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Add navigation path simplification

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Adds navigation path simplification for NavigationServer and NavigationAgent.
This commit is contained in:
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/NavigationAgent2D.xml
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@ -198,6 +198,13 @@
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="10.0">
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).

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).

7
doc/classes/NavigationPathQueryParameters2D.xml
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@ -25,6 +25,13 @@
<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters2D.PathfindingAlgorithm" default="0">
The pathfinding algorithm used in the path query.
</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="start_position" type="Vector2" setter="set_start_position" getter="get_start_position" default="Vector2(0, 0)">
The pathfinding start position in global coordinates.
</member>

7
doc/classes/NavigationPathQueryParameters3D.xml
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@ -25,6 +25,13 @@
<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters3D.PathfindingAlgorithm" default="0">
The pathfinding algorithm used in the path query.
</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="start_position" type="Vector3" setter="set_start_position" getter="get_start_position" default="Vector3(0, 0, 0)">
The pathfinding start position in global coordinates.
</member>

9
doc/classes/NavigationServer2D.xml
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@ -947,6 +947,15 @@
If [code]true[/code] enables debug mode on the NavigationServer.
</description>
</method>
<method name="simplify_path">
<return type="PackedVector2Array" />
<param index="0" name="path" type="PackedVector2Array" />
<param index="1" name="epsilon" type="float" />
<description>
Returns a simplified version of [param path] with less critical path points removed. The simplification amount is in worlds units and controlled by [param 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".
</description>
</method>
</methods>
<signals>
<signal name="map_changed">

9
doc/classes/NavigationServer3D.xml
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@ -1094,6 +1094,15 @@
If [code]true[/code] enables debug mode on the NavigationServer.
</description>
</method>
<method name="simplify_path">
<return type="PackedVector3Array" />
<param index="0" name="path" type="PackedVector3Array" />
<param index="1" name="epsilon" type="float" />
<description>
Returns a simplified version of [param path] with less critical path points removed. The simplification amount is in worlds units and controlled by [param 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".
</description>
</method>
</methods>
<signals>
<signal name="avoidance_debug_changed">

4
modules/navigation/2d/godot_navigation_server_2d.cpp
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@ -229,6 +229,10 @@ bool GodotNavigationServer2D::is_baking_navigation_polygon(Ref<NavigationPolygon
#endif
}
Vector<Vector2> GodotNavigationServer2D::simplify_path(const Vector<Vector2> &p_path, real_t p_epsilon) {
return vector_v3_to_v2(NavigationServer3D::get_singleton()->simplify_path(vector_v2_to_v3(p_path), p_epsilon));
}
GodotNavigationServer2D::GodotNavigationServer2D() {}
GodotNavigationServer2D::~GodotNavigationServer2D() {}

2
modules/navigation/2d/godot_navigation_server_2d.h
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@ -252,6 +252,8 @@ public:
virtual void bake_from_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
virtual void bake_from_source_geometry_data_async(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
virtual bool is_baking_navigation_polygon(Ref<NavigationPolygon> p_navigation_polygon) const override;
virtual Vector<Vector2> simplify_path(const Vector<Vector2> &p_path, real_t p_epsilon) override;
};
#endif // GODOT_NAVIGATION_SERVER_2D_H

