NavigationServer

    Server interface for low-level 3D navigation access.

    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 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.

    • map_changed ( RID map )

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

    • RID agent_create ( ) const

    Creates the agent.

    • agent_get_map ( RID agent ) const

    Returns the navigation map the requested is currently assigned to.

    • bool agent_is_map_changed ( agent ) const
    • void agent_set_callback ( RID agent, receiver, String method, userdata=null ) const

    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.

    • void agent_set_map ( agent, RID map ) const

    Puts the agent in the map.

    • void agent_set_max_neighbors ( 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.

    • void agent_set_max_speed ( agent, float max_speed ) const

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

    • void agent_set_neighbor_dist ( 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.

    • void agent_set_position ( agent, Vector3 position ) const

    Sets the position of the agent in world space.

    • void agent_set_radius ( agent, float radius ) const

    Sets the radius of the agent.

    • void agent_set_target_velocity ( agent, Vector3 target_velocity ) const

    Sets the new target velocity.

    • void agent_set_time_horizon ( 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.

    Sets the current velocity of the agent.

    • void free_rid ( rid ) const

    Destroys the given RID.

    • Array get_maps ( ) const

    Returns all created navigation map s 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 ( 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.

    • map_get_agents ( RID map ) const

    Returns all navigation agents s that are currently assigned to the requested navigation .

    • float map_get_cell_height ( map ) const

    Returns the map cell height.

    • float map_get_cell_size ( map ) const

    Returns the map cell size.

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

    • map_get_closest_point_normal ( RID map, to_point ) const

    Returns the normal for the point returned by map_get_closest_point.

    • map_get_closest_point_owner ( RID map, to_point ) const

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

    • map_get_closest_point_to_segment ( RID map, start, Vector3 end, use_collision=false ) const

    Returns the closest point between the navigation surface and the segment.

    • float map_get_edge_connection_margin ( map ) const

    Returns the edge connection margin of the map. This distance is the minimum vertex distance needed to connect two edges from different regions.

    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.

    • Array map_get_regions ( map ) const

    Returns all navigation regions RIDs that are currently assigned to the requested navigation map.

    • map_get_up ( RID map ) const

    Returns the map’s up direction.

    • map_is_active ( RID nap ) const

    Returns true if the map is active.

    • void map_set_active ( map, bool active ) const

    Sets the map active.

    • void map_set_cell_height ( map, float cell_height ) const

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

    • void map_set_cell_size ( map, float cell_size ) const

    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.

    • void map_set_up ( map, Vector3 up ) const

    Sets the map up direction.

    • void process ( 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.

    Bakes the navigation mesh.

    • RID region_create ( ) const

    Creates a new region.

    • region_get_connection_pathway_end ( RID region, 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.

    • region_get_connection_pathway_start ( RID region, 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.

    • region_get_connections_count ( RID region ) const

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

    • region_get_enter_cost ( RID region ) const

    Returns the enter_cost of this .

    • region_get_map ( RID region ) const

    Returns the navigation map the requested region is currently assigned to.

    • int region_get_navigation_layers ( region ) const

    Returns the region’s navigation layers.

    • float region_get_travel_cost ( region ) const

    Returns the travel_cost of this region.

    • bool region_owns_point ( region, Vector3 point ) 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_enter_cost ( region, float enter_cost ) const

    Sets the enter_cost for this region.

    • void region_set_map ( region, RID map ) const

    Sets the map for the region.

    • void region_set_navigation_layers ( region, int navigation_layers ) const

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

    • void region_set_navmesh ( RID region, nav_mesh ) const

    Sets the navigation mesh for the region.

    • void region_set_transform ( RID region, transform ) const

    Sets the global transformation for the region.

    • void region_set_travel_cost ( RID region, travel_cost ) const

    Sets the for this region.

    • void set_active ( bool active ) const

    Control activation of this server.