Class NavigationServer3D

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

Inheritance: Object

NavigationServer3D

Remarks

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

Maps are divided into regions, which are composed 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 NavigationServer3D.region_set_navigation_layers, which then can be checked upon when requesting a path with NavigationServer3D.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.

Methods

agent_create

Creates the agent.

RID agent_create

agent_get_avoidance_enabled(RID)

Qualifiers: const

Returns true if the provided agent has avoidance enabled.

bool agent_get_avoidance_enabled(RID agent)

Parameters

agent RID

agent_get_avoidance_layers(RID)

Qualifiers: const

Returns the avoidance_layers bitmask of the specified agent.

int agent_get_avoidance_layers(RID agent)

Parameters

agent RID

agent_get_avoidance_mask(RID)

Qualifiers: const

Returns the avoidance_mask bitmask of the specified agent.

int agent_get_avoidance_mask(RID agent)

Parameters

agent RID

agent_get_avoidance_priority(RID)

Qualifiers: const

Returns the avoidance_priority of the specified agent.

float agent_get_avoidance_priority(RID agent)

Parameters

agent RID

agent_get_height(RID)

Qualifiers: const

Returns the height of the specified agent.

float agent_get_height(RID agent)

Parameters

agent RID

agent_get_map(RID)

Qualifiers: const

Returns the navigation map RID the requested agent is currently assigned to.

RID agent_get_map(RID agent)

Parameters

agent RID

agent_get_max_neighbors(RID)

Qualifiers: const

Returns the maximum number of other agents the specified agent takes into account in the navigation.

int agent_get_max_neighbors(RID agent)

Parameters

agent RID

agent_get_max_speed(RID)

Qualifiers: const

Returns the maximum speed of the specified agent.

float agent_get_max_speed(RID agent)

Parameters

agent RID

agent_get_neighbor_distance(RID)

Qualifiers: const

Returns the maximum distance to other agents the specified agent takes into account in the navigation.

float agent_get_neighbor_distance(RID agent)

Parameters

agent RID

agent_get_paused(RID)

Qualifiers: const

Returns true if the specified agent is paused.

bool agent_get_paused(RID agent)

Parameters

agent RID

agent_get_position(RID)

Qualifiers: const

Returns the position of the specified agent in world space.

Vector3 agent_get_position(RID agent)

Parameters

agent RID

agent_get_radius(RID)

Qualifiers: const

Returns the radius of the specified agent.

float agent_get_radius(RID agent)

Parameters

agent RID

agent_get_time_horizon_agents(RID)

Qualifiers: const

Returns the minimal amount of time for which the specified agent's velocities that are computed by the simulation are safe with respect to other agents.

float agent_get_time_horizon_agents(RID agent)

Parameters

agent RID

agent_get_time_horizon_obstacles(RID)

Qualifiers: const

Returns the minimal amount of time for which the specified agent's velocities that are computed by the simulation are safe with respect to static avoidance obstacles.

float agent_get_time_horizon_obstacles(RID agent)

Parameters

agent RID

agent_get_use_3d_avoidance(RID)

Qualifiers: const

Returns true if the provided agent uses avoidance in 3D space Vector3(x,y,z) instead of horizontal 2D Vector2(x,y) / Vector3(x,0.0,z).

bool agent_get_use_3d_avoidance(RID agent)

Parameters

agent RID

agent_get_velocity(RID)

Qualifiers: const

Returns the velocity of the specified agent.

Vector3 agent_get_velocity(RID agent)

Parameters

agent RID

agent_has_avoidance_callback(RID)

Qualifiers: const

Return true if the specified agent has an avoidance callback.

bool agent_has_avoidance_callback(RID agent)

Parameters

agent RID

agent_is_map_changed(RID)

Qualifiers: const

Returns true if the map got changed the previous frame.

bool agent_is_map_changed(RID agent)

Parameters

agent RID

agent_set_avoidance_callback(RID, Callable)

Sets the callback Callable that gets called after each avoidance processing step for the agent. The calculated safe_velocity will be dispatched with a signal to the object just before the physics calculations.

