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@@ -43,13 +43,6 @@ struct NavMeshGeometryParser3D {
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Callable callback;
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};
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-/// This server uses the concept of internal mutability.
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-/// All the constant functions can be called in multithread because internally
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-/// the server takes care to schedule the functions access.
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-///
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-/// Note: All the `set` functions are commands executed during the `sync` phase,
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-/// don't expect that a change is immediately propagated.
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-
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class NavigationServer3D : public Object {
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GDCLASS(NavigationServer3D, Object);
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@@ -59,30 +52,21 @@ protected:
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static void _bind_methods();
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public:
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- /// Thread safe, can be used across many threads.
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static NavigationServer3D *get_singleton();
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virtual TypedArray<RID> get_maps() const = 0;
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- /// Create a new map.
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+ /* MAP API */
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+
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virtual RID map_create() = 0;
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- /// Set map active.
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virtual void map_set_active(RID p_map, bool p_active) = 0;
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-
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- /// Returns true if the map is active.
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virtual bool map_is_active(RID p_map) const = 0;
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- /// Set the map UP direction.
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virtual void map_set_up(RID p_map, Vector3 p_up) = 0;
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-
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- /// Returns the map UP direction.
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virtual Vector3 map_get_up(RID p_map) const = 0;
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- /// Set the map cell size used to weld the navigation mesh polygons.
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virtual void map_set_cell_size(RID p_map, real_t p_cell_size) = 0;
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-
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- /// Returns the map cell size.
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virtual real_t map_get_cell_size(RID p_map) const = 0;
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virtual void map_set_cell_height(RID p_map, real_t p_height) = 0;
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@@ -94,19 +78,12 @@ public:
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virtual void map_set_use_edge_connections(RID p_map, bool p_enabled) = 0;
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virtual bool map_get_use_edge_connections(RID p_map) const = 0;
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- /// Set the map edge connection margin used to weld the compatible region edges.
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virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) = 0;
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-
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- /// Returns the edge connection margin of this map.
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virtual real_t map_get_edge_connection_margin(RID p_map) const = 0;
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- /// Set the map link connection radius used to attach links to the nav mesh.
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virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) = 0;
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-
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- /// Returns the link connection radius of this map.
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virtual real_t map_get_link_connection_radius(RID p_map) const = 0;
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- /// Returns the navigation path to reach the destination from the origin.
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virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) = 0;
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virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const = 0;
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@@ -127,7 +104,8 @@ public:
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virtual Vector3 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const = 0;
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- /// Creates a new region.
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+ /* REGION API */
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+
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virtual RID region_create() = 0;
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virtual uint32_t region_get_iteration_id(RID p_region) const = 0;
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@@ -137,41 +115,32 @@ public:
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virtual void region_set_use_edge_connections(RID p_region, bool p_enabled) = 0;
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virtual bool region_get_use_edge_connections(RID p_region) const = 0;
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- /// Set the enter_cost of a region
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virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) = 0;
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virtual real_t region_get_enter_cost(RID p_region) const = 0;
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- /// Set the travel_cost of a region
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virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) = 0;
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virtual real_t region_get_travel_cost(RID p_region) const = 0;
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- /// Set the node which manages this region.
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virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) = 0;
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virtual ObjectID region_get_owner_id(RID p_region) const = 0;
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virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const = 0;
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- /// Set the map of this region.
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virtual void region_set_map(RID p_region, RID p_map) = 0;
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virtual RID region_get_map(RID p_region) const = 0;
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- /// Set the region's layers
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virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) = 0;
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virtual uint32_t region_get_navigation_layers(RID p_region) const = 0;
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- /// Set the global transformation of this region.
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virtual void region_set_transform(RID p_region, Transform3D p_transform) = 0;
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virtual Transform3D region_get_transform(RID p_region) const = 0;
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- /// Set the navigation mesh of this region.
