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-rw-r--r--modules/gridmap/grid_map.cpp179
-rw-r--r--modules/gridmap/grid_map.h9
2 files changed, 187 insertions, 1 deletions
diff --git a/modules/gridmap/grid_map.cpp b/modules/gridmap/grid_map.cpp
index f207d4a741..8486e2c58b 100644
--- a/modules/gridmap/grid_map.cpp
+++ b/modules/gridmap/grid_map.cpp
@@ -638,7 +638,9 @@ bool GridMap::_octant_update(const OctantKey &p_key) {
NavigationServer3D::get_singleton()->region_set_navigation_layers(region, navigation_layers);
NavigationServer3D::get_singleton()->region_set_navmesh(region, navmesh);
NavigationServer3D::get_singleton()->region_set_transform(region, get_global_transform() * nm.xform);
- NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
+ if (is_inside_tree()) {
+ NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
+ }
nm.region = region;
// add navigation debugmesh visual instances if debug is enabled
@@ -661,6 +663,12 @@ bool GridMap::_octant_update(const OctantKey &p_key) {
}
}
+#ifdef DEBUG_ENABLED
+ if (bake_navigation) {
+ _update_octant_navigation_debug_edge_connections_mesh(p_key);
+ }
+#endif // DEBUG_ENABLED
+
//update multimeshes, only if not baked
if (baked_meshes.size() == 0) {
for (const KeyValue<int, List<Pair<Transform3D, IndexKey>>> &E : multimesh_items) {
@@ -755,6 +763,19 @@ void GridMap::_octant_enter_world(const OctantKey &p_key) {
}
}
}
+
+#ifdef DEBUG_ENABLED
+ if (bake_navigation) {
+ if (!g.navigation_debug_edge_connections_instance.is_valid()) {
+ g.navigation_debug_edge_connections_instance = RenderingServer::get_singleton()->instance_create();
+ }
+ if (!g.navigation_debug_edge_connections_mesh.is_valid()) {
+ g.navigation_debug_edge_connections_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
+ }
+
+ _update_octant_navigation_debug_edge_connections_mesh(p_key);
+ }
+#endif // DEBUG_ENABLED
}
}
@@ -782,6 +803,18 @@ void GridMap::_octant_exit_world(const OctantKey &p_key) {
F.value.navmesh_debug_instance = RID();
}
}
+
+#ifdef DEBUG_ENABLED
+ if (bake_navigation) {
+ if (g.navigation_debug_edge_connections_instance.is_valid()) {
+ RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_instance);
+ g.navigation_debug_edge_connections_instance = RID();
+ }
+ if (g.navigation_debug_edge_connections_mesh.is_valid()) {
+ RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_mesh->get_rid());
+ }
+ }
+#endif // DEBUG_ENABLED
}
void GridMap::_octant_clean_up(const OctantKey &p_key) {
@@ -808,6 +841,18 @@ void GridMap::_octant_clean_up(const OctantKey &p_key) {
}
g.navmesh_ids.clear();
+#ifdef DEBUG_ENABLED
+ if (bake_navigation) {
+ if (g.navigation_debug_edge_connections_instance.is_valid()) {
+ RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_instance);
+ g.navigation_debug_edge_connections_instance = RID();
+ }
+ if (g.navigation_debug_edge_connections_mesh.is_valid()) {
+ RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_mesh->get_rid());
+ }
+ }
+#endif // DEBUG_ENABLED
+
//erase multimeshes
for (int i = 0; i < g.multimesh_instances.size(); i++) {
@@ -832,6 +877,14 @@ void GridMap::_notification(int p_what) {
}
} break;
+#ifdef DEBUG_ENABLED
+ case NOTIFICATION_ENTER_TREE: {
+ if (bake_navigation && NavigationServer3D::get_singleton()->get_debug_enabled()) {
+ _update_navigation_debug_edge_connections();