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 NavigationServer3D.agent_set_avoidance_callback again with an empty Callable.

void agent_set_avoidance_callback(RID agent, Callable callback)

Parameters

agent RID
callback Callable

agent_set_avoidance_enabled(RID, bool)

If enabled is true, the provided agent calculates avoidance.

void agent_set_avoidance_enabled(RID agent, bool enabled)

Parameters

agent RID
enabled bool

agent_set_avoidance_layers(RID, int)

Set the agent's avoidance_layers bitmask.

void agent_set_avoidance_layers(RID agent, int layers)

Parameters

agent RID
layers int

agent_set_avoidance_mask(RID, int)

Set the agent's avoidance_mask bitmask.

void agent_set_avoidance_mask(RID agent, int mask)

Parameters

agent RID
mask int

agent_set_avoidance_priority(RID, float)

Set the agent's avoidance_priority with a priority between 0.0 (lowest priority) to 1.0 (highest priority).

The specified 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.

void agent_set_avoidance_priority(RID agent, float priority)

Parameters

agent RID
priority float

agent_set_height(RID, float)

Updates the provided agent height.

void agent_set_height(RID agent, float height)

Parameters

agent RID
height float

agent_set_map(RID, RID)

Puts the agent in the map.

void agent_set_map(RID agent, RID map)

Parameters

agent RID
map RID

agent_set_max_neighbors(RID, int)

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_neighbors(RID agent, int count)

Parameters

agent RID
count int

agent_set_max_speed(RID, float)

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

void agent_set_max_speed(RID agent, float max_speed)

Parameters

agent RID
max_speed float

agent_set_neighbor_distance(RID, float)

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_neighbor_distance(RID agent, float distance)

Parameters

agent RID
distance float

agent_set_paused(RID, bool)

If paused is true the specified agent will not be processed, e.g. calculate avoidance velocities or receive avoidance callbacks.

void agent_set_paused(RID agent, bool paused)

Parameters

agent RID
paused bool

agent_set_position(RID, Vector3)

Sets the position of the agent in world space.

void agent_set_position(RID agent, Vector3 position)

Parameters

agent RID
position Vector3

agent_set_radius(RID, float)

Sets the radius of the agent.

void agent_set_radius(RID agent, float radius)

Parameters

agent RID
radius float

agent_set_time_horizon_agents(RID, float)

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. A too high value will slow down agents movement considerably. Must be positive.

void agent_set_time_horizon_agents(RID agent, float time_horizon)

Parameters

agent RID
time_horizon float

agent_set_time_horizon_obstacles(RID, float)

The minimal amount of time for which the agent's velocities that are computed by the simulation are safe with respect to static avoidance obstacles. The larger this number, the sooner this agent will respond to the presence of static avoidance obstacles, but the less freedom this agent has in choosing its velocities. A too high value will slow down agents movement considerably. Must be positive.

void agent_set_time_horizon_obstacles(RID agent, float time_horizon)

Parameters

agent RID
time_horizon float

agent_set_use_3d_avoidance(RID, bool)

Sets if the agent uses the 2D avoidance or the 3D avoidance while avoidance is enabled.

If true the agent calculates avoidance velocities in 3D for the xyz-axis, e.g. for games that take place in air, underwater or space. The 3D using agent only avoids other 3D avoidance using agent's. The 3D using agent only reacts to radius based avoidance obstacles. The 3D using agent ignores any vertices based obstacles. The 3D using agent only avoids other 3D using agent's.

If false the agent calculates avoidance velocities in 2D along the xz-axis ignoring the y-axis. The 2D using agent only avoids other 2D avoidance using agent's. The 2D using agent reacts to radius avoidance obstacles. The 2D using agent reacts to vertices based avoidance obstacles. The 2D using agent only avoids other 2D using agent's. 2D using agents will ignore other 2D using agents or obstacles that are below their current position or above their current position including the agents height in 2D avoidance.

void agent_set_use_3d_avoidance(RID agent, bool enabled)

Parameters

agent RID
enabled bool

agent_set_velocity(RID, Vector3)

Sets velocity as the new wanted velocity for the specified agent. The avoidance simulation will try to fulfill this velocity if possible but will modify it to avoid collision with other agent's and obstacles. When an agent is teleported to a new position use NavigationServer3D.agent_set_velocity_forced as well to reset the internal simulation velocity.

void agent_set_velocity(RID agent, Vector3 velocity)

Parameters

agent RID
velocity Vector3

agent_set_velocity_forced(RID, Vector3)

Replaces the internal velocity in the collision avoidance simulation with velocity for the specified agent. When an agent is teleported to a new position this function should be used in the same frame. If called frequently this function can get agents stuck.

void agent_set_velocity_forced(RID agent, Vector3 velocity)

Parameters

agent RID
velocity Vector3

bake_from_source_geometry_data(NavigationMesh, NavigationMeshSourceGeometryData3D, Callable)

Bakes the provided navigation_mesh with the data from the provided source_geometry_data. After the process is finished the optional callback will be called.

