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Update NavigationObstacle API #78081

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Jun 12, 2023
Merged

Update NavigationObstacle API #78081

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13 changes: 5 additions & 8 deletions doc/classes/NavigationObstacle2D.xml
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Expand Up @@ -13,12 +13,6 @@
<link title="Using NavigationObstacles">$DOCS_URL/tutorials/navigation/navigation_using_navigationobstacles.html</link>
</tutorials>
<methods>
<method name="get_agent_rid" qualifiers="const">
<return type="RID" />
<description>
Returns the [RID] of this agent on the [NavigationServer2D]. This [RID] is used for the moving avoidance "obstacle" component (using a fake avoidance agent) which size is defined by [member radius] and velocity set by using [member velocity].
</description>
</method>
<method name="get_avoidance_layer_value" qualifiers="const">
<return type="bool" />
<param index="0" name="layer_number" type="int" />
Expand All @@ -32,10 +26,10 @@
Returns the [RID] of the navigation map for this NavigationObstacle node. This function returns always the map set on the NavigationObstacle node and not the map of the abstract obstacle on the NavigationServer. If the obstacle map is changed directly with the NavigationServer API the NavigationObstacle node will not be aware of the map change. Use [method set_navigation_map] to change the navigation map for the NavigationObstacle and also update the obstacle on the NavigationServer.
</description>
</method>
<method name="get_obstacle_rid" qualifiers="const">
<method name="get_rid" qualifiers="const">
<return type="RID" />
<description>
Returns the [RID] of this obstacle on the [NavigationServer2D]. This [RID] is used for the static avoidance obstacle component which shape is defined by [member vertices].
Returns the [RID] of this obstacle on the [NavigationServer2D].
</description>
</method>
<method name="set_avoidance_layer_value">
Expand All @@ -55,6 +49,9 @@
</method>
</methods>
<members>
<member name="avoidance_enabled" type="bool" setter="set_avoidance_enabled" getter="get_avoidance_enabled" default="true">
If [code]true[/code] the obstacle affects avoidance using agents.
</member>
<member name="avoidance_layers" type="int" setter="set_avoidance_layers" getter="get_avoidance_layers" default="1">
A bitfield determining the avoidance layers for this obstacle. Agent's with a matching bit on the their avoidance mask will avoid this obstacle.
</member>
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13 changes: 5 additions & 8 deletions doc/classes/NavigationObstacle3D.xml
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Expand Up @@ -13,12 +13,6 @@
<link title="Using NavigationObstacles">$DOCS_URL/tutorials/navigation/navigation_using_navigationobstacles.html</link>
</tutorials>
<methods>
<method name="get_agent_rid" qualifiers="const">
<return type="RID" />
<description>
Returns the [RID] of this agent on the [NavigationServer3D]. This [RID] is used for the moving avoidance "obstacle" component (using a fake avoidance agent) which size is defined by [member radius] and velocity set by using [member velocity].
</description>
</method>
<method name="get_avoidance_layer_value" qualifiers="const">
<return type="bool" />
<param index="0" name="layer_number" type="int" />
Expand All @@ -32,10 +26,10 @@
Returns the [RID] of the navigation map for this NavigationObstacle node. This function returns always the map set on the NavigationObstacle node and not the map of the abstract obstacle on the NavigationServer. If the obstacle map is changed directly with the NavigationServer API the NavigationObstacle node will not be aware of the map change. Use [method set_navigation_map] to change the navigation map for the NavigationObstacle and also update the obstacle on the NavigationServer.
</description>
</method>
<method name="get_obstacle_rid" qualifiers="const">
<method name="get_rid" qualifiers="const">
<return type="RID" />
<description>
Returns the [RID] of this obstacle on the [NavigationServer3D]. This [RID] is used for the static avoidance obstacle component which shape is defined by [member vertices].
Returns the [RID] of this obstacle on the [NavigationServer3D].
</description>
</method>
<method name="set_avoidance_layer_value">
Expand All @@ -55,6 +49,9 @@
</method>
</methods>
<members>
<member name="avoidance_enabled" type="bool" setter="set_avoidance_enabled" getter="get_avoidance_enabled" default="true">
If [code]true[/code] the obstacle affects avoidance using agents.
</member>
<member name="avoidance_layers" type="int" setter="set_avoidance_layers" getter="get_avoidance_layers" default="1">
A bitfield determining the avoidance layers for this obstacle. Agent's with a matching bit on the their avoidance mask will avoid this obstacle.
</member>
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32 changes: 32 additions & 0 deletions doc/classes/NavigationServer2D.xml
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Expand Up @@ -464,18 +464,34 @@
Creates a new navigation obstacle.
</description>
</method>
<method name="obstacle_get_avoidance_enabled" qualifiers="const">
<return type="bool" />
<param index="0" name="obstacle" type="RID" />
<description>
Returns [code]true[/code] if the provided [param obstacle] has avoidance enabled.
</description>
</method>
<method name="obstacle_get_map" qualifiers="const">
<return type="RID" />
<param index="0" name="obstacle" type="RID" />
<description>
