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author | RĂ©mi Verschelde <remi@verschelde.fr> | 2022-01-20 12:10:34 +0100 |
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committer | GitHub <noreply@github.com> | 2022-01-20 12:10:34 +0100 |
commit | 65c3f2c0496568d26e97804c138216d8d69ff7a5 (patch) | |
tree | eb7cbbf4d755f55eab686b1f5321424da81e15c5 /modules | |
parent | b6cb3668847379149b879d0633e8196900a845b7 (diff) | |
parent | cc46abd73d55de498a28231d03d6e56e091bb6a3 (diff) |
Merge pull request #56855 from rafallus/gridmap_bake_staticbody
Diffstat (limited to 'modules')
-rw-r--r-- | modules/gridmap/doc_classes/GridMap.xml | 2 | ||||
-rw-r--r-- | modules/gridmap/grid_map.cpp | 23 | ||||
-rw-r--r-- | modules/gridmap/grid_map.h | 4 | ||||
-rw-r--r-- | modules/navigation/navigation_mesh_generator.cpp | 102 |
4 files changed, 119 insertions, 12 deletions
diff --git a/modules/gridmap/doc_classes/GridMap.xml b/modules/gridmap/doc_classes/GridMap.xml index 885817caf1..9c28421a46 100644 --- a/modules/gridmap/doc_classes/GridMap.xml +++ b/modules/gridmap/doc_classes/GridMap.xml @@ -67,7 +67,7 @@ Returns whether or not the specified layer of the [member collision_mask] is enabled, given a [code]layer_number[/code] between 1 and 32. </description> </method> - <method name="get_meshes"> + <method name="get_meshes" qualifiers="const"> <return type="Array" /> <description> Returns an array of [Transform3D] and [Mesh] references corresponding to the non-empty cells in the grid. The transforms are specified in world space. diff --git a/modules/gridmap/grid_map.cpp b/modules/gridmap/grid_map.cpp index a861efcbf4..67deedf839 100644 --- a/modules/gridmap/grid_map.cpp +++ b/modules/gridmap/grid_map.cpp @@ -35,6 +35,7 @@ #include "scene/3d/light_3d.h" #include "scene/resources/mesh_library.h" #include "scene/resources/physics_material.h" +#include "scene/resources/primitive_meshes.h" #include "scene/resources/surface_tool.h" #include "scene/scene_string_names.h" #include "servers/navigation_server_3d.h" @@ -197,6 +198,24 @@ bool GridMap::get_collision_mask_value(int p_layer_number) const { return get_collision_mask() & (1 << (p_layer_number - 1)); } +Array GridMap::get_collision_shapes() const { + Array shapes; + for (const KeyValue<OctantKey, Octant *> &E : octant_map) { + Octant *g = E.value; + RID body = g->static_body; + Transform3D body_xform = PhysicsServer3D::get_singleton()->body_get_state(body, PhysicsServer3D::BODY_STATE_TRANSFORM); + int nshapes = PhysicsServer3D::get_singleton()->body_get_shape_count(body); + for (int i = 0; i < nshapes; i++) { + RID shape = PhysicsServer3D::get_singleton()->body_get_shape(body, i); + Transform3D xform = PhysicsServer3D::get_singleton()->body_get_shape_transform(body, i); + shapes.push_back(body_xform * xform); + shapes.push_back(shape); + } + } + + return shapes; +} + void GridMap::set_bake_navigation(bool p_bake_navigation) { bake_navigation = p_bake_navigation; _recreate_octant_data(); @@ -930,7 +949,7 @@ Array GridMap::get_used_cells() const { return a; } -Array GridMap::get_meshes() { +Array GridMap::get_meshes() const { if (mesh_library.is_null()) { return Array(); } @@ -938,7 +957,7 @@ Array GridMap::get_meshes() { Vector3 ofs = _get_offset(); Array meshes; - for (KeyValue<IndexKey, Cell> &E : cell_map) { + for (const KeyValue<IndexKey, Cell> &E : cell_map) { int id = E.value.item; if (!mesh_library->has_item(id)) { continue; diff --git a/modules/gridmap/grid_map.h b/modules/gridmap/grid_map.h index 546b530148..6cdc3b178d 100644 --- a/modules/gridmap/grid_map.h +++ b/modules/gridmap/grid_map.h @@ -229,6 +229,8 @@ public: void set_physics_material(Ref<PhysicsMaterial> p_material); Ref<PhysicsMaterial> get_physics_material() const; + Array get_collision_shapes() const; + void set_bake_navigation(bool p_bake_navigation); bool is_baking_navigation(); @@ -265,7 +267,7 @@ public: Array get_used_cells() const; - Array get_meshes(); + Array get_meshes() const; void clear_baked_meshes(); void make_baked_meshes(bool p_gen_lightmap_uv = false, float p_lightmap_uv_texel_size = 0.1); 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); + } } } } |