void bake_from_source_geometry_data(NavigationMesh navigation_mesh, NavigationMeshSourceGeometryData3D source_geometry_data, Callable callback)

Parameters

navigation_mesh NavigationMesh
source_geometry_data NavigationMeshSourceGeometryData3D
callback Callable

bake_from_source_geometry_data_async(NavigationMesh, NavigationMeshSourceGeometryData3D, Callable)

Bakes the provided navigation_mesh with the data from the provided source_geometry_data as an async task running on a background thread. After the process is finished the optional callback will be called.

void bake_from_source_geometry_data_async(NavigationMesh navigation_mesh, NavigationMeshSourceGeometryData3D source_geometry_data, Callable callback)

Parameters

navigation_mesh NavigationMesh
source_geometry_data NavigationMeshSourceGeometryData3D
callback Callable

free_rid(RID)

Destroys the given RID.

void free_rid(RID rid)

Parameters

rid RID

get_debug_enabled

Qualifiers: const

Returns true when the NavigationServer has debug enabled.

bool get_debug_enabled

get_maps

Qualifiers: 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[] get_maps

get_process_info(int)

Qualifiers: const

Returns information about the current state of the NavigationServer. See ProcessInfo for a list of available states.

int get_process_info(int process_info)

Parameters

process_info int

is_baking_navigation_mesh(NavigationMesh)

Qualifiers: const

Returns true when the provided navigation mesh is being baked on a background thread.

bool is_baking_navigation_mesh(NavigationMesh navigation_mesh)

Parameters

navigation_mesh NavigationMesh

link_create

Create a new link between two positions on a map.

RID link_create

link_get_enabled(RID)

Qualifiers: const

Returns true if the specified link is enabled.

bool link_get_enabled(RID link)

Parameters

link RID

link_get_end_position(RID)

Qualifiers: const

Returns the ending position of this link.

Vector3 link_get_end_position(RID link)

Parameters

link RID

link_get_enter_cost(RID)

Qualifiers: const

Returns the enter cost of this link.

float link_get_enter_cost(RID link)

Parameters

link RID

link_get_map(RID)

Qualifiers: const

Returns the navigation map RID the requested link is currently assigned to.

RID link_get_map(RID link)

Parameters

link RID

link_get_navigation_layers(RID)

Qualifiers: const

Returns the navigation layers for this link.

int link_get_navigation_layers(RID link)

Parameters

link RID

link_get_owner_id(RID)

Qualifiers: const

Returns the ObjectID of the object which manages this link.

int link_get_owner_id(RID link)

Parameters

link RID

link_get_start_position(RID)

Qualifiers: const

Returns the starting position of this link.

Vector3 link_get_start_position(RID link)

Parameters

link RID

link_get_travel_cost(RID)

Qualifiers: const

Returns the travel cost of this link.

float link_get_travel_cost(RID link)

Parameters

link RID

link_is_bidirectional(RID)

Qualifiers: const

Returns whether this link can be travelled in both directions.

bool link_is_bidirectional(RID link)

Parameters

link RID

link_set_bidirectional(RID, bool)

Sets whether this link can be travelled in both directions.

void link_set_bidirectional(RID link, bool bidirectional)

Parameters

link RID
bidirectional bool

link_set_enabled(RID, bool)

If enabled is true, the specified link will contribute to its current navigation map.

void link_set_enabled(RID link, bool enabled)

Parameters

link RID
enabled bool

link_set_end_position(RID, Vector3)

Sets the exit position for the link.

void link_set_end_position(RID link, Vector3 position)

Parameters

link RID
position Vector3

link_set_enter_cost(RID, float)

Sets the enter_cost for this link.

void link_set_enter_cost(RID link, float enter_cost)

Parameters

link RID
enter_cost float

link_set_map(RID, RID)

Sets the navigation map RID for the link.

void link_set_map(RID link, RID map)

Parameters

link RID
map RID

link_set_navigation_layers(RID, int)

Set the links's navigation layers. This allows selecting links from a path request (when using NavigationServer3D.map_get_path).

void link_set_navigation_layers(RID link, int navigation_layers)

Parameters

link RID
navigation_layers int

link_set_owner_id(RID, int)

Set the ObjectID of the object which manages this link.

void link_set_owner_id(RID link, int owner_id)

Parameters

link RID
owner_id int

link_set_start_position(RID, Vector3)

Sets the entry position for this link.

void link_set_start_position(RID link, Vector3 position)

Parameters

link RID
position Vector3

link_set_travel_cost(RID, float)

Sets the travel_cost for this link.

void link_set_travel_cost(RID link, float travel_cost)

Parameters

link RID
travel_cost float

map_create

Create a new map.

