87 lines
2.5 KiB
GDScript
87 lines
2.5 KiB
GDScript
extends CharacterBody3D
|
|
|
|
## NS-23: Nav waypoints + stored server goal for arrival.
|
|
## NS-19: invisible convex **ramps** on bumps; no `test_move` autostep (bad vs `move_and_slide`).
|
|
|
|
const MOVE_SPEED: float = 5.0
|
|
const ARRIVE_EPS: float = 0.35
|
|
const VERT_ARRIVE_EPS: float = 0.16
|
|
const MAX_CLIMB_SPEED: float = 2.6
|
|
const MAX_DESCENT_SPEED: float = 2.2
|
|
const DIRECT_APPROACH_RADIUS: float = 0.85
|
|
|
|
var _has_walk_goal: bool = false
|
|
var _auth_walk_goal: Vector3 = Vector3.ZERO
|
|
|
|
@onready var _nav_agent: NavigationAgent3D = $NavigationAgent3D
|
|
|
|
|
|
func _ready() -> void:
|
|
_nav_agent.set_target_position(global_position)
|
|
|
|
|
|
func set_authoritative_nav_goal(world_pos: Vector3) -> void:
|
|
_auth_walk_goal = world_pos
|
|
_has_walk_goal = true
|
|
_nav_agent.set_target_position(world_pos)
|
|
|
|
|
|
func clear_nav_goal() -> void:
|
|
velocity = Vector3.ZERO
|
|
_has_walk_goal = false
|
|
_nav_agent.set_target_position(global_position)
|
|
|
|
|
|
func snap_to_server(world_pos: Vector3) -> void:
|
|
global_position = world_pos
|
|
velocity = Vector3.ZERO
|
|
_has_walk_goal = false
|
|
_nav_agent.set_target_position(world_pos)
|
|
|
|
|
|
func _steer_toward_world_point(point: Vector3) -> void:
|
|
var delta: Vector3 = point - global_position
|
|
if delta.length_squared() < 1e-8:
|
|
velocity = Vector3.ZERO
|
|
return
|
|
var desired: Vector3 = delta.normalized() * MOVE_SPEED
|
|
desired.y = clampf(desired.y, -MAX_DESCENT_SPEED, MAX_CLIMB_SPEED)
|
|
velocity = desired
|
|
|
|
|
|
func _physics_process(_delta: float) -> void:
|
|
if not _has_walk_goal:
|
|
velocity = Vector3.ZERO
|
|
move_and_slide()
|
|
return
|
|
|
|
var full_to_goal: Vector3 = _auth_walk_goal - global_position
|
|
var horiz_dist: float = Vector2(full_to_goal.x, full_to_goal.z).length()
|
|
var vert_err: float = absf(full_to_goal.y)
|
|
if horiz_dist <= ARRIVE_EPS and vert_err <= VERT_ARRIVE_EPS:
|
|
velocity = Vector3.ZERO
|
|
_has_walk_goal = false
|
|
_nav_agent.set_target_position(global_position)
|
|
move_and_slide()
|
|
return
|
|
|
|
var nav_map: RID = _nav_agent.get_navigation_map()
|
|
if NavigationServer3D.map_get_iteration_id(nav_map) == 0:
|
|
_steer_toward_world_point(_auth_walk_goal)
|
|
move_and_slide()
|
|
return
|
|
|
|
if horiz_dist <= DIRECT_APPROACH_RADIUS:
|
|
_steer_toward_world_point(_auth_walk_goal)
|
|
else:
|
|
var next_path_position: Vector3 = _nav_agent.get_next_path_position()
|
|
var to_next_h: Vector3 = Vector3(
|
|
next_path_position.x - global_position.x, 0.0, next_path_position.z - global_position.z
|
|
)
|
|
if to_next_h.length_squared() > 0.0025:
|
|
_steer_toward_world_point(next_path_position)
|
|
else:
|
|
_steer_toward_world_point(_auth_walk_goal)
|
|
|
|
move_and_slide()
|