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virtual void region_set_navigation_mesh(RID p_region, Ref<NavigationMesh> p_navigation_mesh) = 0;
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#ifndef DISABLE_DEPRECATED
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- /// Bake the navigation mesh.
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virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) = 0;
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#endif // DISABLE_DEPRECATED
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- /// Get a list of a region's connection to other regions.
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virtual int region_get_connections_count(RID p_region) const = 0;
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virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const = 0;
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virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0;
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@@ -183,48 +152,41 @@ public:
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virtual AABB region_get_bounds(RID p_region) const = 0;
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- /// Creates a new link between positions in the nav map.
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+ /* LINK API */
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+
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virtual RID link_create() = 0;
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- /// Set the map of this link.
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virtual void link_set_map(RID p_link, RID p_map) = 0;
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virtual RID link_get_map(RID p_link) const = 0;
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virtual void link_set_enabled(RID p_link, bool p_enabled) = 0;
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virtual bool link_get_enabled(RID p_link) const = 0;
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- /// Set whether this link travels in both directions.
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virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) = 0;
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virtual bool link_is_bidirectional(RID p_link) const = 0;
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- /// Set the link's layers.
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virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) = 0;
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virtual uint32_t link_get_navigation_layers(RID p_link) const = 0;
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- /// Set the start position of the link.
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virtual void link_set_start_position(RID p_link, Vector3 p_position) = 0;
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virtual Vector3 link_get_start_position(RID p_link) const = 0;
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- /// Set the end position of the link.
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virtual void link_set_end_position(RID p_link, Vector3 p_position) = 0;
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virtual Vector3 link_get_end_position(RID p_link) const = 0;
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- /// Set the enter cost of the link.
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virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) = 0;
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virtual real_t link_get_enter_cost(RID p_link) const = 0;
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- /// Set the travel cost of the link.
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virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) = 0;
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virtual real_t link_get_travel_cost(RID p_link) const = 0;
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- /// Set the node which manages this link.
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virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) = 0;
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virtual ObjectID link_get_owner_id(RID p_link) const = 0;
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- /// Creates the agent.
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+ /* AGENT API */
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+
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virtual RID agent_create() = 0;
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- /// Put the agent in the map.
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virtual void agent_set_map(RID p_agent, RID p_map) = 0;
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virtual RID agent_get_map(RID p_agent) const = 0;
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@@ -237,66 +199,37 @@ public:
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virtual void agent_set_use_3d_avoidance(RID p_agent, bool p_enabled) = 0;
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virtual bool agent_get_use_3d_avoidance(RID p_agent) const = 0;
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- /// The maximum distance (center point to
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- /// center point) to other agents this agent
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- /// takes into account in the navigation. The
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- /// larger this number, the longer the running
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- /// time of the simulation. If the number is too
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- /// low, the simulation will not be safe.
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- /// Must be non-negative.
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virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) = 0;
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virtual real_t agent_get_neighbor_distance(RID p_agent) const = 0;
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- /// The maximum number of other agents this
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- /// agent takes into account in the navigation.
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- /// The larger this number, the longer the
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- /// running time of the simulation. If the
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- /// number is too low, the simulation will not
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- /// be safe.
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virtual void agent_set_max_neighbors(RID p_agent, int p_count) = 0;
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virtual int agent_get_max_neighbors(RID p_agent) const = 0;
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- // Sets the minimum amount of time in seconds that an agent's
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- // must be able to stay on the calculated velocity while still avoiding collisions with agent's
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- // if this value is set to high an agent will often fall back to using a very low velocity just to be safe
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virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon) = 0;
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virtual real_t agent_get_time_horizon_agents(RID p_agent) const = 0;
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- /// Sets the minimum amount of time in seconds that an agent's
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- // must be able to stay on the calculated velocity while still avoiding collisions with obstacle's
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- // if this value is set to high an agent will often fall back to using a very low velocity just to be safe
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virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon) = 0;
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virtual real_t agent_get_time_horizon_obstacles(RID p_agent) const = 0;
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- /// The radius of this agent.