RID map_create

map_force_update(RID)

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 unaffected 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.

void map_force_update(RID map)

Parameters

map RID

map_get_agents(RID)

Qualifiers: const

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

RID[] map_get_agents(RID map)

Parameters

map RID

map_get_cell_height(RID)

Qualifiers: const

Returns the map cell height used to rasterize the navigation mesh vertices on the Y axis.

float map_get_cell_height(RID map)

Parameters

map RID

map_get_cell_size(RID)

Qualifiers: const

Returns the map cell size used to rasterize the navigation mesh vertices on the XZ plane.

float map_get_cell_size(RID map)

Parameters

map RID

map_get_closest_point(RID, Vector3)

Qualifiers: const

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

Vector3 map_get_closest_point(RID map, Vector3 to_point)

Parameters

map RID
to_point Vector3

map_get_closest_point_normal(RID, Vector3)

Qualifiers: const

Returns the navigation mesh surface normal closest to the provided to_point on the navigation map.

Vector3 map_get_closest_point_normal(RID map, Vector3 to_point)

Parameters

map RID
to_point Vector3

map_get_closest_point_owner(RID, Vector3)

Qualifiers: const

Returns the owner region RID for the navigation mesh surface point closest to the provided to_point on the navigation map.

RID map_get_closest_point_owner(RID map, Vector3 to_point)

Parameters

map RID
to_point Vector3

map_get_closest_point_to_segment(RID, Vector3, Vector3, bool)

Qualifiers: const

Returns the navigation mesh surface point closest to the provided start and end segment on the navigation map.

If use_collision is true, a closest point test is only done when the segment intersects with the navigation mesh surface.

Vector3 map_get_closest_point_to_segment(RID map, Vector3 start, Vector3 end, bool use_collision)

Parameters

map RID
start Vector3
end Vector3
use_collision bool

map_get_edge_connection_margin(RID)

Qualifiers: const

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

float map_get_edge_connection_margin(RID map)

Parameters

map RID

map_get_iteration_id(RID)

Qualifiers: const

Returns the current iteration id of the navigation map. Every time the navigation map changes and synchronizes the iteration id increases. An iteration id of 0 means the navigation map has never synchronized.

Note: The iteration id will wrap back to 1 after reaching its range limit.

int map_get_iteration_id(RID map)

Parameters

map RID

map_get_link_connection_radius(RID)

Qualifiers: const

Returns the link connection radius of the map. This distance is the maximum range any link will search for navigation mesh polygons to connect to.

float map_get_link_connection_radius(RID map)

Parameters

map RID

map_get_links(RID)

Qualifiers: const

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

RID[] map_get_links(RID map)

Parameters

map RID

map_get_merge_rasterizer_cell_scale(RID)

Qualifiers: const

Returns map's internal merge rasterizer cell scale.

float map_get_merge_rasterizer_cell_scale(RID map)

Parameters

map RID

map_get_obstacles(RID)

Qualifiers: const

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

RID[] map_get_obstacles(RID map)

Parameters

map RID

map_get_path(RID, Vector3, Vector3, bool, int)

Returns the navigation path to reach the destination from the origin. navigation_layers is a bitmask of all region navigation layers that are allowed to be in the path.

PackedVector3Array map_get_path(RID map, Vector3 origin, Vector3 destination, bool optimize, int navigation_layers)

Parameters

map RID
origin Vector3
destination Vector3
optimize bool
navigation_layers int

map_get_random_point(RID, int, bool)

Qualifiers: const

Returns a random position picked from all map region polygons with matching navigation_layers.

If uniformly is true, all map regions, polygons, and faces are weighted by their surface area (slower).

If uniformly is false, just a random region and a random polygon are picked (faster).

Vector3 map_get_random_point(RID map, int navigation_layers, bool uniformly)

Parameters

map RID
navigation_layers int
uniformly bool

map_get_regions(RID)

Qualifiers: const

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

RID[] map_get_regions(RID map)

Parameters

map RID

map_get_up(RID)

Qualifiers: const

Returns the map's up direction.

