_get_path(NavMeshPathQueryTask2D
_query_task_build_path_corridor(p_query_task, p_map_iteration);
if (p_query_task.status == NavMeshPathQueryTask2D::TaskStatus::QUERY_FINISHED || p_query_task.status == NavMeshPathQueryTask2D::TaskStatus::QUERY_FAILED) {
_query_task_process_path_result_limits(p_query_task);
return;
}
@@ -531,6 +561,8 @@ void NavMeshQueries2D::query_task_map_iteration_get_path(NavMeshPathQueryTask2D
_query_task_simplified_path_points(p_query_task);
}
_query_task_process_path_result_limits(p_query_task);
#ifdef DEBUG_ENABLED
// Ensure post conditions as path meta arrays if used MUST match in array size with the path points.
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES)) {
@@ -549,6 +581,117 @@ void NavMeshQueries2D::query_task_map_iteration_get_path(NavMeshPathQueryTask2D
p_query_task.status = NavMeshPathQueryTask2D::TaskStatus::QUERY_FINISHED;
}
float NavMeshQueries2D::_calculate_path_length(const LocalVector<Vector2> &p_path, uint32_t p_start_index, uint32_t p_end_index) {
const uint32_t path_size = p_path.size();
if (path_size < 2) {
return 0.0;
}
ERR_FAIL_COND_V(p_start_index >= p_end_index, 0.0);
ERR_FAIL_COND_V(p_start_index >= path_size - 1, 0.0);
ERR_FAIL_COND_V(p_end_index >= path_size, 0.0);
const Vector2 *path_ptr = p_path.ptr();
float path_length = 0.0;
for (uint32_t i = p_start_index; i < p_end_index; i++) {
const Vector2 &vertex1 = path_ptr[i];
const Vector2 &vertex2 = path_ptr[i + 1];
float edge_length = vertex1.distance_to(vertex2);
path_length += edge_length;
}
return path_length;
}
void NavMeshQueries2D::_query_task_process_path_result_limits(NavMeshPathQueryTask2D &p_query_task) {
if (p_query_task.path_points.size() < 2) {
return;
}
bool check_max_length = p_query_task.path_return_max_length > 0.0;
bool check_max_radius = p_query_task.path_return_max_radius > 0.0;
if (!check_max_length && !check_max_radius) {
p_query_task.path_length = _calculate_path_length(p_query_task.path_points, 0, p_query_task.path_points.size() - 1);
return;
}
LocalVector<Vector2> &path = p_query_task.path_points;
const float max_length = p_query_task.path_return_max_length;
const float max_radius = p_query_task.path_return_max_radius;
const float max_radius_sqr = max_radius * max_radius;
const Vector2 &start_pos = path[0];
float accumulated_path_length = 0.0;
Vector2 *path_ptrw = path.ptr();
uint32_t path_max_size = path.size();
bool path_max_reached = false;
for (uint32_t i = 0; i < path.size() - 1; i++) {
uint32_t next_index = i + 1;
const Vector2 &vertex1 = path_ptrw[i];
Vector2 &vertex2 = path_ptrw[next_index];
float edge_length = (vertex2 - vertex1).length();
if (check_max_radius && start_pos.distance_squared_to(vertex2) > max_radius_sqr) {
// Path point segment goes over max radius, clip it.
real_t intersect_distance = Geometry2D::segment_intersects_circle(vertex2, vertex1, start_pos, max_radius);
if (intersect_distance != -1) {
edge_length = intersect_distance;
Vector2 intersect_positon = vertex1 + (vertex1.direction_to(vertex2) * intersect_distance);
path_ptrw[next_index] = intersect_positon;
path_max_size = next_index + 1;
path_max_reached = true;
}
}
if (check_max_length && accumulated_path_length + edge_length > max_length) {
// Path point segment goes over max length, clip it.
edge_length = max_length - accumulated_path_length;
Vector2 edge_direction = vertex1.direction_to(vertex2);
path_ptrw[next_index] = vertex1 + (edge_direction * edge_length);
path_max_size = next_index + 1;
p_query_task.path_length = accumulated_path_length + edge_length;
path_max_reached = true;
}
accumulated_path_length += edge_length;
if (path_max_reached) {
break;
}
}
p_query_task.path_length = accumulated_path_length;
if (path_max_size < path.size()) {
p_query_task.path_points.resize(path_max_size);
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES)) {
p_query_task.path_meta_point_types.resize(path_max_size);
}
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS)) {
p_query_task.path_meta_point_rids.resize(path_max_size);
}
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS)) {
p_query_task.path_meta_point_owners.resize(path_max_size);
}
}
}
void NavMeshQueries2D::_query_task_simplified_path_points(NavMeshPathQueryTask2D &p_query_task) {
if (!p_query_task.simplify_path || p_query_task.path_points.size() <= 2) {
return;

