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419fc6e22d6081b156834487a8ae78934c9e8ff9
godot/servers/navigation_2d/navigation_server_2d.cpp
smix8 419fc6e22d Make NavigationServer backend engine selectable 
Adds engine backend selection for NavigationServers, aka allows to swap navigation module for other backend implementations.
2025-10-30 08:59:06 +01:00

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/**************************************************************************/
/* navigation_server_2d.cpp */
/**************************************************************************/
/* 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. */
/**************************************************************************/
#include "navigation_server_2d.h"
#include "navigation_server_2d.compat.inc"
#include "core/config/project_settings.h"
#include "scene/main/node.h"
#include "servers/navigation_2d/navigation_server_2d_dummy.h"
NavigationServer2D *NavigationServer2D::singleton = nullptr;
RWLock NavigationServer2D::geometry_parser_rwlock;
RID_Owner<NavMeshGeometryParser2D> NavigationServer2D::geometry_parser_owner;
LocalVector<NavMeshGeometryParser2D *> NavigationServer2D::generator_parsers;
void NavigationServer2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_maps"), &NavigationServer2D::get_maps);
ClassDB::bind_method(D_METHOD("map_create"), &NavigationServer2D::map_create);
ClassDB::bind_method(D_METHOD("map_set_active", "map", "active"), &NavigationServer2D::map_set_active);
ClassDB::bind_method(D_METHOD("map_is_active", "map"), &NavigationServer2D::map_is_active);
ClassDB::bind_method(D_METHOD("map_set_cell_size", "map", "cell_size"), &NavigationServer2D::map_set_cell_size);
ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer2D::map_get_cell_size);
ClassDB::bind_method(D_METHOD("map_set_merge_rasterizer_cell_scale", "map", "scale"), &NavigationServer2D::map_set_merge_rasterizer_cell_scale);
ClassDB::bind_method(D_METHOD("map_get_merge_rasterizer_cell_scale", "map"), &NavigationServer2D::map_get_merge_rasterizer_cell_scale);
ClassDB::bind_method(D_METHOD("map_set_use_edge_connections", "map", "enabled"), &NavigationServer2D::map_set_use_edge_connections);
ClassDB::bind_method(D_METHOD("map_get_use_edge_connections", "map"), &NavigationServer2D::map_get_use_edge_connections);
ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer2D::map_set_edge_connection_margin);
ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer2D::map_get_edge_connection_margin);
ClassDB::bind_method(D_METHOD("map_set_link_connection_radius", "map", "radius"), &NavigationServer2D::map_set_link_connection_radius);
ClassDB::bind_method(D_METHOD("map_get_link_connection_radius", "map"), &NavigationServer2D::map_get_link_connection_radius);
ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "navigation_layers"), &NavigationServer2D::map_get_path, DEFVAL(1));
ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer2D::map_get_closest_point);
ClassDB::bind_method(D_METHOD("map_get_closest_point_owner", "map", "to_point"), &NavigationServer2D::map_get_closest_point_owner);
ClassDB::bind_method(D_METHOD("map_get_links", "map"), &NavigationServer2D::map_get_links);
ClassDB::bind_method(D_METHOD("map_get_regions", "map"), &NavigationServer2D::map_get_regions);
ClassDB::bind_method(D_METHOD("map_get_agents", "map"), &NavigationServer2D::map_get_agents);
ClassDB::bind_method(D_METHOD("map_get_obstacles", "map"), &NavigationServer2D::map_get_obstacles);
ClassDB::bind_method(D_METHOD("map_force_update", "map"), &NavigationServer2D::map_force_update);
ClassDB::bind_method(D_METHOD("map_get_iteration_id", "map"), &NavigationServer2D::map_get_iteration_id);
ClassDB::bind_method(D_METHOD("map_set_use_async_iterations", "map", "enabled"), &NavigationServer2D::map_set_use_async_iterations);
ClassDB::bind_method(D_METHOD("map_get_use_async_iterations", "map"), &NavigationServer2D::map_get_use_async_iterations);
ClassDB::bind_method(D_METHOD("map_get_random_point", "map", "navigation_layers", "uniformly"), &NavigationServer2D::map_get_random_point);
ClassDB::bind_method(D_METHOD("query_path", "parameters", "result", "callback"), &NavigationServer2D::query_path, DEFVAL(Callable()));
ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer2D::region_create);
ClassDB::bind_method(D_METHOD("region_get_iteration_id", "region"), &NavigationServer2D::region_get_iteration_id);
