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Expose NavigationAgent path postprocessing and pathfinding algorithm options #75326

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Apr 3, 2023
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Expose NavigationAgent path postprocessing and pathfinding algorithm options #75326

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6 changes: 6 additions & 0 deletions doc/classes/NavigationAgent2D.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -147,6 +147,12 @@
<member name="path_metadata_flags" type="int" setter="set_path_metadata_flags" getter="get_path_metadata_flags" enum="NavigationPathQueryParameters2D.PathMetadataFlags" default="7">
Additional information to return with the navigation path.
</member>
<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters2D.PathPostProcessing" default="0">
The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
</member>
<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="radius" type="float" setter="set_radius" getter="get_radius" default="10.0">
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.
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6 changes: 6 additions & 0 deletions doc/classes/NavigationAgent3D.xml
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Expand Up @@ -150,6 +150,12 @@
<member name="path_metadata_flags" type="int" setter="set_path_metadata_flags" getter="get_path_metadata_flags" enum="NavigationPathQueryParameters3D.PathMetadataFlags" default="7">
Additional information to return with the navigation path.
</member>
<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters3D.PathPostProcessing" default="0">
The path postprocessing applied to the raw path corridor found by the [member pathfinding_algorithm].
</member>
<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="radius" type="float" setter="set_radius" getter="get_radius" default="0.5">
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.
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28 changes: 28 additions & 0 deletions scene/2d/navigation_agent_2d.cpp
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Expand Up @@ -71,6 +71,12 @@ void NavigationAgent2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent2D::set_navigation_layer_value);
ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent2D::get_navigation_layer_value);

ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent2D::set_pathfinding_algorithm);
ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent2D::get_pathfinding_algorithm);

ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent2D::set_path_postprocessing);
ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent2D::get_path_postprocessing);

ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent2D::set_path_metadata_flags);
ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent2D::get_path_metadata_flags);

Expand Down Expand Up @@ -99,6 +105,8 @@ void NavigationAgent2D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,1000,0.01,or_greater,suffix:px"), "set_target_desired_distance", "get_target_desired_distance");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "10,1000,1,or_greater,suffix:px"), "set_path_max_distance", "get_path_max_distance");
ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
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_GROUP("Avoidance", "");
Expand Down Expand Up @@ -328,6 +336,26 @@ bool NavigationAgent2D::get_navigation_layer_value(int p_layer_number) const {
return get_navigation_layers() & (1 << (p_layer_number - 1));
}

void NavigationAgent2D::set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm) {
if (pathfinding_algorithm == p_pathfinding_algorithm) {
return;
}

pathfinding_algorithm = p_pathfinding_algorithm;

navigation_query->set_pathfinding_algorithm(pathfinding_algorithm);
}

void NavigationAgent2D::set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing) {
if (path_postprocessing == p_path_postprocessing) {
return;
}

path_postprocessing = p_path_postprocessing;

navigation_query->set_path_postprocessing(path_postprocessing);
}

void NavigationAgent2D::set_path_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_path_metadata_flags) {
if (path_metadata_flags == p_path_metadata_flags) {
return;
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12 changes: 12 additions & 0 deletions scene/2d/navigation_agent_2d.h
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Expand Up @@ -48,6 +48,8 @@ class NavigationAgent2D : public Node {

bool avoidance_enabled = false;
uint32_t navigation_layers = 1;
NavigationPathQueryParameters2D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters2D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
NavigationPathQueryParameters2D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters2D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
BitField<NavigationPathQueryParameters2D::PathMetadataFlags> path_metadata_flags = NavigationPathQueryParameters2D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL;

real_t path_desired_distance = 20.0;
Expand Down Expand Up @@ -112,6 +114,16 @@ class NavigationAgent2D : public Node {
void set_navigation_layer_value(int p_layer_number, bool p_value);
bool get_navigation_layer_value(int p_layer_number) const;

void set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm);
NavigationPathQueryParameters2D::PathfindingAlgorithm get_pathfinding_algorithm() const {
return pathfinding_algorithm;
}

void set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing);
NavigationPathQueryParameters2D::PathPostProcessing get_path_postprocessing() const {
return path_postprocessing;
}

void set_path_metadata_flags(BitField<NavigationPathQueryParameters2D::PathMetadataFlags> p_flags);
BitField<NavigationPathQueryParameters2D::PathMetadataFlags> get_path_metadata_flags() const {
return path_metadata_flags;
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28 changes: 28 additions & 0 deletions scene/3d/navigation_agent_3d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,12 @@ void NavigationAgent3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationAgent3D::set_navigation_layer_value);
ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationAgent3D::get_navigation_layer_value);

ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationAgent3D::set_pathfinding_algorithm);
ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationAgent3D::get_pathfinding_algorithm);

ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationAgent3D::set_path_postprocessing);
ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationAgent3D::get_path_postprocessing);

ClassDB::bind_method(D_METHOD("set_path_metadata_flags", "flags"), &NavigationAgent3D::set_path_metadata_flags);
ClassDB::bind_method(D_METHOD("get_path_metadata_flags"), &NavigationAgent3D::get_path_metadata_flags);

Expand Down Expand Up @@ -104,6 +110,8 @@ void NavigationAgent3D::_bind_methods() {
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height_offset", PROPERTY_HINT_RANGE, "-100.0,100,0.01,or_greater,suffix:m"), "set_agent_height_offset", "get_agent_height_offset");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "path_max_distance", PROPERTY_HINT_RANGE, "0.01,100,0.1,or_greater,suffix:m"), "set_path_max_distance", "get_path_max_distance");
ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
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_GROUP("Avoidance", "");
Expand Down Expand Up @@ -335,6 +343,26 @@ bool NavigationAgent3D::get_navigation_layer_value(int p_layer_number) const {
return get_navigation_layers() & (1 << (p_layer_number - 1));
}

void NavigationAgent3D::set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm) {
if (pathfinding_algorithm == p_pathfinding_algorithm) {
return;
}

pathfinding_algorithm = p_pathfinding_algorithm;

navigation_query->set_pathfinding_algorithm(pathfinding_algorithm);
}

void NavigationAgent3D::set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing) {
if (path_postprocessing == p_path_postprocessing) {
return;
}

path_postprocessing = p_path_postprocessing;

navigation_query->set_path_postprocessing(path_postprocessing);
}

void NavigationAgent3D::set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_path_metadata_flags) {
if (path_metadata_flags == p_path_metadata_flags) {
return;
Expand Down
12 changes: 12 additions & 0 deletions scene/3d/navigation_agent_3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,8 @@ class NavigationAgent3D : public Node {

bool avoidance_enabled = false;
uint32_t navigation_layers = 1;
NavigationPathQueryParameters3D::PathfindingAlgorithm pathfinding_algorithm = NavigationPathQueryParameters3D::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
NavigationPathQueryParameters3D::PathPostProcessing path_postprocessing = NavigationPathQueryParameters3D::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
BitField<NavigationPathQueryParameters3D::PathMetadataFlags> path_metadata_flags = NavigationPathQueryParameters3D::PathMetadataFlags::PATH_METADATA_INCLUDE_ALL;

real_t path_desired_distance = 1.0;
Expand Down Expand Up @@ -116,6 +118,16 @@ class NavigationAgent3D : public Node {
void set_navigation_layer_value(int p_layer_number, bool p_value);
bool get_navigation_layer_value(int p_layer_number) const;

void set_pathfinding_algorithm(const NavigationPathQueryParameters3D::PathfindingAlgorithm p_pathfinding_algorithm);
NavigationPathQueryParameters3D::PathfindingAlgorithm get_pathfinding_algorithm() const {
return pathfinding_algorithm;
}

void set_path_postprocessing(const NavigationPathQueryParameters3D::PathPostProcessing p_path_postprocessing);
NavigationPathQueryParameters3D::PathPostProcessing get_path_postprocessing() const {
return path_postprocessing;
}

void set_path_metadata_flags(BitField<NavigationPathQueryParameters3D::PathMetadataFlags> p_flags);
BitField<NavigationPathQueryParameters3D::PathMetadataFlags> get_path_metadata_flags() const {
return path_metadata_flags;
Expand Down