Returns the navigation map [RID] the requested [param obstacle] is currently assigned to.
</description>
</method>
<method name="obstacle_set_avoidance_enabled">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
<param index="1" name="enabled" type="bool" />
<description>
If [param enabled] the provided [param obstacle] affects avoidance using agents.
</description>
</method>
<method name="obstacle_set_avoidance_layers">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
<param index="1" name="layers" type="int" />
<description>
Set the obstacles's [code]avoidance_layers[/code] bitmask.
</description>
</method>
<method name="obstacle_set_map">
Expand All @@ -494,6 +510,22 @@
Sets the position of the obstacle in world space.
</description>
</method>
<method name="obstacle_set_radius">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
<param index="1" name="radius" type="float" />
<description>
Sets the radius of the dynamic obstacle.
</description>
</method>
<method name="obstacle_set_velocity">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
<param index="1" name="velocity" type="Vector2" />
<description>
Sets [param velocity] of the dynamic [param obstacle]. Allows other agents to better predict the movement of the dynamic obstacle. Only works in combination with the radius of the obstacle.
</description>
</method>
<method name="obstacle_set_vertices">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
Expand Down
46 changes: 46 additions & 0 deletions doc/classes/NavigationServer3D.xml
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Expand Up @@ -529,13 +529,35 @@
Creates a new obstacle.
</description>
</method>
<method name="obstacle_get_avoidance_enabled" qualifiers="const">
<return type="bool" />
<param index="0" name="obstacle" type="RID" />
<description>
Returns [code]true[/code] if the provided [param obstacle] has avoidance enabled.
</description>
</method>
<method name="obstacle_get_map" qualifiers="const">
<return type="RID" />
<param index="0" name="obstacle" type="RID" />
<description>
Returns the navigation map [RID] the requested [param obstacle] is currently assigned to.
</description>
</method>
<method name="obstacle_get_use_3d_avoidance" qualifiers="const">
<return type="bool" />
<param index="0" name="obstacle" type="RID" />
<description>
Returns [code]true[/code] if the provided [param obstacle] uses avoidance in 3D space Vector3(x,y,z) instead of horizontal 2D Vector2(x,y) / Vector3(x,0.0,z).
</description>
</method>
<method name="obstacle_set_avoidance_enabled">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
<param index="1" name="enabled" type="bool" />
<description>
If [param enabled] the provided [param obstacle] affects avoidance using agents.
</description>
</method>
<method name="obstacle_set_avoidance_layers">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
Expand Down Expand Up @@ -568,6 +590,30 @@
Updates the [param position] in world space for the [param obstacle].
</description>
</method>
<method name="obstacle_set_radius">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
<param index="1" name="radius" type="float" />
<description>
Sets the radius of the dynamic obstacle.
</description>
</method>
<method name="obstacle_set_use_3d_avoidance">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
<param index="1" name="enabled" type="bool" />
<description>
Sets if the [param obstacle] uses the 2D avoidance or the 3D avoidance while avoidance is enabled.
</description>
</method>
<method name="obstacle_set_velocity">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
<param index="1" name="velocity" type="Vector3" />
<description>
Sets [param velocity] of the dynamic [param obstacle]. Allows other agents to better predict the movement of the dynamic obstacle. Only works in combination with the radius of the obstacle.
</description>
</method>
<method name="obstacle_set_vertices">
<return type="void" />
<param index="0" name="obstacle" type="RID" />
Expand Down
2 changes: 0 additions & 2 deletions misc/extension_api_validation/4.0-stable.expected
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Expand Up @@ -85,11 +85,9 @@ Validate extension JSON: API was removed: classes/NavigationAgent3D/methods/set_
Validate extension JSON: API was removed: classes/NavigationAgent3D/properties/agent_height_offset
Validate extension JSON: API was removed: classes/NavigationAgent3D/properties/ignore_y
Validate extension JSON: API was removed: classes/NavigationAgent3D/properties/time_horizon
Validate extension JSON: API was removed: classes/NavigationObstacle2D/methods/get_rid
Validate extension JSON: API was removed: classes/NavigationObstacle2D/methods/is_radius_estimated
Validate extension JSON: API was removed: classes/NavigationObstacle2D/methods/set_estimate_radius
Validate extension JSON: API was removed: classes/NavigationObstacle2D/properties/estimate_radius
Validate extension JSON: API was removed: classes/NavigationObstacle3D/methods/get_rid
Validate extension JSON: API was removed: classes/NavigationObstacle3D/methods/is_radius_estimated
Validate extension JSON: API was removed: classes/NavigationObstacle3D/methods/set_estimate_radius
Validate extension JSON: API was removed: classes/NavigationObstacle3D/properties/estimate_radius
Expand Down
85 changes: 74 additions & 11 deletions modules/navigation/godot_navigation_server.cpp
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Expand Up @@ -802,9 +802,44 @@ RID GodotNavigationServer::obstacle_create() {
RID rid = obstacle_owner.make_rid();
NavObstacle *obstacle = obstacle_owner.get_or_null(rid);
obstacle->set_self(rid);

