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NavigationServer3D¶

Inherits: Object

A server interface for low-level 3D navigation access.

Description¶

NavigationServer3D is the server that handles navigation maps, regions and agents. It does not handle A* navigation from AStar3D.

Maps are made up of regions, which are made of navigation meshes. Together, they define the navigable areas in the 3D world.

Note: Most NavigationServer3D 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_get_paused ( RID agent ) const
bool	agent_get_use_3d_avoidance ( 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_height ( RID agent, float height )
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_paused ( RID agent, bool paused )
void	agent_set_position ( RID agent, Vector3 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_use_3d_avoidance ( RID agent, bool enabled )
void	agent_set_velocity ( RID agent, Vector3 velocity )
void	agent_set_velocity_forced ( RID agent, Vector3 velocity )
void	bake_from_source_geometry_data ( NavigationMesh navigation_mesh, NavigationMeshSourceGeometryData3D source_geometry_data, Callable callback=Callable() )
void	bake_from_source_geometry_data_async ( NavigationMesh navigation_mesh, NavigationMeshSourceGeometryData3D source_geometry_data, Callable callback=Callable() )
void	free_rid ( RID rid )
bool	get_debug_enabled ( ) const
RID[]	get_maps ( ) const
int	get_process_info ( ProcessInfo process_info ) const
RID	link_create ( )
bool	link_get_enabled ( RID link ) const
Vector3	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
Vector3	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_enabled ( RID link, bool enabled )
void	link_set_end_position ( RID link, Vector3 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, Vector3 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_height ( RID map ) const
float	map_get_cell_size ( RID map ) const
Vector3	map_get_closest_point ( RID map, Vector3 to_point ) const
Vector3	map_get_closest_point_normal ( RID map, Vector3 to_point ) const
RID	map_get_closest_point_owner ( RID map, Vector3 to_point ) const
Vector3	map_get_closest_point_to_segment ( RID map, Vector3 start, Vector3 end, bool use_collision=false ) 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
PackedVector3Array	map_get_path ( RID map, Vector3 origin, Vector3 destination, bool optimize, int navigation_layers=1 ) const
RID[]	map_get_regions ( RID map ) const
Vector3	map_get_up ( 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_height ( RID map, float cell_height )
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_up ( RID map, Vector3 up )
void	map_set_use_edge_connections ( RID map, bool enabled )
RID	obstacle_create ( )
bool	obstacle_get_avoidance_enabled ( RID obstacle ) const
RID	obstacle_get_map ( RID obstacle ) const
bool	obstacle_get_paused ( RID obstacle ) const