- Integrated NavigationServer and Navigation2DServer.

- Added Navigation Agents and Obstacles.
- Integrated Collision Avoidance.

This work has been kindly sponsored by IMVU.

1 files changed, 218 insertions, 0 deletions

diff --git a/servers/navigation_2d_server.cpp b/servers/navigation_2d_server.cpp
new file mode 100644
index 0000000000..6df308d046
--- /dev/null
+++ b/servers/navigation_2d_server.cpp
@@ -0,0 +1,218 @@
+/*************************************************************************/
+/*  navigation_2d_server.cpp                                             */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md)    */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#include "servers/navigation_2d_server.h"
+#include "core/math/transform.h"
+#include "core/math/transform_2d.h"
+#include "servers/navigation_server.h"
+
+/**
+	@author AndreaCatania
+*/
+
+Navigation2DServer *Navigation2DServer::singleton = NULL;
+
+#define FORWARD_0_C(FUNC_NAME)                                 \
+	Navigation2DServer::FUNC_NAME()                            \
+			const {                                            \
+		return NavigationServer::get_singleton()->FUNC_NAME(); \
+	}
+
+#define FORWARD_1(FUNC_NAME, T_0, D_0, CONV_0)                                \
+	Navigation2DServer::FUNC_NAME(T_0 D_0) {                                  \
+		return NavigationServer::get_singleton_mut()->FUNC_NAME(CONV_0(D_0)); \
+	}
+
+#define FORWARD_1_C(FUNC_NAME, T_0, D_0, CONV_0)                          \
+	Navigation2DServer::FUNC_NAME(T_0 D_0)                                \
+			const {                                                       \
+		return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0)); \
+	}
+
+#define FORWARD_2_C(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1)                     \
+	Navigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1)                                    \
+			const {                                                                    \
+		return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \
+	}
+
+#define FORWARD_4_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, CONV_0, CONV_1, CONV_2, CONV_3)         \
+	Navigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)                                                    \
+			const {                                                                                                      \
+		return CONV_R(NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3))); \
+	}
+
+#define FORWARD_4_C(FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, CONV_0, CONV_1, CONV_2, CONV_3)           \
+	Navigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)                                            \
+			const {                                                                                              \
+		return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3)); \
+	}
+
+RID rid_to_rid(const RID d) {
+	return d;
+}
+bool bool_to_bool(const bool d) {
+	return d;
+}
+int int_to_int(const int d) {
+	return d;
+}
+real_t real_to_real(const real_t d) {
+	return d;
+}
+Vector3 v2_to_v3(const Vector2 d) {
+	return Vector3(d.x, 0.0, d.y);
+}
+Vector2 v3_to_v2(const Vector3 &d) {
+	return Vector2(d.x, d.z);
+}
+Vector<Vector2> vector_v3_to_v2(const Vector<Vector3> &d) {
+	Vector<Vector2> nd;
+	nd.resize(d.size());
+	for (int i(0); i < nd.size(); i++) {
+		nd.write[i] = v3_to_v2(d[i]);
+	}
+	return nd;
+}
+Transform trf2_to_trf3(const Transform2D &d) {
+	Vector3 o(v2_to_v3(d.get_origin()));
+	Basis b;
+	b.rotate(Vector3(0, 1, 0), d.get_rotation());
+	return Transform(b, o);
+}
+Object *obj_to_obj(Object *d) {
+	return d;
+}
+StringName sn_to_sn(StringName &d) {
+	return d;
+}
+Variant var_to_var(Variant &d) {
+	return d;
+}
+Ref<NavigationMesh> poly_to_mesh(Ref<NavigationPolygon> d) {
+	if (d.is_valid()) {
+		return d->get_mesh();
+	} else {
+		return Ref<NavigationMesh>();
+	}
+}
+
+void Navigation2DServer::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("map_create"), &Navigation2DServer::map_create);
+	ClassDB::bind_method(D_METHOD("map_set_active", "map", "active"), &Navigation2DServer::map_set_active);
+	ClassDB::bind_method(D_METHOD("map_is_active", "nap"), &Navigation2DServer::map_is_active);
+	ClassDB::bind_method(D_METHOD("map_set_cell_size", "map", "cell_size"), &Navigation2DServer::map_set_cell_size);
+	ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &Navigation2DServer::map_get_cell_size);
+	ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &Navigation2DServer::map_set_edge_connection_margin);
+	ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &Navigation2DServer::map_get_edge_connection_margin);