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- /// Must be non-negative.
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virtual void agent_set_radius(RID p_agent, real_t p_radius) = 0;
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virtual real_t agent_get_radius(RID p_agent) const = 0;
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virtual void agent_set_height(RID p_agent, real_t p_height) = 0;
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virtual real_t agent_get_height(RID p_agent) const = 0;
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- /// The maximum speed of this agent.
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- /// Must be non-negative.
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virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) = 0;
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virtual real_t agent_get_max_speed(RID p_agent) const = 0;
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- /// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly
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virtual void agent_set_velocity_forced(RID p_agent, Vector3 p_velocity) = 0;
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- /// The wanted velocity for the agent as a "suggestion" to the avoidance simulation.
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- /// The simulation will try to fulfill this velocity wish if possible but may change the velocity depending on other agent's and obstacles'.
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virtual void agent_set_velocity(RID p_agent, Vector3 p_velocity) = 0;
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virtual Vector3 agent_get_velocity(RID p_agent) const = 0;
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- /// Position of the agent in world space.
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virtual void agent_set_position(RID p_agent, Vector3 p_position) = 0;
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virtual Vector3 agent_get_position(RID p_agent) const = 0;
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- /// Returns true if the map got changed the previous frame.
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virtual bool agent_is_map_changed(RID p_agent) const = 0;
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- /// Callback called at the end of the RVO process
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virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback) = 0;
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virtual bool agent_has_avoidance_callback(RID p_agent) const = 0;
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@@ -309,7 +242,8 @@ public:
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virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority) = 0;
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virtual real_t agent_get_avoidance_priority(RID p_agent) const = 0;
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- /// Creates the obstacle.
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+ /* OBSTACLE API */
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+
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virtual RID obstacle_create() = 0;
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virtual void obstacle_set_map(RID p_obstacle, RID p_map) = 0;
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@@ -337,25 +271,12 @@ public:
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virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers) = 0;
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virtual uint32_t obstacle_get_avoidance_layers(RID p_obstacle) const = 0;
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- /// Destroy the `RID`
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- virtual void free(RID p_object) = 0;
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-
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- /// Control activation of this server.
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- virtual void set_active(bool p_active) = 0;
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+ /* QUERY API */
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- /// Process the collision avoidance agents.
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- /// The result of this process is needed by the physics server,
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- /// so this must be called in the main thread.
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- /// Note: This function is not thread safe.
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- virtual void process(double p_delta_time) = 0;
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- virtual void physics_process(double p_delta_time) = 0;
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- virtual void init() = 0;
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- virtual void sync() = 0;
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- virtual void finish() = 0;
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-
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- /// Returns a customized navigation path using a query parameters object
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virtual void query_path(const Ref<NavigationPathQueryParameters3D> &p_query_parameters, Ref<NavigationPathQueryResult3D> p_query_result, const Callable &p_callback = Callable()) = 0;
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+ /* NAVMESH BAKE API */
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+
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#ifndef _3D_DISABLED
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virtual void parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) = 0;
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virtual void bake_from_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable()) = 0;
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@@ -374,9 +295,21 @@ public:
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virtual Vector<Vector3> simplify_path(const Vector<Vector3> &p_path, real_t p_epsilon) = 0;
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+ /* SERVER API */
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+
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+ virtual void set_active(bool p_active) = 0;
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+ virtual void process(double p_delta_time) = 0;
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+ virtual void physics_process(double p_delta_time) = 0;
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+ virtual void init() = 0;
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+ virtual void sync() = 0;
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+ virtual void finish() = 0;
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+ virtual void free(RID p_object) = 0;
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+
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NavigationServer3D();
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~NavigationServer3D() override;
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+ /* DEBUG API */
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+
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enum ProcessInfo {
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INFO_ACTIVE_MAPS,
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INFO_REGION_COUNT,
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smix8