godot/modules/navigation_2d/nav_agent_2d.cpp

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/*  nav_agent_2d.cpp                                                      */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#include "nav_agent_2d.h"

#include "nav_map_2d.h"

void NavAgent2D::set_avoidance_enabled(bool p_enabled) {
	avoidance_enabled = p_enabled;
	_update_rvo_agent_properties();
}

void NavAgent2D::_update_rvo_agent_properties() {
	rvo_agent.neighborDist_ = neighbor_distance;
	rvo_agent.maxNeighbors_ = max_neighbors;
	rvo_agent.timeHorizon_ = time_horizon_agents;
	rvo_agent.timeHorizonObst_ = time_horizon_obstacles;
	rvo_agent.radius_ = radius;
	rvo_agent.maxSpeed_ = max_speed;
	rvo_agent.position_ = RVO2D::Vector2(position.x, position.y);
	// Replacing the internal velocity directly causes major jitter / bugs due to unpredictable velocity jumps, left line here for testing.
	//rvo_agent.velocity_ = RVO2D::Vector2(velocity.x, velocity.y);
	rvo_agent.prefVelocity_ = RVO2D::Vector2(velocity.x, velocity.y);
	rvo_agent.avoidance_layers_ = avoidance_layers;
	rvo_agent.avoidance_mask_ = avoidance_mask;
	rvo_agent.avoidance_priority_ = avoidance_priority;

	if (map != nullptr) {
		if (avoidance_enabled) {
			map->set_agent_as_controlled(this);
		} else {
			map->remove_agent_as_controlled(this);
		}
	}
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_map(NavMap2D *p_map) {
	if (map == p_map) {
		return;
	}

	cancel_sync_request();

	if (map) {
		map->remove_agent(this);
	}

	map = p_map;
	agent_dirty = true;

	if (map) {
		map->add_agent(this);
		if (avoidance_enabled) {
			map->set_agent_as_controlled(this);
		}

		request_sync();
	}
}

bool NavAgent2D::is_map_changed() {
	if (map) {
		bool is_changed = map->get_iteration_id() != last_map_iteration_id;
		last_map_iteration_id = map->get_iteration_id();
		return is_changed;
	} else {
		return false;
	}
}

void NavAgent2D::set_avoidance_callback(Callable p_callback) {
	avoidance_callback = p_callback;
}

bool NavAgent2D::has_avoidance_callback() const {
	return avoidance_callback.is_valid();
}

void NavAgent2D::dispatch_avoidance_callback() {
	if (!avoidance_callback.is_valid()) {
		return;
	}

	Vector3 new_velocity;

	new_velocity = Vector3(rvo_agent.velocity_.x(), 0.0, rvo_agent.velocity_.y());

	if (clamp_speed) {
		new_velocity = new_velocity.limit_length(max_speed);
	}

	// Invoke the callback with the new velocity.
	avoidance_callback.call(new_velocity);
}

void NavAgent2D::set_neighbor_distance(real_t p_neighbor_distance) {
	neighbor_distance = p_neighbor_distance;
	rvo_agent.neighborDist_ = neighbor_distance;
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_max_neighbors(int p_max_neighbors) {
	max_neighbors = p_max_neighbors;
	rvo_agent.maxNeighbors_ = max_neighbors;
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_time_horizon_agents(real_t p_time_horizon) {
	time_horizon_agents = p_time_horizon;
	rvo_agent.timeHorizon_ = time_horizon_agents;
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_time_horizon_obstacles(real_t p_time_horizon) {
	time_horizon_obstacles = p_time_horizon;
	rvo_agent.timeHorizonObst_ = time_horizon_obstacles;
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_radius(real_t p_radius) {
	radius = p_radius;
	rvo_agent.radius_ = radius;
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_max_speed(real_t p_max_speed) {
	max_speed = p_max_speed;
	if (avoidance_enabled) {
		rvo_agent.maxSpeed_ = max_speed;
	}
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_position(const Vector2 &p_position) {
	position = p_position;
	if (avoidance_enabled) {
		rvo_agent.position_ = RVO2D::Vector2(p_position.x, p_position.y);
	}
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_target_position(const Vector2 &p_target_position) {
	target_position = p_target_position;
}

