Consider gridmap collisions in navigation bake

1 files changed, 94 insertions, 8 deletions

diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp
index 6cbdb645ca..77fe9cdd19 100644
--- a/modules/navigation/navigation_mesh_generator.cpp
+++ b/modules/navigation/navigation_mesh_generator.cpp
@@ -265,14 +265,100 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
 	}
 
 #ifdef MODULE_GRIDMAP_ENABLED
-	if (Object::cast_to<GridMap>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
-		GridMap *gridmap_instance = Object::cast_to<GridMap>(p_node);
-		Array meshes = gridmap_instance->get_meshes();
-		Transform3D xform = gridmap_instance->get_transform();
-		for (int i = 0; i < meshes.size(); i += 2) {
-			Ref<Mesh> mesh = meshes[i + 1];
-			if (mesh.is_valid()) {
-				_add_mesh(mesh, p_accumulated_transform * xform * (Transform3D)meshes[i], p_vertices, p_indices);
+	GridMap *gridmap = Object::cast_to<GridMap>(p_node);
+
+	if (gridmap) {
+		if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
+			Array meshes = gridmap->get_meshes();
+			Transform3D xform = gridmap->get_transform();
+			for (int i = 0; i < meshes.size(); i += 2) {
+				Ref<Mesh> mesh = meshes[i + 1];
+				if (mesh.is_valid()) {
+					_add_mesh(mesh, p_accumulated_transform * xform * (Transform3D)meshes[i], p_vertices, p_indices);
+				}
+			}
+		}
+
+		if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES && (gridmap->get_collision_layer() & p_collision_mask)) {
+			Array shapes = gridmap->get_collision_shapes();
+			for (int i = 0; i < shapes.size(); i += 2) {
+				RID shape = shapes[i + 1];
+				PhysicsServer3D::ShapeType type = PhysicsServer3D::get_singleton()->shape_get_type(shape);
+				Variant data = PhysicsServer3D::get_singleton()->shape_get_data(shape);
+				Ref<Mesh> mesh;
+
+				switch (type) {
+					case PhysicsServer3D::SHAPE_SPHERE: {
+						real_t radius = data;
+						Ref<SphereMesh> sphere_mesh;
+						sphere_mesh.instantiate();
+						sphere_mesh->set_radius(radius);
+						sphere_mesh->set_height(radius * 2.0);
+						mesh = sphere_mesh;
+					} break;
+					case PhysicsServer3D::SHAPE_BOX: {
+						Vector3 extents = data;
+						Ref<BoxMesh> box_mesh;
+						box_mesh.instantiate();
+						box_mesh->set_size(2.0 * extents);
+						mesh = box_mesh;
+					} break;
+					case PhysicsServer3D::SHAPE_CAPSULE: {
+						Dictionary dict = data;
+						real_t radius = dict["radius"];
+						real_t height = dict["height"];
+						Ref<CapsuleMesh> capsule_mesh;
+						capsule_mesh.instantiate();
+						capsule_mesh->set_radius(radius);
+						capsule_mesh->set_height(height);
+						mesh = capsule_mesh;
+					} break;
+					case PhysicsServer3D::SHAPE_CYLINDER: {
+						Dictionary dict = data;
+						real_t radius = dict["radius"];
+						real_t height = dict["height"];
+						Ref<CylinderMesh> cylinder_mesh;
+						cylinder_mesh.instantiate();
+						cylinder_mesh->set_height(height);
+						cylinder_mesh->set_bottom_radius(radius);
+						cylinder_mesh->set_top_radius(radius);
+						mesh = cylinder_mesh;
+					} break;
+					case PhysicsServer3D::SHAPE_CONVEX_POLYGON: {
+						PackedVector3Array vertices = data;
+						Geometry3D::MeshData md;
+
+						Error err = ConvexHullComputer::convex_hull(vertices, md);
+
+						if (err == OK) {
+							PackedVector3Array faces;
+
+							for (int j = 0; j < md.faces.size(); ++j) {
+								Geometry3D::MeshData::Face face = md.faces[j];
+
+								for (int k = 2; k < face.indices.size(); ++k) {
+									faces.push_back(md.vertices[face.indices[0]]);
+									faces.push_back(md.vertices[face.indices[k - 1]]);
+									faces.push_back(md.vertices[face.indices[k]]);
+								}
+							}
+
+							_add_faces(faces, shapes[i], p_vertices, p_indices);
+						}
+					} break;
+					case PhysicsServer3D::SHAPE_CONCAVE_POLYGON: {
+						Dictionary dict = data;
+						PackedVector3Array faces = Variant(dict["faces"]);
+						_add_faces(faces, shapes[i], p_vertices, p_indices);
+					} break;
+					default: {
+						WARN_PRINT("Unsupported collision shape type.");
+					} break;
+				}
+
+				if (mesh.is_valid()) {
+					_add_mesh(mesh, shapes[i], p_vertices, p_indices);
+				}
 			}
 		}
 	}