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Rework Navigation Avoidance

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Rework Navigation Avoidance.
This commit is contained in:
smix8
2023-01-10 07:14:16 +01:00
parent 7f4687562d
commit a6ac305f96
75 changed files with 8211 additions and 1198 deletions
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120
servers/navigation_server_3d.h
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@ -103,6 +103,7 @@ public:
virtual TypedArray<RID> map_get_links(RID p_map) const = 0;
virtual TypedArray<RID> map_get_regions(RID p_map) const = 0;
virtual TypedArray<RID> map_get_agents(RID p_map) const = 0;
virtual TypedArray<RID> map_get_obstacles(RID p_map) const = 0;
virtual void map_force_update(RID p_map) = 0;
@ -187,6 +188,12 @@ public:
virtual void agent_set_map(RID p_agent, RID p_map) = 0;
virtual RID agent_get_map(RID p_agent) const = 0;
virtual void agent_set_avoidance_enabled(RID p_agent, bool p_enabled) = 0;
virtual bool agent_get_avoidance_enabled(RID p_agent) const = 0;
virtual void agent_set_use_3d_avoidance(RID p_agent, bool p_enabled) = 0;
virtual bool agent_get_use_3d_avoidance(RID p_agent) const = 0;
/// The maximum distance (center point to
/// center point) to other agents this agent
/// takes into account in the navigation. The
@ -204,41 +211,53 @@ public:
/// be safe.
virtual void agent_set_max_neighbors(RID p_agent, int p_count) = 0;
/// The minimal amount of time for which this
/// agent's velocities that are computed by the
/// simulation are safe with respect to other
/// agents. The larger this number, the sooner
/// this agent will respond to the presence of
/// other agents, but the less freedom this
/// agent has in choosing its velocities.
/// Must be positive.
virtual void agent_set_time_horizon(RID p_agent, real_t p_time) = 0;
// Sets the minimum amount of time in seconds that an agent's
// must be able to stay on the calculated velocity while still avoiding collisions with agent's
// if this value is set to high an agent will often fall back to using a very low velocity just to be safe
virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon) = 0;
/// Sets the minimum amount of time in seconds that an agent's
// must be able to stay on the calculated velocity while still avoiding collisions with obstacle's
// if this value is set to high an agent will often fall back to using a very low velocity just to be safe
virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon) = 0;
/// The radius of this agent.
/// Must be non-negative.
virtual void agent_set_radius(RID p_agent, real_t p_radius) = 0;
virtual void agent_set_height(RID p_agent, real_t p_height) = 0;
/// The maximum speed of this agent.
/// Must be non-negative.
virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) = 0;
/// Current velocity of the agent
virtual void agent_set_velocity(RID p_agent, Vector3 p_velocity) = 0;
/// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly
virtual void agent_set_velocity_forced(RID p_agent, Vector3 p_velocity) = 0;
/// The new target velocity.
virtual void agent_set_target_velocity(RID p_agent, Vector3 p_velocity) = 0;
/// The wanted velocity for the agent as a "suggestion" to the avoidance simulation.
/// The simulation will try to fulfil this velocity wish if possible but may change the velocity depending on other agent's and obstacles'.
virtual void agent_set_velocity(RID p_agent, Vector3 p_velocity) = 0;
/// Position of the agent in world space.
virtual void agent_set_position(RID p_agent, Vector3 p_position) = 0;
/// Agent ignore the Y axis and avoid collisions by moving only on the horizontal plane
virtual void agent_set_ignore_y(RID p_agent, bool p_ignore) = 0;
/// Returns true if the map got changed the previous frame.
virtual bool agent_is_map_changed(RID p_agent) const = 0;
/// Callback called at the end of the RVO process
virtual void agent_set_callback(RID p_agent, Callable p_callback) = 0;
virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback) = 0;
virtual void agent_set_avoidance_layers(RID p_agent, uint32_t p_layers) = 0;
virtual void agent_set_avoidance_mask(RID p_agent, uint32_t p_mask) = 0;
virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority) = 0;
/// Creates the obstacle.
