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NavigationAgent3D

Inherits: Node < Object

A 3D agent used to pathfind to a position while avoiding obstacles.

Description

A 3D agent used to pathfind to a position while avoiding static and dynamic obstacles. The calculation can be used by the parent node to dynamically move it along the path. Requires navigation data to work correctly.

Dynamic obstacles are avoided using RVO collision avoidance. Avoidance is computed before physics, so the pathfinding information can be used safely in the physics step.

Note: After setting the target_position property, the get_next_path_position method must be used once every physics frame to update the internal path logic of the navigation agent. The vector position it returns should be used as the next movement position for the agent's parent node.

Tutorials

• Using NavigationAgents

Properties

bool	avoidance_enabled	false
int	avoidance_layers	1
int	avoidance_mask	1
float	avoidance_priority	1.0
bool	debug_enabled	false
Color	debug_path_custom_color	Color(1, 1, 1, 1)
float	debug_path_custom_point_size	4.0
bool	debug_use_custom	false
float	height	1.0
bool	keep_y_velocity	true
int	max_neighbors	10
float	max_speed	10.0
int	navigation_layers	1
float	neighbor_distance	50.0
float	path_desired_distance	1.0
float	path_height_offset	0.0
float	path_max_distance	5.0
BitField<PathMetadataFlags>	path_metadata_flags	7
PathPostProcessing	path_postprocessing	0
PathfindingAlgorithm	pathfinding_algorithm	0
float	radius	0.5
float	target_desired_distance	1.0
Vector3	target_position	Vector3(0, 0, 0)
float	time_horizon_agents	1.0
float	time_horizon_obstacles	0.0
bool	use_3d_avoidance	false
Vector3	velocity	Vector3(0, 0, 0)

Methods

float	distance_to_target ( ) const
bool	get_avoidance_layer_value ( int layer_number ) const
bool	get_avoidance_mask_value ( int mask_number ) const
PackedVector3Array	get_current_navigation_path ( ) const
int	get_current_navigation_path_index ( ) const
NavigationPathQueryResult3D	get_current_navigation_result ( ) const
Vector3	get_final_position ( )
bool	get_navigation_layer_value ( int layer_number ) const
RID	get_navigation_map ( ) const
Vector3	get_next_path_position ( )
RID	get_rid ( ) const
bool	is_navigation_finished ( )
bool	is_target_reachable ( )
bool	is_target_reached ( ) const
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 )

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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: If owner is available and the owner is a NavigationLink3D, it will contain the global position of the link's point the agent is entering.

• link_exit_position: If owner is available and the owner is a NavigationLink3D, it will contain the global position of the link's point which the agent is exiting.

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navigation_finished ( )

Emitted once per loaded path when the agent internal navigation path index reaches the last index of the loaded path array. The agent internal navigation path index can be received with get_current_navigation_path_index.

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path_changed ( )

Emitted when the agent had to update the loaded path:

• because path was previously empty.

• because navigation map has changed.

• because agent pushed further away from the current path segment than the path_max_distance.

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target_reached ( )

Emitted once per loaded path when the agent's global position is the first time within target_desired_distance to the target_position.

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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.

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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).

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Property Descriptions

bool avoidance_enabled = false

• void set_avoidance_enabled ( bool value )

• bool get_avoidance_enabled ( )

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.

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int avoidance_layers = 1

• void set_avoidance_layers ( int value )

• int get_avoidance_layers ( )

A bitfield determining the avoidance layers for this NavigationAgent. Other agents with a matching bit on the avoidance_mask will avoid this agent.

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int avoidance_mask = 1

• void set_avoidance_mask ( int value )

• int get_avoidance_mask ( )

A bitfield determining what other avoidance agents and obstacles this NavigationAgent will avoid when a bit matches at least one of their avoidance_layers.

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float avoidance_priority = 1.0

• void set_avoidance_priority ( float value )

• float get_avoidance_priority ( )

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.

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bool debug_enabled = false

• void set_debug_enabled ( bool value )

• bool get_debug_enabled ( )

If true shows debug visuals for this agent.

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Color debug_path_custom_color = Color(1, 1, 1, 1)

• void set_debug_path_custom_color ( Color value )

• Color get_debug_path_custom_color ( )

If debug_use_custom is true uses this color for this agent instead of global color.

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float debug_path_custom_point_size = 4.0

• void set_debug_path_custom_point_size ( float value )

• float get_debug_path_custom_point_size ( )

If debug_use_custom is true uses this rasterized point size for rendering path points for this agent instead of global point size.

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bool debug_use_custom = false

• void set_debug_use_custom ( bool value )

• bool get_debug_use_custom ( )

If true uses the defined debug_path_custom_color for this agent instead of global color.

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float height = 1.0

• void set_height ( float value )

• float get_height ( )

The height of the avoidance agent. Agents 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.

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bool keep_y_velocity = true

• void set_keep_y_velocity ( bool value )

• bool get_keep_y_velocity ( )

If true, and the agent uses 2D avoidance, it will remember the set y-axis velocity and reapply it after the avoidance step. While 2D avoidance has no y-axis and simulates on a flat plane this setting can help mitigate the most obvious clipping on uneven 3D geometry.

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int max_neighbors = 10

• void set_max_neighbors ( int value )

• int get_max_neighbors ( )

The maximum number of neighbors for the agent to consider.

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float max_speed = 10.0

• void set_max_speed ( float value )

• float get_max_speed ( )

The maximum speed that an agent can move.

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int navigation_layers = 1

• void set_navigation_layers ( int value )

• int get_navigation_layers ( )

A bitfield determining which navigation layers of navigation regions this agent will use to calculate a path. Changing it during runtime will clear the current navigation path and generate a new one, according to the new navigation layers.

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float neighbor_distance = 50.0

• void set_neighbor_distance ( float value )

• float get_neighbor_distance ( )

The distance to search for other agents.

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