ClassDB::bind_method(D_METHOD("region_set_use_async_iterations", "region", "enabled"), &NavigationServer2D::region_set_use_async_iterations);
ClassDB::bind_method(D_METHOD("region_get_use_async_iterations", "region"), &NavigationServer2D::region_get_use_async_iterations);
ClassDB::bind_method(D_METHOD("region_set_enabled", "region", "enabled"), &NavigationServer2D::region_set_enabled);
ClassDB::bind_method(D_METHOD("region_get_enabled", "region"), &NavigationServer2D::region_get_enabled);
ClassDB::bind_method(D_METHOD("region_set_use_edge_connections", "region", "enabled"), &NavigationServer2D::region_set_use_edge_connections);
ClassDB::bind_method(D_METHOD("region_get_use_edge_connections", "region"), &NavigationServer2D::region_get_use_edge_connections);
ClassDB::bind_method(D_METHOD("region_set_enter_cost", "region", "enter_cost"), &NavigationServer2D::region_set_enter_cost);
ClassDB::bind_method(D_METHOD("region_get_enter_cost", "region"), &NavigationServer2D::region_get_enter_cost);
ClassDB::bind_method(D_METHOD("region_set_travel_cost", "region", "travel_cost"), &NavigationServer2D::region_set_travel_cost);
ClassDB::bind_method(D_METHOD("region_get_travel_cost", "region"), &NavigationServer2D::region_get_travel_cost);
ClassDB::bind_method(D_METHOD("region_set_owner_id", "region", "owner_id"), &NavigationServer2D::region_set_owner_id);
ClassDB::bind_method(D_METHOD("region_get_owner_id", "region"), &NavigationServer2D::region_get_owner_id);
ClassDB::bind_method(D_METHOD("region_owns_point", "region", "point"), &NavigationServer2D::region_owns_point);
ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &NavigationServer2D::region_set_map);
ClassDB::bind_method(D_METHOD("region_get_map", "region"), &NavigationServer2D::region_get_map);
ClassDB::bind_method(D_METHOD("region_set_navigation_layers", "region", "navigation_layers"), &NavigationServer2D::region_set_navigation_layers);
ClassDB::bind_method(D_METHOD("region_get_navigation_layers", "region"), &NavigationServer2D::region_get_navigation_layers);
ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &NavigationServer2D::region_set_transform);
ClassDB::bind_method(D_METHOD("region_get_transform", "region"), &NavigationServer2D::region_get_transform);
ClassDB::bind_method(D_METHOD("region_set_navigation_polygon", "region", "navigation_polygon"), &NavigationServer2D::region_set_navigation_polygon);
ClassDB::bind_method(D_METHOD("region_get_connections_count", "region"), &NavigationServer2D::region_get_connections_count);
ClassDB::bind_method(D_METHOD("region_get_connection_pathway_start", "region", "connection"), &NavigationServer2D::region_get_connection_pathway_start);
ClassDB::bind_method(D_METHOD("region_get_connection_pathway_end", "region", "connection"), &NavigationServer2D::region_get_connection_pathway_end);
ClassDB::bind_method(D_METHOD("region_get_closest_point", "region", "to_point"), &NavigationServer2D::region_get_closest_point);
ClassDB::bind_method(D_METHOD("region_get_random_point", "region", "navigation_layers", "uniformly"), &NavigationServer2D::region_get_random_point);
ClassDB::bind_method(D_METHOD("region_get_bounds", "region"), &NavigationServer2D::region_get_bounds);
ClassDB::bind_method(D_METHOD("link_create"), &NavigationServer2D::link_create);
ClassDB::bind_method(D_METHOD("link_get_iteration_id", "link"), &NavigationServer2D::link_get_iteration_id);
ClassDB::bind_method(D_METHOD("link_set_map", "link", "map"), &NavigationServer2D::link_set_map);
ClassDB::bind_method(D_METHOD("link_get_map", "link"), &NavigationServer2D::link_get_map);
ClassDB::bind_method(D_METHOD("link_set_enabled", "link", "enabled"), &NavigationServer2D::link_set_enabled);
ClassDB::bind_method(D_METHOD("link_get_enabled", "link"), &NavigationServer2D::link_get_enabled);
ClassDB::bind_method(D_METHOD("link_set_bidirectional", "link", "bidirectional"), &NavigationServer2D::link_set_bidirectional);
ClassDB::bind_method(D_METHOD("link_is_bidirectional", "link"), &NavigationServer2D::link_is_bidirectional);
ClassDB::bind_method(D_METHOD("link_set_navigation_layers", "link", "navigation_layers"), &NavigationServer2D::link_set_navigation_layers);
ClassDB::bind_method(D_METHOD("link_get_navigation_layers", "link"), &NavigationServer2D::link_get_navigation_layers);
ClassDB::bind_method(D_METHOD("link_set_start_position", "link", "position"), &NavigationServer2D::link_set_start_position);