129
modules/navigation/3d/godot_navigation_server_3d.cpp
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@ -1381,11 +1381,140 @@ PathQueryResult GodotNavigationServer3D::_query_path(const PathQueryParameters &
// add path postprocessing
if (r_query_result.path.size() > 2 && p_parameters.simplify_path) {
const LocalVector<uint32_t> &simplified_path_indices = get_simplified_path_indices(r_query_result.path, p_parameters.simplify_epsilon);
uint32_t indices_count = simplified_path_indices.size();
{
Vector3 *w = r_query_result.path.ptrw();
const Vector3 *r = r_query_result.path.ptr();
for (uint32_t i = 0; i < indices_count; i++) {
w[i] = r[simplified_path_indices[i]];
}
r_query_result.path.resize(indices_count);
}
if (p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES)) {
int32_t *w = r_query_result.path_types.ptrw();
const int32_t *r = r_query_result.path_types.ptr();
for (uint32_t i = 0; i < indices_count; i++) {
w[i] = r[simplified_path_indices[i]];
}
r_query_result.path_types.resize(indices_count);
}
if (p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS)) {
TypedArray<RID> simplified_path_rids;
simplified_path_rids.resize(indices_count);
for (uint32_t i = 0; i < indices_count; i++) {
simplified_path_rids[i] = r_query_result.path_rids[i];
}
r_query_result.path_rids = simplified_path_rids;
}
if (p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS)) {
int64_t *w = r_query_result.path_owner_ids.ptrw();
const int64_t *r = r_query_result.path_owner_ids.ptr();
for (uint32_t i = 0; i < indices_count; i++) {
w[i] = r[simplified_path_indices[i]];
}
r_query_result.path_owner_ids.resize(indices_count);
}
}
// add path stats
return r_query_result;
}
Vector<Vector3> GodotNavigationServer3D::simplify_path(const Vector<Vector3> &p_path, real_t p_epsilon) {
if (p_path.size() <= 2) {
return p_path;
}
p_epsilon = MAX(0.0, p_epsilon);
LocalVector<uint32_t> simplified_path_indices = get_simplified_path_indices(p_path, p_epsilon);
uint32_t indices_count = simplified_path_indices.size();
Vector<Vector3> simplified_path;
simplified_path.resize(indices_count);
Vector3 *w = simplified_path.ptrw();
const Vector3 *r = p_path.ptr();
for (uint32_t i = 0; i < indices_count; i++) {
w[i] = r[simplified_path_indices[i]];
}
return simplified_path;
}
LocalVector<uint32_t> GodotNavigationServer3D::get_simplified_path_indices(const Vector<Vector3> &p_path, real_t p_epsilon) {
p_epsilon = MAX(0.0, p_epsilon);
real_t squared_epsilon = p_epsilon * p_epsilon;
LocalVector<bool> valid_points;
valid_points.resize(p_path.size());
for (uint32_t i = 0; i < valid_points.size(); i++) {
valid_points[i] = false;
}
simplify_path_segment(0, p_path.size() - 1, p_path, squared_epsilon, valid_points);
int valid_point_index = 0;
for (bool valid : valid_points) {
if (valid) {
valid_point_index += 1;
}
}
LocalVector<uint32_t> simplified_path_indices;
simplified_path_indices.resize(valid_point_index);
valid_point_index = 0;
for (uint32_t i = 0; i < valid_points.size(); i++) {
if (valid_points[i]) {
simplified_path_indices[valid_point_index] = i;
valid_point_index += 1;
}
}
return simplified_path_indices;
}
void GodotNavigationServer3D::simplify_path_segment(int p_start_inx, int p_end_inx, const Vector<Vector3> &p_points, real_t p_epsilon, LocalVector<bool> &r_valid_points) {
r_valid_points[p_start_inx] = true;
r_valid_points[p_end_inx] = true;
const Vector3 &start_point = p_points[p_start_inx];
const Vector3 &end_point = p_points[p_end_inx];
Vector3 path_segment[2] = { start_point, end_point };
real_t point_max_distance = 0.0;
int point_max_index = 0;
for (int i = p_start_inx; i < p_end_inx; i++) {
const Vector3 &checked_point = p_points[i];
const Vector3 closest_point = Geometry3D::get_closest_point_to_segment(checked_point, path_segment);
real_t distance_squared = closest_point.distance_squared_to(checked_point);
if (distance_squared > point_max_distance) {
point_max_index = i;
point_max_distance = distance_squared;
}
}
if (point_max_distance > p_epsilon) {
simplify_path_segment(p_start_inx, point_max_index, p_points, p_epsilon, r_valid_points);
simplify_path_segment(point_max_index, p_end_inx, p_points, p_epsilon, r_valid_points);
}
}
int GodotNavigationServer3D::get_process_info(ProcessInfo p_info) const {
switch (p_info) {
case INFO_ACTIVE_MAPS: {

