diff options
40 files changed, 1068 insertions, 767 deletions
diff --git a/doc/classes/AnimationNode.xml b/doc/classes/AnimationNode.xml index 99d21706ee..9026aa6a34 100644 --- a/doc/classes/AnimationNode.xml +++ b/doc/classes/AnimationNode.xml @@ -53,6 +53,7 @@ <return type="float" /> <argument index="0" name="time" type="float" /> <argument index="1" name="seek" type="bool" /> + <argument index="2" name="seek_root" type="bool" /> <description> User-defined callback called when a custom node is processed. The [code]time[/code] parameter is a relative delta, unless [code]seek[/code] is [code]true[/code], in which case it is absolute. Here, call the [method blend_input], [method blend_node] or [method blend_animation] functions. You can also use [method get_parameter] and [method set_parameter] to modify local memory. @@ -72,8 +73,9 @@ <argument index="1" name="time" type="float" /> <argument index="2" name="delta" type="float" /> <argument index="3" name="seeked" type="bool" /> - <argument index="4" name="blend" type="float" /> - <argument index="5" name="pingponged" type="int" default="0" /> + <argument index="4" name="seek_root" type="bool" /> + <argument index="5" name="blend" type="float" /> + <argument index="6" name="pingponged" type="int" default="0" /> <description> Blend an animation by [code]blend[/code] amount (name must be valid in the linked [AnimationPlayer]). A [code]time[/code] and [code]delta[/code] may be passed, as well as whether [code]seek[/code] happened. </description> @@ -83,9 +85,10 @@ <argument index="0" name="input_index" type="int" /> <argument index="1" name="time" type="float" /> <argument index="2" name="seek" type="bool" /> - <argument index="3" name="blend" type="float" /> - <argument index="4" name="filter" type="int" enum="AnimationNode.FilterAction" default="0" /> - <argument index="5" name="optimize" type="bool" default="true" /> + <argument index="3" name="seek_root" type="bool" /> + <argument index="4" name="blend" type="float" /> + <argument index="5" name="filter" type="int" enum="AnimationNode.FilterAction" default="0" /> + <argument index="6" name="optimize" type="bool" default="true" /> <description> Blend an input. This is only useful for nodes created for an [AnimationNodeBlendTree]. The [code]time[/code] parameter is a relative delta, unless [code]seek[/code] is [code]true[/code], in which case it is absolute. A filter mode may be optionally passed (see [enum FilterAction] for options). </description> @@ -96,9 +99,10 @@ <argument index="1" name="node" type="AnimationNode" /> <argument index="2" name="time" type="float" /> <argument index="3" name="seek" type="bool" /> - <argument index="4" name="blend" type="float" /> - <argument index="5" name="filter" type="int" enum="AnimationNode.FilterAction" default="0" /> - <argument index="6" name="optimize" type="bool" default="true" /> + <argument index="4" name="seek_root" type="bool" /> + <argument index="5" name="blend" type="float" /> + <argument index="6" name="filter" type="int" enum="AnimationNode.FilterAction" default="0" /> + <argument index="7" name="optimize" type="bool" default="true" /> <description> Blend another animation node (in case this node contains children animation nodes). This function is only useful if you inherit from [AnimationRootNode] instead, else editors will not display your node for addition. </description> diff --git a/doc/classes/AnimationNodeOneShot.xml b/doc/classes/AnimationNodeOneShot.xml index 727a09e110..de2414cd43 100644 --- a/doc/classes/AnimationNodeOneShot.xml +++ b/doc/classes/AnimationNodeOneShot.xml @@ -20,9 +20,9 @@ <member name="autorestart_random_delay" type="float" setter="set_autorestart_random_delay" getter="get_autorestart_random_delay" default="0.0"> If [member autorestart] is [code]true[/code], a random additional delay (in seconds) between 0 and this value will be added to [member autorestart_delay]. </member> - <member name="fadein_time" type="float" setter="set_fadein_time" getter="get_fadein_time" default="0.1"> + <member name="fadein_time" type="float" setter="set_fadein_time" getter="get_fadein_time" default="0.0"> </member> - <member name="fadeout_time" type="float" setter="set_fadeout_time" getter="get_fadeout_time" default="0.1"> + <member name="fadeout_time" type="float" setter="set_fadeout_time" getter="get_fadeout_time" default="0.0"> </member> <member name="mix_mode" type="int" setter="set_mix_mode" getter="get_mix_mode" enum="AnimationNodeOneShot.MixMode" default="0"> </member> diff --git a/drivers/gles3/shaders/tonemap.glsl b/drivers/gles3/shaders/tonemap.glsl index 4f962626a3..a478cf9170 100644 --- a/drivers/gles3/shaders/tonemap.glsl +++ b/drivers/gles3/shaders/tonemap.glsl @@ -231,10 +231,10 @@ vec3 apply_fxaa(vec3 color, vec2 uv_interp, vec2 pixel_size) { } void main() { - vec3 color = textureLod(source, uv_interp, 0.0).rgb; + vec4 color = textureLod(source, uv_interp, 0.0); #ifdef USE_FXAA - color = apply_fxaa(color, uv_interp, pixel_size); + color.rgb = apply_fxaa(color.rgb, uv_interp, pixel_size); #endif // Glow @@ -296,18 +296,18 @@ void main() { #endif //USE_MULTI_TEXTURE_GLOW glow *= glow_intensity; - color = apply_glow(color, glow); + color.rgb = apply_glow(color.rgb, glow); #endif // Additional effects #ifdef USE_BCS - color = apply_bcs(color, bcs); + color.rgb = apply_bcs(color.rgb, bcs); #endif #ifdef USE_COLOR_CORRECTION - color = apply_color_correction(color, color_correction); + color.rgb = apply_color_correction(color.rgb, color_correction); #endif - frag_color = vec4(color, 1.0); + frag_color = color; } diff --git a/editor/animation_track_editor.cpp b/editor/animation_track_editor.cpp index 7d8197bead..b676704347 100644 --- a/editor/animation_track_editor.cpp +++ b/editor/animation_track_editor.cpp @@ -1417,14 +1417,14 @@ void AnimationTimelineEdit::_anim_length_changed(double p_new_len) { void AnimationTimelineEdit::_anim_loop_pressed() { undo_redo->create_action(TTR("Change Animation Loop")); switch (animation->get_loop_mode()) { - case Animation::LoopMode::LOOP_NONE: { - undo_redo->add_do_method(animation.ptr(), "set_loop_mode", Animation::LoopMode::LOOP_LINEAR); + case Animation::LOOP_NONE: { + undo_redo->add_do_method(animation.ptr(), "set_loop_mode", Animation::LOOP_LINEAR); } break; - case Animation::LoopMode::LOOP_LINEAR: { - undo_redo->add_do_method(animation.ptr(), "set_loop_mode", Animation::LoopMode::LOOP_PINGPONG); + case Animation::LOOP_LINEAR: { + undo_redo->add_do_method(animation.ptr(), "set_loop_mode", Animation::LOOP_PINGPONG); } break; - case Animation::LoopMode::LOOP_PINGPONG: { - undo_redo->add_do_method(animation.ptr(), "set_loop_mode", Animation::LoopMode::LOOP_NONE); + case Animation::LOOP_PINGPONG: { + undo_redo->add_do_method(animation.ptr(), "set_loop_mode", Animation::LOOP_NONE); } break; default: break; @@ -1724,15 +1724,15 @@ void AnimationTimelineEdit::update_values() { } switch (animation->get_loop_mode()) { - case Animation::LoopMode::LOOP_NONE: { + case Animation::LOOP_NONE: { loop->set_icon(get_theme_icon(SNAME("Loop"), SNAME("EditorIcons"))); loop->set_pressed(false); } break; - case Animation::LoopMode::LOOP_LINEAR: { + case Animation::LOOP_LINEAR: { loop->set_icon(get_theme_icon(SNAME("Loop"), SNAME("EditorIcons"))); loop->set_pressed(true); } break; - case Animation::LoopMode::LOOP_PINGPONG: { + case Animation::LOOP_PINGPONG: { loop->set_icon(get_theme_icon(SNAME("PingPongLoop"), SNAME("EditorIcons"))); loop->set_pressed(true); } break; diff --git a/editor/animation_track_editor.h b/editor/animation_track_editor.h index 07c3ed9990..55c3bd922a 100644 --- a/editor/animation_track_editor.h +++ b/editor/animation_track_editor.h @@ -478,10 +478,10 @@ class AnimationTrackEditor : public VBoxContainer { struct TrackClipboard { NodePath full_path; NodePath base_path; - Animation::TrackType track_type = Animation::TrackType::TYPE_ANIMATION; - Animation::InterpolationType interp_type = Animation::InterpolationType::INTERPOLATION_CUBIC; - Animation::UpdateMode update_mode = Animation::UpdateMode::UPDATE_CAPTURE; - Animation::LoopMode loop_mode = Animation::LoopMode::LOOP_LINEAR; + Animation::TrackType track_type = Animation::TYPE_ANIMATION; + Animation::InterpolationType interp_type = Animation::INTERPOLATION_CUBIC; + Animation::UpdateMode update_mode = Animation::UPDATE_CAPTURE; + Animation::LoopMode loop_mode = Animation::LOOP_LINEAR; bool loop_wrap = false; bool enabled = false; diff --git a/editor/import/resource_importer_scene.cpp b/editor/import/resource_importer_scene.cpp index 647eb1344b..4f666730d5 100644 --- a/editor/import/resource_importer_scene.cpp +++ b/editor/import/resource_importer_scene.cpp @@ -466,7 +466,7 @@ Node *ResourceImporterScene::_pre_fix_node(Node *p_node, Node *p_root, HashMap<R static const char *loop_strings[loop_string_count] = { "loop_mode", "loop", "cycle" }; for (int i = 0; i < loop_string_count; i++) { if (_teststr(animname, loop_strings[i])) { - anim->set_loop_mode(Animation::LoopMode::LOOP_LINEAR); + anim->set_loop_mode(Animation::LOOP_LINEAR); animname = _fixstr(animname, loop_strings[i]); Ref<AnimationLibrary> library = ap->get_animation_library(ap->find_animation_library(anim)); diff --git a/editor/plugins/animation_player_editor_plugin.cpp b/editor/plugins/animation_player_editor_plugin.cpp index 581dab84b4..57cf13d298 100644 --- a/editor/plugins/animation_player_editor_plugin.cpp +++ b/editor/plugins/animation_player_editor_plugin.cpp @@ -1338,7 +1338,7 @@ void AnimationPlayerEditor::_prepare_onion_layers_2() { float pos = cpos + step_off * anim->get_step(); - bool valid = anim->get_loop_mode() != Animation::LoopMode::LOOP_NONE || (pos >= 0 && pos <= anim->get_length()); + bool valid = anim->get_loop_mode() != Animation::LOOP_NONE || (pos >= 0 && pos <= anim->get_length()); onion.captures_valid.write[cidx] = valid; if (valid) { player->seek(pos, true); diff --git a/editor/plugins/script_text_editor.cpp b/editor/plugins/script_text_editor.cpp index ee8767e6a6..9df99dcce4 100644 --- a/editor/plugins/script_text_editor.cpp +++ b/editor/plugins/script_text_editor.cpp @@ -1568,7 +1568,12 @@ void ScriptTextEditor::drop_data_fw(const Point2 &p_point, const Variant &p_data continue; } - String path = sn->get_path_to(node); + String path; + if (node->is_unique_name_in_owner()) { + path = "%" + node->get_name(); + } else { + path = sn->get_path_to(node); + } for (const String &segment : path.split("/")) { if (!segment.is_valid_identifier()) { path = path.c_escape().quote(quote_style); @@ -1595,7 +1600,12 @@ void ScriptTextEditor::drop_data_fw(const Point2 &p_point, const Variant &p_data continue; } - String path = sn->get_path_to(node); + String path; + if (node->is_unique_name_in_owner()) { + path = "%" + node->get_name(); + } else { + path = sn->get_path_to(node); + } for (const String &segment : path.split("/")) { if (!segment.is_valid_identifier()) { path = path.c_escape().quote(quote_style); diff --git a/modules/gdscript/gdscript_parser.cpp b/modules/gdscript/gdscript_parser.cpp index 8563f2b432..96d1f68f60 100644 --- a/modules/gdscript/gdscript_parser.cpp +++ b/modules/gdscript/gdscript_parser.cpp @@ -1808,7 +1808,6 @@ GDScriptParser::MatchNode *GDScriptParser::parse_match() { #ifdef DEBUG_ENABLED bool all_have_return = true; bool have_wildcard = false; - bool wildcard_has_return = false; bool have_wildcard_without_continue = false; #endif @@ -1826,9 +1825,6 @@ GDScriptParser::MatchNode *GDScriptParser::parse_match() { if (branch->has_wildcard) { have_wildcard = true; - if (branch->block->has_return) { - wildcard_has_return = true; - } if (!branch->block->has_continue) { have_wildcard_without_continue = true; } @@ -1843,7 +1839,7 @@ GDScriptParser::MatchNode *GDScriptParser::parse_match() { consume(GDScriptTokenizer::Token::DEDENT, R"(Expected an indented block after "match" statement.)"); #ifdef DEBUG_ENABLED - if (wildcard_has_return || (all_have_return && have_wildcard)) { + if (all_have_return && have_wildcard) { current_suite->has_return = true; } #endif diff --git a/modules/gdscript/tests/scripts/parser/warnings/unreachable_code_after_return_bug_55154.gd b/modules/gdscript/tests/scripts/parser/warnings/unreachable_code_after_return_bug_55154.gd new file mode 100644 index 0000000000..d00d483a73 --- /dev/null +++ b/modules/gdscript/tests/scripts/parser/warnings/unreachable_code_after_return_bug_55154.gd @@ -0,0 +1,16 @@ +func test(): + var foo := "bar" + match foo: + "baz": + return + _: + pass + match foo: + "baz": + return + match foo: + "bar": + pass + _: + return + print("reached") diff --git a/modules/gdscript/tests/scripts/parser/warnings/unreachable_code_after_return_bug_55154.out b/modules/gdscript/tests/scripts/parser/warnings/unreachable_code_after_return_bug_55154.out new file mode 100644 index 0000000000..47db6b631b --- /dev/null +++ b/modules/gdscript/tests/scripts/parser/warnings/unreachable_code_after_return_bug_55154.out @@ -0,0 +1,2 @@ +GDTEST_OK +reached diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h index 0ebdea30e1..f58a78d4ca 100644 --- a/modules/navigation/nav_map.h +++ b/modules/navigation/nav_map.h @@ -28,8 +28,8 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef RVO_SPACE_H -#define RVO_SPACE_H +#ifndef NAV_MAP_H +#define NAV_MAP_H #include "nav_rid.h" @@ -141,4 +141,4 @@ private: void clip_path(const std::vector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly) const; }; -#endif // RVO_SPACE_H +#endif // NAV_MAP_H diff --git a/scene/2d/navigation_region_2d.cpp b/scene/2d/navigation_region_2d.cpp index f46453283c..260faf1d68 100644 --- a/scene/2d/navigation_region_2d.cpp +++ b/scene/2d/navigation_region_2d.cpp @@ -509,6 +509,9 @@ void NavigationRegion2D::_navpoly_changed() { if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint())) { update(); } + if (navpoly.is_valid()) { + NavigationServer2D::get_singleton()->region_set_navpoly(region, navpoly); + } } void NavigationRegion2D::_map_changed(RID p_map) { if (enabled && get_world_2d()->get_navigation_map() == p_map) { diff --git a/scene/animation/animation_blend_space_1d.cpp b/scene/animation/animation_blend_space_1d.cpp index 849316c568..594f98410e 100644 --- a/scene/animation/animation_blend_space_1d.cpp +++ b/scene/animation/animation_blend_space_1d.cpp @@ -219,14 +219,14 @@ void AnimationNodeBlendSpace1D::_add_blend_point(int p_index, const Ref<Animatio } } -double AnimationNodeBlendSpace1D::process(double p_time, bool p_seek) { +double AnimationNodeBlendSpace1D::process(double p_time, bool p_seek, bool p_seek_root) { if (blend_points_used == 0) { return 0.0; } if (blend_points_used == 1) { // only one point available, just play that animation - return blend_node(blend_points[0].name, blend_points[0].node, p_time, p_seek, 1.0, FILTER_IGNORE, false); + return blend_node(blend_points[0].name, blend_points[0].node, p_time, p_seek, p_seek_root, 1.0, FILTER_IGNORE, false); } double blend_pos = get_parameter(blend_position); @@ -295,7 +295,7 @@ double AnimationNodeBlendSpace1D::process(double p_time, bool p_seek) { double max_time_remaining = 0.0; for (int i = 0; i < blend_points_used; i++) { - double remaining = blend_node(blend_points[i].name, blend_points[i].node, p_time, p_seek, weights[i], FILTER_IGNORE, false); + double