Merge remote-tracking branch 'upstream/master' into x11-window-management

1 files changed, 623 insertions, 0 deletions

diff --git a/scene/2d/navigation2d.cpp b/scene/2d/navigation2d.cpp
new file mode 100644
index 0000000000..5e93dac61d
--- /dev/null
+++ b/scene/2d/navigation2d.cpp
@@ -0,0 +1,623 @@
+#include "navigation2d.h"
+
+void Navigation2D::_navpoly_link(int p_id) {
+
+	ERR_FAIL_COND(!navpoly_map.has(p_id));
+	NavMesh &nm=navpoly_map[p_id];
+	ERR_FAIL_COND(nm.linked);
+
+	print_line("LINK");
+
+	DVector<Vector2> vertices=nm.navpoly->get_vertices();
+	int len = vertices.size();
+	if (len==0)
+		return;
+
+	DVector<Vector2>::Read r=vertices.read();
+
+	for(int i=0;i<nm.navpoly->get_polygon_count();i++) {
+
+		//build
+
+		List<Polygon>::Element *P=nm.polygons.push_back(Polygon());
+		Polygon &p=P->get();
+		p.owner=&nm;
+
+		Vector<int> poly = nm.navpoly->get_polygon(i);
+		int plen=poly.size();
+		const int *indices=poly.ptr();
+		bool valid=true;
+		p.edges.resize(plen);
+
+		Vector2 center;
+
+		for(int j=0;j<plen;j++) {
+
+			int idx = indices[j];
+			if (idx<0 || idx>=len) {
+				valid=false;
+				break;
+			}
+
+			Polygon::Edge e;
+			Vector2 ep=nm.xform.xform(r[idx]);
+			center+=ep;
+			e.point=_get_point(ep);
+			p.edges[j]=e;
+		}
+
+		if (!valid) {
+			nm.polygons.pop_back();
+			ERR_CONTINUE(!valid);
+			continue;
+		}
+
+		p.center=center/plen;
+
+		//connect
+
+		for(int j=0;j<plen;j++) {
+
+			int next = (j+1)%plen;
+			EdgeKey ek(p.edges[j].point,p.edges[next].point);
+
+			Map<EdgeKey,Connection>::Element *C=connections.find(ek);
+			if (!C) {
+
+				Connection c;
+				c.A=&p;
+				c.A_edge=j;
+				c.B=NULL;
+				c.B_edge=-1;
+				connections[ek]=c;
+			} else {
+
+				if (C->get().B!=NULL) {
+					print_line(String()+_get_vertex(ek.a)+" -> "+_get_vertex(ek.b));
+				}
+				ERR_CONTINUE(C->get().B!=NULL); //wut
+
+				C->get().B=&p;
+				C->get().B_edge=j;
+				C->get().A->edges[C->get().A_edge].C=&p;
+				C->get().A->edges[C->get().A_edge].C_edge=j;;
+				p.edges[j].C=C->get().A;
+				p.edges[j].C_edge=C->get().A_edge;
+				//connection successful.
+			}
+		}
+	}
+
+	nm.linked=true;
+
+}
+
+
+void Navigation2D::_navpoly_unlink(int p_id) {
+
+	ERR_FAIL_COND(!navpoly_map.has(p_id));
+	NavMesh &nm=navpoly_map[p_id];
+	ERR_FAIL_COND(!nm.linked);
+
+	print_line("UNLINK");
+
+	for (List<Polygon>::Element *E=nm.polygons.front();E;E=E->next()) {
+
+
+		Polygon &p=E->get();
+
+		int ec = p.edges.size();
+		Polygon::Edge *edges=p.edges.ptr();
+
+		for(int i=0;i<ec;i++) {
+			int next = (i+1)%ec;
+
+			EdgeKey ek(edges[i].point,edges[next].point);
+			Map<EdgeKey,Connection>::Element *C=connections.find(ek);
+			ERR_CONTINUE(!C);
+			if (C->get().B) {
+				//disconnect
+
+				C->get().B->edges[C->get().B_edge].C=NULL;
+				C->get().B->edges[C->get().B_edge].C_edge=-1;
+				C->get().A->edges[C->get().A_edge].C=NULL;
+				C->get().A->edges[C->get().A_edge].C_edge=-1;
+
+				if (C->get().A==&E->get()) {
+
+					C->get().A=C->get().B;
+					C->get().A_edge=C->get().B_edge;
+				}
+				C->get().B=NULL;
+				C->get().B_edge=-1;
+
+			} else {
+				connections.erase(C);
+				//erase
+			}
+		}
+	}
+
+	nm.polygons.clear();
+
+	nm.linked=false;
+
+
+}
+
+
+int Navigation2D::navpoly_create(const Ref<NavigationPolygon>& p_mesh, const Matrix32& p_xform, Object *p_owner) {
+
+	int id = last_id++;
+	NavMesh nm;
+	nm.linked=false;
+	nm.navpoly=p_mesh;
+	nm.xform=p_xform;
+	nm.owner=p_owner;
