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Rework Navigation Avoidance #69988

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May 10, 2023
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Rework Navigation Avoidance #69988

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3 changes: 2 additions & 1 deletion SConstruct
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Original file line number Diff line number Diff line change
Expand Up @@ -241,7 +241,8 @@ opts.Add(BoolVariable("builtin_miniupnpc", "Use the built-in miniupnpc library",
opts.Add(BoolVariable("builtin_pcre2", "Use the built-in PCRE2 library", True))
opts.Add(BoolVariable("builtin_pcre2_with_jit", "Use JIT compiler for the built-in PCRE2 library", True))
opts.Add(BoolVariable("builtin_recastnavigation", "Use the built-in Recast navigation library", True))
opts.Add(BoolVariable("builtin_rvo2", "Use the built-in RVO2 library", True))
opts.Add(BoolVariable("builtin_rvo2_2d", "Use the built-in RVO2 2D library", True))
opts.Add(BoolVariable("builtin_rvo2_3d", "Use the built-in RVO2 3D library", True))
opts.Add(BoolVariable("builtin_squish", "Use the built-in squish library", True))
opts.Add(BoolVariable("builtin_xatlas", "Use the built-in xatlas library", True))
opts.Add(BoolVariable("builtin_zlib", "Use the built-in zlib library", True))
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1 change: 1 addition & 0 deletions core/core_constants.cpp
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Expand Up @@ -645,6 +645,7 @@ void register_global_constants() {
BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_LAYERS_3D_RENDER);
BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_LAYERS_3D_PHYSICS);
BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_LAYERS_3D_NAVIGATION);
BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_LAYERS_AVOIDANCE);

BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_FILE);
BIND_CORE_ENUM_CONSTANT(PROPERTY_HINT_DIR);
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1 change: 1 addition & 0 deletions core/object/object.h
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Expand Up @@ -61,6 +61,7 @@ enum PropertyHint {
PROPERTY_HINT_LAYERS_3D_RENDER,
PROPERTY_HINT_LAYERS_3D_PHYSICS,
PROPERTY_HINT_LAYERS_3D_NAVIGATION,
PROPERTY_HINT_LAYERS_AVOIDANCE,
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PROPERTY_HINT_FILE, ///< a file path must be passed, hint_text (optionally) is a filter "*.png,*.wav,*.doc,"
PROPERTY_HINT_DIR, ///< a directory path must be passed
PROPERTY_HINT_GLOBAL_FILE, ///< a file path must be passed, hint_text (optionally) is a filter "*.png,*.wav,*.doc,"
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53 changes: 28 additions & 25 deletions doc/classes/@GlobalScope.xml
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Expand Up @@ -2695,36 +2695,39 @@
<constant name="PROPERTY_HINT_LAYERS_3D_NAVIGATION" value="12" enum="PropertyHint">
Hints that an [int] property is a bitmask using the optionally named 3D navigation layers.
</constant>
<constant name="PROPERTY_HINT_FILE" value="13" enum="PropertyHint">
<constant name="PROPERTY_HINT_LAYERS_AVOIDANCE" value="13" enum="PropertyHint">
Hints that an integer property is a bitmask using the optionally named avoidance layers.
</constant>
<constant name="PROPERTY_HINT_FILE" value="14" enum="PropertyHint">
Hints that a [String] property is a path to a file. Editing it will show a file dialog for picking the path. The hint string can be a set of filters with wildcards like [code]"*.png,*.jpg"[/code].
</constant>
<constant name="PROPERTY_HINT_DIR" value="14" enum="PropertyHint">
<constant name="PROPERTY_HINT_DIR" value="15" enum="PropertyHint">
Hints that a [String] property is a path to a directory. Editing it will show a file dialog for picking the path.