11
modules/navigation_2d/2d/nav_mesh_queries_2d.h
View File

@@ -34,6 +34,7 @@
#include "core/templates/a_hash_map.h"
#include "servers/navigation/navigation_globals.h"
#include "servers/navigation/navigation_path_query_parameters_2d.h"
#include "servers/navigation/navigation_path_query_result_2d.h"
#include "servers/navigation/navigation_utilities.h"
@@ -71,11 +72,17 @@ public:
PathPostProcessing path_postprocessing = PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
bool simplify_path = false;
real_t simplify_epsilon = 0.0;
bool exclude_regions = false;
bool include_regions = false;
LocalVector<RID> excluded_regions;
LocalVector<RID> included_regions;
float path_return_max_length = 0.0;
float path_return_max_radius = 0.0;
int path_search_max_polygons = NavigationDefaults2D::path_search_max_polygons;
float path_search_max_distance = 0.0;
// Path building.
Vector2 begin_position;
Vector2 end_position;
@@ -92,6 +99,7 @@ public:
LocalVector<int32_t> path_meta_point_types;
LocalVector<RID> path_meta_point_rids;
LocalVector<int64_t> path_meta_point_owners;
float path_length = 0.0;
Ref<NavigationPathQueryParameters2D> query_parameters;
Ref<NavigationPathQueryResult2D> query_result;
@@ -138,9 +146,12 @@ public:
static void _query_task_clip_path(NavMeshPathQueryTask2D &p_query_task, const Nav2D::NavigationPoly *p_from_poly, const Vector2 &p_to_point, const Nav2D::NavigationPoly *p_to_poly);
static void _query_task_simplified_path_points(NavMeshPathQueryTask2D &p_query_task);
static bool _query_task_is_connection_owner_usable(const NavMeshPathQueryTask2D &p_query_task, const NavBaseIteration2D *p_owner);
static void _query_task_process_path_result_limits(NavMeshPathQueryTask2D &p_query_task);
static void _query_task_search_polygon_connections(NavMeshPathQueryTask2D &p_query_task, const Nav2D::Connection &p_connection, uint32_t p_least_cost_id, const Nav2D::NavigationPoly &p_least_cost_poly, real_t p_poly_enter_cost, const Vector2 &p_end_point);
static void simplify_path_segment(int p_start_inx, int p_end_inx, const LocalVector<Vector2> &p_points, real_t p_epsilon, LocalVector<uint32_t> &r_simplified_path_indices);
static LocalVector<uint32_t> get_simplified_path_indices(const LocalVector<Vector2> &p_path, real_t p_epsilon);
static float _calculate_path_length(const LocalVector<Vector2> &p_path, uint32_t p_start_index, uint32_t p_end_index);
};