ClassDB::bind_method(D_METHOD("link_get_start_position", "link"), &NavigationServer2D::link_get_start_position);
ClassDB::bind_method(D_METHOD("link_set_end_position", "link", "position"), &NavigationServer2D::link_set_end_position);
ClassDB::bind_method(D_METHOD("link_get_end_position", "link"), &NavigationServer2D::link_get_end_position);
ClassDB::bind_method(D_METHOD("link_set_enter_cost", "link", "enter_cost"), &NavigationServer2D::link_set_enter_cost);
ClassDB::bind_method(D_METHOD("link_get_enter_cost", "link"), &NavigationServer2D::link_get_enter_cost);
ClassDB::bind_method(D_METHOD("link_set_travel_cost", "link", "travel_cost"), &NavigationServer2D::link_set_travel_cost);
ClassDB::bind_method(D_METHOD("link_get_travel_cost", "link"), &NavigationServer2D::link_get_travel_cost);
ClassDB::bind_method(D_METHOD("link_set_owner_id", "link", "owner_id"), &NavigationServer2D::link_set_owner_id);
ClassDB::bind_method(D_METHOD("link_get_owner_id", "link"), &NavigationServer2D::link_get_owner_id);
ClassDB::bind_method(D_METHOD("agent_create"), &NavigationServer2D::agent_create);
ClassDB::bind_method(D_METHOD("agent_set_avoidance_enabled", "agent", "enabled"), &NavigationServer2D::agent_set_avoidance_enabled);
ClassDB::bind_method(D_METHOD("agent_get_avoidance_enabled", "agent"), &NavigationServer2D::agent_get_avoidance_enabled);
ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &NavigationServer2D::agent_set_map);
ClassDB::bind_method(D_METHOD("agent_get_map", "agent"), &NavigationServer2D::agent_get_map);
ClassDB::bind_method(D_METHOD("agent_set_paused", "agent", "paused"), &NavigationServer2D::agent_set_paused);
ClassDB::bind_method(D_METHOD("agent_get_paused", "agent"), &NavigationServer2D::agent_get_paused);
ClassDB::bind_method(D_METHOD("agent_set_neighbor_distance", "agent", "distance"), &NavigationServer2D::agent_set_neighbor_distance);
ClassDB::bind_method(D_METHOD("agent_get_neighbor_distance", "agent"), &NavigationServer2D::agent_get_neighbor_distance);
ClassDB::bind_method(D_METHOD("agent_set_max_neighbors", "agent", "count"), &NavigationServer2D::agent_set_max_neighbors);
ClassDB::bind_method(D_METHOD("agent_get_max_neighbors", "agent"), &NavigationServer2D::agent_get_max_neighbors);
ClassDB::bind_method(D_METHOD("agent_set_time_horizon_agents", "agent", "time_horizon"), &NavigationServer2D::agent_set_time_horizon_agents);
ClassDB::bind_method(D_METHOD("agent_get_time_horizon_agents", "agent"), &NavigationServer2D::agent_get_time_horizon_agents);
ClassDB::bind_method(D_METHOD("agent_set_time_horizon_obstacles", "agent", "time_horizon"), &NavigationServer2D::agent_set_time_horizon_obstacles);
ClassDB::bind_method(D_METHOD("agent_get_time_horizon_obstacles", "agent"), &NavigationServer2D::agent_get_time_horizon_obstacles);
ClassDB::bind_method(D_METHOD("agent_set_radius", "agent", "radius"), &NavigationServer2D::agent_set_radius);
ClassDB::bind_method(D_METHOD("agent_get_radius", "agent"), &NavigationServer2D::agent_get_radius);
ClassDB::bind_method(D_METHOD("agent_set_max_speed", "agent", "max_speed"), &NavigationServer2D::agent_set_max_speed);
ClassDB::bind_method(D_METHOD("agent_get_max_speed", "agent"), &NavigationServer2D::agent_get_max_speed);
ClassDB::bind_method(D_METHOD("agent_set_velocity_forced", "agent", "velocity"), &NavigationServer2D::agent_set_velocity_forced);
ClassDB::bind_method(D_METHOD("agent_set_velocity", "agent", "velocity"), &NavigationServer2D::agent_set_velocity);
ClassDB::bind_method(D_METHOD("agent_get_velocity", "agent"), &NavigationServer2D::agent_get_velocity);
ClassDB::bind_method(D_METHOD("agent_set_position", "agent", "position"), &NavigationServer2D::agent_set_position);
ClassDB::bind_method(D_METHOD("agent_get_position", "agent"), &NavigationServer2D::agent_get_position);
ClassDB::bind_method(D_METHOD("agent_is_map_changed", "agent"), &NavigationServer2D::agent_is_map_changed);
ClassDB::bind_method(D_METHOD("agent_set_avoidance_callback", "agent", "callback"), &NavigationServer2D::agent_set_avoidance_callback);
ClassDB::bind_method(D_METHOD("agent_has_avoidance_callback", "agent"), &NavigationServer2D::agent_has_avoidance_callback);
ClassDB::bind_method(D_METHOD("agent_set_avoidance_layers", "agent", "layers"), &NavigationServer2D::agent_set_avoidance_layers);
ClassDB::bind_method(D_METHOD("agent_get_avoidance_layers", "agent"), &NavigationServer2D::agent_get_avoidance_layers);
ClassDB::bind_method(D_METHOD("agent_set_avoidance_mask", "agent", "mask"), &NavigationServer2D::agent_set_avoidance_mask);
