NavigationServer2D
Experimental: This class may be changed or removed in future versions.
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 divided into regions, which are composed 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
Signals
Emitted when a navigation map is updated, when a region moves or is modified.
navigation_debug_changed() 🔗
Emitted when navigation debug settings are changed. Only available in debug builds.
Method Descriptions
Creates the agent.
bool agent_get_avoidance_enabled(agent: RID) const 🔗
Return true if the specified agent uses avoidance.
int agent_get_avoidance_layers(agent: RID) const 🔗
Returns the avoidance_layers bitmask of the specified agent.
int agent_get_avoidance_mask(agent: RID) const 🔗
Returns the avoidance_mask bitmask of the specified agent.
float agent_get_avoidance_priority(agent: RID) const 🔗
Returns the avoidance_priority of the specified agent.
RID agent_get_map(agent: RID) const 🔗
Returns the navigation map RID the requested agent is currently assigned to.
int agent_get_max_neighbors(agent: RID) const 🔗
Returns the maximum number of other agents the specified agent takes into account in the navigation.
float agent_get_max_speed(agent: RID) const 🔗
Returns the maximum speed of the specified agent.
float agent_get_neighbor_distance(agent: RID) const 🔗
Returns the maximum distance to other agents the specified agent takes into account in the navigation.
bool agent_get_paused(agent: RID) const 🔗
Returns true if the specified agent is paused.
Vector2 agent_get_position(agent: RID) const 🔗
Returns the position of the specified agent in world space.
float agent_get_radius(agent: RID) const 🔗
Returns the radius of the specified agent.
float agent_get_time_horizon_agents(agent: RID) const 🔗
Returns the minimal amount of time for which the specified agent's velocities that are computed by the simulation are safe with respect to other agents.
float agent_get_time_horizon_obstacles(agent: RID) const 🔗
Returns the minimal amount of time for which the specified agent's velocities that are computed by the simulation are safe with respect to static avoidance obstacles.
Vector2 agent_get_velocity(agent: RID) const 🔗
Returns the velocity of the specified agent.
bool agent_has_avoidance_callback(agent: RID) const 🔗
Return true if the specified agent has an avoidance callback.
bool agent_is_map_changed(agent: RID) const 🔗
Returns true if the map got changed the previous frame.
void agent_set_avoidance_callback(agent: RID, callback: Callable) 🔗
Sets the callback Callable that gets called after each avoidance processing step for the agent. The calculated safe_velocity will be dispatched with a signal to the object just before the physics calculations.
Note: Created callbacks are always processed independently of the SceneTree state as long as the agent is on a navigation map and not freed. To disable the dispatch of a callback from an agent use agent_set_avoidance_callback() again with an empty Callable.
void agent_set_avoidance_enabled(agent: RID, enabled: bool) 🔗
If enabled is true, the specified agent uses avoidance.
void agent_set_avoidance_layers(agent: RID, layers: int) 🔗
Set the agent's avoidance_layers bitmask.
void agent_set_avoidance_mask(agent: RID, mask: int) 🔗
Set the agent's avoidance_mask bitmask.
void agent_set_avoidance_priority(agent: RID, priority: float) 🔗
Set the agent's avoidance_priority with a priority between 0.0 (lowest priority) to 1.0 (highest priority).
The specified 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.
void agent_set_map(agent: RID, map: RID) 🔗
Puts the agent in the map.
void agent_set_max_neighbors(agent: RID, count: int) 🔗
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.
void agent_set_max_speed(agent: RID, max_speed: float) 🔗
Sets the maximum speed of the agent. Must be positive.
void agent_set_neighbor_distance(agent: RID, distance: float) 🔗
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.
void agent_set_paused(agent: RID, paused: bool) 🔗
If paused is true the specified agent will not be processed, e.g. calculate avoidance velocities or receive avoidance callbacks.
void agent_set_position(agent: RID, position: Vector2) 🔗
Sets the position of the agent in world space.
void agent_set_radius(agent: RID, radius: float) 🔗
Sets the radius of the agent.
void agent_set_time_horizon_agents(agent: RID, time_horizon: float) 🔗
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. A too high value will slow down agents movement considerably. Must be positive.