143
modules/navigation_3d/3d/nav_mesh_queries_3d.cpp
View File

@@ -34,6 +34,7 @@
#include "../nav_map_3d.h"
#include "nav_region_iteration_3d.h"
#include "core/math/geometry_2d.h"
#include "core/math/geometry_3d.h"
#include "servers/navigation/navigation_utilities.h"
@@ -210,6 +211,10 @@ void NavMeshQueries3D::map_query_path(NavMap3D *map, const Ref<NavigationPathQue
query_task.metadata_flags = (int64_t)p_query_parameters->get_metadata_flags();
query_task.simplify_path = p_query_parameters->get_simplify_path();
query_task.simplify_epsilon = p_query_parameters->get_simplify_epsilon();
query_task.path_return_max_length = p_query_parameters->get_path_return_max_length();
query_task.path_return_max_radius = p_query_parameters->get_path_return_max_radius();
query_task.path_search_max_polygons = p_query_parameters->get_path_search_max_polygons();
query_task.path_search_max_distance = p_query_parameters->get_path_search_max_distance();
query_task.status = NavMeshPathQueryTask3D::TaskStatus::QUERY_STARTED;
map->query_path(query_task);
@@ -219,6 +224,7 @@ void NavMeshQueries3D::map_query_path(NavMap3D *map, const Ref<NavigationPathQue
query_task.path_meta_point_types,
query_task.path_meta_point_rids,
query_task.path_meta_point_owners);
p_query_result->set_path_length(query_task.path_length);
if (query_task.callback.is_valid()) {
if (emit_callback(query_task.callback)) {
@@ -347,11 +353,24 @@ void NavMeshQueries3D::_query_task_build_path_corridor(NavMeshPathQueryTask3D &p
const HashMap<const NavBaseIteration3D *, LocalVector<LocalVector<Nav3D::Connection>>> &navbases_polygons_external_connections = p_map_iteration.navbases_polygons_external_connections;
// True if we reached the max polygon search count or distance from the begin position.
bool path_search_max_reached = false;
const float path_search_max_distance_sqr = p_query_task.path_search_max_distance * p_query_task.path_search_max_distance;
bool has_path_search_max_distance = path_search_max_distance_sqr > 0.0;
int processed_polygon_count = 0;
bool has_path_search_max_polygons = p_query_task.path_search_max_polygons > 0;
bool has_path_search_max = p_query_task.path_search_max_polygons > 0 || path_search_max_distance_sqr > 0.0;
while (true) {
const NavigationPoly &least_cost_poly = navigation_polys[least_cost_id];
const NavBaseIteration3D *least_cost_navbase = least_cost_poly.poly->owner;
processed_polygon_count += 1;
const uint32_t navbase_local_polygon_id = least_cost_poly.poly->id;
const LocalVector<LocalVector<Connection>> &navbase_polygons_to_connections = least_cost_poly.poly->owner->get_internal_connections();
@@ -368,6 +387,16 @@ void NavMeshQueries3D::_query_task_build_path_corridor(NavMeshPathQueryTask3D &p
_query_task_search_polygon_connections(p_query_task, connection, least_cost_id, least_cost_poly, poly_enter_cost, end_point);
}
if (has_path_search_max && !path_search_max_reached) {
if (has_path_search_max_polygons && processed_polygon_count >= p_query_task.path_search_max_polygons) {
path_search_max_reached = true;
traversable_polys.clear();
} else if (has_path_search_max_distance && begin_point.distance_squared_to(least_cost_poly.entry) > path_search_max_distance_sqr) {
path_search_max_reached = true;
traversable_polys.clear();
}
}
poly_enter_cost = 0;
// When the heap of traversable polygons is empty at this point it means the end polygon is
// unreachable.
@@ -497,6 +526,7 @@ void NavMeshQueries3D::query_task_map_iteration_get_path(NavMeshPathQueryTask3D
p_query_task.path_clear();
_query_task_push_back_point_with_metadata(p_query_task, p_query_task.begin_position, p_query_task.begin_polygon);
_query_task_push_back_point_with_metadata(p_query_task, p_query_task.end_position, p_query_task.end_polygon);
_query_task_process_path_result_limits(p_query_task);
p_query_task.status = NavMeshPathQueryTask3D::TaskStatus::QUERY_FINISHED;
return;
}
@@ -504,6 +534,7 @@ void NavMeshQueries3D::query_task_map_iteration_get_path(NavMeshPathQueryTask3D
_query_task_build_path_corridor(p_query_task, p_map_iteration);
if (p_query_task.status == NavMeshPathQueryTask3D::TaskStatus::QUERY_FINISHED || p_query_task.status == NavMeshPathQueryTask3D::TaskStatus::QUERY_FAILED) {
_query_task_process_path_result_limits(p_query_task);
return;
}
@@ -530,6 +561,8 @@ void NavMeshQueries3D::query_task_map_iteration_get_path(NavMeshPathQueryTask3D
_query_task_simplified_path_points(p_query_task);
}
_query_task_process_path_result_limits(p_query_task);
#ifdef DEBUG_ENABLED
// Ensure post conditions as path meta arrays if used MUST match in array size with the path points.
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES)) {
@@ -548,6 +581,116 @@ void NavMeshQueries3D::query_task_map_iteration_get_path(NavMeshPathQueryTask3D
p_query_task.status = NavMeshPathQueryTask3D::TaskStatus::QUERY_FINISHED;
}
float NavMeshQueries3D::_calculate_path_length(const LocalVector<Vector3> &p_path, uint32_t p_start_index, uint32_t p_end_index) {
const uint32_t path_size = p_path.size();
if (path_size < 2) {
return 0.0;
}
ERR_FAIL_COND_V(p_start_index >= p_end_index, 0.0);
ERR_FAIL_COND_V(p_start_index >= path_size - 1, 0.0);
ERR_FAIL_COND_V(p_end_index >= path_size, 0.0);
const Vector3 *path_ptr = p_path.ptr();
float path_length = 0.0;
for (uint32_t i = p_start_index; i < p_end_index; i++) {
const Vector3 &vertex1 = path_ptr[i];
const Vector3 &vertex2 = path_ptr[i + 1];
float edge_length = vertex1.distance_to(vertex2);
path_length += edge_length;
}
return path_length;
}
void NavMeshQueries3D::_query_task_process_path_result_limits(NavMeshPathQueryTask3D &p_query_task) {
if (p_query_task.path_points.size() < 2) {
return;
}
bool check_max_length = p_query_task.path_return_max_length > 0.0;
bool check_max_radius = p_query_task.path_return_max_radius > 0.0;
if (!check_max_length && !check_max_radius) {
p_query_task.path_length = _calculate_path_length(p_query_task.path_points, 0, p_query_task.path_points.size() - 1);
return;
}
LocalVector<Vector3> &path = p_query_task.path_points;
const float max_length = p_query_task.path_return_max_length;
const float max_radius = p_query_task.path_return_max_radius;
const float max_radius_sqr = max_radius * max_radius;
const Vector3 &start_pos = path[0];
float accumulated_path_length = 0.0;
Vector3 *path_ptrw = path.ptr();
uint32_t path_max_size = path.size();
bool path_max_reached = false;
for (uint32_t i = 0; i < path.size() - 1; i++) {
uint32_t next_index = i + 1;
const Vector3 &vertex1 = path_ptrw[i];
Vector3 &vertex2 = path_ptrw[next_index];
float edge_length = (vertex2 - vertex1).length();
if (check_max_radius && start_pos.distance_squared_to(vertex2) > max_radius_sqr) {
// Path point segment goes over max radius, clip it.
Vector3 intersect_positon, intersect_normal;
bool intersected = Geometry3D::segment_intersects_sphere(vertex2, vertex1, start_pos, max_radius, &intersect_positon, &intersect_normal);
if (intersected) {
edge_length = (intersect_positon - vertex1).length();
path_ptrw[next_index] = intersect_positon;
path_max_size = next_index + 1;
path_max_reached = true;
}
}
if (check_max_length && accumulated_path_length + edge_length > max_length) {
// Path point segment goes over max length, clip it.
edge_length = max_length - accumulated_path_length;
Vector3 edge_direction = vertex1.direction_to(vertex2);
path_ptrw[next_index] = vertex1 + (edge_direction * edge_length);
path_max_size = next_index + 1;
p_query_task.path_length = accumulated_path_length + edge_length;
path_max_reached = true;
}
accumulated_path_length += edge_length;
if (path_max_reached) {
break;
}
}
p_query_task.path_length = accumulated_path_length;
if (path_max_size < path.size()) {
p_query_task.path_points.resize(path_max_size);
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES)) {
p_query_task.path_meta_point_types.resize(path_max_size);
}
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS)) {
p_query_task.path_meta_point_rids.resize(path_max_size);
}
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS)) {
p_query_task.path_meta_point_owners.resize(path_max_size);
}
}
}
void NavMeshQueries3D::_query_task_simplified_path_points(NavMeshPathQueryTask3D &p_query_task) {
if (!p_query_task.simplify_path || p_query_task.path_points.size() <= 2) {
return;