+	navpoly_map[id]=nm;
+
+	_navpoly_link(id);
+
+	return id;
+}
+
+void Navigation2D::navpoly_set_transform(int p_id, const Matrix32& p_xform){
+
+	ERR_FAIL_COND(!navpoly_map.has(p_id));
+	NavMesh &nm=navpoly_map[p_id];
+	if (nm.xform==p_xform)
+		return; //bleh
+	_navpoly_unlink(p_id);
+	nm.xform=p_xform;
+	_navpoly_link(p_id);
+
+
+
+}
+void Navigation2D::navpoly_remove(int p_id){
+
+	ERR_FAIL_COND(!navpoly_map.has(p_id));
+	_navpoly_unlink(p_id);
+	navpoly_map.erase(p_id);
+
+}
+#if 0
+void Navigation2D::_clip_path(Vector<Vector2>& path, Polygon *from_poly, const Vector2& p_to_point, Polygon* p_to_poly) {
+
+	Vector2 from = path[path.size()-1];
+
+	if (from.distance_to(p_to_point)<CMP_EPSILON)
+		return;
+	Plane cut_plane;
+	cut_plane.normal = (from-p_to_point).cross(up);
+	if (cut_plane.normal==Vector2())
+		return;
+	cut_plane.normal.normalize();
+	cut_plane.d = cut_plane.normal.dot(from);
+
+
+	while(from_poly!=p_to_poly) {
+
+		int pe = from_poly->prev_edge;
+		Vector2 a = _get_vertex(from_poly->edges[pe].point);
+		Vector2 b = _get_vertex(from_poly->edges[(pe+1)%from_poly->edges.size()].point);
+
+		from_poly=from_poly->edges[pe].C;
+		ERR_FAIL_COND(!from_poly);
+
+		if (a.distance_to(b)>CMP_EPSILON) {
+
+			Vector2 inters;
+			if (cut_plane.intersects_segment(a,b,&inters)) {
+				if (inters.distance_to(p_to_point)>CMP_EPSILON && inters.distance_to(path[path.size()-1])>CMP_EPSILON) {
+					path.push_back(inters);
+				}
+			}
+		}
+	}
+}
+#endif
+
+Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vector2& p_end, bool p_optimize) {
+
+
+	Polygon *begin_poly=NULL;
+	Polygon *end_poly=NULL;
+	Vector2 begin_point;
+	Vector2 end_point;
+	float begin_d=1e20;
+	float end_d=1e20;
+
+	//look for point inside triangle
+
+	for (Map<int,NavMesh>::Element*E=navpoly_map.front();E;E=E->next()) {
+
+		if (!E->get().linked)
+			continue;
+		for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
+
+
+			Polygon &p=F->get();
+			if (begin_d || end_d) {
+				for(int i=2;i<p.edges.size();i++) {
+
+					if (begin_d>0) {
+
+						if (Geometry::is_point_in_triangle(p_start,_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point))) {
+
+							begin_poly=&p;
+							begin_point=p_start;
+							begin_d=0;
+							if (end_d==0)
+								break;
+
+						}
+					}
+
+					if (end_d>0) {
+
+						if (Geometry::is_point_in_triangle(p_end,_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point))) {
+
+							end_poly=&p;
+							end_point=p_end;
+							end_d=0;
+							if (begin_d==0)
+								break;
+						}
+					}
+
+				}
+			}
+
+			p.prev_edge=-1;
+		}
+	}
+
+	//start or end not inside triangle.. look for closest segment :|
+	if (begin_d || end_d) {
+		for (Map<int,NavMesh>::Element*E=navpoly_map.front();E;E=E->next()) {
+
+			if (!E->get().linked)
+				continue;
+			for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
+
+				Polygon &p=F->get();
+				int es = p.edges.size();
+				for(int i=0;i<es;i++) {
+
+					Vector2 edge[2]={
+						_get_vertex(p.edges[i].point),
+						_get_vertex(p.edges[(i+1)%es].point)
+					};
+
+
+					if (begin_d>0) {
+						Vector2 spoint=Geometry::get_closest_point_to_segment_2d(p_start,edge);
+						float d = spoint.distance_to(p_start);
+						if (d<begin_d) {
+							begin_poly=&p;
+							begin_point=spoint;
+							begin_d=d;
+						}
+					}
+
+					if (end_d>0) {
+						Vector2 spoint=Geometry::get_closest_point_to_segment_2d(p_end,edge);
+						float d = spoint.distance_to(p_end);