ClassDB::bind_method(D_METHOD("agent_get_avoidance_mask", "agent"), &NavigationServer2D::agent_get_avoidance_mask);
ClassDB::bind_method(D_METHOD("agent_set_avoidance_priority", "agent", "priority"), &NavigationServer2D::agent_set_avoidance_priority);
ClassDB::bind_method(D_METHOD("agent_get_avoidance_priority", "agent"), &NavigationServer2D::agent_get_avoidance_priority);
ClassDB::bind_method(D_METHOD("obstacle_create"), &NavigationServer2D::obstacle_create);
ClassDB::bind_method(D_METHOD("obstacle_set_avoidance_enabled", "obstacle", "enabled"), &NavigationServer2D::obstacle_set_avoidance_enabled);
ClassDB::bind_method(D_METHOD("obstacle_get_avoidance_enabled", "obstacle"), &NavigationServer2D::obstacle_get_avoidance_enabled);
ClassDB::bind_method(D_METHOD("obstacle_set_map", "obstacle", "map"), &NavigationServer2D::obstacle_set_map);
ClassDB::bind_method(D_METHOD("obstacle_get_map", "obstacle"), &NavigationServer2D::obstacle_get_map);
ClassDB::bind_method(D_METHOD("obstacle_set_paused", "obstacle", "paused"), &NavigationServer2D::obstacle_set_paused);
ClassDB::bind_method(D_METHOD("obstacle_get_paused", "obstacle"), &NavigationServer2D::obstacle_get_paused);
ClassDB::bind_method(D_METHOD("obstacle_set_radius", "obstacle", "radius"), &NavigationServer2D::obstacle_set_radius);
ClassDB::bind_method(D_METHOD("obstacle_get_radius", "obstacle"), &NavigationServer2D::obstacle_get_radius);
ClassDB::bind_method(D_METHOD("obstacle_set_velocity", "obstacle", "velocity"), &NavigationServer2D::obstacle_set_velocity);
ClassDB::bind_method(D_METHOD("obstacle_get_velocity", "obstacle"), &NavigationServer2D::obstacle_get_velocity);
ClassDB::bind_method(D_METHOD("obstacle_set_position", "obstacle", "position"), &NavigationServer2D::obstacle_set_position);
ClassDB::bind_method(D_METHOD("obstacle_get_position", "obstacle"), &NavigationServer2D::obstacle_get_position);
ClassDB::bind_method(D_METHOD("obstacle_set_vertices", "obstacle", "vertices"), &NavigationServer2D::obstacle_set_vertices);
ClassDB::bind_method(D_METHOD("obstacle_get_vertices", "obstacle"), &NavigationServer2D::obstacle_get_vertices);
ClassDB::bind_method(D_METHOD("obstacle_set_avoidance_layers", "obstacle", "layers"), &NavigationServer2D::obstacle_set_avoidance_layers);
ClassDB::bind_method(D_METHOD("obstacle_get_avoidance_layers", "obstacle"), &NavigationServer2D::obstacle_get_avoidance_layers);
ClassDB::bind_method(D_METHOD("parse_source_geometry_data", "navigation_polygon", "source_geometry_data", "root_node", "callback"), &NavigationServer2D::parse_source_geometry_data, DEFVAL(Callable()));
ClassDB::bind_method(D_METHOD("bake_from_source_geometry_data", "navigation_polygon", "source_geometry_data", "callback"), &NavigationServer2D::bake_from_source_geometry_data, DEFVAL(Callable()));
ClassDB::bind_method(D_METHOD("bake_from_source_geometry_data_async", "navigation_polygon", "source_geometry_data", "callback"), &NavigationServer2D::bake_from_source_geometry_data_async, DEFVAL(Callable()));
ClassDB::bind_method(D_METHOD("is_baking_navigation_polygon", "navigation_polygon"), &NavigationServer2D::is_baking_navigation_polygon);
ClassDB::bind_method(D_METHOD("source_geometry_parser_create"), &NavigationServer2D::source_geometry_parser_create);
ClassDB::bind_method(D_METHOD("source_geometry_parser_set_callback", "parser", "callback"), &NavigationServer2D::source_geometry_parser_set_callback);
ClassDB::bind_method(D_METHOD("simplify_path", "path", "epsilon"), &NavigationServer2D::simplify_path);
ClassDB::bind_method(D_METHOD("free_rid", "rid"), &NavigationServer2D::free_rid);
ClassDB::bind_method(D_METHOD("set_active", "active"), &NavigationServer2D::set_active);
ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationServer2D::set_debug_enabled);
ClassDB::bind_method(D_METHOD("get_debug_enabled"), &NavigationServer2D::get_debug_enabled);
ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map")));
ADD_SIGNAL(MethodInfo("navigation_debug_changed"));
ADD_SIGNAL(MethodInfo("avoidance_debug_changed"));
ClassDB::bind_method(D_METHOD("get_process_info", "process_info"), &NavigationServer2D::get_process_info);
BIND_ENUM_CONSTANT(INFO_ACTIVE_MAPS);
BIND_ENUM_CONSTANT(INFO_REGION_COUNT);
BIND_ENUM_CONSTANT(INFO_AGENT_COUNT);
BIND_ENUM_CONSTANT(INFO_LINK_COUNT);
BIND_ENUM_CONSTANT(INFO_POLYGON_COUNT);
BIND_ENUM_CONSTANT(INFO_EDGE_COUNT);
BIND_ENUM_CONSTANT(INFO_EDGE_MERGE_COUNT);