Vector3 map_get_up(RID map)

Parameters

map RID

map_get_use_async_iterations(RID)

Qualifiers: const

Returns true if the map synchronization uses an async process that runs on a background thread.

bool map_get_use_async_iterations(RID map)

Parameters

map RID

map_get_use_edge_connections(RID)

Qualifiers: const

Returns true if the navigation map allows navigation regions to use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.

bool map_get_use_edge_connections(RID map)

Parameters

map RID

map_is_active(RID)

Qualifiers: const

Returns true if the map is active.

bool map_is_active(RID map)

Parameters

map RID

map_set_active(RID, bool)

Sets the map active.

void map_set_active(RID map, bool active)

Parameters

map RID
active bool

map_set_cell_height(RID, float)

Sets the map cell height used to rasterize the navigation mesh vertices on the Y axis. Must match with the cell height of the used navigation meshes.

void map_set_cell_height(RID map, float cell_height)

Parameters

map RID
cell_height float

map_set_cell_size(RID, float)

Sets the map cell size used to rasterize the navigation mesh vertices on the XZ plane. Must match with the cell size of the used navigation meshes.

void map_set_cell_size(RID map, float cell_size)

Parameters

map RID
cell_size float

map_set_edge_connection_margin(RID, float)

Set the map edge connection margin used to weld the compatible region edges.

void map_set_edge_connection_margin(RID map, float margin)

Parameters

map RID
margin float

map_set_link_connection_radius(RID, float)

Set the map's link connection radius used to connect links to navigation polygons.

void map_set_link_connection_radius(RID map, float radius)

Parameters

map RID
radius float

map_set_merge_rasterizer_cell_scale(RID, float)

Set the map's internal merge rasterizer cell scale used to control merging sensitivity.

void map_set_merge_rasterizer_cell_scale(RID map, float scale)

Parameters

map RID
scale float

map_set_up(RID, Vector3)

Sets the map up direction.

void map_set_up(RID map, Vector3 up)

Parameters

map RID
up Vector3

map_set_use_async_iterations(RID, bool)

If enabled is true the map synchronization uses an async process that runs on a background thread.

void map_set_use_async_iterations(RID map, bool enabled)

Parameters

map RID
enabled bool

map_set_use_edge_connections(RID, bool)

Set the navigation map edge connection use. If enabled is true, the navigation map allows navigation regions to use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.

void map_set_use_edge_connections(RID map, bool enabled)

Parameters

map RID
enabled bool

obstacle_create

Creates a new obstacle.

RID obstacle_create

obstacle_get_avoidance_enabled(RID)

Qualifiers: const

Returns true if the provided obstacle has avoidance enabled.

bool obstacle_get_avoidance_enabled(RID obstacle)

Parameters

obstacle RID

obstacle_get_avoidance_layers(RID)

Qualifiers: const

Returns the avoidance_layers bitmask of the specified obstacle.

int obstacle_get_avoidance_layers(RID obstacle)

Parameters

obstacle RID

obstacle_get_height(RID)

Qualifiers: const

Returns the height of the specified obstacle.

float obstacle_get_height(RID obstacle)

Parameters

obstacle RID

obstacle_get_map(RID)

Qualifiers: const

Returns the navigation map RID the requested obstacle is currently assigned to.

RID obstacle_get_map(RID obstacle)

Parameters

obstacle RID

obstacle_get_paused(RID)

Qualifiers: const

Returns true if the specified obstacle is paused.

bool obstacle_get_paused(RID obstacle)

Parameters

obstacle RID

obstacle_get_position(RID)

Qualifiers: const

Returns the position of the specified obstacle in world space.

Vector3 obstacle_get_position(RID obstacle)

Parameters

obstacle RID

obstacle_get_radius(RID)

Qualifiers: const

Returns the radius of the specified dynamic obstacle.

float obstacle_get_radius(RID obstacle)

Parameters

obstacle RID

obstacle_get_use_3d_avoidance(RID)

Qualifiers: const

Returns true if the provided obstacle uses avoidance in 3D space Vector3(x,y,z) instead of horizontal 2D Vector2(x,y) / Vector3(x,0.0,z).

bool obstacle_get_use_3d_avoidance(RID obstacle)

Parameters

obstacle RID

obstacle_get_velocity(RID)

Qualifiers: const

Returns the velocity of the specified dynamic obstacle.

Vector3 obstacle_get_velocity(RID obstacle)

Parameters

obstacle RID

obstacle_get_vertices(RID)

Qualifiers: const

Returns the outline vertices for the specified obstacle.