remaining = blend_node(blend_points[i].name, blend_points[i].node, p_time, p_seek, p_seek_root, weights[i], FILTER_IGNORE, false); max_time_remaining = MAX(max_time_remaining, remaining); } diff --git a/scene/animation/animation_blend_space_1d.h b/scene/animation/animation_blend_space_1d.h index 7038cece06..b2075c8c93 100644 --- a/scene/animation/animation_blend_space_1d.h +++ b/scene/animation/animation_blend_space_1d.h @@ -93,7 +93,7 @@ public: void set_value_label(const String &p_label); String get_value_label() const; - double process(double p_time, bool p_seek) override; + double process(double p_time, bool p_seek, bool p_seek_root) override; String get_caption() const override; Ref<AnimationNode> get_child_by_name(const StringName &p_name) override; diff --git a/scene/animation/animation_blend_space_2d.cpp b/scene/animation/animation_blend_space_2d.cpp index a3aa3f6cc8..acdce2d7de 100644 --- a/scene/animation/animation_blend_space_2d.cpp +++ b/scene/animation/animation_blend_space_2d.cpp @@ -432,7 +432,7 @@ void AnimationNodeBlendSpace2D::_blend_triangle(const Vector2 &p_pos, const Vect r_weights[2] = w; } -double AnimationNodeBlendSpace2D::process(double p_time, bool p_seek) { +double AnimationNodeBlendSpace2D::process(double p_time, bool p_seek, bool p_seek_root) { _update_triangles(); Vector2 blend_pos = get_parameter(blend_position); @@ -502,7 +502,7 @@ double AnimationNodeBlendSpace2D::process(double p_time, bool p_seek) { for (int j = 0; j < 3; j++) { if (i == triangle_points[j]) { //blend with the given weight - double t = blend_node(blend_points[i].name, blend_points[i].node, p_time, p_seek, blend_weights[j], FILTER_IGNORE, false); + double t = blend_node(blend_points[i].name, blend_points[i].node, p_time, p_seek, p_seek_root, blend_weights[j], FILTER_IGNORE, false); if (first || t < mind) { mind = t; first = false; @@ -514,7 +514,7 @@ double AnimationNodeBlendSpace2D::process(double p_time, bool p_seek) { if (!found) { //ignore - blend_node(blend_points[i].name, blend_points[i].node, p_time, p_seek, 0, FILTER_IGNORE, false); + blend_node(blend_points[i].name, blend_points[i].node, p_time, p_seek, p_seek_root, 0, FILTER_IGNORE, false); } } } else { @@ -539,16 +539,16 @@ double AnimationNodeBlendSpace2D::process(double p_time, bool p_seek) { na_n->set_backward(na_c->is_backward()); } //see how much animation remains - from = length_internal - blend_node(blend_points[closest].name, blend_points[closest].node, p_time, false, 0.0, FILTER_IGNORE, false); + from = length_internal - blend_node(blend_points[closest].name, blend_points[closest].node, p_time, false, p_seek_root, 0.0, FILTER_IGNORE, false); } - mind = blend_node(blend_points[new_closest].name, blend_points[new_closest].node, from, true, 1.0, FILTER_IGNORE, false); + mind = blend_node(blend_points[new_closest].name, blend_points[new_closest].node, from, true, p_seek_root, 1.0, FILTER_IGNORE, false); length_internal = from + mind; closest = new_closest; } else { - mind = blend_node(blend_points[closest].name, blend_points[closest].node, p_time, p_seek, 1.0, FILTER_IGNORE, false); + mind = blend_node(blend_points[closest].name, blend_points[closest].node, p_time, p_seek, p_seek_root, 1.0, FILTER_IGNORE, false); } } diff --git a/scene/animation/animation_blend_space_2d.h b/scene/animation/animation_blend_space_2d.h index 1356656bf8..01f53ed25a 100644 --- a/scene/animation/animation_blend_space_2d.h +++ b/scene/animation/animation_blend_space_2d.h @@ -126,7 +126,7 @@ public: void set_y_label(const String &p_label); String get_y_label() const; - virtual double process(double p_time, bool p_seek) override; + virtual double process(double p_time, bool p_seek, bool p_seek_root) override; virtual String get_caption() const override; Vector2 get_closest_point(const Vector2 &p_point); diff --git a/scene/animation/animation_blend_tree.cpp b/scene/animation/animation_blend_tree.cpp index 433f21f91f..3de3ab256e 100644 --- a/scene/animation/animation_blend_tree.cpp +++ b/scene/animation/animation_blend_tree.cpp @@ -64,7 +64,7 @@ void AnimationNodeAnimation::_validate_property(PropertyInfo &property) const { } } -double AnimationNodeAnimation::process(double p_time, bool p_seek) { +double AnimationNodeAnimation::process(double p_time, bool p_seek, bool p_seek_root) { AnimationPlayer *ap = state->player; ERR_FAIL_COND_V(!ap, 0); @@ -101,8 +101,8 @@ double AnimationNodeAnimation::process(double p_time, bool p_seek) { } } - if (anim->get_loop_mode() == Animation::LoopMode::LOOP_PINGPONG) { - if (anim_size) { + if (anim->get_loop_mode() == Animation::LOOP_PINGPONG) { + if (!Math::is_zero_approx(anim_size)) { if ((int)Math::floor(abs(time - prev_time) / anim_size) % 2 == 0) { if (prev_time > 0 && time <= 0) { backward = !backward; @@ -116,22 +116,24 @@ double AnimationNodeAnimation::process(double p_time, bool p_seek) { time = Math::pingpong(time, anim_size); } } else { - if (anim->get_loop_mode() == Animation::LoopMode::LOOP_LINEAR) { - if (anim_size) { + if (anim->get_loop_mode() == Animation::LOOP_LINEAR) { + if (!Math::is_zero_approx(anim_size)) { time = Math::fposmod(time, anim_size); } } else if (time < 0) { + step += time; time = 0; } else if (time > anim_size) { + step += anim_size - time; time = anim_size; } backward = false; } if (play_mode == PLAY_MODE_FORWARD) { - blend_animation(animation, time, step, p_seek, 1.0, pingponged); + blend_animation(animation, time, step, p_seek, p_seek_root, 1.0, pingponged); } else { - blend_animation(animation, anim_size - time, -step, p_seek, 1.0, pingponged); + blend_animation(animation, anim_size - time, -step, p_seek, p_seek_root, 1.0, pingponged); } set_parameter(this->time, time); @@ -251,7 +253,7 @@ bool AnimationNodeOneShot::has_filter() const { return true; } -double AnimationNodeOneShot::process(double p_time, bool p_seek) { +double AnimationNodeOneShot::process(double p_time, bool p_seek, bool p_seek_root) { bool active = get_parameter(this->active); bool prev_active = get_parameter(this->prev_active); double time = get_parameter(this->time); @@ -274,7 +276,7 @@ double AnimationNodeOneShot::process(double p_time, bool p_seek) { } if (!active) { - return blend_input(0, p_time, p_seek, 1.0, FILTER_IGNORE, !sync); + return blend_input(0, p_time, p_seek, p_seek_root, 1.0, FILTER_IGNORE, !sync); } } @@ -311,12 +313,12 @@ double AnimationNodeOneShot::process(double p_time, bool p_seek) { double main_rem; if (mix == MIX_MODE_ADD) { - main_rem = blend_input(0, p_time, p_seek, 1.0, FILTER_IGNORE, !sync); + main_rem = blend_input(0, p_time, p_seek, p_seek_root, 1.0, FILTER_IGNORE, !sync); } else { - main_rem = blend_input(0, p_time, p_seek, 1.0 - blend, FILTER_BLEND, !sync); + main_rem = blend_input(0, p_time, p_seek, p_seek_root, 1.0 - blend, FILTER_BLEND, !sync); } - double os_rem = blend_input(1, os_seek ? time : p_time, os_seek, blend, FILTER_PASS, false); + double os_rem = blend_input(1, os_seek ? time : p_time, os_seek, p_seek_root, blend, FILTER_PASS, false); if (do_start) { remaining = os_rem; @@ -420,10 +422,10 @@ bool AnimationNodeAdd2::has_filter() const { return true; } -double AnimationNodeAdd2::process(double p_time, bool p_seek) { +double AnimationNodeAdd2::process(double p_time, bool p_seek, bool p_seek_root) { double amount = get_parameter(add_amount); - double rem0 = blend_input(0, p_time, p_seek, 1.0, FILTER_IGNORE, !sync); - blend_input(1, p_time, p_seek, amount, FILTER_PASS, !sync); + double rem0 = blend_input(0, p_time, p_seek, p_seek_root, 1.0, FILTER_IGNORE, !sync); + blend_input(1, p_time, p_seek, p_seek_root, amount, FILTER_PASS, !sync); return rem0; } @@ -466,11 +468,11 @@ bool AnimationNodeAdd3::has_filter() const { return true; } -double AnimationNodeAdd3::process(double p_time, bool p_seek) { +double AnimationNodeAdd3::process(double p_time, bool p_seek, bool p_seek_root) { double amount = get_parameter(add_amount); - blend_input(0, p_time, p_seek, MAX(0, -amount), FILTER_PASS, !sync); - double rem0 = blend_input(1, p_time, p_seek, 1.0, FILTER_IGNORE, !sync); - blend_input(2, p_time, p_seek, MAX(0, amount), FILTER_PASS, !sync); + blend_input(0, p_time, p_seek, p_seek_root, MAX(0, -amount), FILTER_PASS, !sync); + double rem0 = blend_input(1, p_time, p_seek, p_seek_root, 1.0, FILTER_IGNORE, !sync); + blend_input(2, p_time, p_seek, p_seek_root, MAX(0, amount), FILTER_PASS, !sync); return rem0; } @@ -502,11 +504,11 @@ String AnimationNodeBlend2::get_caption() const { return "Blend2"; } -double AnimationNodeBlend2::process(double p_time, bool p_seek) { +double AnimationNodeBlend2::process(double p_time, bool p_seek, bool p_seek_root) { double amount = get_parameter(blend_amount); - double rem0 = blend_input(0, p_time, p_seek, 1.0 - amount, FILTER_BLEND, !sync); - double rem1 = blend_input(1, p_time, p_seek, amount, FILTER_PASS, !sync); + double rem0 = blend_input(0, p_time, p_seek, p_seek_root, 1.0 - amount, FILTER_BLEND, !sync); + double rem1 = blend_input(1, p_time, p_seek, p_seek_root, amount, FILTER_PASS, !sync); return amount > 0.5 ? rem1 : rem0; //hacky but good enough } @@ -557,11 +559,11 @@ bool AnimationNodeBlend3::is_using_sync() const { return sync; } -double AnimationNodeBlend3::process(double p_time, bool p_seek) { +double AnimationNodeBlend3::process(double p_time, bool p_seek, bool p_seek_root) { double amount = get_parameter(blend_amount); - double rem0 = blend_input(0, p_time, p_seek, MAX(0, -amount), FILTER_IGNORE, !sync); - double rem1 = blend_input(1, p_time, p_seek, 1.0 - ABS(amount), FILTER_IGNORE, !sync); - double rem2 = blend_input(2, p_time, p_seek, MAX(0, amount), FILTER_IGNORE, !sync); + double rem0 = blend_input(0, p_time, p_seek, p_seek_root, MAX(0, -amount), FILTER_IGNORE, !sync); + double rem1 = blend_input(1, p_time, p_seek, p_seek_root, 1.0 - ABS(amount), FILTER_IGNORE, !sync); + double rem2 = blend_input(2, p_time, p_seek, p_seek_root, MAX(0, amount), FILTER_IGNORE, !sync); return amount > 0.5 ? rem2 : (amount < -0.5 ? rem0 : rem1); //hacky but good enough } @@ -595,12 +597,12 @@ String AnimationNodeTimeScale::get_caption() const { return "TimeScale"; } -double AnimationNodeTimeScale::process(double p_time, bool p_seek) { +double AnimationNodeTimeScale::process(double p_time, bool p_seek, bool p_seek_root) { double scale = get_parameter(this->scale); if (p_seek) { - return blend_input(0, p_time, true, 1.0, FILTER_IGNORE, false); + return blend_input(0, p_time, true, p_seek_root, 1.0, FILTER_IGNORE, false); } else { - return blend_input(0, p_time * scale, false, 1.0, FILTER_IGNORE, false); + return blend_input(0, p_time * scale, false, p_seek_root, 1.0, FILTER_IGNORE, false); } } @@ -625,16 +627,16 @@ String AnimationNodeTimeSeek::get_caption() const { return "Seek"; } -double AnimationNodeTimeSeek::process(double p_time, bool p_seek) { +double AnimationNodeTimeSeek::process(double p_time, bool p_seek, bool p_seek_root) { double seek_pos = get_parameter(this->seek_pos); if (p_seek) { - return blend_input(0, p_time, true, 1.0, FILTER_IGNORE, false); + return blend_input(0, p_time, true, p_seek_root, 1.0, FILTER_IGNORE, false); } else if (seek_pos >= 0) { - double ret = blend_input(0, seek_pos, true, 1.0, FILTER_IGNORE, false); + double ret = blend_input(0, seek_pos, true, true, 1.0, FILTER_IGNORE, false); set_parameter(this->seek_pos, -1.0); //reset return ret; } else { - return blend_input(0, p_time, false, 1.0, FILTER_IGNORE, false); + return blend_input(0, p_time, false, p_seek_root, 1.0, FILTER_IGNORE, false); } } @@ -726,7 +728,7 @@ float AnimationNodeTransition::get_cross_fade_time() const { return xfade; } -double AnimationNodeTransition::process(double p_time, bool p_seek) { +double AnimationNodeTransition::process(double p_time, bool p_seek, bool p_seek_root) { int current = get_parameter(this->current); int prev = get_parameter(this->prev); int prev_current = get_parameter(this->prev_current); @@ -754,7 +756,7 @@ double AnimationNodeTransition::process(double p_time, bool p_seek) { if (prev < 0) { // process current animation, check for transition - rem = blend_input(current, p_time, p_seek, 1.0, FILTER_IGNORE, false); + rem = blend_input(current, p_time, p_seek, p_seek_root, 1.0, FILTER_IGNORE, false); if (p_seek) { time = p_time; @@ -772,16 +774,16 @@ double AnimationNodeTransition::process(double p_time, bool p_seek) { if (!p_seek && switched) { //just switched, seek to start of current - rem = blend_input(current, 0, true, 1.0 - blend, FILTER_IGNORE, false); + rem = blend_input(current, 0, true, p_seek_root, 1.0 - blend, FILTER_IGNORE, false); } else { - rem = blend_input(current, p_time, p_seek, 1.0 - blend, FILTER_IGNORE, false); + rem = blend_input(current, p_time, p_seek, p_seek_root, 1.0 - blend, FILTER_IGNORE, false); } if (p_seek) { // don't seek prev animation - blend_input(prev, 0, false, blend, FILTER_IGNORE, false); + blend_input(prev, 0, false, p_seek_root, blend, FILTER_IGNORE, false); time = p_time; } else { - blend_input(prev, p_time, false, blend, FILTER_IGNORE, false); + blend_input(prev, p_time, false, p_seek_root, blend, FILTER_IGNORE, false); time += p_time; prev_xfading -= p_time; if (prev_xfading < 0) { @@ -844,8 +846,8 @@ String AnimationNodeOutput::get_caption() const { return "Output"; } -double AnimationNodeOutput::process(double p_time, bool p_seek) { - return blend_input(0, p_time, p_seek, 1.0); +double AnimationNodeOutput::process(double p_time, bool p_seek, bool p_seek_root) { + return blend_input(0, p_time, p_seek, p_seek_root, 1.0); } AnimationNodeOutput::AnimationNodeOutput() { @@ -1057,9 +1059,9 @@ String AnimationNodeBlendTree::get_caption() const { return "BlendTree"; } -double AnimationNodeBlendTree::process(double p_time, bool p_seek) { +double AnimationNodeBlendTree::process(double p_time, bool p_seek, bool p_seek_root) { Ref<AnimationNodeOutput> output = nodes[SceneStringNames::get_singleton()->output].node; - return _blend_node("output", nodes[SceneStringNames::get_singleton()->output].connections, this, output, p_time, p_seek, 1.0); + return _blend_node("output", nodes[SceneStringNames::get_singleton()->output].connections, this, output, p_time, p_seek, p_seek_root, 1.0); } void AnimationNodeBlendTree::get_node_list(List<StringName> *r_list) { diff --git a/scene/animation/animation_blend_tree.h b/scene/animation/animation_blend_tree.h index 73bde633cb..1be0f162df 100644 --- a/scene/animation/animation_blend_tree.h +++ b/scene/animation/animation_blend_tree.h @@ -53,7 +53,7 @@ public: static Vector<String> (*get_editable_animation_list)(); virtual String get_caption() const override; - virtual double process(double p_time, bool p_seek) override; + virtual double process(double p_time, bool p_seek, bool p_seek_root) override; void set_animation(const StringName &p_name); StringName get_animation() const; @@ -87,8 +87,8 @@ public: }; private: - float fade_in = 0.1; - float fade_out = 0.1; + float fade_in = 0.0; + float fade_out = 0.0; bool autorestart = false; float autorestart_delay = 1.0; @@ -138,7 +138,7 @@ public: bool is_using_sync() const; virtual bool has_filter() const override; - virtual double process(double p_time, bool p_seek) override; + virtual double process(double