+						if (d<end_d) {
+							end_poly=&p;
+							end_point=spoint;
+							end_d=d;
+						}
+					}
+				}
+			}
+		}
+	}
+
+	if (!begin_poly || !end_poly) {
+
+		//print_line("No Path Path");
+		return Vector<Vector2>(); //no path
+	}
+
+	if (begin_poly==end_poly) {
+
+		Vector<Vector2> path;
+		path.resize(2);
+		path[0]=begin_point;
+		path[1]=end_point;
+		//print_line("Direct Path");
+		return path;
+	}
+
+
+	bool found_route=false;
+
+	List<Polygon*> open_list;
+
+	for(int i=0;i<begin_poly->edges.size();i++) {
+
+		if (begin_poly->edges[i].C) {
+
+			begin_poly->edges[i].C->prev_edge=begin_poly->edges[i].C_edge;
+			begin_poly->edges[i].C->distance=begin_poly->center.distance_to(begin_poly->edges[i].C->center);
+			open_list.push_back(begin_poly->edges[i].C);
+
+			if (begin_poly->edges[i].C==end_poly) {
+				found_route=true;
+			}
+		}
+	}
+
+
+	while(!found_route) {
+
+		if (open_list.size()==0) {
+		//	print_line("NOU OPEN LIST");
+			break;
+		}
+		//check open list
+
+		List<Polygon*>::Element *least_cost_poly=NULL;
+		float least_cost=1e30;
+
+		//this could be faster (cache previous results)
+		for (List<Polygon*>::Element *E=open_list.front();E;E=E->next()) {
+
+			Polygon *p=E->get();
+
+
+			float cost=p->distance;
+			cost+=p->center.distance_to(end_point);
+
+			if (cost<least_cost) {
+
+				least_cost_poly=E;
+				least_cost=cost;
+			}
+		}
+
+
+		Polygon *p=least_cost_poly->get();
+		//open the neighbours for search
+
+		for(int i=0;i<p->edges.size();i++) {
+
+
+			Polygon::Edge &e=p->edges[i];
+
+			if (!e.C)
+				continue;
+
+			float distance = p->center.distance_to(e.C->center) + p->distance;
+
+			if (e.C->prev_edge!=-1) {
+				//oh this was visited already, can we win the cost?
+
+				if (e.C->distance>distance) {
+
+					e.C->prev_edge=e.C_edge;
+					e.C->distance=distance;
+				}
+			} else {
+				//add to open neighbours
+
+				e.C->prev_edge=e.C_edge;
+				e.C->distance=distance;
+				open_list.push_back(e.C);
+
+				if (e.C==end_poly) {
+					//oh my reached end! stop algorithm
+					found_route=true;
+					break;
+
+				}
+
+			}
+		}
+
+		if (found_route)
+			break;
+
+		open_list.erase(least_cost_poly);
+	}
+
+	if (found_route) {
+
+		Vector<Vector2> path;
+
+		if (p_optimize) {
+			//string pulling
+
+			Polygon *apex_poly=end_poly;
+			Vector2 apex_point=end_point;
+			Vector2 portal_left=apex_point;
+			Vector2 portal_right=apex_point;
+			Polygon *left_poly=end_poly;
+			Polygon *right_poly=end_poly;
+			Polygon *p=end_poly;
+			path.push_back(end_point);
+
+			while(p) {
+
+				Vector2 left;
+				Vector2 right;
+
+//#define CLOCK_TANGENT(m_a,m_b,m_c) ( ((m_a)-(m_c)).cross((m_a)-(m_b)) )
+#define CLOCK_TANGENT(m_a,m_b,m_c) ((((m_a).x - (m_c).x) * ((m_b).y - (m_c).y) - ((m_b).x - (m_c).x) * ((m_a).y - (m_c).y)))
+
+				if (p==begin_poly) {
+					left=begin_point;
+					right=begin_point;
+				} else {
+					int prev = p->prev_edge;
+					int prev_n = (p->prev_edge+1)%p->edges.size();
+					left = _get_vertex(p->edges[prev].point);
+					right = _get_vertex(p->edges[prev_n].point);
+
+					if (CLOCK_TANGENT(apex_point,left,(left+right)*0.5) < 0){
+						SWAP(left,right);
+					}
+				}
+
+				bool skip=false;
+
+
+				if (CLOCK_TANGENT(apex_point,portal_left,left) >= 0){
+					//process
+					if (portal_left==apex_point || CLOCK_TANGENT(apex_point,left,portal_right) > 0) {
+						left_poly=p;
+						portal_left=left;
+					} else {
+