PackedVector3Array obstacle_get_vertices(RID obstacle)

Parameters

obstacle RID

obstacle_set_avoidance_enabled(RID, bool)

If enabled is true, the provided obstacle affects avoidance using agents.

void obstacle_set_avoidance_enabled(RID obstacle, bool enabled)

Parameters

obstacle RID
enabled bool

obstacle_set_avoidance_layers(RID, int)

Set the obstacles's avoidance_layers bitmask.

void obstacle_set_avoidance_layers(RID obstacle, int layers)

Parameters

obstacle RID
layers int

obstacle_set_height(RID, float)

Sets the height for the obstacle. In 3D agents will ignore obstacles that are above or below them while using 2D avoidance.

void obstacle_set_height(RID obstacle, float height)

Parameters

obstacle RID
height float

obstacle_set_map(RID, RID)

Assigns the obstacle to a navigation map.

void obstacle_set_map(RID obstacle, RID map)

Parameters

obstacle RID
map RID

obstacle_set_paused(RID, bool)

If paused is true the specified obstacle will not be processed, e.g. affect avoidance velocities.

void obstacle_set_paused(RID obstacle, bool paused)

Parameters

obstacle RID
paused bool

obstacle_set_position(RID, Vector3)

Updates the position in world space for the obstacle.

void obstacle_set_position(RID obstacle, Vector3 position)

Parameters

obstacle RID
position Vector3

obstacle_set_radius(RID, float)

Sets the radius of the dynamic obstacle.

void obstacle_set_radius(RID obstacle, float radius)

Parameters

obstacle RID
radius float

obstacle_set_use_3d_avoidance(RID, bool)

Sets if the obstacle uses the 2D avoidance or the 3D avoidance while avoidance is enabled.

void obstacle_set_use_3d_avoidance(RID obstacle, bool enabled)

Parameters

obstacle RID
enabled bool

obstacle_set_velocity(RID, Vector3)

Sets velocity of the dynamic obstacle. Allows other agents to better predict the movement of the dynamic obstacle. Only works in combination with the radius of the obstacle.

void obstacle_set_velocity(RID obstacle, Vector3 velocity)

Parameters

obstacle RID
velocity Vector3

obstacle_set_vertices(RID, PackedVector3Array)

Sets the outline vertices for the obstacle. If the vertices are winded in clockwise order agents will be pushed in by the obstacle, else they will be pushed out.

void obstacle_set_vertices(RID obstacle, PackedVector3Array vertices)

Parameters

obstacle RID
vertices PackedVector3Array

parse_source_geometry_data(NavigationMesh, NavigationMeshSourceGeometryData3D, Node, Callable)

Parses the SceneTree for source geometry according to the properties of navigation_mesh. Updates the provided source_geometry_data resource with the resulting data. The resource can then be used to bake a navigation mesh with NavigationServer3D.bake_from_source_geometry_data. After the process is finished the optional callback will be called.

Note: This function needs to run on the main thread or with a deferred call as the SceneTree is not thread-safe.

Performance: While convenient, reading data arrays from Mesh resources can affect the frame rate negatively. The data needs to be received from the GPU, stalling the RenderingServer in the process. For performance prefer the use of e.g. collision shapes or creating the data arrays entirely in code.

void parse_source_geometry_data(NavigationMesh navigation_mesh, NavigationMeshSourceGeometryData3D source_geometry_data, Node root_node, Callable callback)

Parameters

navigation_mesh NavigationMesh
source_geometry_data NavigationMeshSourceGeometryData3D
root_node Node
callback Callable

query_path(NavigationPathQueryParameters3D, NavigationPathQueryResult3D, Callable)

Queries a path in a given navigation map. Start and target position and other parameters are defined through NavigationPathQueryParameters3D. Updates the provided NavigationPathQueryResult3D result object with the path among other results requested by the query. After the process is finished the optional callback will be called.

void query_path(NavigationPathQueryParameters3D parameters, NavigationPathQueryResult3D result, Callable callback)

Parameters

parameters NavigationPathQueryParameters3D
result NavigationPathQueryResult3D
callback Callable

region_bake_navigation_mesh(NavigationMesh, Node)

Bakes the navigation_mesh with bake source geometry collected starting from the root_node.

void region_bake_navigation_mesh(NavigationMesh navigation_mesh, Node root_node)

Parameters

navigation_mesh NavigationMesh
root_node Node

region_create

Creates a new region.

RID region_create

region_get_bounds(RID)

Qualifiers: const

Returns the axis-aligned bounding box for the region's transformed navigation mesh.