void NavAgent2D::set_velocity(const Vector2 &p_velocity) {
	// Sets the "wanted" velocity for an agent as a suggestion
	// This velocity is not guaranteed, RVO simulation will only try to fulfill it
	velocity = p_velocity;
	if (avoidance_enabled) {
		rvo_agent.prefVelocity_ = RVO2D::Vector2(velocity.x, velocity.y);
	}
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_velocity_forced(const Vector2 &p_velocity) {
	// This function replaces the internal rvo simulation velocity
	// should only be used after the agent was teleported
	// as it destroys consistency in movement in cramped situations
	// use velocity instead to update with a safer "suggestion"
	velocity_forced = p_velocity;
	if (avoidance_enabled) {
		rvo_agent.velocity_ = RVO2D::Vector2(p_velocity.x, p_velocity.y);
	}
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::update() {
	// Updates this agent with the calculated results from the rvo simulation
	if (avoidance_enabled) {
		velocity = Vector2(rvo_agent.velocity_.x(), rvo_agent.velocity_.y());
	}
}

void NavAgent2D::set_avoidance_mask(uint32_t p_mask) {
	avoidance_mask = p_mask;
	rvo_agent.avoidance_mask_ = avoidance_mask;
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_avoidance_layers(uint32_t p_layers) {
	avoidance_layers = p_layers;
	rvo_agent.avoidance_layers_ = avoidance_layers;
	agent_dirty = true;

	request_sync();
}

void NavAgent2D::set_avoidance_priority(real_t p_priority) {
	ERR_FAIL_COND_MSG(p_priority < 0.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
	ERR_FAIL_COND_MSG(p_priority > 1.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
	avoidance_priority = p_priority;
	rvo_agent.avoidance_priority_ = avoidance_priority;
	agent_dirty = true;

	request_sync();
}

bool NavAgent2D::is_dirty() const {
	return agent_dirty;
}

void NavAgent2D::sync() {
	agent_dirty = false;
}

const Dictionary NavAgent2D::get_avoidance_data() const {
	// Returns debug data from RVO simulation internals of this agent.
	Dictionary _avoidance_data;

	_avoidance_data["max_neighbors"] = int(rvo_agent.maxNeighbors_);
	_avoidance_data["max_speed"] = float(rvo_agent.maxSpeed_);
	_avoidance_data["neighbor_distance"] = float(rvo_agent.neighborDist_);
	_avoidance_data["new_velocity"] = Vector2(rvo_agent.newVelocity_.x(), rvo_agent.newVelocity_.y());
	_avoidance_data["velocity"] = Vector2(rvo_agent.velocity_.x(), rvo_agent.velocity_.y());
	_avoidance_data["position"] = Vector2(rvo_agent.position_.x(), rvo_agent.position_.y());
	_avoidance_data["preferred_velocity"] = Vector2(rvo_agent.prefVelocity_.x(), rvo_agent.prefVelocity_.y());
	_avoidance_data["radius"] = float(rvo_agent.radius_);
	_avoidance_data["time_horizon_agents"] = float(rvo_agent.timeHorizon_);
	_avoidance_data["time_horizon_obstacles"] = float(rvo_agent.timeHorizonObst_);
	_avoidance_data["avoidance_layers"] = int(rvo_agent.avoidance_layers_);
	_avoidance_data["avoidance_mask"] = int(rvo_agent.avoidance_mask_);
	_avoidance_data["avoidance_priority"] = float(rvo_agent.avoidance_priority_);
	return _avoidance_data;
}

void NavAgent2D::set_paused(bool p_paused) {
	if (paused == p_paused) {
		return;
	}

	paused = p_paused;

	if (map) {
		if (paused) {
			map->remove_agent_as_controlled(this);
		} else {
			map->set_agent_as_controlled(this);
		}
	}
}

bool NavAgent2D::get_paused() const {
	return paused;
}

void NavAgent2D::request_sync() {
	if (map && !sync_dirty_request_list_element.in_list()) {
		map->add_agent_sync_dirty_request(&sync_dirty_request_list_element);
	}
}

void NavAgent2D::cancel_sync_request() {
	if (map && sync_dirty_request_list_element.in_list()) {
		map->remove_agent_sync_dirty_request(&sync_dirty_request_list_element);
	}
}

NavAgent2D::NavAgent2D() :
		sync_dirty_request_list_element(this) {
}

NavAgent2D::~NavAgent2D() {
	cancel_sync_request();
}