NavigationServer¶
Inherits: Object
Server interface for low-level 3D navigation access.
Description¶
NavigationServer is the server responsible for all 3D navigation. It handles several objects, namely maps, regions and agents.
Maps are made up of regions, which are made of navigation meshes. Together, they define the navigable areas in the 3D world.
Note: Most NavigationServer 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 SceneTree 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 Navigation.edge_connection_margin to the respective other edge's vertex.
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¶
Methods¶
agent_create ( ) const |
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agent_get_map ( RID agent ) const |
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agent_is_map_changed ( RID agent ) const |
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void |
agent_set_callback ( RID agent, Object receiver, String 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, Vector3 position ) const |
void |
agent_set_radius ( RID agent, float radius ) const |
void |
agent_set_target_velocity ( RID agent, Vector3 target_velocity ) const |
void |
agent_set_time_horizon ( RID agent, float time ) const |
void |
agent_set_velocity ( RID agent, Vector3 velocity ) const |
void |
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get_maps ( ) const |
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map_create ( ) const |
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void |
map_force_update ( RID map ) |
map_get_agents ( RID map ) const |
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map_get_cell_height ( RID map ) const |
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map_get_cell_size ( RID map ) const |
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map_get_closest_point ( RID map, Vector3 to_point ) const |
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map_get_closest_point_normal ( RID map, Vector3 to_point ) const |
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map_get_closest_point_owner ( RID map, Vector3 to_point ) const |
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map_get_closest_point_to_segment ( RID map, Vector3 start, Vector3 end, bool use_collision=false ) const |
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map_get_edge_connection_margin ( RID map ) const |
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map_get_path ( RID map, Vector3 origin, Vector3 destination, bool optimize, int navigation_layers=1 ) const |
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map_get_regions ( RID map ) const |
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map_get_up ( RID map ) const |
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map_is_active ( RID map ) const |
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void |
map_set_active ( RID map, bool active ) const |
void |
map_set_cell_height ( RID map, float cell_height ) const |
void |
map_set_cell_size ( RID map, float cell_size ) const |
void |
map_set_edge_connection_margin ( RID map, float margin ) const |
void |
map_set_up ( RID map, Vector3 up ) const |
void |
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void |
region_bake_navmesh ( NavigationMesh mesh, Node node ) const |
region_create ( ) const |
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region_get_connection_pathway_end ( RID region, int connection ) const |
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region_get_connection_pathway_start ( RID region, int connection ) const |
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region_get_connections_count ( RID region ) const |
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region_get_enter_cost ( RID region ) const |
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region_get_map ( RID region ) const |
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region_get_navigation_layers ( RID region ) const |
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region_get_travel_cost ( RID region ) const |
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region_owns_point ( RID region, Vector3 point ) const |
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void |
region_set_enter_cost ( RID region, float enter_cost ) const |
void |
region_set_map ( RID region, RID map ) const |
void |
region_set_navigation_layers ( RID region, int navigation_layers ) const |
void |
region_set_navmesh ( RID region, NavigationMesh nav_mesh ) const |
void |
region_set_transform ( RID region, Transform transform ) const |
void |
region_set_travel_cost ( RID region, float travel_cost ) const |
void |
set_active ( bool active ) 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.
Returns the navigation map RID the requested agent is currently assigned to.
Returns true if the map got changed the previous frame.
Callback called at the end of the RVO process. If a callback is created manually and the agent is placed on a navigation map it will calculate avoidance for the agent and dispatch the calculated safe_velocity to the receiver object with a signal to the chosen method name.
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_callback again with a null object as the receiver.
Puts the agent in the map.
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.
Sets the maximum speed of the agent. Must be positive.
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.
Sets the position of the agent in world space.
Sets the radius of the agent.
Sets the new target velocity.
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.
Sets the current velocity of the agent.
void free_rid ( RID rid ) const
Destroys the given RID.
Array get_maps ( ) const
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.
RID map_create ( ) const
Create a new map.
void map_force_update ( RID map )
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 untouched 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.
Returns all navigation agents RIDs that are currently assigned to the requested navigation map.
Returns the map cell height.
Returns the map cell size.
Returns the point closest to the provided to_point on the navigation mesh surface.
Returns the normal for the point returned by map_get_closest_point.
Returns the owner region RID for the point returned by map_get_closest_point.
Vector3 map_get_closest_point_to_segment ( RID map, Vector3 start, Vector3 end, bool use_collision=false ) const
Returns the closest point between the navigation surface and the segment.
Returns the edge connection margin of the map. This distance is the minimum vertex distance needed to connect two edges from different regions.
PoolVector3Array map_get_path ( RID map, Vector3 origin, Vector3 destination, bool optimize, int navigation_layers=1 ) const
Returns the navigation path to reach the destination from the origin. navigation_layers is a bitmask of all region layers that are allowed to be in the path.
Returns all navigation regions RIDs that are currently assigned to the requested navigation map.
Returns the map's up direction.
Returns true if the map is active.
Sets the map active.
Set the map cell height used to weld the navigation mesh polygons.
Set the map cell size used to weld the navigation mesh polygons.
Set the map edge connection margin used to weld the compatible region edges.
Sets the map up direction.
void process ( float delta_time )
Process the collision avoidance agents.
The result of this process is needed by the physics server, so this must be called in the main thread.
Note: This function is not thread safe.
void region_bake_navmesh ( NavigationMesh mesh, Node node ) const
Bakes the navigation mesh.
RID region_create ( ) const
Creates a new region.
Returns the ending point of a connection door. connection is an index between 0 and the return value of region_get_connections_count.
Returns the starting point of a connection door. connection is an index between 0 and the return value of region_get_connections_count.
Returns how many connections this region has with other regions in the map.
Returns the enter_cost of this region.
Returns the navigation map RID the requested region is currently assigned to.
Returns the region's navigation layers.
Returns the travel_cost of this region.
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.
Sets the enter_cost for this region.
Sets the map for the region.
Set the region's navigation layers. This allows selecting regions from a path request (when using map_get_path).
void region_set_navmesh ( RID region, NavigationMesh nav_mesh ) const
Sets the navigation mesh for the region.
Sets the global transformation for the region.
Sets the travel_cost for this region.
void set_active ( bool active ) const
Control activation of this server.