p_time, bool p_seek, bool p_seek_root) override; AnimationNodeOneShot(); }; @@ -164,7 +164,7 @@ public: bool is_using_sync() const; virtual bool has_filter() const override; - virtual double process(double p_time, bool p_seek) override; + virtual double process(double p_time, bool p_seek, bool p_seek_root) override; AnimationNodeAdd2(); }; @@ -188,7 +188,7 @@ public: bool is_using_sync() const; virtual bool has_filter() const override; - virtual double process(double p_time, bool p_seek) override; + virtual double process(double p_time, bool p_seek, bool p_seek_root) override; AnimationNodeAdd3(); }; @@ -207,7 +207,7 @@ public: virtual Variant get_parameter_default_value(const StringName &p_parameter) const override; virtual String get_caption() const override; - virtual double process(double p_time, bool p_seek) override; + virtual double process(double p_time, bool p_seek, bool p_seek_root) override; void set_use_sync(bool p_sync); bool is_using_sync() const; @@ -234,7 +234,7 @@ public: void set_use_sync(bool p_sync); bool is_using_sync() const; - double process(double p_time, bool p_seek) override; + double process(double p_time, bool p_seek, bool p_seek_root) override; AnimationNodeBlend3(); }; @@ -252,7 +252,7 @@ public: virtual String get_caption() const override; - double process(double p_time, bool p_seek) override; + double process(double p_time, bool p_seek, bool p_seek_root) override; AnimationNodeTimeScale(); }; @@ -271,7 +271,7 @@ public: virtual String get_caption() const override; - double process(double p_time, bool p_seek) override; + double process(double p_time, bool p_seek, bool p_seek_root) override; AnimationNodeTimeSeek(); }; @@ -329,7 +329,7 @@ public: void set_cross_fade_time(float p_fade); float get_cross_fade_time() const; - double process(double p_time, bool p_seek) override; + double process(double p_time, bool p_seek, bool p_seek_root) override; AnimationNodeTransition(); }; @@ -339,7 +339,7 @@ class AnimationNodeOutput : public AnimationNode { public: virtual String get_caption() const override; - virtual double process(double p_time, bool p_seek) override; + virtual double process(double p_time, bool p_seek, bool p_seek_root) override; AnimationNodeOutput(); }; @@ -408,7 +408,7 @@ public: void get_node_connections(List<NodeConnection> *r_connections) const; virtual String get_caption() const override; - virtual double process(double p_time, bool p_seek) override; + virtual double process(double p_time, bool p_seek, bool p_seek_root) override; void get_node_list(List<StringName> *r_list); diff --git a/scene/animation/animation_node_state_machine.cpp b/scene/animation/animation_node_state_machine.cpp index 81df12791c..39849a0b00 100644 --- a/scene/animation/animation_node_state_machine.cpp +++ b/scene/animation/animation_node_state_machine.cpp @@ -292,7 +292,7 @@ bool AnimationNodeStateMachinePlayback::_travel(AnimationNodeStateMachine *p_sta return true; } -double AnimationNodeStateMachinePlayback::process(AnimationNodeStateMachine *p_state_machine, double p_time, bool p_seek) { +double AnimationNodeStateMachinePlayback::process(AnimationNodeStateMachine *p_state_machine, double p_time, bool p_seek, bool p_seek_root) { //if not playing and it can restart, then restart if (!playing && start_request == StringName()) { if (!stop_request && p_state_machine->start_node) { @@ -356,7 +356,7 @@ double AnimationNodeStateMachinePlayback::process(AnimationNodeStateMachine *p_s current = p_state_machine->start_node; } - len_current = p_state_machine->blend_node(current, p_state_machine->states[current].node, 0, true, 1.0, AnimationNode::FILTER_IGNORE, false); + len_current = p_state_machine->blend_node(current, p_state_machine->states[current].node, 0, true, p_seek_root, 1.0, AnimationNode::FILTER_IGNORE, false); pos_current = 0; } @@ -381,10 +381,10 @@ double AnimationNodeStateMachinePlayback::process(AnimationNodeStateMachine *p_s } } - float rem = p_state_machine->blend_node(current, p_state_machine->states[current].node, p_time, p_seek, fade_blend, AnimationNode::FILTER_IGNORE, false); + float rem = p_state_machine->blend_node(current, p_state_machine->states[current].node, p_time, p_seek, p_seek_root, fade_blend, AnimationNode::FILTER_IGNORE, false); if (fading_from != StringName()) { - p_state_machine->blend_node(fading_from, p_state_machine->states[fading_from].node, p_time, p_seek, 1.0 - fade_blend, AnimationNode::FILTER_IGNORE, false); + p_state_machine->blend_node(fading_from, p_state_machine->states[fading_from].node, p_time, p_seek, p_seek_root, 1.0 - fade_blend, AnimationNode::FILTER_IGNORE, false); } //guess playback position @@ -538,12 +538,12 @@ double AnimationNodeStateMachinePlayback::process(AnimationNodeStateMachine *p_s } current = next; if (switch_mode == AnimationNodeStateMachineTransition::SWITCH_MODE_SYNC) { - len_current = p_state_machine->blend_node(current, p_state_machine->states[current].node, 0, true, 0, AnimationNode::FILTER_IGNORE, false); + len_current = p_state_machine->blend_node(current, p_state_machine->states[current].node, 0, true, p_seek_root, 0, AnimationNode::FILTER_IGNORE, false); pos_current = MIN(pos_current, len_current); - p_state_machine->blend_node(current, p_state_machine->states[current].node, pos_current, true, 0, AnimationNode::FILTER_IGNORE, false); + p_state_machine->blend_node(current, p_state_machine->states[current].node, pos_current, true, p_seek_root, 0, AnimationNode::FILTER_IGNORE, false); } else { - len_current = p_state_machine->blend_node(current, p_state_machine->states[current].node, 0, true, 0, AnimationNode::FILTER_IGNORE, false); + len_current = p_state_machine->blend_node(current, p_state_machine->states[current].node, 0, true, p_seek_root, 0, AnimationNode::FILTER_IGNORE, false); pos_current = 0; } @@ -1071,11 +1071,11 @@ Vector2 AnimationNodeStateMachine::get_graph_offset() const { return graph_offset; } -double AnimationNodeStateMachine::process(double p_time, bool p_seek) { +double AnimationNodeStateMachine::process(double p_time, bool p_seek, bool p_seek_root) { Ref<AnimationNodeStateMachinePlayback> playback = get_parameter(this->playback); ERR_FAIL_COND_V(playback.is_null(), 0.0); - return playback->process(this, p_time, p_seek); + return playback->process(this, p_time, p_seek, p_seek_root); } String AnimationNodeStateMachine::get_caption() const { diff --git a/scene/animation/animation_node_state_machine.h b/scene/animation/animation_node_state_machine.h index 07d0579533..9eeac6a183 100644 --- a/scene/animation/animation_node_state_machine.h +++ b/scene/animation/animation_node_state_machine.h @@ -120,7 +120,7 @@ class AnimationNodeStateMachinePlayback : public Resource { bool _travel(AnimationNodeStateMachine *p_state_machine, const StringName &p_travel); - double process(AnimationNodeStateMachine *p_state_machine, double p_time, bool p_seek); + double process(AnimationNodeStateMachine *p_state_machine, double p_time, bool p_seek, bool p_seek_root); bool _check_advance_condition(const Ref<AnimationNodeStateMachine> p_state_machine, const Ref<AnimationNodeStateMachineTransition> p_transition) const; @@ -226,7 +226,7 @@ public: void set_graph_offset(const Vector2 &p_offset); Vector2 get_graph_offset() const; - virtual double process(double p_time, bool p_seek) override; + virtual double process(double p_time, bool p_seek, bool p_seek_root) override; virtual String get_caption() const override; virtual Ref<AnimationNode> get_child_by_name(const StringName &p_name) override; diff --git a/scene/animation/animation_player.cpp b/scene/animation/animation_player.cpp index 9ace6db505..87bfb64917 100644 --- a/scene/animation/animation_player.cpp +++ b/scene/animation/animation_player.cpp @@ -832,7 +832,7 @@ void AnimationPlayer::_animation_process_animation(AnimationData *p_anim, double nc->audio_start = p_time; } } else if (nc->audio_playing) { - bool loop = a->get_loop_mode() != Animation::LoopMode::LOOP_NONE; + bool loop = a->get_loop_mode() != Animation::LOOP_NONE; bool stop = false; @@ -883,15 +883,15 @@ void AnimationPlayer::_animation_process_animation(AnimationData *p_anim, double double at_anim_pos = 0.0; switch (anim->get_loop_mode()) { - case Animation::LoopMode::LOOP_NONE: { + case Animation::LOOP_NONE: { at_anim_pos = MIN((double)anim->get_length(), p_time - pos); //seek to end } break; - case Animation::LoopMode::LOOP_LINEAR: { + case Animation::LOOP_LINEAR: { at_anim_pos = Math::fposmod(p_time - pos, (double)anim->get_length()); //seek to loop } break; - case Animation::LoopMode::LOOP_PINGPONG: { + case Animation::LOOP_PINGPONG: { at_anim_pos = Math::pingpong(p_time - pos, (double)anim->get_length()); } break; @@ -944,7 +944,7 @@ void AnimationPlayer::_animation_process_data(PlaybackData &cd, double p_delta, int pingponged = 0; switch (cd.from->animation->get_loop_mode()) { - case Animation::LoopMode::LOOP_NONE: { + case Animation::LOOP_NONE: { if (next_pos < 0) { next_pos = 0; } else if (next_pos > len) { @@ -969,7 +969,7 @@ void AnimationPlayer::_animation_process_data(PlaybackData &cd, double p_delta, } } break; - case Animation::LoopMode::LOOP_LINEAR: { + case Animation::LOOP_LINEAR: { double looped_next_pos = Math::fposmod(next_pos, (double)len); if (looped_next_pos == 0 && next_pos != 0) { // Loop multiples of the length to it, rather than 0 @@ -980,7 +980,7 @@ void AnimationPlayer::_animation_process_data(PlaybackData &cd, double p_delta, } } break; - case Animation::LoopMode::LOOP_PINGPONG: { + case Animation::LOOP_PINGPONG: { if ((int)Math::floor(abs(next_pos - cd.pos) / len) % 2 == 0) { if (next_pos < 0 && cd.pos >= 0) { cd.speed_scale *= -1.0; diff --git a/scene/animation/animation_tree.cpp b/scene/animation/animation_tree.cpp index 92af15d5d3..127eeed06f 100644 --- a/scene/animation/animation_tree.cpp +++ b/scene/animation/animation_tree.cpp @@ -88,7 +88,7 @@ void AnimationNode::get_child_nodes(List<ChildNode> *r_child_nodes) { } } -void AnimationNode::blend_animation(const StringName &p_animation, double p_time, double p_delta, bool p_seeked, real_t p_blend, int p_pingponged) { +void AnimationNode::blend_animation(const StringName &p_animation, double p_time, double p_delta, bool p_seeked, bool p_seek_root, real_t p_blend, int p_pingponged) { ERR_FAIL_COND(!state); ERR_FAIL_COND(!state->player->has_animation(p_animation)); @@ -115,17 +115,18 @@ void AnimationNode::blend_animation(const StringName &p_animation, double p_time anim_state.animation = animation; anim_state.seeked = p_seeked; anim_state.pingponged = p_pingponged; + anim_state.seek_root = p_seek_root; state->animation_states.push_back(anim_state); } -double AnimationNode::_pre_process(const StringName &p_base_path, AnimationNode *p_parent, State *p_state, double p_time, bool p_seek, const Vector<StringName> &p_connections) { +double AnimationNode::_pre_process(const StringName &p_base_path, AnimationNode *p_parent, State *p_state, double p_time, bool p_seek, bool p_seek_root, const Vector<StringName> &p_connections) { base_path = p_base_path; parent = p_parent; connections = p_connections; state = p_state; - double t = process(p_time, p_seek); + double t = process(p_time, p_seek, p_seek_root); state = nullptr; parent = nullptr; @@ -144,7 +145,7 @@ void AnimationNode::make_invalid(const String &p_reason) { state->invalid_reasons += String::utf8("• ") + p_reason; } -double AnimationNode::blend_input(int p_input, double p_time, bool p_seek, real_t p_blend, FilterAction p_filter, bool p_optimize) { +double AnimationNode::blend_input(int p_input, double p_time, bool p_seek, bool p_seek_root, real_t p_blend, FilterAction p_filter, bool p_optimize) { ERR_FAIL_INDEX_V(p_input, inputs.size(), 0); ERR_FAIL_COND_V(!state, 0); @@ -163,7 +164,7 @@ double AnimationNode::blend_input(int p_input, double p_time, bool p_seek, real_ //inputs.write[p_input].last_pass = state->last_pass; real_t activity = 0.0; - double ret = _blend_node(node_name, blend_tree->get_node_connection_array(node_name), nullptr, node, p_time, p_seek, p_blend, p_filter, p_optimize, &activity); + double ret = _blend_node(node_name, blend_tree->get_node_connection_array(node_name), nullptr, node, p_time, p_seek, p_seek_root, p_blend, p_filter, p_optimize, &activity); Vector<AnimationTree::Activity> *activity_ptr = state->tree->input_activity_map.getptr(base_path); @@ -174,11 +175,11 @@ double AnimationNode::blend_input(int p_input, double p_time, bool p_seek, real_ return ret; } -double AnimationNode::blend_node(const StringName &p_sub_path, Ref<AnimationNode> p_node, double p_time, bool p_seek, real_t p_blend, FilterAction p_filter, bool p_optimize) { - return _blend_node(p_sub_path, Vector<StringName>(), this, p_node, p_time, p_seek, p_blend, p_filter, p_optimize); +double AnimationNode::blend_node(const StringName &p_sub_path, Ref<AnimationNode> p_node, double p_time, bool p_seek, bool p_seek_root, real_t p_blend, FilterAction p_filter, bool p_optimize) { + return _blend_node(p_sub_path, Vector<StringName>(), this, p_node, p_time, p_seek, p_seek_root, p_blend, p_filter, p_optimize); } -double AnimationNode::_blend_node(const StringName &p_subpath, const Vector<StringName> &p_connections, AnimationNode *p_new_parent, Ref<AnimationNode> p_node, double p_time, bool p_seek, real_t p_blend, FilterAction p_filter, bool p_optimize, real_t *r_max) { +double AnimationNode::_blend_node(const StringName &p_subpath, const Vector<StringName> &p_connections, AnimationNode *p_new_parent, Ref<AnimationNode> p_node, double p_time, bool p_seek, bool p_seek_root, real_t p_blend, FilterAction p_filter, bool p_optimize, real_t *r_max) { ERR_FAIL_COND_V(!p_node.is_valid(), 0); ERR_FAIL_COND_V(!state, 0); @@ -286,9 +287,9 @@ double AnimationNode::_blend_node(const StringName &p_subpath, const Vector<Stri } if (!p_seek && p_optimize && !any_valid) { - return p_node->_pre_process(new_path, new_parent, state, 0, p_seek, p_connections); + return p_node->_pre_process(new_path, new_parent, state, 0, p_seek, p_seek_root, p_connections); } - return p_node->_pre_process(new_path, new_parent, state, p_time, p_seek, p_connections); + return p_node->_pre_process(new_path, new_parent, state, p_time, p_seek, p_seek_root, p_connections); } int AnimationNode::get_input_count() const { @@ -332,9 +333,9 @@ void AnimationNode::remove_input(int p_index) { emit_changed(); } -double AnimationNode::process(double p_time, bool p_seek) { +double AnimationNode::process(double p_time, bool p_seek, bool p_seek_root) { double ret; - if (GDVIRTUAL_CALL(_process, p_time, p_seek, ret)) { + if (GDVIRTUAL_CALL(_process, p_time, p_seek, p_seek_root, ret)) { return ret; } @@ -418,9 +419,9 @@ void