Navigation3D HTN integration

When HTN Planner is also enabled, Navigation3D registers Nav3D.* flight / move operators and a sensor so the planner can treat “fly somewhere / take off / land / move on ground” as atomic tasks. gem.json does not hard-depend on HtnPlanner—the adapter builds and loads only when both Gems are enabled.

Six operators

Operator IDDomainFirst argPurpose
Nav3D.FlyToAir (Hybrid optional)TargetPosFly to a position
Nav3D.FlyToEntityAirTargetEntityFly to an entity
Nav3D.TakeOffHybrid— (optional TakeoffLink)Take off; sets Self.IsAirborne = true
Nav3D.LandHybrid— (optional landing point)Land; clears Self.IsAirborne
Nav3D.MoveToGroundTargetPosGround move to a position
Nav3D.MoveToEntityGroundTargetEntityGround move to an entity

Execution model (summary) 

Begin → FindPathAsync
 → OnPathReady
 ├─ Air segment → FlightPathFollow.StartFollowing → OnPathCompleted → next or Success
 ├─ Ground segment → ProjectProvided immediate success, or SimpleWaypoint advance
 └─ Failure / OnPathBlocked / Deviated / AvoidanceFailed → Failed
Abort → cancel query and stop following

Hybrid paths may contain multiple Air segments followed in order.

.htnnode presets

Under Assets/HtnNodes/:

PresetNotes
FlyTo.htnnodeTargetPos + CruiseAltitude (default 30)
FlyToEntity.htnnodeTarget entity
TakeOff.htnnodeHoverHeight 10, allowFreeVerticalTransfer true; optional TakeoffLink
Land.htnnodeLanding point

MoveTo / MoveToEntity have no presets—C++ registration only.

FlightAgentSensorComponent

Maintains WorldState keys the planner reads:

KeyMeaning
Self.IsAirborneWhether airborne
Self.CanFlyStatic flight capability
Self.PositionSelf position
Self.NearestLandingPadNearest landable domain link

Minimal HTN flight-agent setup

  • HtnAgentComponent (domain + plan / execute)
  • HybridNavigationComponent (Nav3D.* query facade)
  • FlightPathFollowComponent (Air-segment follow)
  • Recommended: FlightAgentSensorComponent
  • Scene: SVO volume + ground Detour navmesh
  • Takeoff / land: NavigationDomainLinkComponent, or Hybrid Free vertical transfer

Next steps

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