New Navigation & Pathfinding support for 2D

-Added Navigation & NavigationPolygon nodes
-Added corresponding visual editor
-New pathfinding algorithm is modern and fast!
-Similar API to 3D Pathfinding (more coherent)

1 files changed, 450 insertions, 0 deletions

diff --git a/scene/2d/navigation_polygon.cpp b/scene/2d/navigation_polygon.cpp
new file mode 100644
index 0000000000..570a5b95b0
--- /dev/null
+++ b/scene/2d/navigation_polygon.cpp
@@ -0,0 +1,450 @@
+#include "navigation_polygon.h"
+#include "navigation2d.h"
+#include "triangulator.h"
+#include "core_string_names.h"
+
+void NavigationPolygon::set_vertices(const DVector<Vector2>& p_vertices) {
+
+	vertices=p_vertices;
+}
+
+DVector<Vector2> NavigationPolygon::get_vertices() const{
+
+	return vertices;
+}
+
+
+void NavigationPolygon::_set_polygons(const Array& p_array) {
+
+	polygons.resize(p_array.size());
+	for(int i=0;i<p_array.size();i++) {
+		polygons[i].indices=p_array[i];
+	}
+}
+
+Array NavigationPolygon::_get_polygons() const {
+
+	Array ret;
+	ret.resize(polygons.size());
+	for(int i=0;i<ret.size();i++) {
+		ret[i]=polygons[i].indices;
+	}
+
+	return ret;
+}
+
+void NavigationPolygon::_set_outlines(const Array& p_array) {
+
+	outlines.resize(p_array.size());
+	for(int i=0;i<p_array.size();i++) {
+		outlines[i]=p_array[i];
+	}
+}
+
+Array NavigationPolygon::_get_outlines() const {
+
+	Array ret;
+	ret.resize(outlines.size());
+	for(int i=0;i<ret.size();i++) {
+		ret[i]=outlines[i];
+	}
+
+	return ret;
+}
+
+
+void NavigationPolygon::add_polygon(const Vector<int>& p_polygon){
+
+	Polygon polygon;
+	polygon.indices=p_polygon;
+	polygons.push_back(polygon);
+
+}
+
+void NavigationPolygon::add_outline_at_index(const DVector<Vector2>& p_outline,int p_index) {
+
+	outlines.insert(p_index,p_outline);
+}
+
+int NavigationPolygon::get_polygon_count() const{
+
+	return polygons.size();
+}
+Vector<int> NavigationPolygon::get_polygon(int p_idx){
+
+	ERR_FAIL_INDEX_V(p_idx,polygons.size(),Vector<int>());
+	return polygons[p_idx].indices;
+}
+void NavigationPolygon::clear_polygons(){
+
+	polygons.clear();
+}
+
+void NavigationPolygon::add_outline(const DVector<Vector2>& p_outline) {
+
+	outlines.push_back(p_outline);
+}
+
+int NavigationPolygon::get_outline_count() const{
+
+	return outlines.size();
+}
+
+void NavigationPolygon::set_outline(int p_idx,const DVector<Vector2>& p_outline) {
+	ERR_FAIL_INDEX(p_idx,outlines.size());
+	outlines[p_idx]=p_outline;
+}
+
+void NavigationPolygon::remove_outline(int p_idx) {
+
+	ERR_FAIL_INDEX(p_idx,outlines.size());
+	outlines.remove(p_idx);
+
+}
+
+DVector<Vector2> NavigationPolygon::get_outline(int p_idx) const {
+	ERR_FAIL_INDEX_V(p_idx,outlines.size(),DVector<Vector2>());
+	return outlines[p_idx];
+}
+
+void NavigationPolygon::clear_outlines(){
+
+	outlines.clear();;
+}
+void NavigationPolygon::make_polygons_from_outlines(){
+
+	std::list<TriangulatorPoly> in_poly,out_poly;
+
+	Vector2 outside_point(-1e10,-1e10);