BIND_ENUM_CONSTANT(INFO_EDGE_CONNECTION_COUNT);
BIND_ENUM_CONSTANT(INFO_EDGE_FREE_COUNT);
BIND_ENUM_CONSTANT(INFO_OBSTACLE_COUNT);
}
NavigationServer2D *NavigationServer2D::get_singleton() {
return singleton;
}
NavigationServer2D::NavigationServer2D() {
ERR_FAIL_COND(singleton != nullptr);
singleton = this;
GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "navigation/2d/default_cell_size", PROPERTY_HINT_RANGE, NavigationDefaults2D::NAV_MESH_CELL_SIZE_HINT), NavigationDefaults2D::NAV_MESH_CELL_SIZE);
GLOBAL_DEF("navigation/2d/use_edge_connections", true);
GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "navigation/2d/merge_rasterizer_cell_scale", PROPERTY_HINT_RANGE, "0.001,1,0.001,or_greater"), 1.0);
GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "navigation/2d/default_edge_connection_margin", PROPERTY_HINT_RANGE, "0.01,10,0.001,or_greater"), NavigationDefaults2D::EDGE_CONNECTION_MARGIN);
GLOBAL_DEF_BASIC(PropertyInfo(Variant::FLOAT, "navigation/2d/default_link_connection_radius", PROPERTY_HINT_RANGE, "0.01,10,0.001,or_greater"), NavigationDefaults2D::LINK_CONNECTION_RADIUS);
#ifdef DEBUG_ENABLED
debug_navigation_edge_connection_color = GLOBAL_DEF("debug/shapes/navigation/2d/edge_connection_color", Color(1.0, 0.0, 1.0, 1.0));
debug_navigation_geometry_edge_color = GLOBAL_DEF("debug/shapes/navigation/2d/geometry_edge_color", Color(0.5, 1.0, 1.0, 1.0));
debug_navigation_geometry_face_color = GLOBAL_DEF("debug/shapes/navigation/2d/geometry_face_color", Color(0.5, 1.0, 1.0, 0.4));
debug_navigation_geometry_edge_disabled_color = GLOBAL_DEF("debug/shapes/navigation/2d/geometry_edge_disabled_color", Color(0.5, 0.5, 0.5, 1.0));
debug_navigation_geometry_face_disabled_color = GLOBAL_DEF("debug/shapes/navigation/2d/geometry_face_disabled_color", Color(0.5, 0.5, 0.5, 0.4));
debug_navigation_link_connection_color = GLOBAL_DEF("debug/shapes/navigation/2d/link_connection_color", Color(1.0, 0.5, 1.0, 1.0));
debug_navigation_link_connection_disabled_color = GLOBAL_DEF("debug/shapes/navigation/2d/link_connection_disabled_color", Color(0.5, 0.5, 0.5, 1.0));
debug_navigation_agent_path_color = GLOBAL_DEF("debug/shapes/navigation/2d/agent_path_color", Color(1.0, 0.0, 0.0, 1.0));
debug_navigation_enable_edge_connections = GLOBAL_DEF("debug/shapes/navigation/2d/enable_edge_connections", true);
debug_navigation_enable_edge_lines = GLOBAL_DEF("debug/shapes/navigation/2d/enable_edge_lines", true);
debug_navigation_enable_geometry_face_random_color = GLOBAL_DEF("debug/shapes/navigation/2d/enable_geometry_face_random_color", true);
debug_navigation_enable_link_connections = GLOBAL_DEF("debug/shapes/navigation/2d/enable_link_connections", true);
debug_navigation_enable_agent_paths = GLOBAL_DEF("debug/shapes/navigation/2d/enable_agent_paths", true);
debug_navigation_agent_path_point_size = GLOBAL_DEF(PropertyInfo(Variant::FLOAT, "debug/shapes/navigation/2d/agent_path_point_size", PROPERTY_HINT_RANGE, "0.01,10,0.001,or_greater"), 4.0);
debug_navigation_avoidance_agents_radius_color = GLOBAL_DEF("debug/shapes/avoidance/2d/agents_radius_color", Color(1.0, 1.0, 0.0, 0.25));
debug_navigation_avoidance_obstacles_radius_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_radius_color", Color(1.0, 0.5, 0.0, 0.25));
debug_navigation_avoidance_static_obstacle_pushin_face_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_static_face_pushin_color", Color(1.0, 0.0, 0.0, 0.0));
debug_navigation_avoidance_static_obstacle_pushin_edge_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_static_edge_pushin_color", Color(1.0, 0.0, 0.0, 1.0));
debug_navigation_avoidance_static_obstacle_pushout_face_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_static_face_pushout_color", Color(1.0, 1.0, 0.0, 0.5));
debug_navigation_avoidance_static_obstacle_pushout_edge_color = GLOBAL_DEF("debug/shapes/avoidance/2d/obstacles_static_edge_pushout_color", Color(1.0, 1.0, 0.0, 1.0));
debug_navigation_avoidance_enable_agents_radius = GLOBAL_DEF("debug/shapes/avoidance/2d/enable_agents_radius", true);
debug_navigation_avoidance_enable_obstacles_radius = GLOBAL_DEF("debug/shapes/avoidance/2d/enable_obstacles_radius", true);
debug_navigation_avoidance_enable_obstacles_static = GLOBAL_DEF("debug/shapes/avoidance/2d/enable_obstacles_static", true);
if (Engine::get_singleton()->is_editor_hint()) {
// Enable NavigationServer2D when in Editor or navigation mesh edge connections are invisible.