void agent_set_time_horizon_obstacles(agent: RID, time_horizon: float) 🔗
The minimal amount of time for which the agent's velocities that are computed by the simulation are safe with respect to static avoidance obstacles. The larger this number, the sooner this agent will respond to the presence of static avoidance obstacles, but the less freedom this agent has in choosing its velocities. A too high value will slow down agents movement considerably. Must be positive.
void agent_set_velocity(agent: RID, velocity: Vector2) 🔗
Sets velocity as the new wanted velocity for the specified agent. The avoidance simulation will try to fulfill this velocity if possible but will modify it to avoid collision with other agent's and obstacles. When an agent is teleported to a new position far away use agent_set_velocity_forced() instead to reset the internal velocity state.
void agent_set_velocity_forced(agent: RID, velocity: Vector2) 🔗
Replaces the internal velocity in the collision avoidance simulation with velocity for the specified agent. When an agent is teleported to a new position far away this function should be used in the same frame. If called frequently this function can get agents stuck.
void bake_from_source_geometry_data(navigation_polygon: NavigationPolygon, source_geometry_data: NavigationMeshSourceGeometryData2D, callback: Callable = Callable()) 🔗
Bakes the provided navigation_polygon with the data from the provided source_geometry_data. After the process is finished the optional callback will be called.
void bake_from_source_geometry_data_async(navigation_polygon: NavigationPolygon, source_geometry_data: NavigationMeshSourceGeometryData2D, callback: Callable = Callable()) 🔗
Bakes the provided navigation_polygon with the data from the provided source_geometry_data as an async task running on a background thread. After the process is finished the optional callback will be called.
Destroys the given RID.
bool get_debug_enabled() const 🔗
Returns true when the NavigationServer has debug enabled.
Returns all created navigation map RIDs on the NavigationServer. This returns both 2D and 3D created navigation maps as there is technically no distinction between them.
bool is_baking_navigation_polygon(navigation_polygon: NavigationPolygon) const 🔗
Returns true when the provided navigation polygon is being baked on a background thread.
Create a new link between two positions on a map.
bool link_get_enabled(link: RID) const 🔗
Returns true if the specified link is enabled.
Vector2 link_get_end_position(link: RID) const 🔗
Returns the ending position of this link.
float link_get_enter_cost(link: RID) const 🔗
Returns the enter cost of this link.
RID link_get_map(link: RID) const 🔗
Returns the navigation map RID the requested link is currently assigned to.
int link_get_navigation_layers(link: RID) const 🔗
Returns the navigation layers for this link.
int link_get_owner_id(link: RID) const 🔗
Returns the ObjectID of the object which manages this link.
Vector2 link_get_start_position(link: RID) const 🔗
Returns the starting position of this link.
float link_get_travel_cost(link: RID) const 🔗
Returns the travel cost of this link.
bool link_is_bidirectional(link: RID) const 🔗
Returns whether this link can be travelled in both directions.
void link_set_bidirectional(link: RID, bidirectional: bool) 🔗
Sets whether this link can be travelled in both directions.
void link_set_enabled(link: RID, enabled: bool) 🔗
If enabled is true, the specified link will contribute to its current navigation map.
void link_set_end_position(link: RID, position: Vector2) 🔗
Sets the exit position for the link.
void link_set_enter_cost(link: RID, enter_cost: float) 🔗
Sets the enter_cost for this link.
void link_set_map(link: RID, map: RID) 🔗
Sets the navigation map RID for the link.
void link_set_navigation_layers(link: RID, navigation_layers: int) 🔗
Set the links's navigation layers. This allows selecting links from a path request (when using map_get_path()).
void link_set_owner_id(link: RID, owner_id: int) 🔗
Set the ObjectID of the object which manages this link.
void link_set_start_position(link: RID, position: Vector2) 🔗
Sets the entry position for this link.
void link_set_travel_cost(link: RID, travel_cost: float) 🔗
Sets the travel_cost for this link.
Create a new map.
void map_force_update(map: RID) 🔗
This function immediately forces synchronization of the specified navigation map RID. By default navigation maps are only synchronized at the end of each physics frame. This function can be used to immediately (re)calculate all the navigation meshes and region connections of the navigation map. This makes it possible to query a navigation path for a changed map immediately and in the same frame (multiple times if needed).
