Backport NavigationServer to 3.x #48395

Duroxxigar · 2021-05-03T00:24:44Z

This is the nav server backported as much as I could. There are also a few additional changes that I made that I will be making a PR for in master - such as improved error messaging and fixing a race condition.

Did not implement #47024 because it included some potentially breaking features, such as removing the navigation node and implementing navigation layers. I can backport it - just need the okay to do so. This also means other PRs that fixed things due to this PR, was not implemented either.

Did not implement #48028 because it kept crashing the engine in the 3.x branch. Even when I tried to do the 3.x equivalent. There may be something that I have overlooked about it.

Other than these, I'm fairly certain I got everything. I may have missed a PR or two, but all the major ones were implemented. I have tested the new workflow, as well as the old (using get_simple_path()) and both work. So this means that people who are relying on the old workflow should not notice a change or anything breaking.

I also have a Windows build (x64) people should be able to download and try out. I wasn't able to build for any other platforms, because I lack the tooling to do so. All the documentation should be updated as well.

There is a known issue (which exists on master as well) in one instance that I've found. If you are trying to command an agent to move to a certain location by mouse click (and do the raycast and all that jazz), when it gets to the final location, the agent oscillates as if they can't actually get to the position. This can be scripted around by slightly increasing the target_desired_distance property in the agent. According to Andreas, this kind of jitter is expected. I did not observe this when utilizing the nav server with AI chasing the player or any other thing of the sort.

If the checks fail for formatting - I'll address that when it is pretty much time to merge.

Bugsquad edit: Backport of #34776 and follow-up PRs.

aaronfranke · 2021-05-03T05:56:27Z

Some more pre-compiled builds for easy testing (all 64-bit x86): Linux Editor, Linux Template, Mac Editor, Mac Template, and folder.

phelioz · 2021-05-04T07:48:15Z

Really nice work with porting this to 3.x :)

Tried quickly to use my 3.3 2D project with the new navigation.
My code that uses Navigation2D.get_simple_path now only returns a empty PoolVector2Array, doesn't seem to find the path.
I am using a TileMap with navigation tiles defined but the TileMap is not a direct child under the Navigation2D node, don't know if that has anything to do with it.

Tried the NavigationAgent2D quickly to and of course a get the same problem there. The get_next_location() only returns the position of the agent's parent as it does when no path is found.

Also don't get a callback from the velocity_computed when using set_velocity.

Don't know it this problems only exist in this port to 3.x or in 4.0 also, because haven't tried navigation with the 4.0 brach.

Duroxxigar · 2021-05-04T13:30:59Z

@phelioz Thanks for testing this - I am unable to repro your issues. The TileMap should be a child of the nav node, yes. This is so the navigation node has navigation information that you can query.

For the nav agent - it needs to be under a nav node as well, or you can tell the agent what the nav node is by using agent.set_navigation(navigation). This may be why the signal and the get_next_location() function is not working for you.

phelioz · 2021-05-04T14:44:11Z

@Duroxxigar I have the TileMap as a child to the Navigation2D node, it is just not a direct child.
Like this:

Navigation2D
- RandomNode
  - TileMap

But the don't think the problem is that, because is walks up when finding the Navigation2D node.
Have also tried to use agent.set_navigation(navigation) but dosen't work either.

Could be something crazy I am doing on my side.
But my navigation broke when I updated to this branch.
Will try to test this more to find out what's causing it on my side.

aaronfranke · 2021-05-04T19:14:50Z

Debugging would be much easier if y'all post minimal reproduction projects. @Duroxxigar can post one that shows a working example, and @phelioz and others can post projects that don't work so that we can look for for regressions.

phelioz · 2021-05-04T19:35:34Z

Yeah I know, will try to recreate the problem in a minimal reproduction project on the weekend. Should have time then

phelioz · 2021-05-05T09:14:24Z

Found my problem. The navigation stops working when you reparent the Navigation2D or the Navigation2DAgent node.
It happens because needed initialization when under a new parent only happens in NOTIFICATION_READY when it should happen in NOTIFICATION_ENTER_TREE notification.