11
modules/navigation_3d/3d/nav_mesh_queries_3d.h
View File

@@ -34,6 +34,7 @@
#include "core/templates/a_hash_map.h"
#include "servers/navigation/navigation_globals.h"
#include "servers/navigation/navigation_path_query_parameters_3d.h"
#include "servers/navigation/navigation_path_query_result_3d.h"
#include "servers/navigation/navigation_utilities.h"
@@ -71,11 +72,17 @@ public:
PathPostProcessing path_postprocessing = PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
bool simplify_path = false;
real_t simplify_epsilon = 0.0;
bool exclude_regions = false;
bool include_regions = false;
LocalVector<RID> excluded_regions;
LocalVector<RID> included_regions;
float path_return_max_length = 0.0;
float path_return_max_radius = 0.0;
int path_search_max_polygons = NavigationDefaults3D::path_search_max_polygons;
float path_search_max_distance = 0.0;
// Path building.
Vector3 begin_position;
Vector3 end_position;
@@ -93,6 +100,7 @@ public:
LocalVector<int32_t> path_meta_point_types;
LocalVector<RID> path_meta_point_rids;
LocalVector<int64_t> path_meta_point_owners;
float path_length = 0.0;
Ref<NavigationPathQueryParameters3D> query_parameters;
Ref<NavigationPathQueryResult3D> query_result;
@@ -143,9 +151,12 @@ public:
static void _query_task_clip_path(NavMeshPathQueryTask3D &p_query_task, const Nav3D::NavigationPoly *from_poly, const Vector3 &p_to_point, const Nav3D::NavigationPoly *p_to_poly);
static void _query_task_simplified_path_points(NavMeshPathQueryTask3D &p_query_task);
static bool _query_task_is_connection_owner_usable(const NavMeshPathQueryTask3D &p_query_task, const NavBaseIteration3D *p_owner);
static void _query_task_process_path_result_limits(NavMeshPathQueryTask3D &p_query_task);
static void _query_task_search_polygon_connections(NavMeshPathQueryTask3D &p_query_task, const Nav3D::Connection &p_connection, uint32_t p_least_cost_id, const Nav3D::NavigationPoly &p_least_cost_poly, real_t p_poly_enter_cost, const Vector3 &p_end_point);
static void simplify_path_segment(int p_start_inx, int p_end_inx, const LocalVector<Vector3> &p_points, real_t p_epsilon, LocalVector<uint32_t> &r_simplified_path_indices);
static LocalVector<uint32_t> get_simplified_path_indices(const LocalVector<Vector3> &p_path, real_t p_epsilon);
static float _calculate_path_length(const LocalVector<Vector3> &p_path, uint32_t p_start_index, uint32_t p_end_index);
};

58
scene/2d/navigation/navigation_agent_2d.cpp
View File

@@ -95,6 +95,20 @@ void NavigationAgent2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_simplify_epsilon", "epsilon"), &NavigationAgent2D::set_simplify_epsilon);
ClassDB::bind_method(D_METHOD("get_simplify_epsilon"), &NavigationAgent2D::get_simplify_epsilon);
ClassDB::bind_method(D_METHOD("set_path_return_max_length", "length"), &NavigationAgent2D::set_path_return_max_length);
ClassDB::bind_method(D_METHOD("get_path_return_max_length"), &NavigationAgent2D::get_path_return_max_length);
ClassDB::bind_method(D_METHOD("set_path_return_max_radius", "radius"), &NavigationAgent2D::set_path_return_max_radius);
ClassDB::bind_method(D_METHOD("get_path_return_max_radius"), &NavigationAgent2D::get_path_return_max_radius);
ClassDB::bind_method(D_METHOD("set_path_search_max_polygons", "max_polygons"), &NavigationAgent2D::set_path_search_max_polygons);
ClassDB::bind_method(D_METHOD("get_path_search_max_polygons"), &NavigationAgent2D::get_path_search_max_polygons);
ClassDB::bind_method(D_METHOD("set_path_search_max_distance", "distance"), &NavigationAgent2D::set_path_search_max_distance);
ClassDB::bind_method(D_METHOD("get_path_search_max_distance"), &NavigationAgent2D::get_path_search_max_distance);
ClassDB::bind_method(D_METHOD("get_path_length"), &NavigationAgent2D::get_path_length);
ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent2D::get_next_path_position);
ClassDB::bind_method(D_METHOD("set_velocity_forced", "velocity"), &NavigationAgent2D::set_velocity_forced);
@@ -137,6 +151,10 @@ void NavigationAgent2D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "simplify_path"), "set_simplify_path", "get_simplify_path");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "simplify_epsilon", PROPERTY_HINT_RANGE, "0.0,10.0,0.001,or_greater,suffix:px"), "set_simplify_epsilon", "get_simplify_epsilon");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_return_max_length", PROPERTY_HINT_RANGE, "0.0,10240.0,0.001,or_greater,suffix:px"), "set_path_return_max_length", "get_path_return_max_length");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_return_max_radius", PROPERTY_HINT_RANGE, "0.0,10240.0,0.001,or_greater,suffix:px"), "set_path_return_max_radius", "get_path_return_max_radius");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_search_max_polygons", PROPERTY_HINT_RANGE, "0,4096,1,or_greater"), "set_path_search_max_polygons", "get_path_search_max_polygons");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_search_max_distance"), "set_path_search_max_distance", "get_path_search_max_distance");
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
@@ -461,6 +479,46 @@ real_t NavigationAgent2D::get_simplify_epsilon() const {
return simplify_epsilon;
}
void NavigationAgent2D::set_path_return_max_length(float p_length) {
path_return_max_length = MAX(0.0, p_length);
navigation_query->set_path_return_max_length(path_return_max_length);
}
float NavigationAgent2D::get_path_return_max_length() const {
return path_return_max_length;
}
void NavigationAgent2D::set_path_return_max_radius(float p_radius) {
path_return_max_radius = MAX(0.0, p_radius);
navigation_query->set_path_return_max_radius(path_return_max_radius);
}
float NavigationAgent2D::get_path_return_max_radius() const {
return path_return_max_radius;
}
void NavigationAgent2D::set_path_search_max_polygons(int p_max_polygons) {
path_search_max_polygons = p_max_polygons;
navigation_query->set_path_search_max_polygons(path_search_max_polygons);
}
int NavigationAgent2D::get_path_search_max_polygons() const {
return path_search_max_polygons;
}
void NavigationAgent2D::set_path_search_max_distance(float p_distance) {
path_search_max_distance = MAX(0.0, p_distance);
navigation_query->set_path_search_max_distance(path_search_max_distance);
}
float NavigationAgent2D::get_path_search_max_distance() const {
return path_search_max_distance;
}
float NavigationAgent2D::get_path_length() const {
return navigation_result->get_path_length();
}
void NavigationAgent2D::set_path_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_path_metadata_flags) {
if (path_metadata_flags == p_path_metadata_flags) {
return;