</constant>
<constant name="PROPERTY_HINT_GLOBAL_FILE" value="15" enum="PropertyHint">
<constant name="PROPERTY_HINT_GLOBAL_FILE" value="16" enum="PropertyHint">
Hints that a [String] property is an absolute path to a file outside the project folder. Editing it will show a file dialog for picking the path. The hint string can be a set of filters with wildcards, like [code]"*.png,*.jpg"[/code].
</constant>
<constant name="PROPERTY_HINT_GLOBAL_DIR" value="16" enum="PropertyHint">
<constant name="PROPERTY_HINT_GLOBAL_DIR" value="17" enum="PropertyHint">
Hints that a [String] property is an absolute path to a directory outside the project folder. Editing it will show a file dialog for picking the path.
</constant>
<constant name="PROPERTY_HINT_RESOURCE_TYPE" value="17" enum="PropertyHint">
<constant name="PROPERTY_HINT_RESOURCE_TYPE" value="18" enum="PropertyHint">
Hints that a property is an instance of a [Resource]-derived type, optionally specified via the hint string (e.g. [code]"Texture2D"[/code]). Editing it will show a popup menu of valid resource types to instantiate.
</constant>
<constant name="PROPERTY_HINT_MULTILINE_TEXT" value="18" enum="PropertyHint">
<constant name="PROPERTY_HINT_MULTILINE_TEXT" value="19" enum="PropertyHint">
Hints that a [String] property is text with line breaks. Editing it will show a text input field where line breaks can be typed.
</constant>
<constant name="PROPERTY_HINT_EXPRESSION" value="19" enum="PropertyHint">
<constant name="PROPERTY_HINT_EXPRESSION" value="20" enum="PropertyHint">
Hints that a [String] property is an [Expression].
</constant>
<constant name="PROPERTY_HINT_PLACEHOLDER_TEXT" value="20" enum="PropertyHint">
<constant name="PROPERTY_HINT_PLACEHOLDER_TEXT" value="21" enum="PropertyHint">
Hints that a [String] property should show a placeholder text on its input field, if empty. The hint string is the placeholder text to use.
</constant>
<constant name="PROPERTY_HINT_COLOR_NO_ALPHA" value="21" enum="PropertyHint">
<constant name="PROPERTY_HINT_COLOR_NO_ALPHA" value="22" enum="PropertyHint">
Hints that a [Color] property should be edited without affecting its transparency ([member Color.a] is not editable).
</constant>
<constant name="PROPERTY_HINT_OBJECT_ID" value="22" enum="PropertyHint">
<constant name="PROPERTY_HINT_OBJECT_ID" value="23" enum="PropertyHint">
</constant>
<constant name="PROPERTY_HINT_TYPE_STRING" value="23" enum="PropertyHint">
<constant name="PROPERTY_HINT_TYPE_STRING" value="24" enum="PropertyHint">
Hint that a property represents a particular type. If a property is [constant TYPE_STRING], allows to set a type from the create dialog. If you need to create an [Array] to contain elements of a specific type, the [code]hint_string[/code] must encode nested types using [code]":"[/code] and [code]"/"[/code] for specifying [Resource] types. For instance:
[codeblock]
hint_string = "%s:" % [TYPE_INT] # Array of integers.
Expand All @@ -2734,37 +2737,37 @@
[/codeblock]
[b]Note:[/b] The final colon is required for properly detecting built-in types.
