NavigationMesh

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

3D Navmesh Demo

Properties

float	agent_height	`1.5`
float	agent_max_climb	`0.25`
float	agent_max_slope	`45.0`
float	agent_radius	`0.5`
float	cell_height	`0.25`
float	cell_size	`0.25`
float	detail_sample_distance	`6.0`
float	detail_sample_max_error	`1.0`
float	edge_max_error	`1.3`
float	edge_max_length	`12.0`
AABB	filter_baking_aabb	`AABB( 0, 0, 0, 0, 0, 0 )`
Vector3	filter_baking_aabb_offset	`Vector3( 0, 0, 0 )`
bool	filter_ledge_spans	`false`
bool	filter_low_hanging_obstacles	`false`
bool	filter_walkable_low_height_spans	`false`
int	geometry_collision_mask	`4294967295`
ParsedGeometryType	geometry_parsed_geometry_type	`0`
SourceGeometryMode	geometry_source_geometry_mode	`0`
String	geometry_source_group_name	`“navmesh”`
float	polygon_verts_per_poly	`6.0`
float	region_merge_size	`20.0`
float	region_min_size	`2.0`
SamplePartitionType	sample_partition_type	`0`

Methods

void	add_polygon ( PoolIntArray polygon )
void	clear_polygons ( )
void	create_from_mesh ( Mesh mesh )
bool	get_collision_mask_bit ( int bit ) const
PoolIntArray	get_polygon ( int idx )
int	get_polygon_count ( ) const
PoolVector3Array	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	`1.5`
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	`0.25`
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	`45.0`
Setter	set_agent_max_slope(value)
Getter	get_agent_max_slope()

The maximum slope that is considered walkable, in degrees.

float agent_radius

Default	`0.5`
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	`0.25`
Setter	set_cell_height(value)
Getter	get_cell_height()

The Y axis cell size to use for fields.

float cell_size

Default	`0.25`
Setter	set_cell_size(value)
Getter	get_cell_size()

The XZ plane cell size to use for fields.

float detail_sample_distance

Default	`6.0`
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	`1.0`
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	`1.3`
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	`12.0`
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	`AABB( 0, 0, 0, 0, 0, 0 )`
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	`Vector3( 0, 0, 0 )`
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	`false`
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	`false`
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	`false`
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	`4294967295`
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	`0`
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	`0`
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	`“navmesh”`
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	`6.0`
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	`20.0`
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	`2.0`
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	`0`
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.

bool get_collision_mask_bit ( int bit ) const

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.

void set_collision_mask_bit ( int bit, bool value )

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.