+
+	for(int i=0;i<outlines.size();i++) {
+
+		DVector<Vector2> ol = outlines[i];
+		int olsize = ol.size();
+		if (olsize<3)
+			continue;
+		DVector<Vector2>::Read r=ol.read();
+		for(int j=0;j<olsize;j++) {
+			outside_point.x = MAX( r[j].x, outside_point.x );
+			outside_point.y = MAX( r[j].y, outside_point.y );
+		}
+
+	}
+
+	outside_point+=Vector2(0.7239784,0.819238); //avoid precision issues
+
+
+
+	for(int i=0;i<outlines.size();i++) {
+
+		DVector<Vector2> ol = outlines[i];
+		int olsize = ol.size();
+		if (olsize<3)
+			continue;
+		DVector<Vector2>::Read r=ol.read();
+
+		int interscount=0;
+		//test if this is an outer outline
+		for(int k=0;k<outlines.size();k++) {
+
+			if (i==k)
+				continue; //no self intersect
+
+			DVector<Vector2> ol2 = outlines[k];
+			int olsize2 = ol2.size();
+			if (olsize2<3)
+				continue;
+			DVector<Vector2>::Read r2=ol2.read();
+
+			for(int l=0;l<olsize2;l++) {
+
+				if (Geometry::segment_intersects_segment_2d(r[0],outside_point,r2[l],r2[(l+1)%olsize2],NULL)) {
+					interscount++;
+				}
+			}
+
+		}
+
+		bool outer = (interscount%2)==0;
+
+		TriangulatorPoly tp;
+		tp.Init(olsize);
+		for(int j=0;j<olsize;j++) {
+			tp[j]=r[j];
+		}
+
+		if (outer)
+			tp.SetOrientation(TRIANGULATOR_CCW);
+		else {
+			tp.SetOrientation(TRIANGULATOR_CW);
+			tp.SetHole(true);
+		}
+
+		in_poly.push_back(tp);
+	}
+
+
+	TriangulatorPartition tpart;
+	if (tpart.ConvexPartition_HM(&in_poly,&out_poly)==0) { //failed!
+		print_line("convex partition failed!");
+		return;
+	}
+
+	polygons.clear();
+	vertices.resize(0);
+
+	Map<Vector2,int> points;
+	for(std::list<TriangulatorPoly>::iterator I = out_poly.begin();I!=out_poly.end();I++) {
+
+		TriangulatorPoly& tp = *I;
+
+		struct Polygon p;
+
+		for(int i=0;i<tp.GetNumPoints();i++) {
+
+			Map<Vector2,int>::Element *E=points.find(tp[i]);
+			if (!E) {
+				E=points.insert(tp[i],vertices.size());
+				vertices.push_back(tp[i]);
+			}
+			p.indices.push_back(E->get());
+		}
+
+		polygons.push_back(p);
+	}
+
+	emit_signal(CoreStringNames::get_singleton()->changed);
+}
+
+
+void NavigationPolygon::_bind_methods() {
+
+	ObjectTypeDB::bind_method(_MD("set_vertices","vertices"),&NavigationPolygon::set_vertices);
+	ObjectTypeDB::bind_method(_MD("get_vertices"),&NavigationPolygon::get_vertices);
+
+	ObjectTypeDB::bind_method(_MD("add_polygon","polygon"),&NavigationPolygon::add_polygon);
+	ObjectTypeDB::bind_method(_MD("get_polygon_count"),&NavigationPolygon::get_polygon_count);
+	ObjectTypeDB::bind_method(_MD("get_polygon","idx"),&NavigationPolygon::get_polygon);
+	ObjectTypeDB::bind_method(_MD("clear_polygons"),&NavigationPolygon::clear_polygons);
+
+	ObjectTypeDB::bind_method(_MD("add_outline","outline"),&NavigationPolygon::add_outline);
+	ObjectTypeDB::bind_method(_MD("add_outline_at_index","outline","index"),&NavigationPolygon::add_outline_at_index);
+	ObjectTypeDB::bind_method(_MD("get_outline_count"),&NavigationPolygon::get_outline_count);
