NavigationServer2D

Inherits: Object

Server interface for low-level 2D navigation access

Description

NavigationServer2D is the server responsible for all 2D navigation. It handles several objects, namely maps, regions and agents.

Maps are made up of regions, which are made of navigation polygons. Together, they define the navigable areas in the 2D world. 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_layers, which then can be checked upon when requesting a path with map_get_path. This allows allowing or forbidding some areas to 2D 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 as-is might lead to pushing and agent outside of a navigable 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

• 2D Navigation Demo

Methods

RID	agent_create ( ) const
bool	agent_is_map_changed ( RID agent ) const
void	agent_set_callback ( RID agent, Object receiver, StringName method, Variant userdata=null ) const
void	agent_set_map ( RID agent, RID map ) const
void	agent_set_max_neighbors ( RID agent, int count ) const
void	agent_set_max_speed ( RID agent, float max_speed ) const
void	agent_set_neighbor_dist ( RID agent, float dist ) const
void	agent_set_position ( RID agent, Vector2 position ) const
void	agent_set_radius ( RID agent, float radius ) const
void	agent_set_target_velocity ( RID agent, Vector2 target_velocity ) const
void	agent_set_time_horizon ( RID agent, float time ) const
void	agent_set_velocity ( RID agent, Vector2 velocity ) const
void	free ( RID object ) const
RID	map_create ( ) 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
PackedVector2Array	map_get_path ( RID map, Vector2 origin, Vector2 destination, bool optimize, int layers=1 ) const
bool	map_is_active ( RID nap ) const
void	map_set_active ( RID map, bool active ) const
void	map_set_cell_size ( RID map, float cell_size ) const
void	map_set_edge_connection_margin ( RID map, float margin ) const
RID	region_create ( ) const
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
int	region_get_layers ( RID region ) const
void	region_set_layers ( RID region, int layers ) const
void	region_set_map ( RID region, RID map ) const
void	region_set_navpoly ( RID region, NavigationPolygon nav_poly ) const
void	region_set_transform ( RID region, Transform2D transform ) const

Signals

• map_changed ( RID map )

Emitted when a navigation map is updated, when a region moves or is modified.

Method Descriptions

• RID agent_create ( ) const

Creates the agent.

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• bool agent_is_map_changed ( RID agent ) const

Returns true if the map got changed the previous frame.

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• void agent_set_callback ( RID agent, Object receiver, StringName method, Variant userdata=null ) const

Callback called at the end of the RVO process.

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• void agent_set_map ( RID agent, RID map ) const

Puts the agent in the map.

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• void agent_set_max_neighbors ( RID agent, int count ) const

Sets the maximum number of other agents the agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.

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• void agent_set_max_speed ( RID agent, float max_speed ) const

Sets the maximum speed of the agent. Must be positive.

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• void agent_set_neighbor_dist ( RID agent, float dist ) const

Sets the maximum distance to other agents this agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.

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• void agent_set_position ( RID agent, Vector2 position ) const

Sets the position of the agent in world space.

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• void agent_set_radius ( RID agent, float radius ) const

Sets the radius of the agent.

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• void agent_set_target_velocity ( RID agent, Vector2 target_velocity ) const

Sets the new target velocity.

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• void agent_set_time_horizon ( RID agent, float time ) const

The minimal amount of time for which the agent's velocities that are computed by the simulation are safe with respect to other agents. The larger this number, the sooner this agent will respond to the presence of other agents, but the less freedom this agent has in choosing its velocities. Must be positive.

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• void agent_set_velocity ( RID agent, Vector2 velocity ) const

Sets the current velocity of the agent.

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• void free ( RID object ) const

Destroy the RID

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• RID map_create ( ) const

Create a new map.

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• float map_get_cell_size ( RID map ) const

Returns the map cell size.

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• Vector2 map_get_closest_point ( RID map, Vector2 to_point ) const

Returns the point closest to the provided to_point on the navigation mesh surface.

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• RID map_get_closest_point_owner ( RID map, Vector2 to_point ) const

Returns the owner region RID for the point returned by map_get_closest_point.

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• float map_get_edge_connection_margin ( RID map ) const

Returns the edge connection margin of the map. The edge connection margin is a distance used to connect two regions.

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• PackedVector2Array map_get_path ( RID map, Vector2 origin, Vector2 destination, bool optimize, int layers=1 ) const

Returns the navigation path to reach the destination from the origin. layers is a bitmask of all region layers that are allowed to be in the path.

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• bool map_is_active ( RID nap ) const

Returns true if the map is active.

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• void map_set_active ( RID map, bool active ) const

Sets the map active.

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• void map_set_cell_size ( RID map, float cell_size ) const

Set the map cell size used to weld the navigation mesh polygons.

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• void map_set_edge_connection_margin ( RID map, float margin ) const

Set the map edge connection margin used to weld the compatible region edges.

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• RID region_create ( ) const

Creates a new region.

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• Vector2 region_get_connection_pathway_end ( RID region, int connection ) const

Returns the ending point of a connection door. connection is an index between 0 and the return value of region_get_connections_count.

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• Vector2 region_get_connection_pathway_start ( RID region, int connection ) const

Returns the starting point of a connection door. connection is an index between 0 and the return value of region_get_connections_count.

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• int region_get_connections_count ( RID region ) const

Returns how many connections this region has with other regions in the map.

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• int region_get_layers ( RID region ) const

Returns the region's layers.

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• void region_set_layers ( RID region, int layers ) const

Set the region's layers. This allows selecting regions from a path request (when using map_get_path).

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• void region_set_map ( RID region, RID map ) const

Sets the map for the region.

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• void region_set_navpoly ( RID region, NavigationPolygon nav_poly ) const

Sets the navigation mesh for the region.

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• void region_set_transform ( RID region, Transform2D transform ) const

Sets the global transformation for the region.