</constant>
<constant name="PROPERTY_HINT_NODE_PATH_TO_EDITED_NODE" value="24" enum="PropertyHint">
<constant name="PROPERTY_HINT_NODE_PATH_TO_EDITED_NODE" value="25" enum="PropertyHint">
</constant>
<constant name="PROPERTY_HINT_OBJECT_TOO_BIG" value="25" enum="PropertyHint">
<constant name="PROPERTY_HINT_OBJECT_TOO_BIG" value="26" enum="PropertyHint">
</constant>
<constant name="PROPERTY_HINT_NODE_PATH_VALID_TYPES" value="26" enum="PropertyHint">
<constant name="PROPERTY_HINT_NODE_PATH_VALID_TYPES" value="27" enum="PropertyHint">
</constant>
<constant name="PROPERTY_HINT_SAVE_FILE" value="27" enum="PropertyHint">
<constant name="PROPERTY_HINT_SAVE_FILE" value="28" enum="PropertyHint">
</constant>
<constant name="PROPERTY_HINT_GLOBAL_SAVE_FILE" value="28" enum="PropertyHint">
<constant name="PROPERTY_HINT_GLOBAL_SAVE_FILE" value="29" enum="PropertyHint">
</constant>
<constant name="PROPERTY_HINT_INT_IS_OBJECTID" value="29" enum="PropertyHint">
<constant name="PROPERTY_HINT_INT_IS_OBJECTID" value="30" enum="PropertyHint">
</constant>
<constant name="PROPERTY_HINT_INT_IS_POINTER" value="30" enum="PropertyHint">
<constant name="PROPERTY_HINT_INT_IS_POINTER" value="31" enum="PropertyHint">
</constant>
<constant name="PROPERTY_HINT_ARRAY_TYPE" value="31" enum="PropertyHint">
<constant name="PROPERTY_HINT_ARRAY_TYPE" value="32" enum="PropertyHint">
</constant>
<constant name="PROPERTY_HINT_LOCALE_ID" value="32" enum="PropertyHint">
<constant name="PROPERTY_HINT_LOCALE_ID" value="33" enum="PropertyHint">
Hints that a string property is a locale code. Editing it will show a locale dialog for picking language and country.
</constant>
<constant name="PROPERTY_HINT_LOCALIZABLE_STRING" value="33" enum="PropertyHint">
<constant name="PROPERTY_HINT_LOCALIZABLE_STRING" value="34" enum="PropertyHint">
Hints that a dictionary property is string translation map. Dictionary keys are locale codes and, values are translated strings.
</constant>
<constant name="PROPERTY_HINT_NODE_TYPE" value="34" enum="PropertyHint">
<constant name="PROPERTY_HINT_NODE_TYPE" value="35" enum="PropertyHint">
</constant>
<constant name="PROPERTY_HINT_HIDE_QUATERNION_EDIT" value="35" enum="PropertyHint">
<constant name="PROPERTY_HINT_HIDE_QUATERNION_EDIT" value="36" enum="PropertyHint">
Hints that a quaternion property should disable the temporary euler editor.
</constant>
<constant name="PROPERTY_HINT_PASSWORD" value="36" enum="PropertyHint">
<constant name="PROPERTY_HINT_PASSWORD" value="37" enum="PropertyHint">
Hints that a string property is a password, and every character is replaced with the secret character.
</constant>
<constant name="PROPERTY_HINT_MAX" value="37" enum="PropertyHint">
<constant name="PROPERTY_HINT_MAX" value="38" enum="PropertyHint">
Represents the size of the [enum PropertyHint] enum.
</constant>
<constant name="PROPERTY_USAGE_NONE" value="0" enum="PropertyUsageFlags" is_bitfield="true">
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65 changes: 55 additions & 10 deletions doc/classes/NavigationAgent2D.xml
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Expand Up @@ -5,7 +5,7 @@
</brief_description>
<description>
2D Agent that is used in navigation to reach a position while avoiding static and dynamic obstacles. The dynamic obstacles are avoided using RVO collision avoidance. The agent needs navigation data to work correctly. [NavigationAgent2D] is physics safe.
[b]Note:[/b] After setting [member target_position] it is required to use the [method get_next_path_position] function once every physics frame to update the internal path logic of the NavigationAgent. The returned vector position from this function should be used as the next movement position for the agent's parent Node.
[b]Note:[/b] After [member target_position] is set, the [method get_next_path_position] function must be used once every physics frame to update the internal path logic of the NavigationAgent. The returned position from this function should be used as the next movement position for the agent's parent node.