Made a minimal reproduction project where you can test how it breaks when changing parent for Navigation2D.
project.zip

Made a pull-request against the Duroxxigar:nav-backport fixing this. Don't know if there was any reason to only do this in NOTIFICATION_READY.

Duroxxigar · 2021-05-05T13:37:25Z

I don't think changing that is the solution. If you put it in _enter_tree, you can't guarantee everything that is needed is in place already.

phelioz · 2021-05-05T17:16:42Z

The NOTIFICATION_ENTER_TREE notification cascades down the tree so thought the needed things would be in place?
For example NavigationPolygonInstance uses the NOTIFICATION_ENTER_TREE notification for setup.

But on the other hand NavigationObstacle2D also uses NOTIFICATION_READY as Navigation2D and NavigationAgent2D right now.
So probably there is some problem with reparenting NavigationObstacle2D also right now.

But I am probably missing something here as you pointed out.

[Edit]
Yes, still getting some problems when moving the navigation nodes when using NOTIFICATION_ENTER_TREE

vini-guerrero · 2021-06-07T05:07:11Z

I'm not sure how updated this is against current 3.x branch, but I found this cherry pick backport of navigation server, maybe it could be helpful to validate some points, https://github.com/Scony/godot/tree/cherry-pick-new-navigation
This is a key feature for most of my projects, hope I could help testing and that this works out 👏👏

Duroxxigar · 2021-06-07T17:16:23Z

I'm not sure how updated this is against current 3.x branch, but I found this cherry pick backport of navigation server, maybe it could be helpful to validate some points, https://github.com/Scony/godot/tree/cherry-pick-new-navigation
This is a key feature for most of my projects, hope I could help testing and that this works out 👏👏

That is an old and out of date one. This current branch is the most up-to-date that I'm aware of. I haven't had time to return to this to double check on it however. That said, as long as you're not doing what they stated (reparenting things) it should work fine.

The soonest I can look at this is this weekend most likely. I've just been incredibly busy this past month with work and projects.

phelioz · 2021-06-08T07:37:47Z

I also reckon that the "reparenting" issues also exist in the master branch, so probably not something done wrong with this port.

scene/3d/navigation_agent.cpp

akien-mga

Looks pretty good overall, some remaining nitpicks for the docs. I'm actually going to amend the PR myself as it's probably the easiest (should have done this from the start instead of doing review comments but well...).

I'll also tweak the modules/navigation/SCsub to take #44457 into account.

doc/classes/@GlobalScope.xml

doc/classes/Navigation2DServer.xml

doc/classes/NavigationServer.xml

akien-mga

Amended the docs and SCsub to address my remaining feedback, and fixed the remaining issue found by @mysterycoconut. Time to merge and get wider testing started :)

Change the entire navigation system. Remove editor prefix from nav mesh generator class. It is now used for baking at runtime as well. Navigation supports obstacle avoidance now with the RVO2 library. Nav system will also automatically link all nav meshes together to form one overall complete nav map.

akien-mga · 2022-01-05T15:38:26Z

Thanks hugely for this backport!

timothyqiu · 2022-01-06T06:00:23Z

scene/2d/navigation_obstacle_2d.cpp

+		case NOTIFICATION_PARENTED: {
+			parent_node2d = Object::cast_to<Node2D>(get_parent());
+			reevaluate_agent_radius();
+		}
+		case NOTIFICATION_UNPARENTED: {
+			parent_node2d = nullptr;
+		}


These two cases are missing a break 😯

How come the compiler didn't warn about this? It's fallthrough but there's no fallthrough statement.

BigZaphod · 2022-01-31T16:12:23Z

I tried throwing together a very simple test of the navigation with an obstacle in the 3.5b1 build and it seems to behave oddly with the agent sometimes jumping or bumping as if it hit something. I can't tell if I've set this up wrong or am missing something or not, but I assume this isn't expected behavior? I used the blog post as a guide to configuring the agent and obstacle, but I can't rule out that I did something stupid here.

