2D Agent used in navigation for collision avoidance.
2D Agent that is used in navigation to reach a location while avoiding static and dynamic obstacles. The dynamic obstacles are avoided using RVO collision avoidance. The agent needs navigation data to work correctly. This can be done by having the agent as a child of a Navigation2D node, or using set_navigation.
NavigationAgent2D is physics safe.
|float||distance_to_target ( ) const|
|Vector2||get_final_location ( )|
|PackedVector2Array||get_nav_path ( ) const|
|int||get_nav_path_index ( ) const|
|Node||get_navigation ( ) const|
|Vector2||get_next_location ( )|
|Vector2||get_target_location ( ) const|
|bool||is_navigation_finished ( )|
|bool||is_target_reachable ( )|
|bool||is_target_reached ( ) const|
|void||set_navigation ( Node navigation )|
|void||set_target_location ( Vector2 location )|
|void||set_velocity ( Vector2 velocity )|
- navigation_finished ( )
Notifies when the final location is reached.
- path_changed ( )
Notifies when the navigation path changes.
- target_reached ( )
Notifies when the player defined target, set with set_target_location, is reached.
- velocity_computed ( Vector3 safe_velocity )
Notifies when the collision avoidance velocity is calculated. Emitted by set_velocity.
- int max_neighbors
The maximum number of neighbors for the agent to consider.
- float max_speed
The maximum speed that an agent can move.
- float neighbor_dist
The distance to search for other agents.
- float path_max_distance
The maximum distance the agent is allowed away from the ideal path to the final location. This can happen due to trying to avoid collisions. When the maximum distance is exceeded, it recalculates the ideal path.
- float radius
The radius of the agent.
- float target_desired_distance
The distance threshold before a target is considered to be reached. This will allow an agent to not have to hit a point on the path exactly, but in the area.
- float time_horizon
The minimal amount of time for which this agent’s velocities, that are computed with the collision avoidance algorithim, 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.
- float distance_to_target ( ) const
Returns the distance to the target location, using the agent’s global position. The user must set the target location with set_target_location in order for this to be accurate.
- Vector2 get_final_location ( )
Returns the reachable final location in global coordinates. This can change if the navigation path is altered in any way.
- PackedVector2Array get_nav_path ( ) const
Returns the path from start to finish in global coordinates.
- int get_nav_path_index ( ) const
Returns which index the agent is currently on in the navigation path’s PackedVector2Array.
- Node get_navigation ( ) const
Returns the Navigation2D node that the agent is using for its navigation system.
- Vector2 get_next_location ( )
Returns a Vector2 in global coordinates, that can be moved to, making sure that there are no static objects in the way. If the agent does not have a navigation path, it will return the position of the agent’s parent.
- Vector2 get_target_location ( ) const
Returns the user defined Vector2 after setting the target location.
- bool is_navigation_finished ( )
Returns true if the navigation path’s final location has been reached.
- bool is_target_reachable ( )
Returns true if the target location is reachable. The target location is set using set_target_location.
- bool is_target_reached ( ) const
Returns true if the target location is reached. The target location is set using set_target_location. It may not always be possible to reach the target location. It should always be possible to reach the final location though. See get_final_location.
- void set_navigation ( Node navigation )
- void set_target_location ( Vector2 location )
Sets the user desired final location. This will clear the current navigation path.
- void set_velocity ( Vector2 velocity )
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 velocity_computed signal.