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Refactor: navigation_obstacle_3d #70239

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Refactor: navigation_obstacle_3d #70239

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55 changes: 22 additions & 33 deletions scene/3d/navigation_obstacle_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,10 +50,8 @@ void NavigationObstacle3D::_bind_methods() {
}

void NavigationObstacle3D::_validate_property(PropertyInfo &p_property) const {
if (p_property.name == "radius") {
if (estimate_radius) {
p_property.usage = PROPERTY_USAGE_NO_EDITOR;
}
if (p_property.name == "radius" && estimate_radius) {
p_property.usage = PROPERTY_USAGE_NO_EDITOR;
}
}

Expand All @@ -70,7 +68,7 @@ void NavigationObstacle3D::_notification(int p_what) {
} break;

case NOTIFICATION_PARENTED: {
if (is_inside_tree() && (get_parent() != parent_node3d)) {
if (is_inside_tree() && get_parent() != parent_node3d) {
set_agent_parent(get_parent());
set_physics_process_internal(true);
}
Expand All @@ -81,21 +79,12 @@ void NavigationObstacle3D::_notification(int p_what) {
set_physics_process_internal(false);
} break;

case NOTIFICATION_PAUSED: {
if (parent_node3d && !parent_node3d->can_process()) {
map_before_pause = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
} else if (parent_node3d && parent_node3d->can_process() && !(map_before_pause == RID())) {
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
map_before_pause = RID();
}
} break;

case NOTIFICATION_PAUSED:
case NOTIFICATION_UNPAUSED: {
if (parent_node3d && !parent_node3d->can_process()) {
map_before_pause = NavigationServer3D::get_singleton()->agent_get_map(get_rid());
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
} else if (parent_node3d && parent_node3d->can_process() && !(map_before_pause == RID())) {
} else if (parent_node3d && parent_node3d->can_process() && map_before_pause != RID()) {
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), map_before_pause);
map_before_pause = RID();
}
Expand All @@ -105,11 +94,11 @@ void NavigationObstacle3D::_notification(int p_what) {
if (parent_node3d && parent_node3d->is_inside_tree()) {
NavigationServer3D::get_singleton()->agent_set_position(agent, parent_node3d->get_global_transform().origin);

PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent());
const PhysicsBody3D *rigid = Object::cast_to<PhysicsBody3D>(get_parent());
if (rigid) {
Vector3 v = rigid->get_linear_velocity();
NavigationServer3D::get_singleton()->agent_set_velocity(agent, v);
NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, v);
const Vector3 velocity = rigid->get_linear_velocity();
NavigationServer3D::get_singleton()->agent_set_velocity(agent, velocity);
NavigationServer3D::get_singleton()->agent_set_target_velocity(agent, velocity);
}
}
} break;
Expand All @@ -118,7 +107,7 @@ void NavigationObstacle3D::_notification(int p_what) {

NavigationObstacle3D::NavigationObstacle3D() {
agent = NavigationServer3D::get_singleton()->agent_create();
initialize_agent();
_initialize_agent();
}

NavigationObstacle3D::~NavigationObstacle3D() {
Expand All @@ -141,37 +130,37 @@ PackedStringArray NavigationObstacle3D::get_configuration_warnings() const {
return warnings;
}

void NavigationObstacle3D::initialize_agent() {
void NavigationObstacle3D::_initialize_agent() const {
NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, 0.0);
NavigationServer3D::get_singleton()->agent_set_max_neighbors(agent, 0);
NavigationServer3D::get_singleton()->agent_set_time_horizon(agent, 0.0);
NavigationServer3D::get_singleton()->agent_set_max_speed(agent, 0.0);
}

void NavigationObstacle3D::reevaluate_agent_radius() {
void NavigationObstacle3D::_reevaluate_agent_radius() const {
if (!estimate_radius) {
NavigationServer3D::get_singleton()->agent_set_radius(agent, radius);
} else if (parent_node3d && parent_node3d->is_inside_tree()) {
NavigationServer3D::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
NavigationServer3D::get_singleton()->agent_set_radius(agent, _estimate_agent_radius());
}
}

real_t NavigationObstacle3D::estimate_agent_radius() const {
real_t NavigationObstacle3D::_estimate_agent_radius() const {
if (parent_node3d && parent_node3d->is_inside_tree()) {
// Estimate the radius of this physics body
real_t max_radius = 0.0;
for (int i(0); i < parent_node3d->get_child_count(); i++) {
// For each collision shape
CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(parent_node3d->get_child(i));
const CollisionShape3D *cs = Object::cast_to<CollisionShape3D>(parent_node3d->get_child(i));
if (cs && cs->is_inside_tree()) {
// Take the distance between the Body center to the shape center
real_t r = cs->get_transform().origin.length();
if (cs->get_shape().is_valid()) {
// and add the enclosing shape radius
r += cs->get_shape()->get_enclosing_radius();
}
Vector3 s = cs->get_global_transform().basis.get_scale();
r *= MAX(s.x, MAX(s.y, s.z));
const Vector3 scale = cs->get_global_transform().basis.get_scale();
r *= MAX(scale.x, MAX(scale.y, scale.z));
// Takes the biggest radius
max_radius = MAX(max_radius, r);
} else if (cs && !cs->is_inside_tree()) {
Expand All @@ -180,8 +169,8 @@ real_t NavigationObstacle3D::estimate_agent_radius() const {
}
}

Vector3 s = parent_node3d->get_global_transform().basis.get_scale();
max_radius *= MAX(s.x, MAX(s.y, s.z));
const Vector3 scale = parent_node3d->get_global_transform().basis.get_scale();
max_radius *= MAX(scale.x, MAX(scale.y, scale.z));

if (max_radius > 0.0) {
return max_radius;
Expand All @@ -198,7 +187,7 @@ void NavigationObstacle3D::set_agent_parent(Node *p_agent_parent) {
} else {
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), parent_node3d->get_world_3d()->get_navigation_map());
}
reevaluate_agent_radius();
_reevaluate_agent_radius();
} else {
parent_node3d = nullptr;
NavigationServer3D::get_singleton()->agent_set_map(get_rid(), RID());
Expand All @@ -222,11 +211,11 @@ RID NavigationObstacle3D::get_navigation_map() const {
void NavigationObstacle3D::set_estimate_radius(bool p_estimate_radius) {
estimate_radius = p_estimate_radius;
notify_property_list_changed();
reevaluate_agent_radius();
_reevaluate_agent_radius();
}

void NavigationObstacle3D::set_radius(real_t p_radius) {
ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
radius = p_radius;
reevaluate_agent_radius();
_reevaluate_agent_radius();
}
6 changes: 3 additions & 3 deletions scene/3d/navigation_obstacle_3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,9 +75,9 @@ class NavigationObstacle3D : public Node {
PackedStringArray get_configuration_warnings() const override;

private:
void initialize_agent();
void reevaluate_agent_radius();
real_t estimate_agent_radius() const;
void _initialize_agent() const;
void _reevaluate_agent_radius() const;
real_t _estimate_agent_radius() const;
};

#endif // NAVIGATION_OBSTACLE_3D_H