+	ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize"), &Navigation2DServer::map_get_path);
+
+	ClassDB::bind_method(D_METHOD("region_create"), &Navigation2DServer::region_create);
+	ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &Navigation2DServer::region_set_map);
+	ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &Navigation2DServer::region_set_transform);
+	ClassDB::bind_method(D_METHOD("region_set_navpoly", "region", "nav_poly"), &Navigation2DServer::region_set_navpoly);
+
+	ClassDB::bind_method(D_METHOD("agent_create"), &Navigation2DServer::agent_create);
+	ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &Navigation2DServer::agent_set_map);
+	ClassDB::bind_method(D_METHOD("agent_set_neighbor_dist", "agent", "dist"), &Navigation2DServer::agent_set_neighbor_dist);
+	ClassDB::bind_method(D_METHOD("agent_set_max_neighbors", "agent", "count"), &Navigation2DServer::agent_set_max_neighbors);
+	ClassDB::bind_method(D_METHOD("agent_set_time_horizon", "agent", "time"), &Navigation2DServer::agent_set_time_horizon);
+	ClassDB::bind_method(D_METHOD("agent_set_radius", "agent", "radius"), &Navigation2DServer::agent_set_radius);
+	ClassDB::bind_method(D_METHOD("agent_set_max_speed", "agent", "max_speed"), &Navigation2DServer::agent_set_max_speed);
+	ClassDB::bind_method(D_METHOD("agent_set_velocity", "agent", "velocity"), &Navigation2DServer::agent_set_velocity);
+	ClassDB::bind_method(D_METHOD("agent_set_velocity_target", "agent", "target_velocity"), &Navigation2DServer::agent_set_target_velocity);
+	ClassDB::bind_method(D_METHOD("agent_set_position", "agent", "position"), &Navigation2DServer::agent_set_position);
+	ClassDB::bind_method(D_METHOD("agent_is_map_changed", "agent"), &Navigation2DServer::agent_is_map_changed);
+	ClassDB::bind_method(D_METHOD("agent_set_callback", "agent", "receiver", "method", "userdata"), &Navigation2DServer::agent_set_callback, DEFVAL(Variant()));
+
+	ClassDB::bind_method(D_METHOD("free", "object"), &Navigation2DServer::free);
+}
+
+Navigation2DServer::Navigation2DServer() {
+	singleton = this;
+}
+
+Navigation2DServer::~Navigation2DServer() {
+	singleton = NULL;
+}
+
+RID FORWARD_0_C(map_create);
+
+void FORWARD_2_C(map_set_active, RID, p_map, bool, p_active, rid_to_rid, bool_to_bool);
+
+bool FORWARD_1_C(map_is_active, RID, p_map, rid_to_rid);
+
+void FORWARD_2_C(map_set_cell_size, RID, p_map, real_t, p_cell_size, rid_to_rid, real_to_real);
+real_t FORWARD_1_C(map_get_cell_size, RID, p_map, rid_to_rid);
+
+void FORWARD_2_C(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin, rid_to_rid, real_to_real);
+real_t FORWARD_1_C(map_get_edge_connection_margin, RID, p_map, rid_to_rid);
+
+Vector<Vector2> FORWARD_4_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2, p_origin, Vector2, p_destination, bool, p_optimize, rid_to_rid, v2_to_v3, v2_to_v3, bool_to_bool);
+
+RID FORWARD_0_C(region_create);
+void FORWARD_2_C(region_set_map, RID, p_region, RID, p_map, rid_to_rid, rid_to_rid);
+
+void FORWARD_2_C(region_set_transform, RID, p_region, Transform2D, p_transform, rid_to_rid, trf2_to_trf3);
+
+void Navigation2DServer::region_set_navpoly(RID p_region, Ref<NavigationPolygon> p_nav_mesh) const {
+	NavigationServer::get_singleton()->region_set_navmesh(p_region, poly_to_mesh(p_nav_mesh));
+}
+
+RID Navigation2DServer::agent_create() const {
+	RID agent = NavigationServer::get_singleton()->agent_create();
+	NavigationServer::get_singleton()->agent_set_ignore_y(agent, true);
+	return agent;
+}
+
+void FORWARD_2_C(agent_set_map, RID, p_agent, RID, p_map, rid_to_rid, rid_to_rid);
+
+void FORWARD_2_C(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist, rid_to_rid, real_to_real);
+
+void FORWARD_2_C(agent_set_max_neighbors, RID, p_agent, int, p_count, rid_to_rid, int_to_int);
+
+void FORWARD_2_C(agent_set_time_horizon, RID, p_agent, real_t, p_time, rid_to_rid, real_to_real);
+
+void FORWARD_2_C(agent_set_radius, RID, p_agent, real_t, p_radius, rid_to_rid, real_to_real);
+
+void FORWARD_2_C(agent_set_max_speed, RID, p_agent, real_t, p_max_speed, rid_to_rid, real_to_real);
+
+void FORWARD_2_C(agent_set_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3);
+
+void FORWARD_2_C(agent_set_target_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3);
+
+void FORWARD_2_C(agent_set_position, RID, p_agent, Vector2, p_position, rid_to_rid, v2_to_v3);
+
+void FORWARD_2_C(agent_set_ignore_y, RID, p_agent, bool, p_ignore, rid_to_rid, bool_to_bool);
+
+bool FORWARD_1_C(agent_is_map_changed, RID, p_agent, rid_to_rid);
+
+void FORWARD_4_C(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata, rid_to_rid, obj_to_obj, sn_to_sn, var_to_var);
+
+void FORWARD_1_C(free, RID, p_object, rid_to_rid);