// On runtime tests SceneTree has "Visible Navigation" set and main iteration takes care of this.
set_debug_enabled(true);
set_debug_navigation_enabled(true);
set_debug_avoidance_enabled(true);
}
#endif // DEBUG_ENABLED
}
NavigationServer2D::~NavigationServer2D() {
singleton = nullptr;
RWLockWrite write_lock(geometry_parser_rwlock);
for (NavMeshGeometryParser2D *parser : generator_parsers) {
geometry_parser_owner.free(parser->self);
}
generator_parsers.clear();
}
RID NavigationServer2D::source_geometry_parser_create() {
RWLockWrite write_lock(geometry_parser_rwlock);
RID rid = geometry_parser_owner.make_rid();
NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(rid);
parser->self = rid;
generator_parsers.push_back(parser);
return rid;
}
void NavigationServer2D::free_rid(RID p_rid) {
if (!geometry_parser_owner.owns(p_rid)) {
return;
}
RWLockWrite write_lock(geometry_parser_rwlock);
NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(p_rid);
ERR_FAIL_NULL(parser);
generator_parsers.erase(parser);
geometry_parser_owner.free(parser->self);
}
void NavigationServer2D::source_geometry_parser_set_callback(RID p_parser, const Callable &p_callback) {
RWLockWrite write_lock(geometry_parser_rwlock);
NavMeshGeometryParser2D *parser = geometry_parser_owner.get_or_null(p_parser);
ERR_FAIL_NULL(parser);
parser->callback = p_callback;
}
void NavigationServer2D::set_debug_enabled(bool p_enabled) {
#ifdef DEBUG_ENABLED
if (debug_enabled != p_enabled) {
debug_dirty = true;
}
debug_enabled = p_enabled;
if (debug_dirty) {
navigation_debug_dirty = true;
callable_mp(this, &NavigationServer2D::_emit_navigation_debug_changed_signal).call_deferred();
avoidance_debug_dirty = true;
callable_mp(this, &NavigationServer2D::_emit_avoidance_debug_changed_signal).call_deferred();
}
#endif // DEBUG_ENABLED
}
bool NavigationServer2D::get_debug_enabled() const {
return debug_enabled;
}
#ifdef DEBUG_ENABLED
void NavigationServer2D::_emit_navigation_debug_changed_signal() {
if (navigation_debug_dirty) {
navigation_debug_dirty = false;
emit_signal(SNAME("navigation_debug_changed"));
}
}
void NavigationServer2D::_emit_avoidance_debug_changed_signal() {
if (avoidance_debug_dirty) {
avoidance_debug_dirty = false;
emit_signal(SNAME("avoidance_debug_changed"));
}
}
#endif // DEBUG_ENABLED
#ifdef DEBUG_ENABLED
void NavigationServer2D::set_debug_navigation_enabled(bool p_enabled) {
debug_navigation_enabled = p_enabled;
navigation_debug_dirty = true;
callable_mp(this, &NavigationServer2D::_emit_navigation_debug_changed_signal).call_deferred();
}
bool NavigationServer2D::get_debug_navigation_enabled() const {
return debug_navigation_enabled;
}
void NavigationServer2D::set_debug_avoidance_enabled(bool p_enabled) {
debug_avoidance_enabled = p_enabled;
avoidance_debug_dirty = true;
callable_mp(this, &NavigationServer2D::_emit_avoidance_debug_changed_signal).call_deferred();
}
bool NavigationServer2D::get_debug_avoidance_enabled() const {
return debug_avoidance_enabled;
}
void NavigationServer2D::set_debug_navigation_edge_connection_color(const Color &p_color) {
debug_navigation_edge_connection_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_edge_connection_color() const {
return debug_navigation_edge_connection_color;
}
void NavigationServer2D::set_debug_navigation_geometry_face_color(const Color &p_color) {
debug_navigation_geometry_face_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_geometry_face_color() const {
return debug_navigation_geometry_face_color;
}
void NavigationServer2D::set_debug_navigation_geometry_face_disabled_color(const Color &p_color) {
debug_navigation_geometry_face_disabled_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_geometry_face_disabled_color() const {
return debug_navigation_geometry_face_disabled_color;
}
void NavigationServer2D::set_debug_navigation_link_connection_color(const Color &p_color) {
debug_navigation_link_connection_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_link_connection_color() const {
return debug_navigation_link_connection_color;
}
void NavigationServer2D::set_debug_navigation_link_connection_disabled_color(const Color &p_color) {
debug_navigation_link_connection_disabled_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_link_connection_disabled_color() const {
return debug_navigation_link_connection_disabled_color;
}
void NavigationServer2D::set_debug_navigation_geometry_edge_color(const Color &p_color) {
debug_navigation_geometry_edge_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_geometry_edge_color() const {
return debug_navigation_geometry_edge_color;
}
void NavigationServer2D::set_debug_navigation_geometry_edge_disabled_color(const Color &p_color) {
