NavigationMesh¶
Inherits: Resource < Reference < Object
A mesh to approximate the walkable areas and obstacles.
Description¶
A navigation mesh is a collection of polygons that define which areas of an environment are traversable to aid agents in pathfinding through complicated spaces.
Tutorials¶
Properties¶
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Methods¶
void |
add_polygon ( PoolIntArray polygon ) |
void |
clear_polygons ( ) |
void |
create_from_mesh ( Mesh mesh ) |
get_collision_mask_bit ( int bit ) const |
|
get_polygon ( int idx ) |
|
get_polygon_count ( ) const |
|
get_vertices ( ) const |
|
void |
set_collision_mask_bit ( int bit, bool value ) |
void |
set_vertices ( PoolVector3Array vertices ) |
Enumerations¶
enum SamplePartitionType:
SAMPLE_PARTITION_WATERSHED = 0 --- Watershed partitioning. Generally the best choice if you precompute the navigation mesh, use this if you have large open areas.
SAMPLE_PARTITION_MONOTONE = 1 --- Monotone partitioning. Use this if you want fast navigation mesh generation.
SAMPLE_PARTITION_LAYERS = 2 --- Layer partitioning. Good choice to use for tiled navigation mesh with medium and small sized tiles.
SAMPLE_PARTITION_MAX = 3 --- Represents the size of the SamplePartitionType enum.
enum ParsedGeometryType:
PARSED_GEOMETRY_MESH_INSTANCES = 0 --- Parses mesh instances as geometry. This includes MeshInstance, CSGShape, and GridMap nodes.
PARSED_GEOMETRY_STATIC_COLLIDERS = 1 --- Parses StaticBody colliders as geometry. The collider should be in any of the layers specified by geometry_collision_mask.
PARSED_GEOMETRY_BOTH = 2 --- Both PARSED_GEOMETRY_MESH_INSTANCES and PARSED_GEOMETRY_STATIC_COLLIDERS.
PARSED_GEOMETRY_MAX = 3 --- Represents the size of the ParsedGeometryType enum.
enum SourceGeometryMode:
SOURCE_GEOMETRY_NAVMESH_CHILDREN = 0 --- Scans the child nodes of NavigationMeshInstance recursively for geometry.
SOURCE_GEOMETRY_GROUPS_WITH_CHILDREN = 1 --- Scans nodes in a group and their child nodes recursively for geometry. The group is specified by geometry_source_group_name.
SOURCE_GEOMETRY_GROUPS_EXPLICIT = 2 --- Uses nodes in a group for geometry. The group is specified by geometry_source_group_name.
SOURCE_GEOMETRY_MAX = 3 --- Represents the size of the SourceGeometryMode enum.
Property Descriptions¶
float agent_height
Default |
|
Setter |
set_agent_height(value) |
Getter |
get_agent_height() |
The minimum floor to ceiling height that will still allow the floor area to be considered walkable.
Note: While baking, this value will be rounded up to the nearest multiple of cell_height.
float agent_max_climb
Default |
|
Setter |
set_agent_max_climb(value) |
Getter |
get_agent_max_climb() |
The minimum ledge height that is considered to still be traversable.
Note: While baking, this value will be rounded down to the nearest multiple of cell_height.
float agent_max_slope
Default |
|
Setter |
set_agent_max_slope(value) |
Getter |
get_agent_max_slope() |
The maximum slope that is considered walkable, in degrees.
float agent_radius
Default |
|
Setter |
set_agent_radius(value) |
Getter |
get_agent_radius() |
The distance to erode/shrink the walkable area of the heightfield away from obstructions.
Note: While baking, this value will be rounded up to the nearest multiple of cell_size.
float cell_height
Default |
|
Setter |
set_cell_height(value) |
Getter |
get_cell_height() |
The Y axis cell size to use for fields.
float cell_size
Default |
|
Setter |
set_cell_size(value) |
Getter |
get_cell_size() |
The XZ plane cell size to use for fields.
float detail_sample_distance
Default |
|
Setter |
set_detail_sample_distance(value) |
Getter |
get_detail_sample_distance() |
The sampling distance to use when generating the detail mesh, in cell unit.
float detail_sample_max_error
Default |
|
Setter |
set_detail_sample_max_error(value) |
Getter |
get_detail_sample_max_error() |
The maximum distance the detail mesh surface should deviate from heightfield, in cell unit.
float edge_max_error
Default |
|
Setter |
set_edge_max_error(value) |
Getter |
get_edge_max_error() |
The maximum distance a simplfied contour's border edges should deviate the original raw contour.
float edge_max_length
Default |
|
Setter |
set_edge_max_length(value) |
Getter |
get_edge_max_length() |
The maximum allowed length for contour edges along the border of the mesh.