</description>
<tutorials>
<link title="Using NavigationAgents">$DOCS_URL/tutorials/navigation/navigation_using_navigationagents.html</link>
Expand All @@ -17,6 +17,20 @@
Returns the distance to the target position, using the agent's global position. The user must set [member target_position] in order for this to be accurate.
</description>
</method>
<method name="get_avoidance_layer_value" qualifiers="const">
<return type="bool" />
<param index="0" name="layer_number" type="int" />
<description>
Returns whether or not the specified layer of the [member avoidance_layers] bitmask is enabled, given a [param layer_number] between 1 and 32.
</description>
</method>
<method name="get_avoidance_mask_value" qualifiers="const">
<return type="bool" />
<param index="0" name="mask_number" type="int" />
<description>
Returns whether or not the specified mask of the [member avoidance_mask] bitmask is enabled, given a [param mask_number] between 1 and 32.
</description>
</method>
<method name="get_current_navigation_path" qualifiers="const">
<return type="PackedVector2Array" />
<description>
Expand All @@ -38,7 +52,7 @@
<method name="get_final_position">
<return type="Vector2" />
<description>
Returns the reachable final position in global coordinates. This can change if the navigation path is altered in any way. Because of this, it would be best to check this each frame.
Returns the reachable final position of the current navigation path in global coordinates. This can change if the navigation path is altered in any way. Because of this, it would be best to check this each frame.
</description>
</method>
<method name="get_navigation_layer_value" qualifiers="const">
Expand Down Expand Up @@ -75,7 +89,7 @@
<method name="is_target_reachable">
<return type="bool" />
<description>
Returns true if [member target_position] is reachable.
Returns true if [member target_position] is reachable. The target position is set using [member target_position].
</description>
</method>
<method name="is_target_reached" qualifiers="const">
Expand All @@ -84,6 +98,22 @@
Returns true if [member target_position] is reached. It may not always be possible to reach the target position. It should always be possible to reach the final position though. See [method get_final_position].
</description>
</method>
<method name="set_avoidance_layer_value">
<return type="void" />
<param index="0" name="layer_number" type="int" />
<param index="1" name="value" type="bool" />
<description>
Based on [param value], enables or disables the specified layer in the [member avoidance_layers] bitmask, given a [param layer_number] between 1 and 32.
</description>
</method>
<method name="set_avoidance_mask_value">
<return type="void" />
<param index="0" name="mask_number" type="int" />
<param index="1" name="value" type="bool" />
<description>
Based on [param value], enables or disables the specified mask in the [member avoidance_mask] bitmask, given a [param mask_number] between 1 and 32.
</description>
</method>
<method name="set_navigation_layer_value">
<return type="void" />
<param index="0" name="layer_number" type="int" />
Expand All @@ -99,17 +129,26 @@
Sets the [RID] of the navigation map this NavigationAgent node should use and also updates the [code]agent[/code] on the NavigationServer.
</description>
</method>
<method name="set_velocity">
<method name="set_velocity_forced">
<return type="void" />
<param index="0" name="velocity" type="Vector2" />
<description>
Sends the passed in velocity to the collision avoidance algorithm. It will adjust the velocity to avoid collisions. Once the adjustment to the velocity is complete, it will emit the [signal velocity_computed] signal.
Replaces the internal velocity in the collision avoidance simulation with [param velocity]. When an agent is teleported to a new position this function should be used in the same frame. If called frequently this function can get agents stuck.
</description>
</method>
</methods>
<members>
<member name="avoidance_enabled" type="bool" setter="set_avoidance_enabled" getter="get_avoidance_enabled" default="false">
If [code]true[/code] the agent is registered for an RVO avoidance callback on the [NavigationServer2D]. When [method set_velocity] is used and the processing is completed a [code]safe_velocity[/code] Vector2 is received with a signal connection to [signal velocity_computed]. Avoidance processing with many registered agents has a significant performance cost and should only be enabled on agents that currently require it.