7
modules/navigation/3d/godot_navigation_server_3d.h
View File

@ -264,6 +264,13 @@ public:
virtual void bake_from_source_geometry_data_async(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
virtual bool is_baking_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh) const override;
virtual Vector<Vector3> simplify_path(const Vector<Vector3> &p_path, real_t p_epsilon) override;
private:
static void simplify_path_segment(int p_start_inx, int p_end_inx, const Vector<Vector3> &p_points, real_t p_epsilon, LocalVector<bool> &r_valid_points);
static LocalVector<uint32_t> get_simplified_path_indices(const Vector<Vector3> &p_path, real_t p_epsilon);
public:
COMMAND_1(free, RID, p_object);
virtual void set_active(bool p_active) override;

26
scene/2d/navigation_agent_2d.cpp
View File

@ -89,6 +89,12 @@ void NavigationAgent2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_target_position", "position"), &NavigationAgent2D::set_target_position);
ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent2D::get_target_position);
ClassDB::bind_method(D_METHOD("set_simplify_path", "enabled"), &NavigationAgent2D::set_simplify_path);
ClassDB::bind_method(D_METHOD("get_simplify_path"), &NavigationAgent2D::get_simplify_path);
ClassDB::bind_method(D_METHOD("set_simplify_epsilon", "epsilon"), &NavigationAgent2D::set_simplify_epsilon);
ClassDB::bind_method(D_METHOD("get_simplify_epsilon"), &NavigationAgent2D::get_simplify_epsilon);
ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent2D::get_next_path_position);
ClassDB::bind_method(D_METHOD("set_velocity_forced", "velocity"), &NavigationAgent2D::set_velocity_forced);
@ -129,6 +135,8 @@ void NavigationAgent2D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "simplify_path"), "set_simplify_path", "get_simplify_path");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "simplify_epsilon", PROPERTY_HINT_RANGE, "0.0,10.0,0.001,or_greater,suffix:px"), "set_simplify_epsilon", "get_simplify_epsilon");
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
@ -427,6 +435,24 @@ void NavigationAgent2D::set_path_postprocessing(const NavigationPathQueryParamet
navigation_query->set_path_postprocessing(path_postprocessing);
}
void NavigationAgent2D::set_simplify_path(bool p_enabled) {
simplify_path = p_enabled;
navigation_query->set_simplify_path(simplify_path);
}
bool NavigationAgent2D::get_simplify_path() const {
return simplify_path;
}
void NavigationAgent2D::set_simplify_epsilon(real_t p_epsilon) {
simplify_epsilon = MAX(0.0, p_epsilon);
navigation_query->set_simplify_epsilon(simplify_epsilon);
}
real_t NavigationAgent2D::get_simplify_epsilon() const {
return simplify_epsilon;
}
void NavigationAgent2D::set_path_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_path_metadata_flags) {
if (path_metadata_flags == p_path_metadata_flags) {
return;

8
scene/2d/navigation_agent_2d.h
View File

@ -63,6 +63,8 @@ class NavigationAgent2D : public Node {
real_t time_horizon_obstacles = 0.0;
real_t max_speed = 100.0;
real_t path_max_distance = 100.0;
bool simplify_path = false;
real_t simplify_epsilon = 0.0;
Vector2 target_position;
@ -179,6 +181,12 @@ public:
void set_target_position(Vector2 p_position);
Vector2 get_target_position() const;
void set_simplify_path(bool p_enabled);
bool get_simplify_path() const;
void set_simplify_epsilon(real_t p_epsilon);
real_t get_simplify_epsilon() const;
Vector2 get_next_path_position();
Ref<NavigationPathQueryResult2D> get_current_navigation_result() const { return navigation_result; }