AnimationNode::_bind_methods() { ClassDB::bind_method(D_METHOD("_set_filters", "filters"), &AnimationNode::_set_filters); ClassDB::bind_method(D_METHOD("_get_filters"), &AnimationNode::_get_filters); - ClassDB::bind_method(D_METHOD("blend_animation", "animation", "time", "delta", "seeked", "blend", "pingponged"), &AnimationNode::blend_animation, DEFVAL(0)); - ClassDB::bind_method(D_METHOD("blend_node", "name", "node", "time", "seek", "blend", "filter", "optimize"), &AnimationNode::blend_node, DEFVAL(FILTER_IGNORE), DEFVAL(true)); - ClassDB::bind_method(D_METHOD("blend_input", "input_index", "time", "seek", "blend", "filter", "optimize"), &AnimationNode::blend_input, DEFVAL(FILTER_IGNORE), DEFVAL(true)); + ClassDB::bind_method(D_METHOD("blend_animation", "animation", "time", "delta", "seeked", "seek_root", "blend", "pingponged"), &AnimationNode::blend_animation, DEFVAL(0)); + ClassDB::bind_method(D_METHOD("blend_node", "name", "node", "time", "seek", "seek_root", "blend", "filter", "optimize"), &AnimationNode::blend_node, DEFVAL(FILTER_IGNORE), DEFVAL(true)); + ClassDB::bind_method(D_METHOD("blend_input", "input_index", "time", "seek", "seek_root", "blend", "filter", "optimize"), &AnimationNode::blend_input, DEFVAL(FILTER_IGNORE), DEFVAL(true)); ClassDB::bind_method(D_METHOD("set_parameter", "name", "value"), &AnimationNode::set_parameter); ClassDB::bind_method(D_METHOD("get_parameter", "name"), &AnimationNode::get_parameter); @@ -432,7 +433,7 @@ void AnimationNode::_bind_methods() { GDVIRTUAL_BIND(_get_parameter_list); GDVIRTUAL_BIND(_get_child_by_name, "name"); GDVIRTUAL_BIND(_get_parameter_default_value, "parameter"); - GDVIRTUAL_BIND(_process, "time", "seek"); + GDVIRTUAL_BIND(_process, "time", "seek", "seek_root"); GDVIRTUAL_BIND(_get_caption); GDVIRTUAL_BIND(_has_filter); @@ -859,7 +860,6 @@ void AnimationTree::_process_graph(double p_delta) { _update_properties(); //if properties need updating, update them //check all tracks, see if they need modification - root_motion_transform = Transform3D(); if (!root.is_valid()) { @@ -938,11 +938,11 @@ void AnimationTree::_process_graph(double p_delta) { { if (started) { //if started, seek - root->_pre_process(SceneStringNames::get_singleton()->parameters_base_path, nullptr, &state, 0, true, Vector<StringName>()); + root->_pre_process(SceneStringNames::get_singleton()->parameters_base_path, nullptr, &state, 0, true, false, Vector<StringName>()); started = false; } - root->_pre_process(SceneStringNames::get_singleton()->parameters_base_path, nullptr, &state, p_delta, false, Vector<StringName>()); + root->_pre_process(SceneStringNames::get_singleton()->parameters_base_path, nullptr, &state, p_delta, false, false, Vector<StringName>()); } if (!state.valid) { @@ -962,6 +962,7 @@ void AnimationTree::_process_graph(double p_delta) { int pingponged = as.pingponged; #ifndef _3D_DISABLED bool backward = signbit(delta); + bool calc_root = !seeked || as.seek_root; #endif // _3D_DISABLED for (int i = 0; i < a->get_track_count(); i++) { @@ -990,7 +991,7 @@ void AnimationTree::_process_graph(double p_delta) { case Animation::TYPE_POSITION_3D: { #ifndef _3D_DISABLED TrackCacheTransform *t = static_cast<TrackCacheTransform *>(track); - if (track->root_motion) { + if (track->root_motion && calc_root) { if (t->process_pass != process_pass) { t->process_pass = process_pass; t->loc = Vector3(0, 0, 0); @@ -1052,7 +1053,7 @@ void AnimationTree::_process_graph(double p_delta) { } a->position_track_interpolate(i, 0, &loc[1]); t->loc += (loc[1] - loc[0]) * blend; - prev_time = 0; + prev_time = (double)a->get_length(); } } @@ -1086,7 +1087,7 @@ void AnimationTree::_process_graph(double p_delta) { case Animation::TYPE_ROTATION_3D: { #ifndef _3D_DISABLED TrackCacheTransform *t = static_cast<TrackCacheTransform *>(track); - if (track->root_motion) { + if (track->root_motion && calc_root) { if (t->process_pass != process_pass) { t->process_pass = process_pass; t->loc = Vector3(0, 0, 0); @@ -1148,7 +1149,7 @@ void AnimationTree::_process_graph(double p_delta) { } a->rotation_track_interpolate(i, 0, &rot[1]); t->rot = (t->rot * Quaternion().slerp(rot[0].inverse() * rot[1], blend)).normalized(); - prev_time = 0; + prev_time = (double)a->get_length(); } } @@ -1182,7 +1183,7 @@ void AnimationTree::_process_graph(double p_delta) { case Animation::TYPE_SCALE_3D: { #ifndef _3D_DISABLED TrackCacheTransform *t = static_cast<TrackCacheTransform *>(track); - if (track->root_motion) { + if (track->root_motion && calc_root) { if (t->process_pass != process_pass) { t->process_pass = process_pass; t->loc = Vector3(0, 0, 0); @@ -1244,7 +1245,7 @@ void AnimationTree::_process_graph(double p_delta) { } a->scale_track_interpolate(i, 0, &scale[1]); t->scale += (scale[1] - scale[0]) * blend; - prev_time = 0; + prev_time = (double)a->get_length(); } } @@ -1301,8 +1302,7 @@ void AnimationTree::_process_graph(double p_delta) { Animation::UpdateMode update_mode = a->value_track_get_update_mode(i); - if (update_mode == Animation::UPDATE_CONTINUOUS || update_mode == Animation::UPDATE_CAPTURE) { //delta == 0 means seek - + if (update_mode == Animation::UPDATE_CONTINUOUS || update_mode == Animation::UPDATE_CAPTURE) { Variant value = a->value_track_interpolate(i, time); if (value == Variant()) { @@ -1443,7 +1443,7 @@ void AnimationTree::_process_graph(double p_delta) { t->start = time; } } else if (t->playing) { - bool loop = a->get_loop_mode() != Animation::LoopMode::LOOP_NONE; + bool loop = a->get_loop_mode() != Animation::LOOP_NONE; bool stop = false; @@ -1512,13 +1512,13 @@ void AnimationTree::_process_graph(double p_delta) { double at_anim_pos = 0.0; switch (anim->get_loop_mode()) { - case Animation::LoopMode::LOOP_NONE: { + case Animation::LOOP_NONE: { at_anim_pos = MAX((double)anim->get_length(), time - pos); //seek to end } break; - case Animation::LoopMode::LOOP_LINEAR: { + case Animation::LOOP_LINEAR: { at_anim_pos = Math::fposmod(time - pos, (double)anim->get_length()); //seek to loop } break; - case Animation::LoopMode::LOOP_PINGPONG: { + case Animation::LOOP_PINGPONG: { at_anim_pos = Math::pingpong(time - pos, (double)a->get_length()); } break; default: diff --git a/scene/animation/animation_tree.h b/scene/animation/animation_tree.h index d40d4ccbbd..37cd22568a 100644 --- a/scene/animation/animation_tree.h +++ b/scene/animation/animation_tree.h @@ -68,6 +68,7 @@ public: const Vector<real_t> *track_blends = nullptr; real_t blend = 0.0; bool seeked = false; + bool seek_root = false; int pingponged = 0; }; @@ -85,7 +86,7 @@ public: Vector<real_t> blends; State *state = nullptr; - double _pre_process(const StringName &p_base_path, AnimationNode *p_parent, State *p_state, double p_time, bool p_seek, const Vector<StringName> &p_connections); + double _pre_process(const StringName &p_base_path, AnimationNode *p_parent, State *p_state, double p_time, bool p_seek, bool p_seek_root, const Vector<StringName> &p_connections); //all this is temporary StringName base_path; @@ -98,12 +99,12 @@ public: Array _get_filters() const; void _set_filters(const Array &p_filters); friend class AnimationNodeBlendTree; - double _blend_node(const StringName &p_subpath, const Vector<StringName> &p_connections, AnimationNode *p_new_parent, Ref<AnimationNode> p_node, double p_time, bool p_seek, real_t p_blend, FilterAction p_filter = FILTER_IGNORE, bool p_optimize = true, real_t *r_max = nullptr); + double _blend_node(const StringName &p_subpath, const Vector<StringName> &p_connections, AnimationNode *p_new_parent, Ref<AnimationNode> p_node, double p_time, bool p_seek, bool p_seek_root, real_t p_blend, FilterAction p_filter = FILTER_IGNORE, bool p_optimize = true, real_t *r_max = nullptr); protected: - void blend_animation(const StringName &p_animation, double p_time, double p_delta, bool p_seeked, real_t p_blend, int p_pingponged = 0); - double blend_node(const StringName &p_sub_path, Ref<AnimationNode> p_node, double p_time, bool p_seek, real_t p_blend, FilterAction p_filter = FILTER_IGNORE, bool p_optimize = true); - double blend_input(int p_input, double p_time, bool p_seek, real_t p_blend, FilterAction p_filter = FILTER_IGNORE, bool p_optimize = true); + void blend_animation(const StringName &p_animation, double p_time, double p_delta, bool p_seeked, bool p_seek_root, real_t p_blend, int p_pingponged = 0); + double blend_node(const StringName &p_sub_path, Ref<AnimationNode> p_node, double p_time, bool p_seek, bool p_seek_root, real_t p_blend, FilterAction p_filter = FILTER_IGNORE, bool p_optimize = true); + double blend_input(int p_input, double p_time, bool p_seek, bool p_seek_root, real_t p_blend, FilterAction p_filter = FILTER_IGNORE, bool p_optimize = true); void make_invalid(const String &p_reason); @@ -115,7 +116,7 @@ protected: GDVIRTUAL0RC(Array, _get_parameter_list) GDVIRTUAL1RC(Ref<AnimationNode>, _get_child_by_name, StringName) GDVIRTUAL1RC(Variant, _get_parameter_default_value, StringName) - GDVIRTUAL2RC(double, _process, double, bool) + GDVIRTUAL3RC(double, _process, double, bool, bool) GDVIRTUAL0RC(String, _get_caption) GDVIRTUAL0RC(bool, _has_filter) @@ -133,7 +134,7 @@ public: virtual void get_child_nodes(List<ChildNode> *r_child_nodes); - virtual double process(double p_time, bool p_seek); + virtual double process(double p_time, bool p_seek, bool p_seek_root); virtual String get_caption() const; int get_input_count() const; diff --git a/scene/main/node.cpp b/scene/main/node.cpp index 0c1a62c667..bd791dff2a 100644 --- a/scene/main/node.cpp +++ b/scene/main/node.cpp @@ -2528,9 +2528,10 @@ Node *Node::get_node_and_resource(const NodePath &p_path, Ref<Resource> &r_res, int j = 0; // If not p_last_is_property, we shouldn't consider the last one as part of the resource for (; j < p_path.get_subname_count() - (int)p_last_is_property; j++) { - Variant new_res_v = j == 0 ? node->get(p_path.get_subname(j)) : r_res->get(p_path.get_subname(j)); + bool is_valid = false; + Variant new_res_v = j == 0 ? node->get(p_path.get_subname(j), &is_valid) : r_res->get(p_path.get_subname(j), &is_valid); - if (new_res_v.get_type() == Variant::NIL) { // Found nothing on that path + if (!is_valid) { // Found nothing on that path return nullptr; } diff --git a/scene/resources/navigation_mesh.cpp b/scene/resources/navigation_mesh.cpp index 7813de94ca..dd0a8472a4 100644 --- a/scene/resources/navigation_mesh.cpp +++ b/scene/resources/navigation_mesh.cpp @@ -38,6 +38,7 @@ void NavigationMesh::create_from_mesh(const Ref<Mesh> &p_mesh) { for (int i = 0; i < p_mesh->get_surface_count(); i++) { if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) { + WARN_PRINT("A mesh surface was skipped when creating a NavigationMesh due to wrong primitive type in the source mesh. Mesh surface must be made out of triangles."); continue; } Array arr = p_mesh->surface_get_arrays(i); @@ -46,6 +47,7 @@ void NavigationMesh::create_from_mesh(const Ref<Mesh> &p_mesh) { Vector<Vector3> varr = arr[Mesh::ARRAY_VERTEX]; Vector<int> iarr = arr[Mesh::ARRAY_INDEX]; if (varr.size() == 0 || iarr.size() == 0) { + WARN_PRINT("A mesh surface was skipped when creating a NavigationMesh due to an empty vertex or index array."); continue; } diff --git a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp index 0eb981d51b..7b92e92f8c 100644 --- a/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp +++ b/servers/rendering/renderer_rd/forward_clustered/render_forward_clustered.cpp @@ -1523,7 +1523,7 @@ void RenderForwardClustered::_render_scene(RenderDataRD *p_render_data, const Co Vector<Color> c; { Color cc = clear_color.srgb_to_linear(); - if (using_separate_specular) { + if (using_separate_specular || render_buffer) { cc.a = 0; //subsurf scatter must be 0 } c.push_back(cc); diff --git a/servers/rendering/renderer_rd/shaders/effects/tonemap.glsl b/servers/rendering/renderer_rd/shaders/effects/tonemap.glsl index 5a238452c0..a8ccdea60b 100644 --- a/servers/rendering/renderer_rd/shaders/effects/tonemap.glsl +++ b/servers/rendering/renderer_rd/shaders/effects/tonemap.glsl @@ -426,12 +426,13 @@ vec3 screen_space_dither(vec2 frag_coord) { void main() { #ifdef SUBPASS // SUBPASS and MULTIVIEW can be combined but in that case we're already reading from the correct layer - vec3 color = subpassLoad(input_color).rgb * params.luminance_multiplier; + vec4 color = subpassLoad(input_color); #elif defined(MULTIVIEW) - vec3 color = textureLod(source_color, vec3(uv_interp, ViewIndex), 0.0f).rgb * params.luminance_multiplier; + vec4 color = textureLod(source_color, vec3(uv_interp, ViewIndex), 0.0f); #else - vec3 color = textureLod(source_color, uv_interp, 0.0f).rgb * params.luminance_multiplier; + vec4 color = textureLod(source_color, uv_interp, 0.0f); #endif + color.rgb *= params.luminance_multiplier; // Exposure @@ -443,7 +444,7 @@ void main() { } #endif - color *= exposure; + color.rgb *= exposure; // Early Tonemap & SRGB Conversion #ifndef SUBPASS @@ -456,19 +457,19 @@ void main() { } if (params.use_fxaa) { - color = do_fxaa(color, exposure, uv_interp); + color.rgb = do_fxaa(color.rgb, exposure, uv_interp); } #endif if (params.use_debanding) { // For best results, debanding should be done before tonemapping. // Otherwise, we're adding noise to an already-quantized image. - color += screen_space_dither(gl_FragCoord.xy); + color.rgb += screen_space_dither(gl_FragCoord.xy); } - color = apply_tonemapping(color, params.white); + color.rgb = apply_tonemapping(color.rgb, params.white); - color = linear_to_srgb(color); // regular linear -> SRGB conversion + color.rgb = linear_to_srgb(color.rgb); // regular linear -> SRGB conversion #ifndef SUBPASS // Glow @@ -482,19 +483,19 @@ void main() { glow = apply_tonemapping(glow, params.white); glow = linear_to_srgb(glow); - color = apply_glow(color, glow); + color.rgb = apply_glow(color.rgb, glow); } #endif // Additional effects if (params.use_bcs) { - color = apply_bcs(color, params.bcs); + color.rgb = apply_bcs(color.rgb, params.bcs); } if (params.use_color_correction) { - color = apply_color_correction(color); + color.rgb = apply_color_correction(color.rgb); } - frag_color = vec4(color, 1.0f); + frag_color = color; } diff --git a/thirdparty/README.md b/thirdparty/README.md index ab59d4fc18..0047f1c66c 100644 --- a/thirdparty/README.md +++ b/thirdparty/README.md @@ -547,6 +547,9 @@ Files extracted from upstream source: - src/sljit/ - AUTHORS and LICENCE +A sljit patch from upstream was backported to fix macOS < 11.0 compilation +in 10.40, it can be found in the `patches` folder. + ## recastnavigation @@ -563,17 +566,17 @@ Files extracted from upstream source: ## rvo2 - Upstream: https://github.com/snape/RVO2-3D -- Version: 1.0.1 (e3883f288a9e55ecfed3633a01af3e12778c6acf, 2016) +- Version: git (bfc048670a4e85066e86a1f923d8ea92e3add3b2, 2021) - License: Apache 2.0 Files extracted from upstream source: -- All .cpp and .h files in the `src/` folder except for RVO.h, RVOSimulator.cpp and RVOSimulator.h +- All .cpp and .h files in the `src/` folder except for Export.h, RVO.h, RVOSimulator.cpp and RVOSimulator.h - LICENSE Important: Some files have Godot-made changes; so to enrich the features originally proposed by this library and better integrate this library with -Godot. Please check the file to know what's new. +Godot. See the patch in the `patches` folder for details. ## spirv-reflect diff --git a/thirdparty/pcre2/patches/sljit-macos11-conditional.patch b/thirdparty/pcre2/patches/sljit-macos11-conditional.patch new file mode 100644 index 0000000000..def1207a3d --- /dev/null +++ b/thirdparty/pcre2/patches/sljit-macos11-conditional.patch @@ -0,0 +1,31 @@ +From de8fc816bc6698ab97316ed954e133e7e5098262 Mon Sep 17 00:00:00 2001 +From: =?UTF-8?q?Carlo=20Marcelo=20Arenas=20Bel=C3=B3n?