18
scene/2d/navigation/navigation_agent_2d.h
View File

@@ -65,6 +65,10 @@ class NavigationAgent2D : public Node {
real_t path_max_distance = 100.0;
bool simplify_path = false;
real_t simplify_epsilon = 0.0;
float path_return_max_length = 0.0;
float path_return_max_radius = 0.0;
int path_search_max_polygons = NavigationDefaults2D::path_search_max_polygons;
float path_search_max_distance = 0.0;
Vector2 target_position;
@@ -185,6 +189,20 @@ public:
void set_simplify_epsilon(real_t p_epsilon);
real_t get_simplify_epsilon() const;
void set_path_return_max_length(float p_length);
float get_path_return_max_length() const;
void set_path_return_max_radius(float p_radius);
float get_path_return_max_radius() const;
void set_path_search_max_polygons(int p_max_polygons);
int get_path_search_max_polygons() const;
void set_path_search_max_distance(float p_distance);
float get_path_search_max_distance() const;
float get_path_length() const;
Vector2 get_next_path_position();
Ref<NavigationPathQueryResult2D> get_current_navigation_result() const { return navigation_result; }

58
scene/3d/navigation/navigation_agent_3d.cpp
View File

@@ -105,6 +105,20 @@ void NavigationAgent3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_simplify_epsilon", "epsilon"), &NavigationAgent3D::set_simplify_epsilon);
ClassDB::bind_method(D_METHOD("get_simplify_epsilon"), &NavigationAgent3D::get_simplify_epsilon);
ClassDB::bind_method(D_METHOD("set_path_return_max_length", "length"), &NavigationAgent3D::set_path_return_max_length);
ClassDB::bind_method(D_METHOD("get_path_return_max_length"), &NavigationAgent3D::get_path_return_max_length);
ClassDB::bind_method(D_METHOD("set_path_return_max_radius", "radius"), &NavigationAgent3D::set_path_return_max_radius);
ClassDB::bind_method(D_METHOD("get_path_return_max_radius"), &NavigationAgent3D::get_path_return_max_radius);
ClassDB::bind_method(D_METHOD("set_path_search_max_polygons", "max_polygons"), &NavigationAgent3D::set_path_search_max_polygons);
ClassDB::bind_method(D_METHOD("get_path_search_max_polygons"), &NavigationAgent3D::get_path_search_max_polygons);
ClassDB::bind_method(D_METHOD("set_path_search_max_distance", "distance"), &NavigationAgent3D::set_path_search_max_distance);
ClassDB::bind_method(D_METHOD("get_path_search_max_distance"), &NavigationAgent3D::get_path_search_max_distance);
ClassDB::bind_method(D_METHOD("get_path_length"), &NavigationAgent3D::get_path_length);
ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent3D::get_next_path_position);
ClassDB::bind_method(D_METHOD("set_velocity_forced", "velocity"), &NavigationAgent3D::set_velocity_forced);
@@ -148,6 +162,10 @@ void NavigationAgent3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "simplify_path"), "set_simplify_path", "get_simplify_path");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "simplify_epsilon", PROPERTY_HINT_RANGE, "0.0,10.0,0.001,or_greater,suffix:m"), "set_simplify_epsilon", "get_simplify_epsilon");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_return_max_length", PROPERTY_HINT_RANGE, "0.0,100.0,0.001,or_greater,suffix:m"), "set_path_return_max_length", "get_path_return_max_length");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_return_max_radius", PROPERTY_HINT_RANGE, "0.0,100.0,0.001,or_greater,suffix:m"), "set_path_return_max_radius", "get_path_return_max_radius");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_search_max_polygons", PROPERTY_HINT_RANGE, "0,4096,1,or_greater"), "set_path_search_max_polygons", "get_path_search_max_polygons");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_search_max_distance"), "set_path_search_max_distance", "get_path_search_max_distance");
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
@@ -498,6 +516,46 @@ real_t NavigationAgent3D::get_simplify_epsilon() const {
return simplify_epsilon;
}
void NavigationAgent3D::set_path_return_max_length(float p_length) {
path_return_max_length = MAX(0.0, p_length);
navigation_query->set_path_return_max_length(path_return_max_length);
}
float NavigationAgent3D::get_path_return_max_length() const {
return path_return_max_length;
}
void NavigationAgent3D::set_path_return_max_radius(float p_radius) {
path_return_max_radius = MAX(0.0, p_radius);
navigation_query->set_path_return_max_radius(path_return_max_radius);
}
float NavigationAgent3D::get_path_return_max_radius() const {
return path_return_max_radius;
}
void NavigationAgent3D::set_path_search_max_polygons(int p_max_polygons) {
path_search_max_polygons = p_max_polygons;
navigation_query->set_path_search_max_polygons(path_search_max_polygons);
}
int NavigationAgent3D::get_path_search_max_polygons() const {
return path_search_max_polygons;
}
void NavigationAgent3D::set_path_search_max_distance(float p_distance) {
path_search_max_distance = MAX(0.0, p_distance);
navigation_query->set_path_search_max_distance(path_search_max_distance);
}
float NavigationAgent3D::get_path_search_max_distance() const {
return path_search_max_distance;
}
float NavigationAgent3D::get_path_length() const {
return navigation_result->get_path_length();
}
void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_path_metadata_flags) {
if (path_metadata_flags == p_path_metadata_flags) {
return;

18
scene/3d/navigation/navigation_agent_3d.h
View File

@@ -68,6 +68,10 @@ class NavigationAgent3D : public Node {
real_t path_max_distance = 5.0;
bool simplify_path = false;
real_t simplify_epsilon = 0.0;
float path_return_max_length = 0.0;
float path_return_max_radius = 0.0;
int path_search_max_polygons = NavigationDefaults3D::path_search_max_polygons;
float path_search_max_distance = 0.0;
Vector3 target_position;
@@ -206,6 +210,20 @@ public:
void set_simplify_epsilon(real_t p_epsilon);
real_t get_simplify_epsilon() const;
void set_path_return_max_length(float p_length);
float get_path_return_max_length() const;
void set_path_return_max_radius(float p_radius);
float get_path_return_max_radius() const;
void set_path_search_max_polygons(int p_max_polygons);
int get_path_search_max_polygons() const;
void set_path_search_max_distance(float p_distance);
float get_path_search_max_distance() const;
float get_path_length() const;
Vector3 get_next_path_position();
Ref<NavigationPathQueryResult3D> get_current_navigation_result() const { return navigation_result; }

2
servers/navigation/navigation_globals.h
View File

@@ -45,6 +45,7 @@ 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 LINK_CONNECTION_RADIUS = 1.0f;
constexpr int path_search_max_polygons = 4096;
// Agent.
@@ -71,6 +72,7 @@ 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 LINK_CONNECTION_RADIUS = 4.0f;
constexpr int path_search_max_polygons = 4096;
// Agent.