26
scene/3d/navigation_agent_3d.cpp
View File

@ -99,6 +99,12 @@ void NavigationAgent3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_target_position", "position"), &NavigationAgent3D::set_target_position);
ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationAgent3D::get_target_position);
ClassDB::bind_method(D_METHOD("set_simplify_path", "enabled"), &NavigationAgent3D::set_simplify_path);
ClassDB::bind_method(D_METHOD("get_simplify_path"), &NavigationAgent3D::get_simplify_path);
ClassDB::bind_method(D_METHOD("set_simplify_epsilon", "epsilon"), &NavigationAgent3D::set_simplify_epsilon);
ClassDB::bind_method(D_METHOD("get_simplify_epsilon"), &NavigationAgent3D::get_simplify_epsilon);
ClassDB::bind_method(D_METHOD("get_next_path_position"), &NavigationAgent3D::get_next_path_position);
ClassDB::bind_method(D_METHOD("set_velocity_forced", "velocity"), &NavigationAgent3D::set_velocity_forced);
@ -140,6 +146,8 @@ void NavigationAgent3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_path_metadata_flags", "get_path_metadata_flags");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "simplify_path"), "set_simplify_path", "get_simplify_path");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "simplify_epsilon", PROPERTY_HINT_RANGE, "0.0,10.0,0.001,or_greater,suffix:m"), "set_simplify_epsilon", "get_simplify_epsilon");
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
@ -464,6 +472,24 @@ void NavigationAgent3D::set_path_postprocessing(const NavigationPathQueryParamet
navigation_query->set_path_postprocessing(path_postprocessing);
}
void NavigationAgent3D::set_simplify_path(bool p_enabled) {
simplify_path = p_enabled;
navigation_query->set_simplify_path(simplify_path);
}
bool NavigationAgent3D::get_simplify_path() const {
return simplify_path;
}
void NavigationAgent3D::set_simplify_epsilon(real_t p_epsilon) {
simplify_epsilon = MAX(0.0, p_epsilon);
navigation_query->set_simplify_epsilon(simplify_epsilon);
}
real_t NavigationAgent3D::get_simplify_epsilon() const {
return simplify_epsilon;
}
void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_path_metadata_flags) {
if (path_metadata_flags == p_path_metadata_flags) {
return;

8
scene/3d/navigation_agent_3d.h
View File

@ -66,6 +66,8 @@ class NavigationAgent3D : public Node {
real_t time_horizon_obstacles = 0.0;
real_t max_speed = 10.0;
real_t path_max_distance = 5.0;
bool simplify_path = false;
real_t simplify_epsilon = 0.0;
Vector3 target_position;
@ -200,6 +202,12 @@ public:
void set_target_position(Vector3 p_position);
Vector3 get_target_position() const;
void set_simplify_path(bool p_enabled);
bool get_simplify_path() const;
void set_simplify_epsilon(real_t p_epsilon);
real_t get_simplify_epsilon() const;
Vector3 get_next_path_position();
Ref<NavigationPathQueryResult3D> get_current_navigation_result() const { return navigation_result; }

24
servers/navigation/navigation_path_query_parameters_2d.cpp
View File

@ -119,6 +119,22 @@ BitField<NavigationPathQueryParameters2D::PathMetadataFlags> NavigationPathQuery
return (int64_t)parameters.metadata_flags;
}
void NavigationPathQueryParameters2D::set_simplify_path(bool p_enabled) {
parameters.simplify_path = p_enabled;
}
bool NavigationPathQueryParameters2D::get_simplify_path() const {
return parameters.simplify_path;
}
void NavigationPathQueryParameters2D::set_simplify_epsilon(real_t p_epsilon) {
parameters.simplify_epsilon = MAX(0.0, p_epsilon);
}
real_t NavigationPathQueryParameters2D::get_simplify_epsilon() const {
return parameters.simplify_epsilon;
}
void NavigationPathQueryParameters2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationPathQueryParameters2D::set_pathfinding_algorithm);
ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationPathQueryParameters2D::get_pathfinding_algorithm);
@ -141,6 +157,12 @@ void NavigationPathQueryParameters2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_metadata_flags", "flags"), &NavigationPathQueryParameters2D::set_metadata_flags);
ClassDB::bind_method(D_METHOD("get_metadata_flags"), &NavigationPathQueryParameters2D::get_metadata_flags);
ClassDB::bind_method(D_METHOD("set_simplify_path", "enabled"), &NavigationPathQueryParameters2D::set_simplify_path);
ClassDB::bind_method(D_METHOD("get_simplify_path"), &NavigationPathQueryParameters2D::get_simplify_path);
ClassDB::bind_method(D_METHOD("set_simplify_epsilon", "epsilon"), &NavigationPathQueryParameters2D::set_simplify_epsilon);
ClassDB::bind_method(D_METHOD("get_simplify_epsilon"), &NavigationPathQueryParameters2D::get_simplify_epsilon);
ADD_PROPERTY(PropertyInfo(Variant::RID, "map"), "set_map", "get_map");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "start_position"), "set_start_position", "get_start_position");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "target_position"), "set_target_position", "get_target_position");
@ -148,6 +170,8 @@ void NavigationPathQueryParameters2D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
ADD_PROPERTY(PropertyInfo(Variant::INT, "metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_metadata_flags", "get_metadata_flags");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "simplify_path"), "set_simplify_path", "get_simplify_path");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "simplify_epsilon"), "set_simplify_epsilon", "get_simplify_epsilon");
BIND_ENUM_CONSTANT(PATHFINDING_ALGORITHM_ASTAR);