virtual RID obstacle_create() = 0;
virtual void obstacle_set_map(RID p_obstacle, RID p_map) = 0;
virtual RID obstacle_get_map(RID p_obstacle) const = 0;
virtual void obstacle_set_height(RID p_obstacle, real_t p_height) = 0;
virtual void obstacle_set_position(RID p_obstacle, Vector3 p_position) = 0;
virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector3> &p_vertices) = 0;
virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers) = 0;
/// Destroy the `RID`
virtual void free(RID p_object) = 0;
@ -282,8 +301,15 @@ private:
#ifdef DEBUG_ENABLED
bool debug_dirty = true;
bool debug_navigation_enabled = false;
bool navigation_debug_dirty = true;
void _emit_navigation_debug_changed_signal();
bool debug_avoidance_enabled = false;
bool avoidance_debug_dirty = true;
void _emit_avoidance_debug_changed_signal();
Color debug_navigation_edge_connection_color = Color(1.0, 0.0, 1.0, 1.0);
Color debug_navigation_geometry_edge_color = Color(0.5, 1.0, 1.0, 1.0);
Color debug_navigation_geometry_face_color = Color(0.5, 1.0, 1.0, 0.4);
@ -295,6 +321,14 @@ private:
real_t debug_navigation_agent_path_point_size = 4.0;
Color debug_navigation_avoidance_agents_radius_color = Color(1.0, 1.0, 0.0, 0.25);
Color debug_navigation_avoidance_obstacles_radius_color = Color(1.0, 0.5, 0.0, 0.25);
Color debug_navigation_avoidance_static_obstacle_pushin_face_color = Color(1.0, 0.0, 0.0, 0.0);
Color debug_navigation_avoidance_static_obstacle_pushout_face_color = Color(1.0, 1.0, 0.0, 0.5);
Color debug_navigation_avoidance_static_obstacle_pushin_edge_color = Color(1.0, 0.0, 0.0, 1.0);
Color debug_navigation_avoidance_static_obstacle_pushout_edge_color = Color(1.0, 1.0, 0.0, 1.0);
bool debug_navigation_enable_edge_connections = true;
bool debug_navigation_enable_edge_connections_xray = true;
bool debug_navigation_enable_edge_lines = true;
@ -305,6 +339,10 @@ private:
bool debug_navigation_enable_agent_paths = true;
bool debug_navigation_enable_agent_paths_xray = true;
bool debug_navigation_avoidance_enable_agents_radius = true;
bool debug_navigation_avoidance_enable_obstacles_radius = true;
bool debug_navigation_avoidance_enable_obstacles_static = true;
Ref<StandardMaterial3D> debug_navigation_geometry_edge_material;
Ref<StandardMaterial3D> debug_navigation_geometry_face_material;
Ref<StandardMaterial3D> debug_navigation_geometry_edge_disabled_material;
@ -312,11 +350,24 @@ private:
Ref<StandardMaterial3D> debug_navigation_edge_connections_material;
Ref<StandardMaterial3D> debug_navigation_link_connections_material;
Ref<StandardMaterial3D> debug_navigation_link_connections_disabled_material;
Ref<StandardMaterial3D> debug_navigation_avoidance_agents_radius_material;
Ref<StandardMaterial3D> debug_navigation_avoidance_obstacles_radius_material;
Ref<StandardMaterial3D> debug_navigation_avoidance_static_obstacle_pushin_face_material;
Ref<StandardMaterial3D> debug_navigation_avoidance_static_obstacle_pushout_face_material;
Ref<StandardMaterial3D> debug_navigation_avoidance_static_obstacle_pushin_edge_material;
Ref<StandardMaterial3D> debug_navigation_avoidance_static_obstacle_pushout_edge_material;
Ref<StandardMaterial3D> debug_navigation_agent_path_line_material;
Ref<StandardMaterial3D> debug_navigation_agent_path_point_material;
public:
void set_debug_navigation_enabled(bool p_enabled);
bool get_debug_navigation_enabled() const;
void set_debug_avoidance_enabled(bool p_enabled);
bool get_debug_avoidance_enabled() const;
void set_debug_navigation_edge_connection_color(const Color &p_color);
Color get_debug_navigation_edge_connection_color() const;
@ -341,6 +392,24 @@ public:
void set_debug_navigation_agent_path_color(const Color &p_color);
Color get_debug_navigation_agent_path_color() const;
void set_debug_navigation_avoidance_agents_radius_color(const Color &p_color);
Color get_debug_navigation_avoidance_agents_radius_color() const;
void set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color);
Color get_debug_navigation_avoidance_obstacles_radius_color() const;
void set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color);
Color get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const;
void set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color);
Color get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const;
void set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color);
Color get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const;
void set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color);
Color get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const;
void set_debug_navigation_enable_edge_connections(const bool p_value);
bool get_debug_navigation_enable_edge_connections() const;
@ -371,6 +440,15 @@ public:
void set_debug_navigation_agent_path_point_size(real_t p_point_size);
real_t get_debug_navigation_agent_path_point_size() const;
void set_debug_navigation_avoidance_enable_agents_radius(const bool p_value);
bool get_debug_navigation_avoidance_enable_agents_radius() const;
void set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value);
bool get_debug_navigation_avoidance_enable_obstacles_radius() const;
void set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value);
bool get_debug_navigation_avoidance_enable_obstacles_static() const;
Ref<StandardMaterial3D> get_debug_navigation_geometry_face_material();
Ref<StandardMaterial3D> get_debug_navigation_geometry_edge_material();
Ref<StandardMaterial3D> get_debug_navigation_geometry_face_disabled_material();
@ -381,6 +459,14 @@ public:
Ref<StandardMaterial3D> get_debug_navigation_agent_path_line_material();
Ref<StandardMaterial3D> get_debug_navigation_agent_path_point_material();
Ref<StandardMaterial3D> get_debug_navigation_avoidance_agents_radius_material();
Ref<StandardMaterial3D> get_debug_navigation_avoidance_obstacles_radius_material();
Ref<StandardMaterial3D> get_debug_navigation_avoidance_static_obstacle_pushin_face_material();
Ref<StandardMaterial3D> get_debug_navigation_avoidance_static_obstacle_pushout_face_material();
Ref<StandardMaterial3D> get_debug_navigation_avoidance_static_obstacle_pushin_edge_material();
Ref<StandardMaterial3D> get_debug_navigation_avoidance_static_obstacle_pushout_edge_material();
#endif // DEBUG_ENABLED
};