debug_navigation_geometry_edge_disabled_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_geometry_edge_disabled_color() const {
return debug_navigation_geometry_edge_disabled_color;
}
void NavigationServer2D::set_debug_navigation_enable_edge_connections(const bool p_value) {
debug_navigation_enable_edge_connections = p_value;
}
bool NavigationServer2D::get_debug_navigation_enable_edge_connections() const {
return debug_navigation_enable_edge_connections;
}
void NavigationServer2D::set_debug_navigation_enable_geometry_face_random_color(const bool p_value) {
debug_navigation_enable_geometry_face_random_color = p_value;
}
bool NavigationServer2D::get_debug_navigation_enable_geometry_face_random_color() const {
return debug_navigation_enable_geometry_face_random_color;
}
void NavigationServer2D::set_debug_navigation_enable_edge_lines(const bool p_value) {
debug_navigation_enable_edge_lines = p_value;
}
bool NavigationServer2D::get_debug_navigation_enable_edge_lines() const {
return debug_navigation_enable_edge_lines;
}
void NavigationServer2D::set_debug_navigation_agent_path_color(const Color &p_color) {
debug_navigation_agent_path_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_agent_path_color() const {
return debug_navigation_agent_path_color;
}
void NavigationServer2D::set_debug_navigation_enable_agent_paths(const bool p_value) {
debug_navigation_enable_agent_paths = p_value;
}
bool NavigationServer2D::get_debug_navigation_enable_agent_paths() const {
return debug_navigation_enable_agent_paths;
}
void NavigationServer2D::set_debug_navigation_agent_path_point_size(real_t p_point_size) {
debug_navigation_agent_path_point_size = p_point_size;
}
real_t NavigationServer2D::get_debug_navigation_agent_path_point_size() const {
return debug_navigation_agent_path_point_size;
}
void NavigationServer2D::set_debug_navigation_avoidance_enable_agents_radius(const bool p_value) {
debug_navigation_avoidance_enable_agents_radius = p_value;
}
bool NavigationServer2D::get_debug_navigation_avoidance_enable_agents_radius() const {
return debug_navigation_avoidance_enable_agents_radius;
}
void NavigationServer2D::set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value) {
debug_navigation_avoidance_enable_obstacles_radius = p_value;
}
bool NavigationServer2D::get_debug_navigation_avoidance_enable_obstacles_radius() const {
return debug_navigation_avoidance_enable_obstacles_radius;
}
void NavigationServer2D::set_debug_navigation_avoidance_agents_radius_color(const Color &p_color) {
debug_navigation_avoidance_agents_radius_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_avoidance_agents_radius_color() const {
return debug_navigation_avoidance_agents_radius_color;
}
void NavigationServer2D::set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color) {
debug_navigation_avoidance_obstacles_radius_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_avoidance_obstacles_radius_color() const {
return debug_navigation_avoidance_obstacles_radius_color;
}
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color) {
debug_navigation_avoidance_static_obstacle_pushin_face_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const {
return debug_navigation_avoidance_static_obstacle_pushin_face_color;
}
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color) {
debug_navigation_avoidance_static_obstacle_pushout_face_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const {
return debug_navigation_avoidance_static_obstacle_pushout_face_color;
}
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color) {
debug_navigation_avoidance_static_obstacle_pushin_edge_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const {
return debug_navigation_avoidance_static_obstacle_pushin_edge_color;
}
void NavigationServer2D::set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color) {
debug_navigation_avoidance_static_obstacle_pushout_edge_color = p_color;
}
Color NavigationServer2D::get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const {
return debug_navigation_avoidance_static_obstacle_pushout_edge_color;
}
void NavigationServer2D::set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value) {
debug_navigation_avoidance_enable_obstacles_static = p_value;
}
bool NavigationServer2D::get_debug_navigation_avoidance_enable_obstacles_static() const {
return debug_navigation_avoidance_enable_obstacles_static;
}
#endif // DEBUG_ENABLED
///////////////////////////////////////////////////////
static NavigationServer2D *navigation_server_2d = nullptr;
void NavigationServer2DManager::initialize_server() {
ERR_FAIL_COND(navigation_server_2d != nullptr);
// Init 2D Navigation Server.