Due to technical restrictions the current NavigationServer command queue will be flushed. This means all already queued update commands for this physics frame will be executed, even those intended for other maps, regions and agents not part of the specified map. The expensive computation of the navigation meshes and region connections of a map will only be done for the specified map. Other maps will receive the normal synchronization at the end of the physics frame. Should the specified map receive changes after the forced update it will update again as well when the other maps receive their update.
Avoidance processing and dispatch of the safe_velocity signals is unaffected by this function and continues to happen for all maps and agents at the end of the physics frame.
Note: With great power comes great responsibility. This function should only be used by users that really know what they are doing and have a good reason for it. Forcing an immediate update of a navigation map requires locking the NavigationServer and flushing the entire NavigationServer command queue. Not only can this severely impact the performance of a game but it can also introduce bugs if used inappropriately without much foresight.
Array[RID] map_get_agents(map: RID) const 🔗
Returns all navigation agents RIDs that are currently assigned to the requested navigation map.
float map_get_cell_size(map: RID) const 🔗
Returns the map cell size used to rasterize the navigation mesh vertices.
Vector2 map_get_closest_point(map: RID, to_point: Vector2) const 🔗
Returns the navigation mesh surface point closest to the provided to_point on the navigation map.
RID map_get_closest_point_owner(map: RID, to_point: Vector2) const 🔗
Returns the owner region RID for the navigation mesh surface point closest to the provided to_point on the navigation map.
float map_get_edge_connection_margin(map: RID) const 🔗
Returns the edge connection margin of the map. The edge connection margin is a distance used to connect two regions.
int map_get_iteration_id(map: RID) const 🔗
Returns the current iteration id of the navigation map. Every time the navigation map changes and synchronizes the iteration id increases. An iteration id of 0 means the navigation map has never synchronized.
Note: The iteration id will wrap back to 1 after reaching its range limit.
float map_get_link_connection_radius(map: RID) const 🔗
Returns the link connection radius of the map. This distance is the maximum range any link will search for navigation mesh polygons to connect to.
Array[RID] map_get_links(map: RID) const 🔗
Returns all navigation link RIDs that are currently assigned to the requested navigation map.
Array[RID] map_get_obstacles(map: RID) const 🔗
Returns all navigation obstacle RIDs that are currently assigned to the requested navigation map.
PackedVector2Array map_get_path(map: RID, origin: Vector2, destination: Vector2, optimize: bool, navigation_layers: int = 1) 🔗
Returns the navigation path to reach the destination from the origin. navigation_layers is a bitmask of all region navigation layers that are allowed to be in the path.
Vector2 map_get_random_point(map: RID, navigation_layers: int, uniformly: bool) const 🔗
Returns a random position picked from all map region polygons with matching navigation_layers.
If uniformly is true, all map regions, polygons, and faces are weighted by their surface area (slower).
If uniformly is false, just a random region and a random polygon are picked (faster).
Array[RID] map_get_regions(map: RID) const 🔗
Returns all navigation regions RIDs that are currently assigned to the requested navigation map.
bool map_get_use_async_iterations(map: RID) const 🔗
Returns true if the map synchronization uses an async process that runs on a background thread.
bool map_get_use_edge_connections(map: RID) const 🔗
Returns whether the navigation map allows navigation regions to use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.
bool map_is_active(map: RID) const 🔗
Returns true if the map is active.
void map_set_active(map: RID, active: bool) 🔗
Sets the map active.
void map_set_cell_size(map: RID, cell_size: float) 🔗
Sets the map cell size used to rasterize the navigation mesh vertices. Must match with the cell size of the used navigation meshes.
void map_set_edge_connection_margin(map: RID, margin: float) 🔗
Set the map edge connection margin used to weld the compatible region edges.
void map_set_link_connection_radius(map: RID, radius: float) 🔗
Set the map's link connection radius used to connect links to navigation polygons.
void map_set_use_async_iterations(map: RID, enabled: bool) 🔗
If enabled is true the map synchronization uses an async process that runs on a background thread.
void map_set_use_edge_connections(map: RID, enabled: bool) 🔗
Set the navigation map edge connection use. If enabled is true, the navigation map allows navigation regions to use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.
