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NavigationAgent3D¶
3D Agent used in navigation for collision avoidance.
Description¶
3D Agent that is used in navigation to reach a position 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.
Note: After target_position is set, the get_next_path_position function must be used once every physics frame to update the internal path logic of the NavigationAgent. The returned position from this function should be used as the next movement position for the agent's parent node.
Tutorials¶
Properties¶
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Methods¶
distance_to_target ( ) const |
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get_avoidance_layer_value ( int layer_number ) const |
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get_avoidance_mask_value ( int mask_number ) const |
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get_current_navigation_path ( ) const |
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get_current_navigation_path_index ( ) const |
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get_current_navigation_result ( ) const |
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get_navigation_layer_value ( int layer_number ) const |
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get_navigation_map ( ) const |
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get_rid ( ) const |
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is_target_reached ( ) const |
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void |
set_avoidance_layer_value ( int layer_number, bool value ) |
void |
set_avoidance_mask_value ( int mask_number, bool value ) |
void |
set_navigation_layer_value ( int layer_number, bool value ) |
void |
set_navigation_map ( RID navigation_map ) |
void |
set_velocity_forced ( Vector3 velocity ) |
Signals¶
link_reached ( Dictionary details )
Notifies when a navigation link has been reached.
The details dictionary may contain the following keys depending on the value of path_metadata_flags:
position
: The start position of the link that was reached.type
: Always NavigationPathQueryResult3D.PATH_SEGMENT_TYPE_LINK.rid
: The RID of the link.owner
: The object which manages the link (usually NavigationLink3D).link_entry_position
: Ifowner
is available and the owner is a NavigationLink2D, it will contain the global position of the link's point the agent is entering.link_exit_position
: Ifowner
is available and the owner is a NavigationLink2D, it will contain the global position of the link's point which the agent is exiting.
navigation_finished ( )
Notifies when the final position is reached.
path_changed ( )
Notifies when the navigation path changes.
target_reached ( )
Notifies when the player-defined target_position is reached.
velocity_computed ( Vector3 safe_velocity )
Notifies when the collision avoidance velocity is calculated. Emitted when velocity is set. Only emitted when avoidance_enabled is true.
waypoint_reached ( Dictionary details )
Notifies when a waypoint along the path has been reached.
The details dictionary may contain the following keys depending on the value of path_metadata_flags:
position
: The position of the waypoint that was reached.type
: The type of navigation primitive (region or link) that contains this waypoint.rid
: The RID of the containing navigation primitive (region or link).owner
: The object which manages the containing navigation primitive (region or link).
Property Descriptions¶
bool avoidance_enabled = false
If true
the agent is registered for an RVO avoidance callback on the NavigationServer3D. When velocity is set and the processing is completed a safe_velocity
Vector3 is received with a signal connection to velocity_computed. Avoidance processing with many registered agents has a significant performance cost and should only be enabled on agents that currently require it.
int avoidance_layers = 1
A bitfield determining the avoidance layers for this NavigationAgent. Other agent's with a matching bit on the avoidance_mask will avoid this agent.
int avoidance_mask = 1
A bitfield determining what other avoidance agent's and obstacles this NavigationAgent will avoid when a bit matches at least one of their avoidance_layers.
float avoidance_priority = 1.0
The agent does not adjust the velocity for other agents that would match the avoidance_mask but have a lower avoidance_priority. This in turn makes the other agents with lower priority adjust their velocities even more to avoid collision with this agent.
bool debug_enabled = false
If true
shows debug visuals for this agent.
Color debug_path_custom_color = Color(1, 1, 1, 1)
If debug_use_custom is true
uses this color for this agent instead of global color.
float debug_path_custom_point_size = 4.0
If debug_use_custom is true
uses this rasterized point size for rendering path points for this agent instead of global point size.
bool debug_use_custom = false
If true
uses the defined debug_path_custom_color for this agent instead of global color.
float height = 1.0
The height of the avoidance agent. Agent's will ignore other agents or obstacles that are above or below their current position + height in 2D avoidance. Does nothing in 3D avoidance which uses radius spheres alone.
int max_neighbors = 10
The maximum number of neighbors for the agent to consider.
float max_speed = 10.0
The maximum speed that an agent can move.
int navigation_layers = 1
A bitfield determining what navigation layers of navigation regions this agent will use to calculate path. Changing it runtime will clear current navigation path and generate new one, according to new navigation layers.
float neighbor_distance = 50.0
The distance to search for other agents.
float path_desired_distance = 1.0
The distance threshold before a path point is considered to be reached. This will allow an agent to not have to hit a path point on the path exactly, but in the area. If this value is set to high the NavigationAgent will skip points on the path which can lead to leaving the navigation mesh. If this value is set to low the NavigationAgent will be stuck in a repath loop cause it will constantly overshoot or undershoot the distance to the next point on each physics frame update.
float path_height_offset = 0.0
The height offset is subtracted from the y-axis value of any vector path position for this NavigationAgent. The NavigationAgent height offset does not change or influence the navigation mesh or pathfinding query result. Additional navigation maps that use regions with navigation meshes that the developer baked with appropriate agent radius or height values are required to support different-sized agents.
float path_max_distance = 5.0
The maximum distance the agent is allowed away from the ideal path to the final position. This can happen due to trying to avoid collisions. When the maximum distance is exceeded, it recalculates the ideal path.
PathMetadataFlags path_metadata_flags = 7