AABB region_get_bounds(RID region)

Parameters

region RID

region_get_closest_point(RID, Vector3)

Qualifiers: const

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

Vector3 region_get_closest_point(RID region, Vector3 to_point)

Parameters

region RID
to_point Vector3

region_get_closest_point_normal(RID, Vector3)

Qualifiers: const

Returns the navigation mesh surface normal closest to the provided to_point on the navigation region.

Vector3 region_get_closest_point_normal(RID region, Vector3 to_point)

Parameters

region RID
to_point Vector3

region_get_closest_point_to_segment(RID, Vector3, Vector3, bool)

Qualifiers: const

Returns the navigation mesh surface point closest to the provided start and end segment on the navigation region.

If use_collision is true, a closest point test is only done when the segment intersects with the navigation mesh surface.

Vector3 region_get_closest_point_to_segment(RID region, Vector3 start, Vector3 end, bool use_collision)

Parameters

region RID
start Vector3
end Vector3
use_collision bool

region_get_connection_pathway_end(RID, int)

Qualifiers: const

Returns the ending point of a connection door. connection is an index between 0 and the return value of NavigationServer3D.region_get_connections_count.

Vector3 region_get_connection_pathway_end(RID region, int connection)

Parameters

region RID
connection int

region_get_connection_pathway_start(RID, int)

Qualifiers: const

Returns the starting point of a connection door. connection is an index between 0 and the return value of NavigationServer3D.region_get_connections_count.

Vector3 region_get_connection_pathway_start(RID region, int connection)

Parameters

region RID
connection int

region_get_connections_count(RID)

Qualifiers: const

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

int region_get_connections_count(RID region)

Parameters

region RID

region_get_enabled(RID)

Qualifiers: const

Returns true if the specified region is enabled.

bool region_get_enabled(RID region)

Parameters

region RID

region_get_enter_cost(RID)

Qualifiers: const

Returns the enter cost of this region.

float region_get_enter_cost(RID region)

Parameters

region RID

region_get_map(RID)

Qualifiers: const

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

RID region_get_map(RID region)

Parameters

region RID

region_get_navigation_layers(RID)

Qualifiers: const

Returns the region's navigation layers.

int region_get_navigation_layers(RID region)

Parameters

region RID

region_get_owner_id(RID)

Qualifiers: const

Returns the ObjectID of the object which manages this region.

int region_get_owner_id(RID region)

Parameters

region RID

region_get_random_point(RID, int, bool)

Qualifiers: const

Returns a random position picked from all region polygons with matching navigation_layers.

If uniformly is true, all region polygons and faces are weighted by their surface area (slower).

If uniformly is false, just a random polygon and face is picked (faster).

Vector3 region_get_random_point(RID region, int navigation_layers, bool uniformly)

Parameters

region RID
navigation_layers int
uniformly bool

region_get_transform(RID)

Qualifiers: const

Returns the global transformation of this region.

Transform3D region_get_transform(RID region)

Parameters

region RID

region_get_travel_cost(RID)

Qualifiers: const

Returns the travel cost of this region.

float region_get_travel_cost(RID region)

Parameters

region RID

region_get_use_edge_connections(RID)

Qualifiers: const

Returns true if the navigation region is set to use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.

bool region_get_use_edge_connections(RID region)

Parameters

region RID

region_owns_point(RID, Vector3)

Qualifiers: 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.

bool region_owns_point(RID region, Vector3 point)

Parameters

region RID
point Vector3

region_set_enabled(RID, bool)

If enabled is true, the specified region will contribute to its current navigation map.

void region_set_enabled(RID region, bool enabled)

Parameters

region RID
enabled bool

region_set_enter_cost(RID, float)

Sets the enter_cost for this region.

void region_set_enter_cost(RID region, float enter_cost)

Parameters

region RID
enter_cost float

region_set_map(RID, RID)

Sets the map for the region.

void region_set_map(RID region, RID map)

Parameters

region RID
map RID

region_set_navigation_layers(RID, int)

Set the region's navigation layers. This allows selecting regions from a path request (when using NavigationServer3D.map_get_path).

void region_set_navigation_layers(RID region, int navigation_layers)

Parameters

region RID
navigation_layers int

region_set_navigation_mesh(RID, NavigationMesh)

Sets the navigation mesh for the region.

void region_set_navigation_mesh(RID region, NavigationMesh navigation_mesh)

Parameters

region RID
navigation_mesh NavigationMesh

region_set_owner_id(RID, int)

Set the ObjectID of the object which manages this region.

void region_set_owner_id(RID region, int owner_id)

Parameters

region RID
owner_id int

region_set_transform(RID, Transform3D)

Sets the global transformation for the region.

void region_set_transform(RID region, Transform3D transform)

