NavigationAgent3D

Inherits: Node < Object

3D Agent used in navigation for collision avoidance.

Description

3D 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. NavigationAgent3D is physics safe.

Properties

float	agent_height_offset	0.0
bool	ignore_y	true
int	max_neighbors	10
float	max_speed	10.0
float	neighbor_dist	50.0
float	path_max_distance	3.0
float	radius	1.0
float	target_desired_distance	1.0
float	time_horizon	5.0

Methods

float	distance_to_target ( ) const
Vector3	get_final_location ( )
PackedVector3Array	get_nav_path ( ) const
int	get_nav_path_index ( ) const
Vector3	get_next_location ( )
RID	get_rid ( ) const
Vector3	get_target_location ( ) const
bool	is_navigation_finished ( )
bool	is_target_reachable ( )
bool	is_target_reached ( ) const
void	set_target_location ( Vector3 location )
void	set_velocity ( Vector3 velocity )

Signals

• navigation_finished ( )

Notifies when the final location is reached.

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• path_changed ( )

Notifies when the navigation path changes.

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• target_reached ( )

Notifies when the player defined target, set with set_target_location, is reached.

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• velocity_computed ( Vector3 safe_velocity )

Notifies when the collision avoidance velocity is calculated. Emitted by set_velocity.

Property Descriptions

• float agent_height_offset

Default	0.0
Setter	set_agent_height_offset(value)
Getter	get_agent_height_offset()

The agent height offset to match the navigation mesh height.

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• bool ignore_y

Default	true
Setter	set_ignore_y(value)
Getter	get_ignore_y()

Ignores collisions on the Y axis. Must be true to move on a horizontal plane.

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• int max_neighbors

Default	10
Setter	set_max_neighbors(value)
Getter	get_max_neighbors()

The maximum number of neighbors for the agent to consider.

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• float max_speed

Default	10.0
Setter	set_max_speed(value)
Getter	get_max_speed()

The maximum speed that an agent can move.

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• float neighbor_dist

Default	50.0
Setter	set_neighbor_dist(value)
Getter	get_neighbor_dist()

The distance to search for other agents.

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• float path_max_distance

Default	3.0
Setter	set_path_max_distance(value)
Getter	get_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.

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• float radius

Default	1.0
Setter	set_radius(value)
Getter	get_radius()

The radius of the agent.

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• float target_desired_distance

Default	1.0
Setter	set_target_desired_distance(value)
Getter	get_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.

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• float time_horizon

Default	5.0
Setter	set_time_horizon(value)
Getter	get_time_horizon()

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.

Method Descriptions

• 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.

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• Vector3 get_final_location ( )

Returns the reachable final location 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.

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• PackedVector3Array get_nav_path ( ) const

Returns the path from start to finish in global coordinates.

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• int get_nav_path_index ( ) const

Returns which index the agent is currently on in the navigation path's PackedVector3Array.

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• Vector3 get_next_location ( )

Returns a Vector3 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 origin of the agent's parent.

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• RID get_rid ( ) const

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• Vector3 get_target_location ( ) const

Returns the user defined Vector3 after setting the target location.

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• bool is_navigation_finished ( )

Returns true if the navigation path's final location has been reached.

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• bool is_target_reachable ( )

Returns true if the target location is reachable. The target location is set using set_target_location.

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• 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.

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• void set_target_location ( Vector3 location )

Sets the user desired final location. This will clear the current navigation path.

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• void set_velocity ( Vector3 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.