= <carenas@gmail.com> +Date: Thu, 21 Apr 2022 21:01:12 -0700 +Subject: [PATCH] macos: somehow allow building with a target below 11.0 + +While building for macOS older than 11 in Apple Silicon makes no +sense, some build systems lack the flexibility to set a target per +architecture while aiming to support multi architecture binaries. + +Allow an option in those cases by using the slower runtime checks +if the toolchain allows it. + +Fixes: PCRE2Project/pcre2#109 +--- + sljit_src/sljitExecAllocator.c | 3 +++ + 1 file changed, 3 insertions(+) + +diff --git a/sljit_src/sljitExecAllocator.c b/sljit_src/sljitExecAllocator.c +index 92d940dd..6359848c 100644 +--- a/sljit_src/sljitExecAllocator.c ++++ b/sljit_src/sljitExecAllocator.c +@@ -152,6 +152,9 @@ static SLJIT_INLINE void apple_update_wx_flags(sljit_s32 enable_exec) + { + #if MAC_OS_X_VERSION_MIN_REQUIRED >= 110000 + pthread_jit_write_protect_np(enable_exec); ++#elif defined(__clang__) ++ if (__builtin_available(macOS 11.0, *)) ++ pthread_jit_write_protect_np(enable_exec); + #else + #error "Must target Big Sur or newer" + #endif /* BigSur */ diff --git a/thirdparty/pcre2/src/sljit/sljitExecAllocator.c b/thirdparty/pcre2/src/sljit/sljitExecAllocator.c index 92d940ddc2..6359848cd5 100644 --- a/thirdparty/pcre2/src/sljit/sljitExecAllocator.c +++ b/thirdparty/pcre2/src/sljit/sljitExecAllocator.c @@ -152,6 +152,9 @@ static SLJIT_INLINE void apple_update_wx_flags(sljit_s32 enable_exec) { #if MAC_OS_X_VERSION_MIN_REQUIRED >= 110000 pthread_jit_write_protect_np(enable_exec); +#elif defined(__clang__) + if (__builtin_available(macOS 11.0, *)) + pthread_jit_write_protect_np(enable_exec); #else #error "Must target Big Sur or newer" #endif /* BigSur */ diff --git a/thirdparty/rvo2/API.h b/thirdparty/rvo2/API.h deleted file mode 100644 index c64efb452c..0000000000 --- a/thirdparty/rvo2/API.h +++ /dev/null @@ -1,45 +0,0 @@ -/* - * API.h - * RVO2-3D Library - * - * Copyright 2008 University of North Carolina at Chapel Hill - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - * - * Please send all bug reports to <geom@cs.unc.edu>. - * - * The authors may be contacted via: - * - * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha - * Dept. of Computer Science - * 201 S. Columbia St. - * Frederick P. Brooks, Jr. Computer Science Bldg. - * Chapel Hill, N.C. 27599-3175 - * United States of America - * - * <http://gamma.cs.unc.edu/RVO2/> - */ - -/** - * \file API.h - * \brief Contains definitions related to Microsoft Windows. - */ - -#ifndef RVO_API_H_ -#define RVO_API_H_ - -// -- GODOT start -- -#define RVO_API -// -- GODOT end -- - -#endif /* RVO_API_H_ */ diff --git a/thirdparty/rvo2/Agent.cpp b/thirdparty/rvo2/Agent.cpp index 851d780758..b35eee9c12 100644 --- a/thirdparty/rvo2/Agent.cpp +++ b/thirdparty/rvo2/Agent.cpp @@ -8,7 +8,7 @@ * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * - * http://www.apache.org/licenses/LICENSE-2.0 + * https://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, @@ -27,40 +27,40 @@ * Chapel Hill, N.C. 27599-3175 * United States of America * - * <http://gamma.cs.unc.edu/RVO2/> + * <https://gamma.cs.unc.edu/RVO2/> */ #include "Agent.h" -#include <algorithm> #include <cmath> +#include <algorithm> #include "Definitions.h" #include "KdTree.h" namespace RVO { -/** + /** * \brief A sufficiently small positive number. */ -const float RVO_EPSILON = 0.00001f; + const float RVO3D_EPSILON = 0.00001f; -/** + /** * \brief Defines a directed line. */ -class Line { -public: - /** + class Line { + public: + /** * \brief The direction of the directed line. */ - Vector3 direction; + Vector3 direction; - /** + /** * \brief A point on the directed line. */ - Vector3 point; -}; + Vector3 point; + }; -/** + /** * \brief Solves a one-dimensional linear program on a specified line subject to linear constraints defined by planes and a spherical constraint. * \param planes Planes defining the linear constraints. * \param planeNo The plane on which the line lies. @@ -71,9 +71,9 @@ public: * \param result A reference to the result of the linear program. * \return True if successful. */ -bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result); + bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result); -/** + /** * \brief Solves a two-dimensional linear program on a specified plane subject to linear constraints defined by planes and a spherical constraint. * \param planes Planes defining the linear constraints. * \param planeNo The plane on which the 2-d linear program is solved @@ -83,9 +83,9 @@ bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line * \param result A reference to the result of the linear program. * \return True if successful. */ -bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result); + bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result); -/** + /** * \brief Solves a three-dimensional linear program subject to linear constraints defined by planes and a spherical constraint. * \param planes Planes defining the linear constraints. * \param radius The radius of the spherical constraint. @@ -94,332 +94,352 @@ bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radi * \param result A reference to the result of the linear program. * \return The number of the plane it fails on, and the number of planes if successful. */ -size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result); + size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result); -/** + /** * \brief Solves a four-dimensional linear program subject to linear constraints defined by planes and a spherical constraint. * \param planes Planes defining the linear constraints. * \param beginPlane The plane on which the 3-d linear program failed. * \param radius The radius of the spherical constraint. * \param result A reference to the result of the linear program. */ -void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result); + void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result); -Agent::Agent() : - id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f), ignore_y_(false) {} + Agent::Agent() : id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f), ignore_y_(false) { } -void Agent::computeNeighbors(KdTree *kdTree_) { - agentNeighbors_.clear(); - if (maxNeighbors_ > 0) { - kdTree_->computeAgentNeighbors(this, neighborDist_ * neighborDist_); - } -} + void Agent::computeNeighbors(KdTree *kdTree_) + { + agentNeighbors_.clear(); + if (maxNeighbors_ > 0) { + kdTree_->computeAgentNeighbors(this, neighborDist_ * neighborDist_); + } + } + void Agent::computeNewVelocity(float timeStep) + { + orcaPlanes_.clear(); + const float invTimeHorizon = 1.0f / timeHorizon_; + + /* Create agent ORCA planes. */ + for (size_t i = 0; i < agentNeighbors_.size(); ++i) { + const Agent *const other = agentNeighbors_[i].second; + + Vector3 relativePosition = other->position_ - position_; + Vector3 relativeVelocity = velocity_ - other->velocity_; + const float combinedRadius = radius_ + other->radius_; + + // This is a Godot feature that allow the agents to avoid the collision + // by moving only on the horizontal plane relative to the player velocity. + if (ignore_y_) { + // Skip if these are in two different heights #define ABS(m_v) (((m_v) < 0) ? (-(m_v)) : (m_v)) -void Agent::computeNewVelocity(float timeStep) { - orcaPlanes_.clear(); - const float invTimeHorizon = 1.0f / timeHorizon_; - - /* Create agent ORCA planes. */ - for (size_t i = 0; i < agentNeighbors_.size(); ++i) { - const Agent *const other = agentNeighbors_[i].second; - - Vector3 relativePosition = other->position_ - position_; - Vector3 relativeVelocity = velocity_ - other->velocity_; - const float combinedRadius = radius_ + other->radius_; - - // This is a Godot feature that allow the agents to avoid the collision - // by moving only on the horizontal plane relative to the player velocity. - if (ignore_y_) { - // Skip if these are in two different heights - if (ABS(relativePosition[1]) > combinedRadius * 2) { - continue; - } - relativePosition[1] = 0; - relativeVelocity[1] = 0; - } - - const float distSq = absSq(relativePosition); - const float combinedRadiusSq = sqr(combinedRadius); - - Plane plane; - Vector3 u; - - if (distSq > combinedRadiusSq) { - /* No collision. */ - const Vector3 w = relativeVelocity - invTimeHorizon * relativePosition; - /* Vector from cutoff center to relative velocity. */ - const float wLengthSq = absSq(w); - - const float dotProduct = w * relativePosition; - - if (dotProduct < 0.0f && sqr(dotProduct) > combinedRadiusSq * wLengthSq) { - /* Project on cut-off circle. */ - const float wLength = std::sqrt(wLengthSq); - const Vector3 unitW = w / wLength; - - plane.normal = unitW; - u = (combinedRadius * invTimeHorizon - wLength) * unitW; - } else { - /* Project on cone. */ - const float a = distSq; - const float b = relativePosition * relativeVelocity; - const float c = absSq(relativeVelocity) - absSq(cross(relativePosition, relativeVelocity)) / (distSq - combinedRadiusSq); - const float t = (b + std::sqrt(sqr(b) - a * c)) / a; - const Vector3 w = relativeVelocity - t * relativePosition; + if (ABS(relativePosition[1]) > combinedRadius * 2) { + continue; + } + relativePosition[1] = 0; + relativeVelocity[1] = 0; + } + + const float distSq = absSq(relativePosition); + const float combinedRadiusSq = sqr(combinedRadius); + + Plane plane; + Vector3 u; + + if (distSq > combinedRadiusSq) { + /* No collision. */ + const Vector3 w = relativeVelocity - invTimeHorizon * relativePosition; + /* Vector from cutoff center to relative velocity. */ + const float wLengthSq = absSq(w); + + const float dotProduct = w * relativePosition; + + if (dotProduct < 0.0f && sqr(dotProduct) > combinedRadiusSq * wLengthSq) { + /* Project on cut-off circle. */ + const float wLength = std::sqrt(wLengthSq); + const Vector3 unitW = w / wLength; + + plane.normal = unitW; + u = (combinedRadius * invTimeHorizon - wLength) * unitW; + } + else { + /* Project on cone. */ + const float a = distSq; + const float b = relativePosition * relativeVelocity; + const float c = absSq(relativeVelocity) - absSq(cross(relativePosition, relativeVelocity)) / (distSq - combinedRadiusSq); + const float t = (b + std::sqrt(sqr(b) - a * c)) / a; + const Vector3 ww = relativeVelocity - t * relativePosition; + const float wwLength = abs(ww); + const Vector3 unitWW = ww / wwLength; + + plane.normal = unitWW; + u = (combinedRadius * t - wwLength) * unitWW; + } + } + else { + /* Collision. */ + const float invTimeStep = 1.0f / timeStep; + const Vector3 w = relativeVelocity - invTimeStep * relativePosition; const float wLength = abs(w); const Vector3 unitW = w / wLength; plane.normal = unitW; - u = (combinedRadius * t - wLength) * unitW; + u = (combinedRadius * invTimeStep - wLength) * unitW; } - } else { - /* Collision. */ - const float invTimeStep = 1.0f / timeStep; - const Vector3 w = relativeVelocity - invTimeStep * relativePosition; - const float wLength = abs(w); - const Vector3 unitW = w / wLength; - - plane.normal = unitW; - u = (combinedRadius * invTimeStep - wLength) * unitW; - } - plane.point = velocity_ + 0.5f * u; - orcaPlanes_.push_back(plane); - } + plane.point = velocity_ + 0.5f * u; + orcaPlanes_.push_back(plane); + } - const size_t planeFail = linearProgram3(orcaPlanes_, maxSpeed_, prefVelocity_, false, newVelocity_); + const size_t planeFail = linearProgram3(orcaPlanes_, maxSpeed_, prefVelocity_, false, newVelocity_); - if (planeFail < orcaPlanes_.size()) { - linearProgram4(orcaPlanes_, planeFail, maxSpeed_, newVelocity_); - } + if (planeFail < orcaPlanes_.size()) { + linearProgram4(orcaPlanes_, planeFail, maxSpeed_, newVelocity_); + } - if (ignore_y_) { - // Not 100% necessary, but better to have. - newVelocity_[1] = prefVelocity_[1]; - } -} + if (ignore_y_) { + // Not 100% necessary, but better to have. + newVelocity_[1] = prefVelocity_[1]; + } + } -void Agent::insertAgentNeighbor(const Agent *agent, float &rangeSq) { - if (this != agent) { - const float distSq = absSq(position_ - agent->position_); + void Agent::insertAgentNeighbor(const Agent *agent, float &rangeSq) + { + if (this != agent) { + const float distSq = absSq(position_ - agent->position_); - if (distSq < rangeSq) { - if (agentNeighbors_.size() < maxNeighbors_) { - agentNeighbors_.push_back(std::make_pair(distSq, agent)); - } + if (distSq < rangeSq) { + if (agentNeighbors_.size() < maxNeighbors_) { + agentNeighbors_.push_back(std::make_pair(distSq, agent)); + } - size_t i = agentNeighbors_.size() - 1; + size_t i = agentNeighbors_.size() - 1; - while (i != 0 && distSq < agentNeighbors_[i - 1].first) { - agentNeighbors_[i] = agentNeighbors_[i - 1]; - --i; - } + while (i != 0 && distSq < agentNeighbors_[i - 1].first) { + agentNeighbors_[i] = agentNeighbors_[i - 1]; + --i; + } - agentNeighbors_[i] = std::make_pair(distSq, agent); + agentNeighbors_[i] = std::make_pair(distSq, agent); - if (agentNeighbors_.size() == maxNeighbors_) { - rangeSq = agentNeighbors_.back().first; + if (agentNeighbors_.size() == maxNeighbors_) { + rangeSq = agentNeighbors_.back().first; + } } } } -} -bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) { - const float dotProduct = line.point * line.direction; - const float discriminant = sqr(dotProduct) + sqr(radius) - absSq(line.point); - - if (discriminant < 0.0f) { - /* Max speed sphere fully invalidates line. */ - return false; - } - - const float sqrtDiscriminant = std::sqrt(discriminant); - float tLeft = -dotProduct - sqrtDiscriminant; - float tRight = -dotProduct + sqrtDiscriminant; - - for (size_t i = 0; i < planeNo; ++i) { - const float numerator = (planes[i].point - line.point) * planes[i].normal; - const float denominator = line.direction * planes[i].normal; - - if (sqr(denominator) <= RVO_EPSILON) { - /* Lines line is (almost) parallel to plane i. */ - if (numerator > 0.0f) { - return false; - } else { - continue; + bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) + { + const float dotProduct = line.point * line.direction; + const float discriminant = sqr(dotProduct) + sqr(radius) - absSq(line.point); + + if (discriminant < 0.0f) { + /* Max speed sphere fully invalidates line. */ + return false; + } + + const float sqrtDiscriminant = std::sqrt(discriminant); + float tLeft = -dotProduct - sqrtDiscriminant; + float tRight = -dotProduct + sqrtDiscriminant; + + for (size_t i = 0; i < planeNo; ++i) { + const float numerator = (planes[i].point - line.point) * planes[i].normal; + const float denominator = line.direction * planes[i].normal; + + if (sqr(denominator) <= RVO3D_EPSILON) { + /* Lines line is (almost) parallel to plane i. */ + if (numerator > 0.0f) { + return false; + } + else { + continue; + } } - } - const float t = numerator / denominator; + const float t = numerator / denominator; - if (denominator >= 0.0f) { - /* Plane i bounds line on the left. */ - tLeft = std::max(tLeft, t); - } else { - /* Plane i bounds line on the right. */ - tRight = std::min(tRight, t); + if (denominator >= 0.0f) { + /* Plane i bounds line on the left. */ + tLeft = std::max(tLeft, t); + } + else { + /* Plane i bounds line on the right. */ + tRight = std::min(tRight, t); + } + + if (tLeft > tRight) { + return false; + } } - if (tLeft > tRight) { - return false; + if (directionOpt) { + /* Optimize direction. */ + if (optVelocity * line.direction > 0.0f) { + /* Take right extreme. */ + result = line.point + tRight * line.direction; + } + else { + /* Take left extreme. */ + result = line.point + tLeft * line.direction; + } } - } - - if (directionOpt) { - /* Optimize direction. */ - if (optVelocity * line.direction > 0.0f) { - /* Take right extreme. */ - result = line.point + tRight * line.direction; - } else { - /* Take left extreme. */ - result = line.point + tLeft * line.direction; + else { + /* Optimize closest point. */ + const float t = line.direction * (optVelocity - line.point); + + if (t < tLeft) { + result = line.point + tLeft * line.direction; + } + else if (t > tRight) { + result = line.point + tRight * line.direction; + } + else { + result = line.point + t * line.direction; + } } - } else { - /* Optimize closest point. */ - const float t = line.direction * (optVelocity - line.point); - - if (t < tLeft) { - result = line.point + tLeft * line.direction; - } else if (t > tRight) { - result = line.point + tRight * line.direction; - } else { - result = line.point + t * line.direction; - } - } - return true; -} + return true; + } -bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) { - const float planeDist = planes[planeNo].point * planes[planeNo].normal; - const float planeDistSq = sqr(planeDist); - const float radiusSq = sqr(radius); + bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) + { + const float planeDist = planes[planeNo].point * planes[planeNo].normal; + const float planeDistSq = sqr(planeDist); + const float radiusSq = sqr(radius); - if (planeDistSq > radiusSq) { - /* Max speed sphere fully invalidates plane planeNo. */ - return false; - } + if (planeDistSq > radiusSq) { + /* Max speed sphere fully invalidates plane planeNo. */ + return false; + } - const float planeRadiusSq = radiusSq - planeDistSq; + const float planeRadiusSq = radiusSq - planeDistSq; - const Vector3 planeCenter = planeDist * planes[planeNo].normal; + const Vector3 planeCenter = planeDist * planes[planeNo].normal; - if (directionOpt) { - /* Project direction optVelocity on plane planeNo. */ - const Vector3 planeOptVelocity = optVelocity - (optVelocity * planes[planeNo].normal) * planes[planeNo].normal; - const float planeOptVelocityLengthSq = absSq(planeOptVelocity); + if (directionOpt) { + /* Project direction optVelocity on plane planeNo. */ + const Vector3 planeOptVelocity = optVelocity - (optVelocity * planes[planeNo].normal) * planes[planeNo].normal; + const float planeOptVelocityLengthSq = absSq(planeOptVelocity); - if (planeOptVelocityLengthSq <= RVO_EPSILON) { - result = planeCenter; - } else { - result = planeCenter + std::sqrt(planeRadiusSq / planeOptVelocityLengthSq) * planeOptVelocity; + if (planeOptVelocityLengthSq <= RVO3D_EPSILON) { + result = planeCenter; + } + else { + result = planeCenter + std::sqrt(planeRadiusSq / planeOptVelocityLengthSq) * planeOptVelocity; + } } - } else { - /* Project point optVelocity on plane planeNo. */ - result = optVelocity + ((planes[planeNo].point - optVelocity) * planes[planeNo].normal) * planes[planeNo].normal; - - /* If outside planeCircle, project on planeCircle. */ - if (absSq(result) > radiusSq) { - const Vector3 planeResult = result - planeCenter; - const float planeResultLengthSq = absSq(planeResult); - result = planeCenter + std::sqrt(planeRadiusSq / planeResultLengthSq) * planeResult; + else { + /* Project point optVelocity on plane planeNo. */ + result = optVelocity + ((planes[planeNo].point - optVelocity) * planes[planeNo].normal) * planes[planeNo].normal; + + /* If outside planeCircle, project on planeCircle. */ + if (absSq(result) > radiusSq) { + const Vector3 planeResult = result - planeCenter; + const float planeResultLengthSq = absSq(planeResult); + result = planeCenter + std::sqrt(planeRadiusSq / planeResultLengthSq) * planeResult; + } } - } - - for (size_t i = 0; i < planeNo; ++i) { - if (planes[i].normal * (planes[i].point - result) > 0.0f) { - /* Result does not satisfy constraint i. Compute new optimal result. */ - /* Compute intersection line of plane i and plane planeNo. */ - Vector3 crossProduct = cross(planes[i].normal, planes[planeNo].normal); - - if (absSq(crossProduct) <= RVO_EPSILON) { - /* Planes planeNo and i are (almost) parallel, and plane i fully invalidates plane planeNo. */ - return false; - } - - Line line; - line.direction = normalize(crossProduct); - const Vector3 lineNormal = cross(line.direction, planes[planeNo].normal); - line.point = planes[planeNo].point + (((planes[i].point - planes[planeNo].point) * planes[i].normal) / (lineNormal * planes[i].normal)) * lineNormal; - - if (!linearProgram1(planes, i, line, radius, optVelocity, directionOpt, result)) { - return false; + + for (size_t i = 0; i < planeNo; ++i) { + if (planes[i].normal * (planes[i].point - result) > 0.0f) { + /* Result does not satisfy constraint i. Compute new optimal result. */ + /* Compute intersection line of plane i and plane planeNo. */ + Vector3 crossProduct = cross(planes[i].normal, planes[planeNo].normal); + + if (absSq(crossProduct) <= RVO3D_EPSILON) { + /* Planes planeNo and i are (almost) parallel, and plane i fully invalidates plane planeNo. */ + return false; + } + + Line line; + line.direction = normalize(crossProduct); + const Vector3 lineNormal = cross(line.direction, planes[planeNo].normal); + line.point = planes[planeNo].point + (((planes[i].point - planes[planeNo].point) * planes[i].normal) / (lineNormal * planes[i].normal)) * lineNormal; + + if (!linearProgram1(planes, i, line, radius, optVelocity, directionOpt, result)) { + return false; + } } } + + return true; } - return true; -} + size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) + { + if (directionOpt) { + /* Optimize direction. Note that the optimization velocity is of unit length in this case. */ + result = optVelocity * radius; + } + else if (absSq(optVelocity) > sqr(radius)) { + /* Optimize closest point and outside circle. */ + result = normalize(optVelocity) * radius; + } + else { + /* Optimize closest point and inside circle. */ + result = optVelocity; + } + + for (size_t i = 0; i < planes.size(); ++i) { + if (planes[i].normal * (planes[i].point - result) > 0.0f) { + /* Result does not satisfy constraint i. Compute new optimal result. */ + const Vector3 tempResult = result; -size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) { - if (directionOpt) { - /* Optimize direction. Note that the optimization velocity is of unit length in this case. */ - result = optVelocity * radius; - } else if (absSq(optVelocity) > sqr(radius)) { - /* Optimize closest point and outside circle. */ - result = normalize(optVelocity) * radius; - } else { - /* Optimize closest point and inside circle. */ - result = optVelocity; - } - - for (size_t i = 0; i < planes.size(); ++i) { - if (planes[i].normal * (planes[i].point - result) > 0.0f) { - /* Result does not satisfy constraint i. Compute new optimal result. */ - const Vector3 tempResult = result; - - if (!linearProgram2(planes, i, radius, optVelocity, directionOpt, result)) { - result = tempResult; - return i; + if (!linearProgram2(planes, i, radius, optVelocity, directionOpt, result)) { + result = tempResult; + return i; + } } } - } - return planes.size(); -} + return planes.size(); + } -void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result) { - float distance = 0.0f; - - for (size_t i = beginPlane; i < planes.size(); ++i) { - if (planes[i].normal * (planes[i].point - result) > distance) { - /* Result does not satisfy constraint of plane i. */ - std::vector<Plane> projPlanes; - - for (size_t j = 0; j < i; ++j) { - Plane plane; - - const Vector3 crossProduct = cross(planes[j].normal, planes[i].normal); - - if (absSq(crossProduct) <= RVO_EPSILON) { - /* Plane i and plane j are (almost) parallel. */ - if (planes[i].normal * planes[j].normal > 0.0f) { - /* Plane i and plane j point in the same direction. */ - continue; - } else { - /* Plane i and plane j point in opposite direction. */ - plane.point = 0.5f * (planes[i].point + planes[j].point); - } - } else { - /* Plane.point is point on line of intersection between plane i and plane j. */ - const Vector3 lineNormal = cross(crossProduct, planes[i].normal); - plane.point = planes[i].point + (((planes[j].point - planes[i].point) * planes[j].normal) / (lineNormal * planes[j].normal)) * lineNormal; + void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result) + { + float distance = 0.0f; + + for (size_t i = beginPlane; i < planes.size(); ++i) { + if (planes[i].normal * (planes[i].point - result) > distance) { + /* Result does not satisfy constraint of plane i. */ + std::vector<Plane> projPlanes; + + for (size_t j = 0; j < i; ++j) { + Plane plane; + + const Vector3 crossProduct = cross(planes[j].normal, planes[i].normal); + + if (absSq(crossProduct) <= RVO3D_EPSILON) { + /* Plane i and plane j are (almost) parallel. */ + if (planes[i].normal * planes[j].normal > 0.0f) { + /* Plane i and plane j point in the same direction. */ + continue; + } + else { + /* Plane i and plane j point in opposite direction. */ + plane.point = 0.5f * (planes[i].point + planes[j].point); + } + } + else { + /* Plane.point is point on line of intersection between plane i and plane j. */ + const Vector3 lineNormal = cross(crossProduct, planes[i].normal); + plane.point = planes[i].point + (((planes[j].point - planes[i].point) * planes[j].normal) / (lineNormal * planes[j].normal)) * lineNormal; + } + + plane.normal = normalize(planes[j].normal - planes[i].normal); + projPlanes.push_back(plane); } - plane.normal = normalize(planes[j].normal - planes[i].normal); - projPlanes.push_back(plane); - } + const Vector3 tempResult = result; - const Vector3 tempResult = result; + if (linearProgram3(projPlanes, radius, planes[i].normal, true, result) < projPlanes.size()) { + /* This should in principle not happen. The result is by definition already in the feasible region of this linear program. If it fails, it is due to small floating point error, and the current result is kept. */ + result = tempResult; + } - if (linearProgram3(projPlanes, radius, planes[i].normal, true, result) < projPlanes.size()) { - /* This should in principle not happen. The result is by definition already in the feasible region of this linear program. If it fails, it is due to small floating point error, and the current result is kept. */ - result = tempResult; + distance = planes[i].normal * (planes[i].point - result); } - - distance = planes[i].normal * (planes[i].point - result); - } + } } } -} // namespace RVO diff --git a/thirdparty/rvo2/Agent.h b/thirdparty/rvo2/Agent.h index 16f75a08f6..45fbead2f5 100644 --- a/thirdparty/rvo2/Agent.h +++ b/thirdparty/rvo2/Agent.h @@ -8,7 +8,7 @@ * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * - * http://www.apache.org/licenses/LICENSE-2.0 + * https://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, @@ -27,17 +27,15 @@ * Chapel Hill, N.C. 27599-3175 * United States of America * - * <http://gamma.cs.unc.edu/RVO2/> + * <https://gamma.cs.unc.edu/RVO2/> */ /** * \file Agent.h * \brief Contains the Agent class. */ -#ifndef RVO_AGENT_H_ -#define RVO_AGENT_H_ - -#include "API.h" +#ifndef RVO3D_AGENT_H_ +#define RVO3D_AGENT_H_ #include <cstddef> #include <utility> @@ -53,69 +51,68 @@ // - Moved the `Plane` class here. // - Added a new parameter `ignore_y_` in the `Agent`. This parameter is used to control a godot feature that allows to avoid collisions by moving on the horizontal plane. namespace RVO { -/** - * \brief Defines a plane. - */ -class Plane { -public: - /** - * \brief A point on the plane. - */ - Vector3 point; - - /** - * \brief The normal to the plane. - */ - Vector3 normal; -}; + /** + * \brief Defines a plane. + */ + class Plane { + public: + /** + * \brief A point on the plane. + */ + Vector3 point; -/** - * \brief Defines an agent in the simulation. - */ -class Agent { + /** + * \brief The normal to the plane. + */ + Vector3 normal; + }; -public: - /** + /** + * \brief Defines an agent in the simulation. + */ + class Agent { + public: + /** * \brief Constructs an agent instance. * \param sim The simulator instance. */ - explicit Agent(); + explicit Agent(); - /** + /** * \brief Computes the neighbors of this agent. */ - void computeNeighbors(class KdTree *kdTree_); + void computeNeighbors(class KdTree *kdTree_); - /** + /** * \brief Computes the new velocity of this agent. */ - void computeNewVelocity(float timeStep); + void computeNewVelocity(float timeStep); - /** + /** * \brief Inserts an agent neighbor into the set of neighbors of this agent. * \param agent A pointer to the agent to be inserted. * \param rangeSq The squared range around this agent. */ - void insertAgentNeighbor(const Agent *agent, float &rangeSq); + void insertAgentNeighbor(const Agent *agent, float &rangeSq); - Vector3 newVelocity_; - Vector3 position_; - Vector3 prefVelocity_; - Vector3 velocity_; - size_t id_; - size_t maxNeighbors_; - float maxSpeed_; - float neighborDist_; - float radius_; - float timeHorizon_; - std::vector<std::pair<float, const Agent *> > agentNeighbors_; - std::vector<Plane> orcaPlanes_; - /// This is a godot feature that allows the Agent to avoid collision by mooving - /// on the horizontal plane. - bool ignore_y_; + Vector3 newVelocity_; + Vector3 position_; + Vector3 prefVelocity_; + Vector3 velocity_; + size_t id_; + size_t maxNeighbors_; + float maxSpeed_; + float neighborDist_; + float radius_; + float timeHorizon_; + std::vector<std::pair<float, const Agent *> > agentNeighbors_; + std::vector<Plane> orcaPlanes_; + /// This is a godot feature that allows the Agent to avoid collision by mooving + /// on the horizontal plane. + bool ignore_y_; - friend class KdTree; -}; -} // namespace RVO + friend class KdTree; + }; +} -#endif /* RVO_AGENT_H_ */ +#endif /* RVO3D_AGENT_H_ */ diff --git a/thirdparty/rvo2/Definitions.h b/thirdparty/rvo2/Definitions.h index a73aca9908..707d3c897f 100644 --- a/thirdparty/rvo2/Definitions.h +++ b/thirdparty/rvo2/Definitions.h @@ -8,7 +8,7 @@ * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * - * http://www.apache.org/licenses/LICENSE-2.0 + * https://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, @@ -27,7 +27,7 @@ * Chapel Hill, N.C. 27599-3175 * United States of America * - * <http://gamma.cs.unc.edu/RVO2/> + * <https://gamma.cs.unc.edu/RVO2/> */ /** @@ -35,10 +35,8 @@ * \brief Contains functions and constants used in multiple classes. */ -#ifndef RVO_DEFINITIONS_H_ -#define RVO_DEFINITIONS_H_ - -#include "API.h" +#ifndef RVO3D_DEFINITIONS_H_ +#define RVO3D_DEFINITIONS_H_ namespace RVO { /** @@ -52,4 +50,4 @@ namespace RVO { } } -#endif /* RVO_DEFINITIONS_H_ */ +#endif /* RVO3D_DEFINITIONS_H_ */ diff --git a/thirdparty/rvo2/KdTree.cpp b/thirdparty/rvo2/KdTree.cpp index bc224614f0..c857f299df 100644 --- a/thirdparty/rvo2/KdTree.cpp +++ b/thirdparty/rvo2/KdTree.cpp @@ -8,7 +8,7 @@ * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * - * http://www.apache.org/licenses/LICENSE-2.0 + * https://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, @@ -27,7 +27,7 @@ * Chapel Hill, N.C. 27599-3175 * United States of America * - * <http://gamma.cs.unc.edu/RVO2/> + * <https://gamma.cs.unc.edu/RVO2/> */ #include "KdTree.h" @@ -38,115 +38,123 @@ #include "Definitions.h" namespace RVO { -const size_t RVO_MAX_LEAF_SIZE = 10; + const size_t RVO3D_MAX_LEAF_SIZE = 10; -KdTree::KdTree() {} + KdTree::KdTree() { } -void KdTree::buildAgentTree(std::vector<Agent *> agents) { - agents_.swap(agents); + void KdTree::buildAgentTree(std::vector<Agent *> agents) + { + agents_.swap(agents); - if (!agents_.empty()) { - agentTree_.resize(2 * agents_.size() - 1); - buildAgentTreeRecursive(0, agents_.size(), 0); + if (!agents_.empty()) { + agentTree_.resize(2 * agents_.size() - 1); + buildAgentTreeRecursive(0, agents_.size(), 0); + } } -} -void KdTree::buildAgentTreeRecursive(size_t begin, size_t end, size_t node) { - agentTree_[node].begin = begin; - agentTree_[node].end = end; - agentTree_[node].minCoord = agents_[begin]->position_; - agentTree_[node].maxCoord = agents_[begin]->position_; - - for (size_t i = begin + 1; i < end; ++i) { - agentTree_[node].maxCoord[0] = std::max(agentTree_[node].maxCoord[0], agents_[i]->position_.x()); - agentTree_[node].minCoord[0] = std::min(agentTree_[node].minCoord[0], agents_[i]->position_.x()); - agentTree_[node].maxCoord[1] = std::max(agentTree_[node].maxCoord[1], agents_[i]->position_.y()); - agentTree_[node].minCoord[1] = std::min(agentTree_[node].minCoord[1], agents_[i]->position_.y()); - agentTree_[node].maxCoord[2] = std::max(agentTree_[node].maxCoord[2], agents_[i]->position_.z()); - agentTree_[node].minCoord[2] = std::min(agentTree_[node].minCoord[2], agents_[i]->position_.z()); - } - - if (end - begin > RVO_MAX_LEAF_SIZE) { - /* No leaf node. */ - size_t coord; - - if (agentTree_[node].maxCoord[0] - agentTree_[node].minCoord[0] > agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] && agentTree_[node].maxCoord[0] - agentTree_[node].minCoord[0] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) { - coord = 0; - } else if (agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) { - coord = 1; - } else { - coord = 2; - } - - const float splitValue = 0.5f * (agentTree_[node].maxCoord[coord] + agentTree_[node].minCoord[coord]); - - size_t left = begin; - - size_t right = end; - - while (left < right) { - while (left < right && agents_[left]->position_[coord] < splitValue) { - ++left; - } - - while (right > left && agents_[right - 1]->position_[coord] >= splitValue) { - --right; + void KdTree::buildAgentTreeRecursive(size_t begin, size_t end, size_t node) + { + agentTree_[node].begin = begin; + agentTree_[node].end = end; + agentTree_[node].minCoord = agents_[begin]->position_; + agentTree_[node].maxCoord = agents_[begin]->position_; + + for (size_t i = begin + 1; i < end; ++i) { + agentTree_[node].maxCoord[0] = std::max(agentTree_[node].maxCoord[0], agents_[i]->position_.x()); + agentTree_[node].minCoord[0] = std::min(agentTree_[node].minCoord[0], agents_[i]->position_.x()); + agentTree_[node].maxCoord[1] = std::max(agentTree_[node].maxCoord[1], agents_[i]->position_.y()); + agentTree_[node].minCoord[1] = std::min(agentTree_[node].minCoord[1], agents_[i]->position_.y()); + agentTree_[node].maxCoord[2] = std::max(agentTree_[node].maxCoord[2], agents_[i]->position_.z()); + agentTree_[node].minCoord[2] = std::min(agentTree_[node].minCoord[2], agents_[i]->position_.z()); + } + + if (end - begin > RVO3D_MAX_LEAF_SIZE) { + /* No leaf node. */ + size_t coord; + + if (agentTree_[node].maxCoord[0] - agentTree_[node].minCoord[0] > agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] && agentTree_[node].maxCoord[0] - agentTree_[node].minCoord[0] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) { + coord = 0; + } + else if (agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) { + coord = 1; + } + else { + coord = 2; } - if (left < right) { - std::swap(agents_[left], agents_[right - 1]); - ++left; - --right; + const float splitValue = 0.5f * (agentTree_[node].maxCoord[coord] + agentTree_[node].minCoord[coord]); + + size_t left = begin; + + size_t right = end; + + while (left < right) { + while (left < right && agents_[left]->position_[coord] < splitValue) { + ++left; + } + + while (right > left && agents_[right - 1]->position_[coord] >= splitValue) { + --right; + } + + if (left < right) { + std::swap(agents_[left], agents_[right - 1]); + ++left; + --right; + } } - } - size_t leftSize = left - begin; + size_t leftSize = left - begin; - if (leftSize == 0) { - ++leftSize; - ++left; - ++right; - } + if (leftSize == 0) { + ++leftSize; + ++left; + ++right; + } - agentTree_[node].left = node + 1; - agentTree_[node].right = node + 2 * leftSize; + agentTree_[node].left = node + 1; + agentTree_[node].right = node + 2 * leftSize; - buildAgentTreeRecursive(begin, left, agentTree_[node].left); - buildAgentTreeRecursive(left, end, agentTree_[node].right); + buildAgentTreeRecursive(begin, left, agentTree_[node].left); + buildAgentTreeRecursive(left, end, agentTree_[node].right); + } } -} -void KdTree::computeAgentNeighbors(Agent *agent, float rangeSq) const { - queryAgentTreeRecursive(agent, rangeSq, 0); -} + void KdTree::computeAgentNeighbors(Agent *agent, float rangeSq) const + { + queryAgentTreeRecursive(agent, rangeSq, 0); + } -void KdTree::queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const { - if (agentTree_[node].end - agentTree_[node].begin <= RVO_MAX_LEAF_SIZE) { - for (size_t i = agentTree_[node].begin; i < agentTree_[node].end; ++i) { - agent->insertAgentNeighbor(agents_[i], rangeSq); + void KdTree::queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const + { + if (agentTree_[node].end - agentTree_[node].begin <= RVO3D_MAX_LEAF_SIZE) { + for (size_t i = agentTree_[node].begin; i < agentTree_[node].end; ++i) { + agent->insertAgentNeighbor(agents_[i], rangeSq); + } } - } else { - const float distSqLeft = sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[0] - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].left].maxCoord[0])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[1] - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].left].maxCoord[1])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[2] - agent->position_.z())) + sqr(std::max(0.0f, agent->position_.z() - agentTree_[agentTree_[node].left].maxCoord[2])); + else { + const float distSqLeft = sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[0] - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].left].maxCoord[0])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[1] - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].left].maxCoord[1])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[2] - agent->position_.z())) + sqr(std::max(0.0f, agent->position_.z() - agentTree_[agentTree_[node].left].maxCoord[2])); - const float distSqRight = sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[0] - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].right].maxCoord[0])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[1] - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].right].maxCoord[1])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[2] - agent->position_.z())) + sqr(std::max(0.0f, agent->position_.z() - agentTree_[agentTree_[node].right].maxCoord[2])); + const float distSqRight = sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[0] - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].right].maxCoord[0])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[1] - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].right].maxCoord[1])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[2] - agent->position_.z())) + sqr(std::max(0.0f, agent->position_.z() - agentTree_[agentTree_[node].right].maxCoord[2])); - if (distSqLeft < distSqRight) { - if (distSqLeft < rangeSq) { - queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].left); + if (distSqLeft < distSqRight) { + if (distSqLeft < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].left); + if (distSqRight < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right); + } + } + } + else { if (distSqRight < rangeSq) { queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right); - } - } - } else { - if (distSqRight < rangeSq) { - queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right); - - if (distSqLeft < rangeSq) { - queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].left); + + if (distSqLeft < rangeSq) { + queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].left); + } } } } } } -} // namespace RVO diff --git a/thirdparty/rvo2/KdTree.h b/thirdparty/rvo2/KdTree.h index 1dbad00ea4..69d8920ce0 100644 --- a/thirdparty/rvo2/KdTree.h +++ b/thirdparty/rvo2/KdTree.h @@ -8,7 +8,7 @@ * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * - * http://www.apache.org/licenses/LICENSE-2.0 + * https://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, @@ -27,16 +27,14 @@ * Chapel Hill, N.C. 27599-3175 * United States of America * - * <http://gamma.cs.unc.edu/RVO2/> + * <https://gamma.cs.unc.edu/RVO2/> */ /** * \file KdTree.h * \brief Contains the KdTree class. */ -#ifndef RVO_KD_TREE_H_ -#define RVO_KD_TREE_H_ - -#include "API.h" +#ifndef RVO3D_KD_TREE_H_ +#define RVO3D_KD_TREE_H_ #include <cstddef> #include <vector> @@ -47,78 +45,78 @@ // - Removed `sim_`. // - KdTree things are public namespace RVO { -class Agent; -class RVOSimulator; + class Agent; + class RVOSimulator; -/** + /** * \brief Defines <i>k</i>d-trees for agents in the simulation. */ -class KdTree { -public: - /** + class KdTree { + public: + /** * \brief Defines an agent <i>k</i>d-tree node. */ - class AgentTreeNode { - public: - /** + class AgentTreeNode { + public: + /** * \brief The beginning node number. */ - size_t begin; + size_t begin; - /** + /** * \brief The ending node number. */ - size_t end; + size_t end; - /** + /** * \brief The left node number. */ - size_t left; + size_t left; - /** + /** * \brief The right node number. */ - size_t right; + size_t right; - /** + /** * \brief The maximum coordinates. */ - Vector3 maxCoord; + Vector3 maxCoord; - /** + /** * \brief The minimum coordinates. */ - Vector3 minCoord; - }; + Vector3 minCoord; + }; - /** + /** * \brief Constructs a <i>k</i>d-tree instance. * \param sim The simulator instance. */ - explicit KdTree(); + explicit KdTree(); - /** + /** * \brief Builds an agent <i>k</i>d-tree. */ - void buildAgentTree(std::vector<Agent *> agents); + void buildAgentTree(std::vector<Agent *> agents); - void buildAgentTreeRecursive(size_t begin, size_t end, size_t node); + void buildAgentTreeRecursive(size_t begin, size_t end, size_t node); - /** + /** * \brief Computes the agent neighbors of the specified agent. * \param agent A pointer to the agent for which agent neighbors are to be computed. * \param rangeSq The squared range around the agent. */ - void computeAgentNeighbors(Agent *agent, float rangeSq) const; + void computeAgentNeighbors(Agent *agent, float rangeSq) const; - void queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const; + void queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const; - std::vector<Agent *> agents_; - std::vector<AgentTreeNode> agentTree_; + std::vector<Agent *> agents_; + std::vector<AgentTreeNode> agentTree_; - friend class Agent; - friend class RVOSimulator; -}; -} // namespace RVO + friend class Agent; + friend class RVOSimulator; + }; +} -#endif /* RVO_KD_TREE_H_ */ +#endif /* RVO3D_KD_TREE_H_ */ diff --git a/thirdparty/rvo2/README.md b/thirdparty/rvo2/README.md deleted file mode 100644 index 96af597cb6..0000000000 --- a/thirdparty/rvo2/README.md +++ /dev/null @@ -1,32 +0,0 @@ -Optimal Reciprocal Collision Avoidance in Three Dimensions -========================================================== - -<http://gamma.cs.unc.edu/RVO2/> - -[](https://travis-ci.org/snape/RVO2-3D) -[](https://ci.appveyor.com/project/snape/rvo2-3d) - -Copyright 2008 University of North Carolina at Chapel Hill - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -<http://www.apache.org/licenses/LICENSE-2.0> - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. - -Please send all bug reports to [geom@cs.unc.edu](mailto:geom@cs.unc.edu). - -The authors may be contacted via: - -Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, and Dinesh Manocha -Dept. of Computer Science -201 S. Columbia St. -Frederick P. Brooks, Jr. Computer Science Bldg. -Chapel Hill, N.C. 27599-3175 -United States of America diff --git a/thirdparty/rvo2/Vector3.h b/thirdparty/rvo2/Vector3.h index 8c8835c865..f44e311f29 100644 --- a/thirdparty/rvo2/Vector3.h +++ b/thirdparty/rvo2/Vector3.h @@ -8,7 +8,7 @@ * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * - * http://www.apache.org/licenses/LICENSE-2.0 + * https://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, @@ -27,32 +27,32 @@ * Chapel Hill, N.C. 27599-3175 * United States of America * - * <http://gamma.cs.unc.edu/RVO2/> + * <https://gamma.cs.unc.edu/RVO2/> */ /** * \file Vector3.h * \brief Contains the Vector3 class. */ -#ifndef RVO_VECTOR3_H_ -#define RVO_VECTOR3_H_ - -#include "API.h" +#ifndef RVO3D_VECTOR3_H_ +#define RVO3D_VECTOR3_H_ #include <cmath> #include <cstddef> #include <ostream> +#define RVO3D_EXPORT + namespace RVO { /** * \brief Defines a three-dimensional vector. */ - class Vector3 { + class RVO3D_EXPORT Vector3 { public: /** * \brief Constructs and initializes a three-dimensional vector instance to zero. */ - RVO_API inline Vector3() + inline Vector3() { val_[0] = 0.0f; val_[1] = 0.0f; @@ -63,7 +63,7 @@ namespace RVO { * \brief Constructs and initializes a three-dimensional vector from the specified three-element array. * \param val The three-element array containing the xyz-coordinates. */ - RVO_API inline explicit Vector3(const float val[3]) + inline explicit Vector3(const float val[3]) { val_[0] = val[0]; val_[1] = val[1]; @@ -76,7 +76,7 @@ namespace RVO { * \param y The y-coordinate of the three-dimensional vector. * \param z The z-coordinate of the three-dimensional vector. */ - RVO_API inline Vector3(float x, float y, float z) + inline Vector3(float x, float y, float z) { val_[0] = x; val_[1] = y; @@ -87,39 +87,39 @@ namespace RVO { * \brief Returns the x-coordinate of this three-dimensional vector. * \return The x-coordinate of the three-dimensional vector. */ - RVO_API inline float x() const { return val_[0]; } + inline float x() const { return val_[0]; } /** * \brief Returns the y-coordinate of this three-dimensional vector. * \return The y-coordinate of the three-dimensional vector. */ - RVO_API inline float y() const { return val_[1]; } + inline float y() const { return val_[1]; } /** * \brief Returns the z-coordinate of this three-dimensional vector. * \return The z-coordinate of the three-dimensional vector. */ - RVO_API inline float z() const { return val_[2]; } + inline float z() const { return val_[2]; } /** * \brief Returns the specified coordinate of this three-dimensional vector. * \param i The coordinate that should be returned (0 <= i < 3). * \return The specified coordinate of the three-dimensional vector. */ - RVO_API inline float operator[](size_t i) const { return val_[i]; } + inline float operator[](size_t i) const { return val_[i]; } /** * \brief Returns a reference to the specified coordinate of this three-dimensional vector. * \param i The coordinate to which a