+						//_clip_path(path,apex_poly,portal_right,right_poly);
+
+						apex_point=portal_right;
+						p=right_poly;
+						left_poly=p;
+						apex_poly=p;
+						portal_left=apex_point;
+						portal_right=apex_point;
+						path.push_back(apex_point);
+						skip=true;
+					}
+				}
+
+				if (!skip && CLOCK_TANGENT(apex_point,portal_right,right) <= 0){
+					//process
+					if (portal_right==apex_point || CLOCK_TANGENT(apex_point,right,portal_left) < 0) {
+						right_poly=p;
+						portal_right=right;
+					} else {
+
+						//_clip_path(path,apex_poly,portal_left,left_poly);
+
+						apex_point=portal_left;
+						p=left_poly;
+						right_poly=p;
+						apex_poly=p;
+						portal_right=apex_point;
+						portal_left=apex_point;
+						path.push_back(apex_point);
+					}
+				}
+
+				if (p!=begin_poly)
+					p=p->edges[p->prev_edge].C;
+				else
+					p=NULL;
+
+			}
+
+			if (path[path.size()-1]!=begin_point)
+				path.push_back(begin_point);
+
+			path.invert();
+
+
+
+
+		} else {
+			//midpoints
+			Polygon *p=end_poly;
+
+			path.push_back(end_point);
+			while(true) {
+				int prev = p->prev_edge;
+				int prev_n = (p->prev_edge+1)%p->edges.size();
+				Vector2 point = (_get_vertex(p->edges[prev].point) + _get_vertex(p->edges[prev_n].point))*0.5;
+				path.push_back(point);
+				p = p->edges[prev].C;
+				if (p==begin_poly)
+					break;
+			}
+
+			path.push_back(begin_point);
+
+
+			path.invert();;
+		}
+
+		return path;
+	}
+
+
+	return Vector<Vector2>();
+
+}
+
+
+Vector2 Navigation2D::get_closest_point(const Vector2& p_point) {
+
+	Vector2 closest_point=Vector2();
+	float closest_point_d=1e20;
+
+	for (Map<int,NavMesh>::Element*E=navpoly_map.front();E;E=E->next()) {
+
+		if (!E->get().linked)
+			continue;
+		for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
+
+			Polygon &p=F->get();
+			for(int i=2;i<p.edges.size();i++) {
+
+				if (Geometry::is_point_in_triangle(p_point,_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point))) {
+
+					return p_point; //inside triangle, nothing else to discuss
+				}
+
+			}
+		}
+	}
+
+	for (Map<int,NavMesh>::Element*E=navpoly_map.front();E;E=E->next()) {
+
+		if (!E->get().linked)
+			continue;
+		for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
+
+			Polygon &p=F->get();
+			int es = p.edges.size();
+			for(int i=0;i<es;i++) {
+
+				Vector2 edge[2]={
+					_get_vertex(p.edges[i].point),
+					_get_vertex(p.edges[(i+1)%es].point)
+				};
+
+
+				Vector2 spoint=Geometry::get_closest_point_to_segment_2d(p_point,edge);
+				float d = spoint.distance_squared_to(p_point);
+				if (d<closest_point_d) {
+
+					closest_point=spoint;
+					closest_point_d=d;
+				}
+			}
+		}
+	}
+
+	return closest_point;
+
+}
+
+
+void Navigation2D::_bind_methods() {
+
+	ObjectTypeDB::bind_method(_MD("navpoly_create","mesh:NavigationPolygon","xform","owner"),&Navigation2D::navpoly_create,DEFVAL(Variant()));
+	ObjectTypeDB::bind_method(_MD("navpoly_set_transform","id","xform"),&Navigation2D::navpoly_set_transform);
+	ObjectTypeDB::bind_method(_MD("navpoly_remove","id"),&Navigation2D::navpoly_remove);
+
+	ObjectTypeDB::bind_method(_MD("get_simple_path","start","end","optimize"),&Navigation2D::get_simple_path,DEFVAL(true));
+	ObjectTypeDB::bind_method(_MD("get_closest_point","to_point"),&Navigation2D::get_closest_point);
+
+}
+
+Navigation2D::Navigation2D() {
+
+	ERR_FAIL_COND( sizeof(Point)!=8 );
+	cell_size=1; // one pixel
+	last_id=1;
+
+}