+ }
+ } break;
+#endif // DEBUG_ENABLED
+
case NOTIFICATION_TRANSFORM_CHANGED: {
Transform3D new_xform = get_global_transform();
if (new_xform == last_transform) {
@@ -1231,12 +1284,136 @@ RID GridMap::get_bake_mesh_instance(int p_idx) {
GridMap::GridMap() {
set_notify_transform(true);
+#ifdef DEBUG_ENABLED
+ NavigationServer3D::get_singleton_mut()->connect("map_changed", callable_mp(this, &GridMap::_navigation_map_changed));
+ NavigationServer3D::get_singleton_mut()->connect("navigation_debug_changed", callable_mp(this, &GridMap::_update_navigation_debug_edge_connections));
+#endif // DEBUG_ENABLED
+}
+
+#ifdef DEBUG_ENABLED
+void GridMap::_update_navigation_debug_edge_connections() {
+ if (bake_navigation) {
+ for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
+ _update_octant_navigation_debug_edge_connections_mesh(E.key);
+ }
+ }
}
+void GridMap::_navigation_map_changed(RID p_map) {
+ if (bake_navigation && is_inside_tree() && p_map == get_world_3d()->get_navigation_map()) {
+ _update_navigation_debug_edge_connections();
+ }
+}
+#endif // DEBUG_ENABLED
+
GridMap::~GridMap() {
if (!mesh_library.is_null()) {
mesh_library->unregister_owner(this);
}
clear();
+#ifdef DEBUG_ENABLED
+ NavigationServer3D::get_singleton_mut()->disconnect("map_changed", callable_mp(this, &GridMap::_navigation_map_changed));
+ NavigationServer3D::get_singleton_mut()->disconnect("navigation_debug_changed", callable_mp(this, &GridMap::_update_navigation_debug_edge_connections));
+#endif // DEBUG_ENABLED
+}
+
+#ifdef DEBUG_ENABLED
+void GridMap::_update_octant_navigation_debug_edge_connections_mesh(const OctantKey &p_key) {
+ ERR_FAIL_COND(!octant_map.has(p_key));
+ Octant &g = *octant_map[p_key];
+
+ if (!NavigationServer3D::get_singleton()->get_debug_enabled()) {
+ if (g.navigation_debug_edge_connections_instance.is_valid()) {
+ RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false);
+ }
+ return;
+ }
+
+ if (!is_inside_tree()) {
+ return;
+ }
+
+ if (!bake_navigation) {
+ if (g.navigation_debug_edge_connections_instance.is_valid()) {
+ RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false);
+ }
+ return;
+ }
+
+ if (!g.navigation_debug_edge_connections_instance.is_valid()) {
+ g.navigation_debug_edge_connections_instance = RenderingServer::get_singleton()->instance_create();
+ }
+
+ if (!g.navigation_debug_edge_connections_mesh.is_valid()) {
+ g.navigation_debug_edge_connections_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
+ }
+
+ g.navigation_debug_edge_connections_mesh->clear_surfaces();
+
+ float edge_connection_margin = NavigationServer3D::get_singleton()->map_get_edge_connection_margin(get_world_3d()->get_navigation_map());
+ float half_edge_connection_margin = edge_connection_margin * 0.5;
+
+ Vector<Vector3> vertex_array;
+
+ for (KeyValue<IndexKey, Octant::NavMesh> &F : g.navmesh_ids) {
+ if (cell_map.has(F.key) && F.value.region.is_valid()) {
+ int connections_count = NavigationServer3D::get_singleton()->region_get_connections_count(F.value.region);
+ if (connections_count == 0) {
+ continue;
+ }
+
+ for (int i = 0; i < connections_count; i++) {
+ Vector3 connection_pathway_start = NavigationServer3D::get_singleton()->region_get_connection_pathway_start(F.value.region, i);
+ Vector3 connection_pathway_end = NavigationServer3D::get_singleton()->region_get_connection_pathway_end(F.value.region, i);