reference should be returned (0 <= i < 3). * \return A reference to the specified coordinate of the three-dimensional vector. */ - RVO_API inline float &operator[](size_t i) { return val_[i]; } + inline float &operator[](size_t i) { return val_[i]; } /** * \brief Computes the negation of this three-dimensional vector. * \return The negation of this three-dimensional vector. */ - RVO_API inline Vector3 operator-() const + inline Vector3 operator-() const { return Vector3(-val_[0], -val_[1], -val_[2]); } @@ -129,7 +129,7 @@ namespace RVO { * \param vector The three-dimensional vector with which the dot product should be computed. * \return The dot product of this three-dimensional vector with a specified three-dimensional vector. */ - RVO_API inline float operator*(const Vector3 &vector) const + inline float operator*(const Vector3 &vector) const { return val_[0] * vector[0] + val_[1] * vector[1] + val_[2] * vector[2]; } @@ -139,7 +139,7 @@ namespace RVO { * \param scalar The scalar value with which the scalar multiplication should be computed. * \return The scalar multiplication of this three-dimensional vector with a specified scalar value. */ - RVO_API inline Vector3 operator*(float scalar) const + inline Vector3 operator*(float scalar) const { return Vector3(val_[0] * scalar, val_[1] * scalar, val_[2] * scalar); } @@ -149,7 +149,7 @@ namespace RVO { * \param scalar The scalar value with which the scalar division should be computed. * \return The scalar division of this three-dimensional vector with a specified scalar value. */ - RVO_API inline Vector3 operator/(float scalar) const + inline Vector3 operator/(float scalar) const { const float invScalar = 1.0f / scalar; @@ -161,7 +161,7 @@ namespace RVO { * \param vector The three-dimensional vector with which the vector sum should be computed. * \return The vector sum of this three-dimensional vector with a specified three-dimensional vector. */ - RVO_API inline Vector3 operator+(const Vector3 &vector) const + inline Vector3 operator+(const Vector3 &vector) const { return Vector3(val_[0] + vector[0], val_[1] + vector[1], val_[2] + vector[2]); } @@ -171,7 +171,7 @@ namespace RVO { * \param vector The three-dimensional vector with which the vector difference should be computed. * \return The vector difference of this three-dimensional vector with a specified three-dimensional vector. */ - RVO_API inline Vector3 operator-(const Vector3 &vector) const + inline Vector3 operator-(const Vector3 &vector) const { return Vector3(val_[0] - vector[0], val_[1] - vector[1], val_[2] - vector[2]); } @@ -181,7 +181,7 @@ namespace RVO { * \param vector The three-dimensional vector with which to test for equality. * \return True if the three-dimensional vectors are equal. */ - RVO_API inline bool operator==(const Vector3 &vector) const + inline bool operator==(const Vector3 &vector) const { return val_[0] == vector[0] && val_[1] == vector[1] && val_[2] == vector[2]; } @@ -191,7 +191,7 @@ namespace RVO { * \param vector The three-dimensional vector with which to test for inequality. * \return True if the three-dimensional vectors are not equal. */ - RVO_API inline bool operator!=(const Vector3 &vector) const + inline bool operator!=(const Vector3 &vector) const { return val_[0] != vector[0] || val_[1] != vector[1] || val_[2] != vector[2]; } @@ -201,7 +201,7 @@ namespace RVO { * \param scalar The scalar value with which the scalar multiplication should be computed. * \return A reference to this three-dimensional vector. */ - RVO_API inline Vector3 &operator*=(float scalar) + inline Vector3 &operator*=(float scalar) { val_[0] *= scalar; val_[1] *= scalar; @@ -215,7 +215,7 @@ namespace RVO { * \param scalar The scalar value with which the scalar division should be computed. * \return A reference to this three-dimensional vector. */ - RVO_API inline Vector3 &operator/=(float scalar) + inline Vector3 &operator/=(float scalar) { const float invScalar = 1.0f / scalar; @@ -232,7 +232,7 @@ namespace RVO { * \param vector The three-dimensional vector with which the vector sum should be computed. * \return A reference to this three-dimensional vector. */ - RVO_API inline Vector3 &operator+=(const Vector3 &vector) + inline Vector3 &operator+=(const Vector3 &vector) { val_[0] += vector[0]; val_[1] += vector[1]; @@ -246,7 +246,7 @@ namespace RVO { * \param vector The three-dimensional vector with which the vector difference should be computed. * \return A reference to this three-dimensional vector. */ - RVO_API inline Vector3 &operator-=(const Vector3 &vector) + inline Vector3 &operator-=(const Vector3 &vector) { val_[0] -= vector[0]; val_[1] -= vector[1]; @@ -267,7 +267,7 @@ namespace RVO { * \param vector The three-dimensional vector with which the scalar multiplication should be computed. * \return The scalar multiplication of the three-dimensional vector with the scalar value. */ - inline Vector3 operator*(float scalar, const Vector3 &vector) + RVO3D_EXPORT inline Vector3 operator*(float scalar, const Vector3 &vector) { return Vector3(scalar * vector[0], scalar * vector[1], scalar * vector[2]); } @@ -279,7 +279,7 @@ namespace RVO { * \param vector2 The second vector with which the cross product should be computed. * \return The cross product of the two specified vectors. */ - inline Vector3 cross(const Vector3 &vector1, const Vector3 &vector2) + RVO3D_EXPORT inline Vector3 cross(const Vector3 &vector1, const Vector3 &vector2) { return Vector3(vector1[1] * vector2[2] - vector1[2] * vector2[1], vector1[2] * vector2[0] - vector1[0] * vector2[2], vector1[0] * vector2[1] - vector1[1] * vector2[0]); } @@ -291,7 +291,7 @@ namespace RVO { * \param vector The three-dimensional vector which to insert into the output stream. * \return A reference to the output stream. */ - inline std::ostream &operator<<(std::ostream &os, const Vector3 &vector) + RVO3D_EXPORT inline std::ostream &operator<<(std::ostream &os, const Vector3 &vector) { os << "(" << vector[0] << "," << vector[1] << "," << vector[2] << ")"; @@ -304,7 +304,7 @@ namespace RVO { * \param vector The three-dimensional vector whose length is to be computed. * \return The length of the three-dimensional vector. */ - inline float abs(const Vector3 &vector) + RVO3D_EXPORT inline float abs(const Vector3 &vector) { return std::sqrt(vector * vector); } @@ -315,7 +315,7 @@ namespace RVO { * \param vector The three-dimensional vector whose squared length is to be computed. * \return The squared length of the three-dimensional vector. */ - inline float absSq(const Vector3 &vector) + RVO3D_EXPORT inline float absSq(const Vector3 &vector) { return vector * vector; } @@ -326,7 +326,7 @@ namespace RVO { * \param vector The three-dimensional vector whose normalization is to be computed. * \return The normalization of the three-dimensional vector. */ - inline Vector3 normalize(const Vector3 &vector) + RVO3D_EXPORT inline Vector3 normalize(const Vector3 &vector) { return vector / abs(vector); } diff --git a/thirdparty/rvo2/patches/rvo2-godot-changes.patch b/thirdparty/rvo2/patches/rvo2-godot-changes.patch new file mode 100644 index 0000000000..16dbc203ed --- /dev/null +++ b/thirdparty/rvo2/patches/rvo2-godot-changes.patch @@ -0,0 +1,282 @@ +diff --git a/thirdparty/rvo2/Agent.cpp b/thirdparty/rvo2/Agent.cpp +index 5e49a3554c..b35eee9c12 100644 +--- a/thirdparty/rvo2/Agent.cpp ++++ b/thirdparty/rvo2/Agent.cpp +@@ -105,18 +105,17 @@ namespace RVO { + */ + void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result); + +- Agent::Agent(RVOSimulator *sim) : sim_(sim), id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f) { } ++ Agent::Agent() : id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f), ignore_y_(false) { } + +- void Agent::computeNeighbors() ++ void Agent::computeNeighbors(KdTree *kdTree_) + { + agentNeighbors_.clear(); +- + if (maxNeighbors_ > 0) { +- sim_->kdTree_->computeAgentNeighbors(this, neighborDist_ * neighborDist_); ++ kdTree_->computeAgentNeighbors(this, neighborDist_ * neighborDist_); + } + } + +- void Agent::computeNewVelocity() ++ void Agent::computeNewVelocity(float timeStep) + { + orcaPlanes_.clear(); + const float invTimeHorizon = 1.0f / timeHorizon_; +@@ -124,10 +123,24 @@ namespace RVO { + /* Create agent ORCA planes. */ + for (size_t i = 0; i < agentNeighbors_.size(); ++i) { + const Agent *const other = agentNeighbors_[i].second; +- const Vector3 relativePosition = other->position_ - position_; +- const Vector3 relativeVelocity = velocity_ - other->velocity_; +- const float distSq = absSq(relativePosition); ++ ++ Vector3 relativePosition = other->position_ - position_; ++ Vector3 relativeVelocity = velocity_ - other->velocity_; + const float combinedRadius = radius_ + other->radius_; ++ ++ // This is a Godot feature that allow the agents to avoid the collision ++ // by moving only on the horizontal plane relative to the player velocity. ++ if (ignore_y_) { ++ // Skip if these are in two different heights ++#define ABS(m_v) (((m_v) < 0) ? (-(m_v)) : (m_v)) ++ if (ABS(relativePosition[1]) > combinedRadius * 2) { ++ continue; ++ } ++ relativePosition[1] = 0; ++ relativeVelocity[1] = 0; ++ } ++ ++ const float distSq = absSq(relativePosition); + const float combinedRadiusSq = sqr(combinedRadius); + + Plane plane; +@@ -165,7 +178,7 @@ namespace RVO { + } + else { + /* Collision. */ +- const float invTimeStep = 1.0f / sim_->timeStep_; ++ const float invTimeStep = 1.0f / timeStep; + const Vector3 w = relativeVelocity - invTimeStep * relativePosition; + const float wLength = abs(w); + const Vector3 unitW = w / wLength; +@@ -183,6 +196,11 @@ namespace RVO { + if (planeFail < orcaPlanes_.size()) { + linearProgram4(orcaPlanes_, planeFail, maxSpeed_, newVelocity_); + } ++ ++ if (ignore_y_) { ++ // Not 100% necessary, but better to have. ++ newVelocity_[1] = prefVelocity_[1]; ++ } + } + + void Agent::insertAgentNeighbor(const Agent *agent, float &rangeSq) +@@ -211,12 +229,6 @@ namespace RVO { + } + } + +- void Agent::update() +- { +- velocity_ = newVelocity_; +- position_ += velocity_ * sim_->timeStep_; +- } +- + bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) + { + const float dotProduct = line.point * line.direction; +diff --git a/thirdparty/rvo2/Agent.h b/thirdparty/rvo2/Agent.h +index d3922ec645..45fbead2f5 100644 +--- a/thirdparty/rvo2/Agent.h ++++ b/thirdparty/rvo2/Agent.h +@@ -41,30 +41,52 @@ + #include <utility> + #include <vector> + +-#include "RVOSimulator.h" + #include "Vector3.h" + ++// Note: Slightly modified to work better in Godot. ++// - The agent can be created by anyone. ++// - The simulator pointer is removed. ++// - The update function is removed. ++// - The compute velocity function now need the timeStep. ++// - Moved the `Plane` class here. ++// - Added a new parameter `ignore_y_` in the `Agent`. This parameter is used to control a godot feature that allows to avoid collisions by moving on the horizontal plane. + namespace RVO { ++ /** ++ * \brief Defines a plane. ++ */ ++ class Plane { ++ public: ++ /** ++ * \brief A point on the plane. ++ */ ++ Vector3 point; ++ ++ /** ++ * \brief The normal to the plane. ++ */ ++ Vector3 normal; ++ }; ++ + /** + * \brief Defines an agent in the simulation. + */ + class Agent { +- private: ++ public: + /** + * \brief Constructs an agent instance. + * \param sim The simulator instance. + */ +- explicit Agent(RVOSimulator *sim); ++ explicit Agent(); + + /** + * \brief Computes the neighbors of this agent. + */ +- void computeNeighbors(); ++ void computeNeighbors(class KdTree *kdTree_); + + /** + * \brief Computes the new velocity of this agent. + */ +- void computeNewVelocity(); ++ void computeNewVelocity(float timeStep); + + /** + * \brief Inserts an agent neighbor into the set of neighbors of this agent. +@@ -73,16 +95,10 @@ namespace RVO { + */ + void insertAgentNeighbor(const Agent *agent, float &rangeSq); + +- /** +- * \brief Updates the three-dimensional position and three-dimensional velocity of this agent. +- */ +- void update(); +- + Vector3 newVelocity_; + Vector3 position_; + Vector3 prefVelocity_; + Vector3 velocity_; +- RVOSimulator *sim_; + size_t id_; + size_t maxNeighbors_; + float maxSpeed_; +@@ -91,9 +107,11 @@ namespace RVO { + float timeHorizon_; + std::vector<std::pair<float, const Agent *> > agentNeighbors_; + std::vector<Plane> orcaPlanes_; ++ /// This is a godot feature that allows the Agent to avoid collision by mooving ++ /// on the horizontal plane. ++ bool ignore_y_; + + friend class KdTree; +- friend class RVOSimulator; + }; + } + +diff --git a/thirdparty/rvo2/KdTree.cpp b/thirdparty/rvo2/KdTree.cpp +index 5e9e9777a6..c857f299df 100644 +--- a/thirdparty/rvo2/KdTree.cpp ++++ b/thirdparty/rvo2/KdTree.cpp +@@ -36,16 +36,15 @@ + + #include "Agent.h" + #include "Definitions.h" +-#include "RVOSimulator.h" + + namespace RVO { + const size_t RVO3D_MAX_LEAF_SIZE = 10; + +- KdTree::KdTree(RVOSimulator *sim) : sim_(sim) { } ++ KdTree::KdTree() { } + +- void KdTree::buildAgentTree() ++ void KdTree::buildAgentTree(std::vector<Agent *> agents) + { +- agents_ = sim_->agents_; ++ agents_.swap(agents); + + if (!agents_.empty()) { + agentTree_.resize(2 * agents_.size() - 1); +diff --git a/thirdparty/rvo2/KdTree.h b/thirdparty/rvo2/KdTree.h +index a09384c20f..69d8920ce0 100644 +--- a/thirdparty/rvo2/KdTree.h ++++ b/thirdparty/rvo2/KdTree.h +@@ -41,6 +41,9 @@ + + #include "Vector3.h" + ++// Note: Slightly modified to work better with Godot. ++// - Removed `sim_`. ++// - KdTree things are public + namespace RVO { + class Agent; + class RVOSimulator; +@@ -49,7 +52,7 @@ namespace RVO { + * \brief Defines <i>k</i>d-trees for agents in the simulation. + */ + class KdTree { +- private: ++ public: + /** + * \brief Defines an agent <i>k</i>d-tree node. + */ +@@ -90,12 +93,12 @@ namespace RVO { + * \brief Constructs a <i>k</i>d-tree instance. + * \param sim The simulator instance. + */ +- explicit KdTree(RVOSimulator *sim); ++ explicit KdTree(); + + /** + * \brief Builds an agent <i>k</i>d-tree. + */ +- void buildAgentTree(); ++ void buildAgentTree(std::vector<Agent *> agents); + + void buildAgentTreeRecursive(size_t begin, size_t end, size_t node); + +@@ -110,7 +113,6 @@ namespace RVO { + + std::vector<Agent *> agents_; + std::vector<AgentTreeNode> agentTree_; +- RVOSimulator *sim_; + + friend class Agent; + friend class RVOSimulator; +diff --git a/thirdparty/rvo2/Vector3.h b/thirdparty/rvo2/Vector3.h +index 6c3223bb87..f44e311f29 100644 +--- a/thirdparty/rvo2/Vector3.h ++++ b/thirdparty/rvo2/Vector3.h +@@ -41,7 +41,7 @@ + #include <cstddef> + #include <ostream> + +-#include "Export.h" ++#define RVO3D_EXPORT + + namespace RVO { + /** +@@ -59,17 +59,6 @@ namespace RVO { + val_[2] = 0.0f; + } + +- /** +- * \brief Constructs and initializes a three-dimensional vector from the specified three-dimensional vector. +- * \param vector The three-dimensional vector containing the xyz-coordinates. +- */ +- inline Vector3(const Vector3 &vector) +- { +- val_[0] = vector[0]; +- val_[1] = vector[1]; +- val_[2] = vector[2]; +- } +- + /** + * \brief Constructs and initializes a three-dimensional vector from the specified three-element array. + * \param val The three-element array containing the xyz-coordinates. |