6
servers/navigation/navigation_path_query_parameters_2d.h
View File

@ -82,6 +82,12 @@ public:
void set_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_flags);
BitField<NavigationPathQueryParameters2D::PathMetadataFlags> get_metadata_flags() const;
void set_simplify_path(bool p_enabled);
bool get_simplify_path() const;
void set_simplify_epsilon(real_t p_epsilon);
real_t get_simplify_epsilon() const;
};
VARIANT_ENUM_CAST(NavigationPathQueryParameters2D::PathfindingAlgorithm);

24
servers/navigation/navigation_path_query_parameters_3d.cpp
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@ -119,6 +119,22 @@ BitField<NavigationPathQueryParameters3D::PathMetadataFlags> NavigationPathQuery
return (int64_t)parameters.metadata_flags;
}
void NavigationPathQueryParameters3D::set_simplify_path(bool p_enabled) {
parameters.simplify_path = p_enabled;
}
bool NavigationPathQueryParameters3D::get_simplify_path() const {
return parameters.simplify_path;
}
void NavigationPathQueryParameters3D::set_simplify_epsilon(real_t p_epsilon) {
parameters.simplify_epsilon = MAX(0.0, p_epsilon);
}
real_t NavigationPathQueryParameters3D::get_simplify_epsilon() const {
return parameters.simplify_epsilon;
}
void NavigationPathQueryParameters3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationPathQueryParameters3D::set_pathfinding_algorithm);
ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationPathQueryParameters3D::get_pathfinding_algorithm);
@ -141,6 +157,12 @@ void NavigationPathQueryParameters3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_metadata_flags", "flags"), &NavigationPathQueryParameters3D::set_metadata_flags);
ClassDB::bind_method(D_METHOD("get_metadata_flags"), &NavigationPathQueryParameters3D::get_metadata_flags);
ClassDB::bind_method(D_METHOD("set_simplify_path", "enabled"), &NavigationPathQueryParameters3D::set_simplify_path);
ClassDB::bind_method(D_METHOD("get_simplify_path"), &NavigationPathQueryParameters3D::get_simplify_path);
ClassDB::bind_method(D_METHOD("set_simplify_epsilon", "epsilon"), &NavigationPathQueryParameters3D::set_simplify_epsilon);
ClassDB::bind_method(D_METHOD("get_simplify_epsilon"), &NavigationPathQueryParameters3D::get_simplify_epsilon);
ADD_PROPERTY(PropertyInfo(Variant::RID, "map"), "set_map", "get_map");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "start_position"), "set_start_position", "get_start_position");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "target_position"), "set_target_position", "get_target_position");
@ -148,6 +170,8 @@ void NavigationPathQueryParameters3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
ADD_PROPERTY(PropertyInfo(Variant::INT, "metadata_flags", PROPERTY_HINT_FLAGS, "Include Types,Include RIDs,Include Owners"), "set_metadata_flags", "get_metadata_flags");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "simplify_path"), "set_simplify_path", "get_simplify_path");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "simplify_epsilon"), "set_simplify_epsilon", "get_simplify_epsilon");
BIND_ENUM_CONSTANT(PATHFINDING_ALGORITHM_ASTAR);