RID agent_rid = agent_owner.make_rid();
NavAgent *agent = agent_owner.get_or_null(agent_rid);
agent->set_self(agent_rid);

obstacle->set_agent(agent);

return rid;
}

COMMAND_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled) {
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);

obstacle->set_avoidance_enabled(p_enabled);
}

bool GodotNavigationServer::obstacle_get_avoidance_enabled(RID p_obstacle) const {
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
ERR_FAIL_COND_V(obstacle == nullptr, false);

return obstacle->is_avoidance_enabled();
}

COMMAND_2(obstacle_set_use_3d_avoidance, RID, p_obstacle, bool, p_enabled) {
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);

obstacle->set_use_3d_avoidance(p_enabled);
}

bool GodotNavigationServer::obstacle_get_use_3d_avoidance(RID p_obstacle) const {
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
ERR_FAIL_COND_V(obstacle == nullptr, false);

return obstacle->get_use_3d_avoidance();
}

COMMAND_2(obstacle_set_map, RID, p_obstacle, RID, p_map) {
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);
Expand Down Expand Up @@ -837,12 +872,27 @@ RID GodotNavigationServer::obstacle_get_map(RID p_obstacle) const {
return RID();
}

COMMAND_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius) {
ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);

obstacle->set_radius(p_radius);
}

COMMAND_2(obstacle_set_height, RID, p_obstacle, real_t, p_height) {
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);
obstacle->set_height(p_height);
}

COMMAND_2(obstacle_set_velocity, RID, p_obstacle, Vector3, p_velocity) {
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);

obstacle->set_velocity(p_velocity);
}

COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector3, p_position) {
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);
Expand Down Expand Up @@ -917,29 +967,42 @@ COMMAND_1(free, RID, p_object) {
link_owner.free(p_object);

} else if (agent_owner.owns(p_object)) {
NavAgent *agent = agent_owner.get_or_null(p_object);
internal_free_agent(p_object);

} else if (obstacle_owner.owns(p_object)) {
internal_free_obstacle(p_object);

} else {
ERR_PRINT("Attempted to free a NavigationServer RID that did not exist (or was already freed).");
}
}

// Removes this agent from the map if assigned
void GodotNavigationServer::internal_free_agent(RID p_object) {
NavAgent *agent = agent_owner.get_or_null(p_object);
if (agent) {
if (agent->get_map() != nullptr) {
agent->get_map()->remove_agent(agent);
agent->set_map(nullptr);
}

agent_owner.free(p_object);
}
}

} else if (obstacle_owner.owns(p_object)) {
NavObstacle *obstacle = obstacle_owner.get_or_null(p_object);

// Removes this agent from the map if assigned
void GodotNavigationServer::internal_free_obstacle(RID p_object) {
NavObstacle *obstacle = obstacle_owner.get_or_null(p_object);
if (obstacle) {
if (obstacle->get_map() != nullptr) {
obstacle->get_map()->remove_obstacle(obstacle);
obstacle->set_map(nullptr);
}

if (obstacle->get_agent()) {
if (obstacle->get_agent()->get_self() != RID()) {
RID _agent_rid = obstacle->get_agent()->get_self();
obstacle->set_agent(nullptr);
internal_free_agent(_agent_rid);
}
}
obstacle_owner.free(p_object);

} else {
ERR_PRINT("Attempted to free a NavigationServer RID that did not exist (or was already freed).");
}
}

Expand Down
10 changes: 10 additions & 0 deletions modules/navigation/godot_navigation_server.h
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Expand Up @@ -198,8 +198,14 @@ class GodotNavigationServer : public NavigationServer3D {
COMMAND_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority);

virtual RID obstacle_create() override;
COMMAND_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled);
virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const override;
COMMAND_2(obstacle_set_use_3d_avoidance, RID, p_obstacle, bool, p_enabled);
virtual bool obstacle_get_use_3d_avoidance(RID p_obstacle) const override;
COMMAND_2(obstacle_set_map, RID, p_obstacle, RID, p_map);
virtual RID obstacle_get_map(RID p_obstacle) const override;
COMMAND_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius);
COMMAND_2(obstacle_set_velocity, RID, p_obstacle, Vector3, p_velocity);
COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector3, p_position);
COMMAND_2(obstacle_set_height, RID, p_obstacle, real_t, p_height);
virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector3> &p_vertices) override;
Expand All @@ -215,6 +221,10 @@ class GodotNavigationServer : public NavigationServer3D {
virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const override;

int get_process_info(ProcessInfo p_info) const override;

private:
void internal_free_agent(RID p_object);
void internal_free_obstacle(RID p_object);
};

#undef COMMAND_1
Expand Down
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