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Add navigation path simplification

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Adds navigation path simplification for NavigationServer and NavigationAgent.
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smix8
2024-04-09 04:27:54 +02:00
parent b2f425fe68
commit 1c134f4a3d
25 changed files with 330 additions and 0 deletions
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7
doc/classes/NavigationAgent3D.xml
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@ -204,6 +204,13 @@
The radius of the avoidance agent. This is the "body" of the avoidance agent and not the avoidance maneuver starting radius (which is controlled by [member neighbor_distance]).
Does not affect normal pathfinding. To change an actor's pathfinding radius bake [NavigationMesh] resources with a different [member NavigationMesh.agent_radius] property and use different navigation maps for each actor size.
</member>
<member name="simplify_epsilon" type="float" setter="set_simplify_epsilon" getter="get_simplify_epsilon" default="0.0">
The path simplification amount in worlds units.
</member>
<member name="simplify_path" type="bool" setter="set_simplify_path" getter="get_simplify_path" default="false">
If [code]true[/code] a simplified version of the path will be returned with less critical path points removed. The simplification amount is controlled by [member simplify_epsilon]. The simplification uses a variant of Ramer-Douglas-Peucker algorithm for curve point decimation.
Path simplification can be helpful to mitigate various path following issues that can arise with certain agent types and script behaviors. E.g. "steering" agents or avoidance in "open fields".
</member>
<member name="target_desired_distance" type="float" setter="set_target_desired_distance" getter="get_target_desired_distance" default="1.0">
The distance threshold before the target is considered to be reached. On reaching the target, [signal target_reached] is emitted and navigation ends (see [method is_navigation_finished] and [signal navigation_finished]).
You can make navigation end early by setting this property to a value greater than [member path_desired_distance] (navigation will end before reaching the last waypoint).