6
servers/navigation/navigation_path_query_parameters_3d.h
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@ -82,6 +82,12 @@ public:
void set_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_flags);
BitField<NavigationPathQueryParameters3D::PathMetadataFlags> get_metadata_flags() const;
void set_simplify_path(bool p_enabled);
bool get_simplify_path() const;
void set_simplify_epsilon(real_t p_epsilon);
real_t get_simplify_epsilon() const;
};
VARIANT_ENUM_CAST(NavigationPathQueryParameters3D::PathfindingAlgorithm);

2
servers/navigation/navigation_utilities.h
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@ -66,6 +66,8 @@ struct PathQueryParameters {
Vector3 target_position;
uint32_t navigation_layers = 1;
BitField<PathMetadataFlags> metadata_flags = PATH_INCLUDE_ALL;
bool simplify_path = false;
real_t simplify_epsilon = 0.0;
};
struct PathQueryResult {

2
servers/navigation_server_2d.cpp
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@ -165,6 +165,8 @@ void NavigationServer2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("bake_from_source_geometry_data_async", "navigation_polygon", "source_geometry_data", "callback"), &NavigationServer2D::bake_from_source_geometry_data_async, DEFVAL(Callable()));
ClassDB::bind_method(D_METHOD("is_baking_navigation_polygon", "navigation_polygon"), &NavigationServer2D::is_baking_navigation_polygon);
ClassDB::bind_method(D_METHOD("simplify_path", "path", "epsilon"), &NavigationServer2D::simplify_path);
ClassDB::bind_method(D_METHOD("free_rid", "rid"), &NavigationServer2D::free);
ClassDB::bind_method(D_METHOD("set_debug_enabled", "enabled"), &NavigationServer2D::set_debug_enabled);

2
servers/navigation_server_2d.h
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@ -306,6 +306,8 @@ public:
virtual void bake_from_source_geometry_data_async(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) = 0;
virtual bool is_baking_navigation_polygon(Ref<NavigationPolygon> p_navigation_polygon) const = 0;
virtual Vector<Vector2> simplify_path(const Vector<Vector2> &p_path, real_t p_epsilon) = 0;
NavigationServer2D();
~NavigationServer2D() override;

2
servers/navigation_server_2d_dummy.h
View File

@ -170,6 +170,8 @@ public:
void bake_from_source_geometry_data_async(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) override {}
bool is_baking_navigation_polygon(Ref<NavigationPolygon> p_navigation_polygon) const override { return false; }
Vector<Vector2> simplify_path(const Vector<Vector2> &p_path, real_t p_epsilon) override { return Vector<Vector2>(); }
void set_debug_enabled(bool p_enabled) {}
bool get_debug_enabled() const { return false; }
};

2
servers/navigation_server_3d.cpp
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@ -186,6 +186,8 @@ void NavigationServer3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("bake_from_source_geometry_data_async", "navigation_mesh", "source_geometry_data", "callback"), &NavigationServer3D::bake_from_source_geometry_data_async, DEFVAL(Callable()));
ClassDB::bind_method(D_METHOD("is_baking_navigation_mesh", "navigation_mesh"), &NavigationServer3D::is_baking_navigation_mesh);
ClassDB::bind_method(D_METHOD("simplify_path", "path", "epsilon"), &NavigationServer3D::simplify_path);
ClassDB::bind_method(D_METHOD("free_rid", "rid"), &NavigationServer3D::free);
ClassDB::bind_method(D_METHOD("set_active", "active"), &NavigationServer3D::set_active);

2
servers/navigation_server_3d.h
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@ -349,6 +349,8 @@ public:
virtual void bake_from_source_geometry_data_async(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable()) = 0;
virtual bool is_baking_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh) const = 0;
virtual Vector<Vector3> simplify_path(const Vector<Vector3> &p_path, real_t p_epsilon) = 0;
NavigationServer3D();
~NavigationServer3D() override;

2
servers/navigation_server_3d_dummy.h
View File

@ -180,6 +180,8 @@ public:
void bake_from_source_geometry_data_async(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable()) override {}
bool is_baking_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh) const override { return false; }
Vector<Vector3> simplify_path(const Vector<Vector3> &p_path, real_t p_epsilon) override { return Vector<Vector3>(); }
void free(RID p_object) override {}
void set_active(bool p_active) override {}
void process(real_t delta_time) override {}