If [code]true[/code] the agent is registered for an RVO avoidance callback on the [NavigationServer2D]. When [member velocity] is used and the processing is completed a [code]safe_velocity[/code] Vector2 is received with a signal connection to [signal velocity_computed]. Avoidance processing with many registered agents has a significant performance cost and should only be enabled on agents that currently require it.
</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 NavigationAgent. Other agent's with a matching bit on the [member avoidance_mask] will avoid this agent.
</member>
<member name="avoidance_mask" type="int" setter="set_avoidance_mask" getter="get_avoidance_mask" default="1">
A bitfield determining what other avoidance agent's and obstacles this NavigationAgent will avoid when a bit matches at least one of their [member avoidance_layers].
</member>
<member name="avoidance_priority" type="float" setter="set_avoidance_priority" getter="get_avoidance_priority" default="1.0">
The agent does not adjust the velocity for other agents that would match the [member avoidance_mask] but have a lower [member avoidance_priority]. This in turn makes the other agents with lower priority adjust their velocities even more to avoid collision with this agent.
</member>
<member name="debug_enabled" type="bool" setter="set_debug_enabled" getter="get_debug_enabled" default="false">
If [code]true[/code] shows debug visuals for this agent.
Expand Down Expand Up @@ -161,10 +200,16 @@
The distance threshold before the final target point is considered to be reached. This will allow an agent to not have to hit the point of the final target exactly, but only the area. If this value is set to low the NavigationAgent will be stuck in a repath loop cause it will constantly overshoot or undershoot the distance to the final target point on each physics frame update.
</member>
<member name="target_position" type="Vector2" setter="set_target_position" getter="get_target_position" default="Vector2(0, 0)">
The user-defined target position. Setting this property will clear the current navigation path.
If set a new navigation path from the current agent position to the [member target_position] is requested from the NavigationServer.
</member>
<member name="time_horizon_agents" type="float" setter="set_time_horizon_agents" getter="get_time_horizon_agents" default="1.0">
The minimal amount of time for which this agent's velocities, that are computed with the collision avoidance algorithm, are safe with respect to other agents. The larger the number, the sooner the agent will respond to other agents, but less freedom in choosing its velocities. A too high value will slow down agents movement considerably. Must be positive.
</member>
<member name="time_horizon_obstacles" type="float" setter="set_time_horizon_obstacles" getter="get_time_horizon_obstacles" default="0.0">
The minimal amount of time for which this agent's velocities, that are computed with the collision avoidance algorithm, are safe with respect to static avoidance obstacles. The larger the number, the sooner the agent will respond to static avoidance obstacles, but less freedom in choosing its velocities. A too high value will slow down agents movement considerably. Must be positive.
</member>
<member name="time_horizon" type="float" setter="set_time_horizon" getter="get_time_horizon" default="1.0">
The minimal amount of time for which this agent's velocities, that are computed with the collision avoidance algorithm, are safe with respect to other agents. The larger the number, the sooner the agent will respond to other agents, but less freedom in choosing its velocities. Must be positive.
<member name="velocity" type="Vector2" setter="set_velocity" getter="get_velocity" default="Vector2(0, 0)">
Sets the new wanted velocity for the agent. The avoidance simulation will try to fulfil this velocity if possible but will modify it to avoid collision with other agent's and obstacles. When an agent is teleported to a new position use [method set_velocity_forced] as well to reset the internal simulation velocity.
</member>
</members>
<signals>
Expand Down Expand Up @@ -199,7 +244,7 @@
<signal name="velocity_computed">
<param index="0" name="safe_velocity" type="Vector2" />
<description>
Notifies when the collision avoidance velocity is calculated. Emitted at the end of the physics frame in which [method set_velocity] is called. Only emitted when [member avoidance_enabled] is true.
Notifies when the collision avoidance velocity is calculated. Emitted when [member velocity] is set. Only emitted when [member avoidance_enabled] is true.
</description>
</signal>
<signal name="waypoint_reached">
Expand Down
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