Creates a new navigation obstacle.
bool obstacle_get_avoidance_enabled(obstacle: RID) const 🔗
Returns true if the provided obstacle has avoidance enabled.
int obstacle_get_avoidance_layers(obstacle: RID) const 🔗
Returns the avoidance_layers bitmask of the specified obstacle.
RID obstacle_get_map(obstacle: RID) const 🔗
Returns the navigation map RID the requested obstacle is currently assigned to.
bool obstacle_get_paused(obstacle: RID) const 🔗
Returns true if the specified obstacle is paused.
Vector2 obstacle_get_position(obstacle: RID) const 🔗
Returns the position of the specified obstacle in world space.
float obstacle_get_radius(obstacle: RID) const 🔗
Returns the radius of the specified dynamic obstacle.
Vector2 obstacle_get_velocity(obstacle: RID) const 🔗
Returns the velocity of the specified dynamic obstacle.
PackedVector2Array obstacle_get_vertices(obstacle: RID) const 🔗
Returns the outline vertices for the specified obstacle.
void obstacle_set_avoidance_enabled(obstacle: RID, enabled: bool) 🔗
If enabled is true, the provided obstacle affects avoidance using agents.
void obstacle_set_avoidance_layers(obstacle: RID, layers: int) 🔗
Set the obstacles's avoidance_layers bitmask.
void obstacle_set_map(obstacle: RID, map: RID) 🔗
Sets the navigation map RID for the obstacle.
void obstacle_set_paused(obstacle: RID, paused: bool) 🔗
If paused is true the specified obstacle will not be processed, e.g. affect avoidance velocities.
void obstacle_set_position(obstacle: RID, position: Vector2) 🔗
Sets the position of the obstacle in world space.
void obstacle_set_radius(obstacle: RID, radius: float) 🔗
Sets the radius of the dynamic obstacle.
void obstacle_set_velocity(obstacle: RID, velocity: Vector2) 🔗
Sets velocity of the dynamic obstacle. Allows other agents to better predict the movement of the dynamic obstacle. Only works in combination with the radius of the obstacle.
void obstacle_set_vertices(obstacle: RID, vertices: PackedVector2Array) 🔗
Sets the outline vertices for the obstacle. If the vertices are winded in clockwise order agents will be pushed in by the obstacle, else they will be pushed out.
void parse_source_geometry_data(navigation_polygon: NavigationPolygon, source_geometry_data: NavigationMeshSourceGeometryData2D, root_node: Node, callback: Callable = Callable()) 🔗
Parses the SceneTree for source geometry according to the properties of navigation_polygon. Updates the provided source_geometry_data resource with the resulting data. The resource can then be used to bake a navigation mesh with bake_from_source_geometry_data(). After the process is finished the optional callback will be called.
Note: This function needs to run on the main thread or with a deferred call as the SceneTree is not thread-safe.
Performance: While convenient, reading data arrays from Mesh resources can affect the frame rate negatively. The data needs to be received from the GPU, stalling the RenderingServer in the process. For performance prefer the use of e.g. collision shapes or creating the data arrays entirely in code.
void query_path(parameters: NavigationPathQueryParameters2D, result: NavigationPathQueryResult2D, callback: Callable = Callable()) 🔗
Queries a path in a given navigation map. Start and target position and other parameters are defined through NavigationPathQueryParameters2D. Updates the provided NavigationPathQueryResult2D result object with the path among other results requested by the query. After the process is finished the optional callback will be called.
Creates a new region.
Rect2 region_get_bounds(region: RID) const 🔗
Returns the axis-aligned rectangle for the region's transformed navigation mesh.
Vector2 region_get_closest_point(region: RID, to_point: Vector2) const 🔗
Returns the navigation mesh surface point closest to the provided to_point on the navigation region.
Vector2 region_get_connection_pathway_end(region: RID, connection: int) const 🔗
Returns the ending point of a connection door. connection is an index between 0 and the return value of region_get_connections_count().