Parameters

region RID
transform Transform3D

region_set_travel_cost(RID, float)

Sets the travel_cost for this region.

void region_set_travel_cost(RID region, float travel_cost)

Parameters

region RID
travel_cost float

region_set_use_edge_connections(RID, bool)

If enabled is true, the navigation region will use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.

void region_set_use_edge_connections(RID region, bool enabled)

Parameters

region RID
enabled bool

set_active(bool)

Control activation of this server.

void set_active(bool active)

Parameters

active bool

set_debug_enabled(bool)

If true enables debug mode on the NavigationServer.

void set_debug_enabled(bool enabled)

Parameters

enabled bool

simplify_path(PackedVector3Array, float)

Returns a simplified version of path with less critical path points removed. The simplification amount is in worlds units and controlled by epsilon. The simplification uses a variant of Ramer-Douglas-Peucker algorithm for curve point decimation.

Path simplification can be helpful to mitigate various path following issues that can arise with certain agent types and script behaviors. E.g. "steering" agents or avoidance in "open fields".

PackedVector3Array simplify_path(PackedVector3Array path, float epsilon)

Parameters

path PackedVector3Array
epsilon float

source_geometry_parser_create

Creates a new source geometry parser. If a Callable is set for the parser with NavigationServer3D.source_geometry_parser_set_callback the callback will be called for every single node that gets parsed whenever NavigationServer3D.parse_source_geometry_data is used.

RID source_geometry_parser_create

source_geometry_parser_set_callback(RID, Callable)

Sets the callback Callable for the specific source geometry parser. The Callable will receive a call with the following parameters:

navigation_mesh - The NavigationMesh reference used to define the parse settings. Do NOT edit or add directly to the navigation mesh.
source_geometry_data - The NavigationMeshSourceGeometryData3D reference. Add custom source geometry for navigation mesh baking to this object.
node - The Node that is parsed.

void source_geometry_parser_set_callback(RID parser, Callable callback)

Parameters

parser RID
callback Callable

Events

avoidance_debug_changed

Emitted when avoidance debug settings are changed. Only available in debug builds.

signal avoidance_debug_changed

map_changed(RID)

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

signal map_changed(RID map)

Parameters

map RID

navigation_debug_changed

Emitted when navigation debug settings are changed. Only available in debug builds.

signal navigation_debug_changed

Table of Contents

Class NavigationServer3D

Remarks

See Also

Methods

agent_create

agent_get_avoidance_enabled(RID)

Parameters

agent_get_avoidance_layers(RID)

Parameters

agent_get_avoidance_mask(RID)

Parameters

agent_get_avoidance_priority(RID)

Parameters

agent_get_height(RID)

Parameters

agent_get_map(RID)

Parameters

agent_get_max_neighbors(RID)

Parameters

agent_get_max_speed(RID)

Parameters

agent_get_neighbor_distance(RID)

Parameters

agent_get_paused(RID)

Parameters

agent_get_position(RID)

Parameters

agent_get_radius(RID)

Parameters

agent_get_time_horizon_agents(RID)

Parameters

agent_get_time_horizon_obstacles(RID)

Parameters

agent_get_use_3d_avoidance(RID)

Parameters

agent_get_velocity(RID)

Parameters

agent_has_avoidance_callback(RID)

Parameters

agent_is_map_changed(RID)

Parameters

agent_set_avoidance_callback(RID, Callable)

Parameters

agent_set_avoidance_enabled(RID, bool)

Parameters

agent_set_avoidance_layers(RID, int)

Parameters

agent_set_avoidance_mask(RID, int)

Parameters

agent_set_avoidance_priority(RID, float)

Parameters

agent_set_height(RID, float)

Parameters

agent_set_map(RID, RID)

Parameters

agent_set_max_neighbors(RID, int)

Parameters

agent_set_max_speed(RID, float)

Parameters

agent_set_neighbor_distance(RID, float)

Parameters

agent_set_paused(RID, bool)

Parameters

agent_set_position(RID, Vector3)

Parameters

agent_set_radius(RID, float)

Parameters

agent_set_time_horizon_agents(RID, float)

Parameters

agent_set_time_horizon_obstacles(RID, float)

Parameters

agent_set_use_3d_avoidance(RID, bool)

Parameters

agent_set_velocity(RID, Vector3)

Parameters

agent_set_velocity_forced(RID, Vector3)

Parameters

bake_from_source_geometry_data(NavigationMesh, NavigationMeshSourceGeometryData3D, Callable)

Parameters