+	ObjectTypeDB::bind_method(_MD("set_outline","idx","outline"),&NavigationPolygon::set_outline);
+	ObjectTypeDB::bind_method(_MD("get_outline","idx"),&NavigationPolygon::get_outline);
+	ObjectTypeDB::bind_method(_MD("remove_outline","idx"),&NavigationPolygon::remove_outline);
+	ObjectTypeDB::bind_method(_MD("clear_outlines"),&NavigationPolygon::clear_outlines);
+	ObjectTypeDB::bind_method(_MD("make_polygons_from_outlines"),&NavigationPolygon::make_polygons_from_outlines);
+
+	ObjectTypeDB::bind_method(_MD("_set_polygons","polygons"),&NavigationPolygon::_set_polygons);
+	ObjectTypeDB::bind_method(_MD("_get_polygons"),&NavigationPolygon::_get_polygons);
+
+	ObjectTypeDB::bind_method(_MD("_set_outlines","outlines"),&NavigationPolygon::_set_outlines);
+	ObjectTypeDB::bind_method(_MD("_get_outlines"),&NavigationPolygon::_get_outlines);
+
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR3_ARRAY,"vertices",PROPERTY_HINT_NONE,"",PROPERTY_USAGE_NOEDITOR),_SCS("set_vertices"),_SCS("get_vertices"));
+	ADD_PROPERTY(PropertyInfo(Variant::ARRAY,"polygons",PROPERTY_HINT_NONE,"",PROPERTY_USAGE_NOEDITOR),_SCS("_set_polygons"),_SCS("_get_polygons"));
+	ADD_PROPERTY(PropertyInfo(Variant::ARRAY,"outlines",PROPERTY_HINT_NONE,"",PROPERTY_USAGE_NOEDITOR),_SCS("_set_outlines"),_SCS("_get_outlines"));
+}
+
+NavigationPolygon::NavigationPolygon() {
+
+
+}
+
+void NavigationPolygonInstance::set_enabled(bool p_enabled) {
+
+	if (enabled==p_enabled)
+		return;
+	enabled=p_enabled;
+
+	if (!is_inside_tree())
+		return;
+
+	if (!enabled) {
+
+		if (nav_id!=-1) {
+			navigation->navpoly_remove(nav_id);
+			nav_id=-1;
+		}
+	} else {
+
+		if (navigation) {
+
+			if (navpoly.is_valid()) {
+
+				nav_id = navigation->navpoly_create(navpoly,get_relative_transform(navigation),this);
+			}
+		}
+
+	}
+
+	if (get_tree()->is_editor_hint())
+		update();
+
+//	update_gizmo();
+}
+
+bool NavigationPolygonInstance::is_enabled() const {
+
+
+	return enabled;
+}
+
+
+/////////////////////////////
+
+
+void NavigationPolygonInstance::_notification(int p_what) {
+
+
+	switch(p_what) {
+		case NOTIFICATION_ENTER_TREE: {
+
+			Node2D *c=this;
+			while(c) {
+
+				navigation=c->cast_to<Navigation2D>();
+				if (navigation) {
+
+					if (enabled && navpoly.is_valid()) {
+
+						nav_id = navigation->navpoly_create(navpoly,get_relative_transform(navigation),this);
+					}
+					break;
+				}
+
+				c=c->get_parent()->cast_to<Node2D>();
+			}
+
+		} break;
+		case NOTIFICATION_TRANSFORM_CHANGED: {
+
+			if (navigation && nav_id!=-1) {
+				navigation->navpoly_set_transform(nav_id,get_relative_transform(navigation));
+			}
+
+		} break;
+		case NOTIFICATION_EXIT_TREE: {
+
+			if (navigation) {
+
+				if (nav_id!=-1) {
+					navigation->navpoly_remove(nav_id);
+					nav_id=-1;
+				}
+			}
+			navigation=NULL;
+		} break;
+		case NOTIFICATION_DRAW: {
+
+			if (is_inside_tree() && get_tree()->is_editor_hint() && navpoly.is_valid()) {