48
servers/navigation/navigation_path_query_parameters_2d.cpp
View File

@@ -134,6 +134,38 @@ TypedArray<RID> NavigationPathQueryParameters2D::get_excluded_regions() const {
return r_regions;
}
void NavigationPathQueryParameters2D::set_path_return_max_length(float p_length) {
path_return_max_length = MAX(0.0, p_length);
}
float NavigationPathQueryParameters2D::get_path_return_max_length() const {
return path_return_max_length;
}
void NavigationPathQueryParameters2D::set_path_return_max_radius(float p_radius) {
path_return_max_radius = MAX(0.0, p_radius);
}
float NavigationPathQueryParameters2D::get_path_return_max_radius() const {
return path_return_max_radius;
}
void NavigationPathQueryParameters2D::set_path_search_max_polygons(int p_max_polygons) {
path_search_max_polygons = p_max_polygons;
}
int NavigationPathQueryParameters2D::get_path_search_max_polygons() const {
return path_search_max_polygons;
}
void NavigationPathQueryParameters2D::set_path_search_max_distance(float p_distance) {
path_search_max_distance = MAX(0.0, p_distance);
}
float NavigationPathQueryParameters2D::get_path_search_max_distance() const {
return path_search_max_distance;
}
void NavigationPathQueryParameters2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationPathQueryParameters2D::set_pathfinding_algorithm);
ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationPathQueryParameters2D::get_pathfinding_algorithm);
@@ -168,6 +200,18 @@ void NavigationPathQueryParameters2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_excluded_regions", "regions"), &NavigationPathQueryParameters2D::set_excluded_regions);
ClassDB::bind_method(D_METHOD("get_excluded_regions"), &NavigationPathQueryParameters2D::get_excluded_regions);
ClassDB::bind_method(D_METHOD("set_path_return_max_length", "length"), &NavigationPathQueryParameters2D::set_path_return_max_length);
ClassDB::bind_method(D_METHOD("get_path_return_max_length"), &NavigationPathQueryParameters2D::get_path_return_max_length);
ClassDB::bind_method(D_METHOD("set_path_return_max_radius", "radius"), &NavigationPathQueryParameters2D::set_path_return_max_radius);
ClassDB::bind_method(D_METHOD("get_path_return_max_radius"), &NavigationPathQueryParameters2D::get_path_return_max_radius);
ClassDB::bind_method(D_METHOD("set_path_search_max_polygons", "max_polygons"), &NavigationPathQueryParameters2D::set_path_search_max_polygons);
ClassDB::bind_method(D_METHOD("get_path_search_max_polygons"), &NavigationPathQueryParameters2D::get_path_search_max_polygons);
ClassDB::bind_method(D_METHOD("set_path_search_max_distance", "distance"), &NavigationPathQueryParameters2D::set_path_search_max_distance);
ClassDB::bind_method(D_METHOD("get_path_search_max_distance"), &NavigationPathQueryParameters2D::get_path_search_max_distance);
ADD_PROPERTY(PropertyInfo(Variant::RID, "map"), "set_map", "get_map");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "start_position"), "set_start_position", "get_start_position");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "target_position"), "set_target_position", "get_target_position");
@@ -179,6 +223,10 @@ void NavigationPathQueryParameters2D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "simplify_epsilon"), "set_simplify_epsilon", "get_simplify_epsilon");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "excluded_regions", PROPERTY_HINT_ARRAY_TYPE, "RID"), "set_excluded_regions", "get_excluded_regions");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "included_regions", PROPERTY_HINT_ARRAY_TYPE, "RID"), "set_included_regions", "get_included_regions");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_return_max_length"), "set_path_return_max_length", "get_path_return_max_length");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_return_max_radius"), "set_path_return_max_radius", "get_path_return_max_radius");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_search_max_polygons"), "set_path_search_max_polygons", "get_path_search_max_polygons");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_search_max_distance"), "set_path_search_max_distance", "get_path_search_max_distance");
BIND_ENUM_CONSTANT(PATHFINDING_ALGORITHM_ASTAR);

19
servers/navigation/navigation_path_query_parameters_2d.h
View File

@@ -31,6 +31,7 @@
#pragma once
#include "core/object/ref_counted.h"
#include "servers/navigation/navigation_globals.h"
#include "servers/navigation/navigation_utilities.h"
class NavigationPathQueryParameters2D : public RefCounted {
@@ -68,9 +69,15 @@ private:
BitField<PathMetadataFlags> metadata_flags = PATH_METADATA_INCLUDE_ALL;
bool simplify_path = false;
real_t simplify_epsilon = 0.0;
LocalVector<RID> _excluded_regions;
LocalVector<RID> _included_regions;
float path_return_max_length = 0.0;
float path_return_max_radius = 0.0;
int path_search_max_polygons = NavigationDefaults2D::path_search_max_polygons;
float path_search_max_distance = 0.0;
public:
void set_pathfinding_algorithm(const PathfindingAlgorithm p_pathfinding_algorithm);
PathfindingAlgorithm get_pathfinding_algorithm() const;
@@ -104,6 +111,18 @@ public:
void set_included_regions(const TypedArray<RID> &p_regions);
TypedArray<RID> get_included_regions() const;
void set_path_return_max_length(float p_length);
float get_path_return_max_length() const;
void set_path_return_max_radius(float p_radius);
float get_path_return_max_radius() const;
void set_path_search_max_polygons(int p_max_polygons);
int get_path_search_max_polygons() const;
void set_path_search_max_distance(float p_distance);
float get_path_search_max_distance() const;
};
VARIANT_ENUM_CAST(NavigationPathQueryParameters2D::PathfindingAlgorithm);