Godot3.5NavTest.mov

The scene tree looks like this:

And this is the only script (attached to the player):

extends RigidBody2D

var speed = 100

func _ready():
	$NavigationAgent2D.set_target_location(Vector2(0,0))


func _physics_process(delta):
	if $NavigationAgent2D.is_navigation_finished():
		linear_velocity = Vector2.ZERO
	else:
		var target = $NavigationAgent2D.get_next_location()
		var vel = global_position.direction_to(target) * speed
		$NavigationAgent2D.set_velocity(vel)


func _on_NavigationAgent2D_velocity_computed(safe_velocity):
	linear_velocity = safe_velocity

Full project:
Godot3.5NavTest.zip

RonanZe · 2022-02-04T13:46:34Z

https://github.com/godotengine/godot/files/4021788/Navigation2.zip
I just tried this exemple (available here --> #34776) and it's seems to be really laggy. Is it a known issue?
I also tested it on an 3d projet and it's also really slow

Zireael07 · 2022-02-04T13:48:32Z

@RonanZe: Your issue sounds like #56838

BlenderIsaac · 2022-06-14T01:53:35Z

Is there export templates?

Calinou · 2022-06-14T09:49:27Z

Is there export templates?

Yes, in 3.5.rc3 for example.

Duroxxigar requested review from a team as code owners May 3, 2021 00:24

aaronfranke added this to the 3.4 milestone May 3, 2021

aaronfranke added enhancement topic:navigation needs testing labels May 3, 2021

aaronfranke changed the base branch from 3.3 to 3.x May 3, 2021 00:36

aaronfranke added topic:2d topic:3d labels May 3, 2021

aaronfranke force-pushed the nav-backport branch 3 times, most recently from 7ec0450 to 8b11724 Compare May 3, 2021 01:43

aaronfranke force-pushed the nav-backport branch 2 times, most recently from a6711be to 0e9616b Compare May 4, 2021 20:23

Duroxxigar force-pushed the nav-backport branch from bb219b6 to 8002ba3 Compare December 20, 2021 03:26

aaronfranke force-pushed the nav-backport branch from 8002ba3 to 459d641 Compare December 20, 2021 04:26

Duroxxigar force-pushed the nav-backport branch from 459d641 to 57b1d58 Compare December 24, 2021 20:48

aaronfranke force-pushed the nav-backport branch from 57b1d58 to 125255a Compare December 24, 2021 21:00

Duroxxigar marked this pull request as ready for review December 24, 2021 22:03

Duroxxigar requested review from akien-mga and removed request for a team December 24, 2021 22:03

akien-mga reviewed Jan 5, 2022

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akien-mga reviewed Jan 5, 2022

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akien-mga force-pushed the nav-backport branch 2 times, most recently from 2e30364 to 5b9bf70 Compare January 5, 2022 14:53

akien-mga approved these changes Jan 5, 2022

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akien-mga force-pushed the nav-backport branch from 5b9bf70 to 09bc9eb Compare January 5, 2022 15:01

akien-mga merged commit 0b54b3d into godotengine:3.x Jan 5, 2022

aaronfranke mentioned this pull request Jan 5, 2022

Integrated the new NavigationServer and NavigationServer2D #34776

Merged

timothyqiu reviewed Jan 6, 2022

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Scony mentioned this pull request Jan 7, 2022

[3.x] Fix NavigationObstacle errors #56600

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BigZaphod mentioned this pull request Jan 31, 2022

3.5b1 navigation agent seems to sometimes bump around an obstacle in a way that feels like a bug #57486

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aaronfranke deleted the nav-backport branch June 14, 2022 12:26

akien-mga mentioned this pull request Jun 16, 2022

Use bake method for NavigationMeshGenerator in Runtime #54634

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Backport NavigationServer to 3.x #48395

Backport NavigationServer to 3.x #48395

Duroxxigar commented May 3, 2021 •

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Backport NavigationServer to 3.x #48395

Backport NavigationServer to 3.x #48395

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