+
+ Vector3 direction_start_end = connection_pathway_start.direction_to(connection_pathway_end);
+ Vector3 direction_end_start = connection_pathway_end.direction_to(connection_pathway_start);
+
+ Vector3 start_right_dir = direction_start_end.cross(Vector3(0, 1, 0));
+ Vector3 start_left_dir = -start_right_dir;
+
+ Vector3 end_right_dir = direction_end_start.cross(Vector3(0, 1, 0));
+ Vector3 end_left_dir = -end_right_dir;
+
+ Vector3 left_start_pos = connection_pathway_start + (start_left_dir * half_edge_connection_margin);
+ Vector3 right_start_pos = connection_pathway_start + (start_right_dir * half_edge_connection_margin);
+ Vector3 left_end_pos = connection_pathway_end + (end_right_dir * half_edge_connection_margin);
+ Vector3 right_end_pos = connection_pathway_end + (end_left_dir * half_edge_connection_margin);
+
+ vertex_array.push_back(right_end_pos);
+ vertex_array.push_back(left_start_pos);
+ vertex_array.push_back(right_start_pos);
+
+ vertex_array.push_back(left_end_pos);
+ vertex_array.push_back(right_end_pos);
+ vertex_array.push_back(right_start_pos);
+ }
+ }
+ }
+
+ if (vertex_array.size() == 0) {
+ return;
+ }
+
+ Ref<StandardMaterial3D> edge_connections_material = NavigationServer3D::get_singleton_mut()->get_debug_navigation_edge_connections_material();
+
+ Array mesh_array;
+ mesh_array.resize(Mesh::ARRAY_MAX);
+ mesh_array[Mesh::ARRAY_VERTEX] = vertex_array;
+
+ g.navigation_debug_edge_connections_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, mesh_array);
+ g.navigation_debug_edge_connections_mesh->surface_set_material(0, edge_connections_material);
+
+ RS::get_singleton()->instance_set_base(g.navigation_debug_edge_connections_instance, g.navigation_debug_edge_connections_mesh->get_rid());
+ RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, is_visible_in_tree());
+ if (is_inside_tree()) {
+ RS::get_singleton()->instance_set_scenario(g.navigation_debug_edge_connections_instance, get_world_3d()->get_scenario());
+ }
+
+ bool enable_edge_connections = NavigationServer3D::get_singleton()->get_debug_navigation_enable_edge_connections();
+ if (!enable_edge_connections) {
+ RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false);
+ }
}
+#endif // DEBUG_ENABLED
diff --git a/modules/gridmap/grid_map.h b/modules/gridmap/grid_map.h
index 0ed4695fb9..f83ce68b09 100644
--- a/modules/gridmap/grid_map.h
+++ b/modules/gridmap/grid_map.h
@@ -117,6 +117,10 @@ class GridMap : public Node3D {
HashSet<IndexKey> cells;
RID collision_debug;
RID collision_debug_instance;
+#ifdef DEBUG_ENABLED
+ RID navigation_debug_edge_connections_instance;
+ Ref<ArrayMesh> navigation_debug_edge_connections_mesh;
+#endif // DEBUG_ENABLED
bool dirty = false;
RID static_body;
@@ -186,6 +190,11 @@ class GridMap : public Node3D {
bool _octant_update(const OctantKey &p_key);
void _octant_clean_up(const OctantKey &p_key);
void _octant_transform(const OctantKey &p_key);
+#ifdef DEBUG_ENABLED
+ void _update_octant_navigation_debug_edge_connections_mesh(const OctantKey &p_key);
+ void _navigation_map_changed(RID p_map);
+ void _update_navigation_debug_edge_connections();
+#endif // DEBUG_ENABLED
bool awaiting_update = false;
void _queue_octants_dirty();
generated by cgit v1.2.3 (git 2.25.1) at 2025-11-04 07:25:44 +0000