48
servers/navigation/navigation_path_query_parameters_3d.cpp
View File

@@ -134,6 +134,38 @@ TypedArray<RID> NavigationPathQueryParameters3D::get_excluded_regions() const {
return r_regions;
}
void NavigationPathQueryParameters3D::set_path_return_max_length(float p_length) {
path_return_max_length = MAX(0.0, p_length);
}
float NavigationPathQueryParameters3D::get_path_return_max_length() const {
return path_return_max_length;
}
void NavigationPathQueryParameters3D::set_path_return_max_radius(float p_radius) {
path_return_max_radius = MAX(0.0, p_radius);
}
float NavigationPathQueryParameters3D::get_path_return_max_radius() const {
return path_return_max_radius;
}
void NavigationPathQueryParameters3D::set_path_search_max_polygons(int p_max_polygons) {
path_search_max_polygons = p_max_polygons;
}
int NavigationPathQueryParameters3D::get_path_search_max_polygons() const {
return path_search_max_polygons;
}
void NavigationPathQueryParameters3D::set_path_search_max_distance(float p_distance) {
path_search_max_distance = MAX(0.0, p_distance);
}
float NavigationPathQueryParameters3D::get_path_search_max_distance() const {
return path_search_max_distance;
}
void NavigationPathQueryParameters3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationPathQueryParameters3D::set_pathfinding_algorithm);
ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationPathQueryParameters3D::get_pathfinding_algorithm);
@@ -168,6 +200,18 @@ void NavigationPathQueryParameters3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_excluded_regions", "regions"), &NavigationPathQueryParameters3D::set_excluded_regions);
ClassDB::bind_method(D_METHOD("get_excluded_regions"), &NavigationPathQueryParameters3D::get_excluded_regions);
ClassDB::bind_method(D_METHOD("set_path_return_max_length", "length"), &NavigationPathQueryParameters3D::set_path_return_max_length);
ClassDB::bind_method(D_METHOD("get_path_return_max_length"), &NavigationPathQueryParameters3D::get_path_return_max_length);
ClassDB::bind_method(D_METHOD("set_path_return_max_radius", "radius"), &NavigationPathQueryParameters3D::set_path_return_max_radius);
ClassDB::bind_method(D_METHOD("get_path_return_max_radius"), &NavigationPathQueryParameters3D::get_path_return_max_radius);
ClassDB::bind_method(D_METHOD("set_path_search_max_polygons", "max_polygons"), &NavigationPathQueryParameters3D::set_path_search_max_polygons);
ClassDB::bind_method(D_METHOD("get_path_search_max_polygons"), &NavigationPathQueryParameters3D::get_path_search_max_polygons);
ClassDB::bind_method(D_METHOD("set_path_search_max_distance", "distance"), &NavigationPathQueryParameters3D::set_path_search_max_distance);
ClassDB::bind_method(D_METHOD("get_path_search_max_distance"), &NavigationPathQueryParameters3D::get_path_search_max_distance);
ADD_PROPERTY(PropertyInfo(Variant::RID, "map"), "set_map", "get_map");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "start_position"), "set_start_position", "get_start_position");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position"), "set_target_position", "get_target_position");
@@ -179,6 +223,10 @@ void NavigationPathQueryParameters3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "simplify_epsilon"), "set_simplify_epsilon", "get_simplify_epsilon");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "excluded_regions", PROPERTY_HINT_ARRAY_TYPE, "RID"), "set_excluded_regions", "get_excluded_regions");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "included_regions", PROPERTY_HINT_ARRAY_TYPE, "RID"), "set_included_regions", "get_included_regions");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_return_max_length"), "set_path_return_max_length", "get_path_return_max_length");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_return_max_radius"), "set_path_return_max_radius", "get_path_return_max_radius");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_search_max_polygons"), "set_path_search_max_polygons", "get_path_search_max_polygons");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_search_max_distance"), "set_path_search_max_distance", "get_path_search_max_distance");
BIND_ENUM_CONSTANT(PATHFINDING_ALGORITHM_ASTAR);

19
servers/navigation/navigation_path_query_parameters_3d.h
View File

@@ -31,6 +31,7 @@
#pragma once
#include "core/object/ref_counted.h"
#include "servers/navigation/navigation_globals.h"
#include "servers/navigation/navigation_utilities.h"
class NavigationPathQueryParameters3D : public RefCounted {
@@ -68,9 +69,15 @@ private:
BitField<PathMetadataFlags> metadata_flags = PATH_METADATA_INCLUDE_ALL;
bool simplify_path = false;
real_t simplify_epsilon = 0.0;
LocalVector<RID> _excluded_regions;
LocalVector<RID> _included_regions;
float path_return_max_length = 0.0;
float path_return_max_radius = 0.0;
int path_search_max_polygons = NavigationDefaults3D::path_search_max_polygons;
float path_search_max_distance = 0.0;
public:
void set_pathfinding_algorithm(const PathfindingAlgorithm p_pathfinding_algorithm);
PathfindingAlgorithm get_pathfinding_algorithm() const;
@@ -104,6 +111,18 @@ public:
void set_included_regions(const TypedArray<RID> &p_regions);
TypedArray<RID> get_included_regions() const;
void set_path_return_max_length(float p_length);
float get_path_return_max_length() const;
void set_path_return_max_radius(float p_radius);
float get_path_return_max_radius() const;
void set_path_search_max_polygons(int p_max_polygons);
int get_path_search_max_polygons() const;
void set_path_search_max_distance(float p_distance);
float get_path_search_max_distance() const;
};
VARIANT_ENUM_CAST(NavigationPathQueryParameters3D::PathfindingAlgorithm);