Vector2 region_get_connection_pathway_start(region: RID, connection: int) const 🔗
Returns the starting point of a connection door. connection is an index between 0 and the return value of region_get_connections_count().
int region_get_connections_count(region: RID) const 🔗
Returns how many connections this region has with other regions in the map.
bool region_get_enabled(region: RID) const 🔗
Returns true if the specified region is enabled.
float region_get_enter_cost(region: RID) const 🔗
Returns the enter cost of this region.
RID region_get_map(region: RID) const 🔗
Returns the navigation map RID the requested region is currently assigned to.
int region_get_navigation_layers(region: RID) const 🔗
Returns the region's navigation layers.
int region_get_owner_id(region: RID) const 🔗
Returns the ObjectID of the object which manages this region.
Vector2 region_get_random_point(region: RID, navigation_layers: int, uniformly: bool) const 🔗
Returns a random position picked from all region polygons with matching navigation_layers.
If uniformly is true, all region polygons and faces are weighted by their surface area (slower).
If uniformly is false, just a random polygon and face is picked (faster).
Transform2D region_get_transform(region: RID) const 🔗
Returns the global transformation of this region.
float region_get_travel_cost(region: RID) const 🔗
Returns the travel cost of this region.
bool region_get_use_edge_connections(region: RID) const 🔗
Returns whether the navigation region is set to use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.
bool region_owns_point(region: RID, point: Vector2) const 🔗
Returns true if the provided point in world space is currently owned by the provided navigation region. Owned in this context means that one of the region's navigation mesh polygon faces has a possible position at the closest distance to this point compared to all other navigation meshes from other navigation regions that are also registered on the navigation map of the provided region.
If multiple navigation meshes have positions at equal distance the navigation region whose polygons are processed first wins the ownership. Polygons are processed in the same order that navigation regions were registered on the NavigationServer.
Note: If navigation meshes from different navigation regions overlap (which should be avoided in general) the result might not be what is expected.
void region_set_enabled(region: RID, enabled: bool) 🔗
If enabled is true the specified region will contribute to its current navigation map.
void region_set_enter_cost(region: RID, enter_cost: float) 🔗
Sets the enter_cost for this region.
void region_set_map(region: RID, map: RID) 🔗
Sets the map for the region.
void region_set_navigation_layers(region: RID, navigation_layers: int) 🔗
Set the region's navigation layers. This allows selecting regions from a path request (when using map_get_path()).
void region_set_navigation_polygon(region: RID, navigation_polygon: NavigationPolygon) 🔗
Sets the navigation_polygon for the region.
void region_set_owner_id(region: RID, owner_id: int) 🔗
Set the ObjectID of the object which manages this region.
void region_set_transform(region: RID, transform: Transform2D) 🔗
Sets the global transformation for the region.
void region_set_travel_cost(region: RID, travel_cost: float) 🔗
Sets the travel_cost for this region.
void region_set_use_edge_connections(region: RID, enabled: bool) 🔗
If enabled is true, the navigation region will use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.
void set_debug_enabled(enabled: bool) 🔗
If true enables debug mode on the NavigationServer.
PackedVector2Array simplify_path(path: PackedVector2Array, epsilon: float) 🔗
Returns a simplified version of path with less critical path points removed. The simplification amount is in worlds units and controlled by epsilon. The simplification uses a variant of Ramer-Douglas-Peucker algorithm for curve point decimation.
Path simplification can be helpful to mitigate various path following issues that can arise with certain agent types and script behaviors. E.g. "steering" agents or avoidance in "open fields".
RID source_geometry_parser_create() 🔗
Creates a new source geometry parser. If a Callable is set for the parser with source_geometry_parser_set_callback() the callback will be called for every single node that gets parsed whenever parse_source_geometry_data() is used.
void source_geometry_parser_set_callback(parser: RID, callback: Callable) 🔗
Sets the callback Callable for the specific source geometry parser. The Callable will receive a call with the following parameters:
navigation_mesh- The NavigationPolygon reference used to define the parse settings. Do NOT edit or add directly to the navigation mesh.source_geometry_data- The NavigationMeshSourceGeometryData2D reference. Add custom source geometry for navigation mesh baking to this object.node- The Node that is parsed.