navigation_server_2d = NavigationServer2DManager::get_singleton()->new_server(
GLOBAL_GET(NavigationServer2DManager::setting_property_name));
if (!navigation_server_2d) {
// Navigation server not found, use the default.
navigation_server_2d = NavigationServer2DManager::get_singleton()->new_default_server();
}
// Fall back to dummy if no default server has been registered.
if (!navigation_server_2d) {
WARN_VERBOSE("Failed to initialize NavigationServer2D. Fall back to dummy server.");
navigation_server_2d = memnew(NavigationServer2DDummy);
}
// Should be impossible, but make sure it's not null.
ERR_FAIL_NULL_MSG(navigation_server_2d, "Failed to initialize NavigationServer2D.");
navigation_server_2d->init();
}
void NavigationServer2DManager::finalize_server() {
ERR_FAIL_NULL(navigation_server_2d);
navigation_server_2d->finish();
memdelete(navigation_server_2d);
navigation_server_2d = nullptr;
}
const String NavigationServer2DManager::setting_property_name(PNAME("navigation/2d/navigation_engine"));
void NavigationServer2DManager::on_servers_changed() {
String navigation_servers_enum_str("DEFAULT");
for (int i = get_servers_count() - 1; 0 <= i; --i) {
navigation_servers_enum_str += "," + get_server_name(i);
}
ProjectSettings::get_singleton()->set_custom_property_info(PropertyInfo(Variant::STRING, setting_property_name, PROPERTY_HINT_ENUM, navigation_servers_enum_str));
ProjectSettings::get_singleton()->set_restart_if_changed(setting_property_name, true);
ProjectSettings::get_singleton()->set_as_basic(setting_property_name, true);
}
void NavigationServer2DManager::_bind_methods() {
ClassDB::bind_method(D_METHOD("register_server", "name", "create_callback"), &NavigationServer2DManager::register_server);
ClassDB::bind_method(D_METHOD("set_default_server", "name", "priority"), &NavigationServer2DManager::set_default_server);
}
NavigationServer2DManager *NavigationServer2DManager::get_singleton() {
return singleton;
}
void NavigationServer2DManager::register_server(const String &p_name, const Callable &p_create_callback) {
ERR_FAIL_COND(find_server_id(p_name) != -1);
navigation_servers.push_back(ClassInfo(p_name, p_create_callback));
on_servers_changed();
}
void NavigationServer2DManager::set_default_server(const String &p_name, int p_priority) {
const int id = find_server_id(p_name);
ERR_FAIL_COND(id == -1); // Not found
if (default_server_priority < p_priority) {
default_server_id = id;
default_server_priority = p_priority;
}
}
int NavigationServer2DManager::find_server_id(const String &p_name) {
for (int i = navigation_servers.size() - 1; 0 <= i; --i) {
if (p_name == navigation_servers[i].name) {
return i;
}
}
return -1;
}
int NavigationServer2DManager::get_servers_count() {
return navigation_servers.size();
}
String NavigationServer2DManager::get_server_name(int p_id) {
ERR_FAIL_INDEX_V(p_id, get_servers_count(), "");
return navigation_servers[p_id].name;
}
NavigationServer2D *NavigationServer2DManager::new_default_server() {
if (default_server_id == -1) {
return nullptr;
}
Variant ret;
Callable::CallError ce;
navigation_servers[default_server_id].create_callback.callp(nullptr, 0, ret, ce);
ERR_FAIL_COND_V(ce.error != Callable::CallError::CALL_OK, nullptr);
return Object::cast_to<NavigationServer2D>(ret.get_validated_object());
}
NavigationServer2D *NavigationServer2DManager::new_server(const String &p_name) {
int id = find_server_id(p_name);
if (id == -1) {
return nullptr;
} else {
Variant ret;
Callable::CallError ce;
navigation_servers[id].create_callback.callp(nullptr, 0, ret, ce);
ERR_FAIL_COND_V(ce.error != Callable::CallError::CALL_OK, nullptr);
return Object::cast_to<NavigationServer2D>(ret.get_validated_object());
}
}
NavigationServer2D *NavigationServer2DManager::create_dummy_server_callback() {
return memnew(NavigationServer2DDummy);
}
NavigationServer2DManager::NavigationServer2DManager() {
}
NavigationServer2DManager::~NavigationServer2DManager() {
}
void NavigationServer2DManager::initialize_server_manager() {
ERR_FAIL_COND(singleton != nullptr);
singleton = memnew(NavigationServer2DManager);
}
void NavigationServer2DManager::finalize_server_manager() {
ERR_FAIL_NULL(singleton);
memdelete(singleton);
}
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