12
servers/navigation/navigation_path_query_result_2d.cpp
View File

@@ -110,6 +110,14 @@ void NavigationPathQueryResult2D::set_data(const LocalVector<Vector2> &p_path, c
}
}
void NavigationPathQueryResult2D::set_path_length(float p_length) {
path_length = p_length;
}
float NavigationPathQueryResult2D::get_path_length() const {
return path_length;
}
void NavigationPathQueryResult2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_path", "path"), &NavigationPathQueryResult2D::set_path);
ClassDB::bind_method(D_METHOD("get_path"), &NavigationPathQueryResult2D::get_path);
@@ -123,12 +131,16 @@ void NavigationPathQueryResult2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_path_owner_ids", "path_owner_ids"), &NavigationPathQueryResult2D::set_path_owner_ids);
ClassDB::bind_method(D_METHOD("get_path_owner_ids"), &NavigationPathQueryResult2D::get_path_owner_ids);
ClassDB::bind_method(D_METHOD("set_path_length", "length"), &NavigationPathQueryResult2D::set_path_length);
ClassDB::bind_method(D_METHOD("get_path_length"), &NavigationPathQueryResult2D::get_path_length);
ClassDB::bind_method(D_METHOD("reset"), &NavigationPathQueryResult2D::reset);
ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR2_ARRAY, "path"), "set_path", "get_path");
ADD_PROPERTY(PropertyInfo(Variant::PACKED_INT32_ARRAY, "path_types"), "set_path_types", "get_path_types");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "path_rids", PROPERTY_HINT_ARRAY_TYPE, "RID"), "set_path_rids", "get_path_rids");
ADD_PROPERTY(PropertyInfo(Variant::PACKED_INT64_ARRAY, "path_owner_ids"), "set_path_owner_ids", "get_path_owner_ids");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_length"), "set_path_length", "get_path_length");
BIND_ENUM_CONSTANT(PATH_SEGMENT_TYPE_REGION);
BIND_ENUM_CONSTANT(PATH_SEGMENT_TYPE_LINK);

4
servers/navigation/navigation_path_query_result_2d.h
View File

@@ -40,6 +40,7 @@ class NavigationPathQueryResult2D : public RefCounted {
Vector<int32_t> path_types;
TypedArray<RID> path_rids;
Vector<int64_t> path_owner_ids;
float path_length = 0.0;
protected:
static void _bind_methods();
@@ -62,6 +63,9 @@ public:
void set_path_owner_ids(const Vector<int64_t> &p_path_owner_ids);
const Vector<int64_t> &get_path_owner_ids() const;
void set_path_length(float p_length);
float get_path_length() const;
void reset();
void set_data(const LocalVector<Vector2> &p_path, const LocalVector<int32_t> &p_path_types, const LocalVector<RID> &p_path_rids, const LocalVector<int64_t> &p_path_owner_ids);

12
servers/navigation/navigation_path_query_result_3d.cpp
View File

@@ -110,6 +110,14 @@ void NavigationPathQueryResult3D::set_data(const LocalVector<Vector3> &p_path, c
}
}
void NavigationPathQueryResult3D::set_path_length(float p_length) {
path_length = p_length;
}
float NavigationPathQueryResult3D::get_path_length() const {
return path_length;
}
void NavigationPathQueryResult3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_path", "path"), &NavigationPathQueryResult3D::set_path);
ClassDB::bind_method(D_METHOD("get_path"), &NavigationPathQueryResult3D::get_path);
@@ -123,12 +131,16 @@ void NavigationPathQueryResult3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_path_owner_ids", "path_owner_ids"), &NavigationPathQueryResult3D::set_path_owner_ids);
ClassDB::bind_method(D_METHOD("get_path_owner_ids"), &NavigationPathQueryResult3D::get_path_owner_ids);
ClassDB::bind_method(D_METHOD("set_path_length", "length"), &NavigationPathQueryResult3D::set_path_length);
ClassDB::bind_method(D_METHOD("get_path_length"), &NavigationPathQueryResult3D::get_path_length);
ClassDB::bind_method(D_METHOD("reset"), &NavigationPathQueryResult3D::reset);
ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR3_ARRAY, "path"), "set_path", "get_path");
ADD_PROPERTY(PropertyInfo(Variant::PACKED_INT32_ARRAY, "path_types"), "set_path_types", "get_path_types");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "path_rids", PROPERTY_HINT_ARRAY_TYPE, "RID"), "set_path_rids", "get_path_rids");
ADD_PROPERTY(PropertyInfo(Variant::PACKED_INT64_ARRAY, "path_owner_ids"), "set_path_owner_ids", "get_path_owner_ids");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_length"), "set_path_length", "get_path_length");
BIND_ENUM_CONSTANT(PATH_SEGMENT_TYPE_REGION);
BIND_ENUM_CONSTANT(PATH_SEGMENT_TYPE_LINK);

4
servers/navigation/navigation_path_query_result_3d.h
View File

@@ -41,6 +41,7 @@ class NavigationPathQueryResult3D : public RefCounted {
Vector<int32_t> path_types;
TypedArray<RID> path_rids;
Vector<int64_t> path_owner_ids;
float path_length = 0.0;
protected:
static void _bind_methods();
@@ -63,6 +64,9 @@ public:
void set_path_owner_ids(const Vector<int64_t> &p_path_owner_ids);
const Vector<int64_t> &get_path_owner_ids() const;
void set_path_length(float p_length);
float get_path_length() const;
void reset();
void set_data(const LocalVector<Vector3> &p_path, const LocalVector<int32_t> &p_path_types, const LocalVector<RID> &p_path_rids, const LocalVector<int64_t> &p_path_owner_ids);