+
+				DVector<Vector2> verts=navpoly->get_vertices();
+				int vsize = verts.size();
+				if (vsize<3)
+					return;
+
+
+				Color color;
+				if (enabled) {
+					color=Color(0.1,0.8,1.0,0.4);
+				} else {
+					color=Color(1.0,0.8,0.1,0.4);
+				}
+				Vector<Color> colors;
+				Vector<Vector2> vertices;
+				vertices.resize(vsize);
+				colors.resize(vsize);
+				{
+					DVector<Vector2>::Read vr = verts.read();
+					for(int i=0;i<vsize;i++) {
+						vertices[i]=vr[i];
+						colors[i]=color;
+					}
+				}
+
+				Vector<int> indices;
+
+
+				for(int i=0;i<navpoly->get_polygon_count();i++) {
+					Vector<int> polygon = navpoly->get_polygon(i);
+
+					for(int j=2;j<polygon.size();j++) {
+
+						int kofs[3]={0,j-1,j};
+						for(int k=0;k<3;k++) {
+
+							int idx = polygon[ kofs[k] ];
+							ERR_FAIL_INDEX(idx,vsize);
+							indices.push_back(idx);
+						}
+					}
+				}
+				VS::get_singleton()->canvas_item_add_triangle_array(get_canvas_item(),indices,vertices,colors);
+
+			}
+		} break;
+
+	}
+}
+
+
+void NavigationPolygonInstance::set_navigation_polygon(const Ref<NavigationPolygon>& p_navpoly) {
+
+	if (p_navpoly==navpoly)
+		return;
+
+	if (navigation && nav_id!=-1) {
+		navigation->navpoly_remove(nav_id);
+		nav_id=-1;
+	}
+	if (navpoly.is_valid()) {
+		navpoly->disconnect(CoreStringNames::get_singleton()->changed,this,"_navpoly_changed");
+	}
+	navpoly=p_navpoly;
+
+	if (navpoly.is_valid()) {
+		navpoly->connect(CoreStringNames::get_singleton()->changed,this,"_navpoly_changed");
+	}
+
+	if (navigation && navpoly.is_valid() && enabled) {
+		nav_id = navigation->navpoly_create(navpoly,get_relative_transform(navigation),this);
+	}
+	//update_gizmo();
+	_change_notify("navpoly");
+
+}
+
+Ref<NavigationPolygon> NavigationPolygonInstance::get_navigation_polygon() const{
+
+	return navpoly;
+}
+
+void NavigationPolygonInstance::_navpoly_changed() {
+
+	if (is_inside_tree() && get_tree()->is_editor_hint())
+		update();
+}
+
+void NavigationPolygonInstance::_bind_methods() {
+
+	ObjectTypeDB::bind_method(_MD("set_navigation_polygon","navpoly"),&NavigationPolygonInstance::set_navigation_polygon);
+	ObjectTypeDB::bind_method(_MD("get_navigation_polygon"),&NavigationPolygonInstance::get_navigation_polygon);
+
+	ObjectTypeDB::bind_method(_MD("set_enabled","enabled"),&NavigationPolygonInstance::set_enabled);
+	ObjectTypeDB::bind_method(_MD("is_enabled"),&NavigationPolygonInstance::is_enabled);
+
+	ObjectTypeDB::bind_method(_MD("_navpoly_changed"),&NavigationPolygonInstance::_navpoly_changed);
+
+	ADD_PROPERTY( PropertyInfo(Variant::OBJECT,"navpoly",PROPERTY_HINT_RESOURCE_TYPE,"NavigationPolygon"),_SCS("set_navigation_polygon"),_SCS("get_navigation_polygon"));
+	ADD_PROPERTY( PropertyInfo(Variant::BOOL,"enabled"),_SCS("set_enabled"),_SCS("is_enabled"));
+}
+
+NavigationPolygonInstance::NavigationPolygonInstance() {
+
+	navigation=NULL;
+	nav_id=-1;
+	enabled=true;
+
+}