Note: While baking, this value will be rounded up to the nearest multiple of cell_size.
AABB filter_baking_aabb
Default |
|
Setter |
set_filter_baking_aabb(value) |
Getter |
get_filter_baking_aabb() |
If the baking AABB has a volume the navigation mesh baking will be restricted to its enclosing area.
Vector3 filter_baking_aabb_offset
Default |
|
Setter |
set_filter_baking_aabb_offset(value) |
Getter |
get_filter_baking_aabb_offset() |
The position offset applied to the filter_baking_aabb AABB.
bool filter_ledge_spans
Default |
|
Setter |
set_filter_ledge_spans(value) |
Getter |
get_filter_ledge_spans() |
If true
, marks spans that are ledges as non-walkable.
bool filter_low_hanging_obstacles
Default |
|
Setter |
set_filter_low_hanging_obstacles(value) |
Getter |
get_filter_low_hanging_obstacles() |
If true
, marks non-walkable spans as walkable if their maximum is within agent_max_climb of a walkable neighbor.
bool filter_walkable_low_height_spans
Default |
|
Setter |
set_filter_walkable_low_height_spans(value) |
Getter |
get_filter_walkable_low_height_spans() |
If true
, marks walkable spans as not walkable if the clearance above the span is less than agent_height.
int geometry_collision_mask
Default |
|
Setter |
set_collision_mask(value) |
Getter |
get_collision_mask() |
The physics layers to scan for static colliders.
Only used when geometry_parsed_geometry_type is PARSED_GEOMETRY_STATIC_COLLIDERS or PARSED_GEOMETRY_BOTH.
ParsedGeometryType geometry_parsed_geometry_type
Default |
|
Setter |
set_parsed_geometry_type(value) |
Getter |
get_parsed_geometry_type() |
Determines which type of nodes will be parsed as geometry. See ParsedGeometryType for possible values.
SourceGeometryMode geometry_source_geometry_mode
Default |
|
Setter |
set_source_geometry_mode(value) |
Getter |
get_source_geometry_mode() |
The source of the geometry used when baking. See SourceGeometryMode for possible values.
String geometry_source_group_name
Default |
|
Setter |
set_source_group_name(value) |
Getter |
get_source_group_name() |
The name of the group to scan for geometry.
Only used when geometry_source_geometry_mode is SOURCE_GEOMETRY_GROUPS_WITH_CHILDREN or SOURCE_GEOMETRY_GROUPS_EXPLICIT.
float polygon_verts_per_poly
Default |
|
Setter |
set_verts_per_poly(value) |
Getter |
get_verts_per_poly() |
The maximum number of vertices allowed for polygons generated during the contour to polygon conversion process.
float region_merge_size
Default |
|
Setter |
set_region_merge_size(value) |
Getter |
get_region_merge_size() |
Any regions with a size smaller than this will be merged with larger regions if possible.
Note: This value will be squared to calculate the number of cells. For example, a value of 20 will set the number of cells to 400.
float region_min_size
Default |
|
Setter |
set_region_min_size(value) |
Getter |
get_region_min_size() |
The minimum size of a region for it to be created.
Note: This value will be squared to calculate the minimum number of cells allowed to form isolated island areas. For example, a value of 8 will set the number of cells to 64.
SamplePartitionType sample_partition_type
Default |
|
Setter |
set_sample_partition_type(value) |
Getter |
get_sample_partition_type() |
Partitioning algorithm for creating the navigation mesh polys. See SamplePartitionType for possible values.
Method Descriptions¶
void add_polygon ( PoolIntArray polygon )
Adds a polygon using the indices of the vertices you get when calling get_vertices.
void clear_polygons ( )
Clears the array of polygons, but it doesn't clear the array of vertices.
void create_from_mesh ( Mesh mesh )
Initializes the navigation mesh by setting the vertices and indices according to a Mesh.
Returns whether the specified bit
of the geometry_collision_mask is set.
PoolIntArray get_polygon ( int idx )
Returns a PoolIntArray containing the indices of the vertices of a created polygon.
int get_polygon_count ( ) const
Returns the number of polygons in the navigation mesh.
PoolVector3Array get_vertices ( ) const
Returns a PoolVector3Array containing all the vertices being used to create the polygons.
If value
is true
, sets the specified bit
in the geometry_collision_mask.
If value
is false
, clears the specified bit
in the geometry_collision_mask.
void set_vertices ( PoolVector3Array vertices )
Sets the vertices that can be then indexed to create polygons with the add_polygon method.