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NavigationServer2D¶

Inherits: Object

A server interface for low-level 2D navigation access.

Description¶

NavigationServer2D is the server that handles navigation maps, regions and agents. It does not handle A* navigation from AStar2D or AStarGrid2D.

Maps are made up of regions, which are made of navigation polygons. Together, they define the traversable areas in the 2D world.

Note: Most NavigationServer2D changes take effect after the next physics frame and not immediately. This includes all changes made to maps, regions or agents by navigation-related nodes in the scene tree or made through scripts.

For two regions to be connected to each other, they must share a similar edge. An edge is considered connected to another if both of its two vertices are at a distance less than edge_connection_margin to the respective other edge's vertex.

You may assign navigation layers to regions with region_set_navigation_layers, which then can be checked upon when requesting a path with map_get_path. This can be used to allow or deny certain areas for some objects.

To use the collision avoidance system, you may use agents. You can set an agent's target velocity, then the servers will emit a callback with a modified velocity.

Note: The collision avoidance system ignores regions. Using the modified velocity directly may move an agent outside of the traversable area. This is a limitation of the collision avoidance system, any more complex situation may require the use of the physics engine.

This server keeps tracks of any call and executes them during the sync phase. This means that you can request any change to the map, using any thread, without worrying.

Tutorials¶

Methods¶

RID	agent_create ( )
bool	agent_get_avoidance_enabled ( RID agent ) const
RID	agent_get_map ( RID agent ) const
bool	agent_is_map_changed ( RID agent ) const
void	agent_set_avoidance_callback ( RID agent, Callable callback )
void	agent_set_avoidance_enabled ( RID agent, bool enabled )
void	agent_set_avoidance_layers ( RID agent, int layers )
void	agent_set_avoidance_mask ( RID agent, int mask )
void	agent_set_avoidance_priority ( RID agent, float priority )
void	agent_set_map ( RID agent, RID map )
void	agent_set_max_neighbors ( RID agent, int count )
void	agent_set_max_speed ( RID agent, float max_speed )
void	agent_set_neighbor_distance ( RID agent, float distance )
void	agent_set_position ( RID agent, Vector2 position )
void	agent_set_radius ( RID agent, float radius )
void	agent_set_time_horizon_agents ( RID agent, float time_horizon )
void	agent_set_time_horizon_obstacles ( RID agent, float time_horizon )
void	agent_set_velocity ( RID agent, Vector2 velocity )
void	agent_set_velocity_forced ( RID agent, Vector2 velocity )
void	free_rid ( RID rid )
bool	get_debug_enabled ( ) const
RID[]	get_maps ( ) const
RID	link_create ( )
Vector2	link_get_end_position ( RID link ) const
float	link_get_enter_cost ( RID link ) const
RID	link_get_map ( RID link ) const
int	link_get_navigation_layers ( RID link ) const
int	link_get_owner_id ( RID link ) const
Vector2	link_get_start_position ( RID link ) const
float	link_get_travel_cost ( RID link ) const
bool	link_is_bidirectional ( RID link ) const
void	link_set_bidirectional ( RID link, bool bidirectional )
void	link_set_end_position ( RID link, Vector2 position )
void	link_set_enter_cost ( RID link, float enter_cost )
void	link_set_map ( RID link, RID map )
void	link_set_navigation_layers ( RID link, int navigation_layers )
void	link_set_owner_id ( RID link, int owner_id )
void	link_set_start_position ( RID link, Vector2 position )
void	link_set_travel_cost ( RID link, float travel_cost )
RID	map_create ( )
void	map_force_update ( RID map )
RID[]	map_get_agents ( RID map ) const
float	map_get_cell_size ( RID map ) const
Vector2	map_get_closest_point ( RID map, Vector2 to_point ) const
RID	map_get_closest_point_owner ( RID map, Vector2 to_point ) const
float	map_get_edge_connection_margin ( RID map ) const
float	map_get_link_connection_radius ( RID map ) const
RID[]	map_get_links ( RID map ) const
RID[]	map_get_obstacles ( RID map ) const
PackedVector2Array	map_get_path ( RID map, Vector2 origin, Vector2 destination, bool optimize, int navigation_layers=1 ) const
RID[]	map_get_regions ( RID map ) const
bool	map_get_use_edge_connections ( RID map ) const
bool	map_is_active ( RID map ) const
void	map_set_active ( RID map, bool active )
void	map_set_cell_size ( RID map, float cell_size )
void	map_set_edge_connection_margin ( RID map, float margin )
void	map_set_link_connection_radius ( RID map, float radius )
void	map_set_use_edge_connections ( RID map, bool enabled )
RID	obstacle_create ( )
RID	obstacle_get_map ( RID obstacle ) const
void	obstacle_set_avoidance_layers ( RID obstacle, int layers )
void	obstacle_set_map ( RID obstacle, RID map )
void	obstacle_set_position ( RID obstacle, Vector2 position )
void	obstacle_set_vertices ( RID obstacle, PackedVector2Array vertices )
void	query_path ( NavigationPathQueryParameters2D parameters, NavigationPathQueryResult2D result ) const
RID	region_create ( )
Vector2	region_get_connection_pathway_end ( RID region, int connection ) const
Vector2	region_get_connection_pathway_start ( RID region, int connection ) const
int	region_get_connections_count ( RID region ) const
float	region_get_enter_cost ( RID region ) const
RID	region_get_map ( RID region ) const
int	region_get_navigation_layers ( RID region ) const
int	region_get_owner_id ( RID region ) const
float	region_get_travel_cost ( RID region ) const
bool	region_get_use_edge_connections (