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Diffstat (limited to 'modules/gdnavigation/nav_utils.h')
| -rw-r--r-- | modules/gdnavigation/nav_utils.h | 169 |
1 files changed, 169 insertions, 0 deletions
diff --git a/modules/gdnavigation/nav_utils.h b/modules/gdnavigation/nav_utils.h new file mode 100644 index 0000000000..bdf9eb34a8 --- /dev/null +++ b/modules/gdnavigation/nav_utils.h @@ -0,0 +1,169 @@ +/*************************************************************************/ +/* nav_utils.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef NAV_UTILS_H +#define NAV_UTILS_H + +#include "core/math/vector3.h" +#include <vector> + +/** + @author AndreaCatania +*/ + +class NavRegion; + +namespace gd { +struct Polygon; + +union PointKey { + + struct { + int64_t x : 21; + int64_t y : 22; + int64_t z : 21; + }; + + uint64_t key; + bool operator<(const PointKey &p_key) const { return key < p_key.key; } +}; + +struct EdgeKey { + + PointKey a; + PointKey b; + + bool operator<(const EdgeKey &p_key) const { + return (a.key == p_key.a.key) ? (b.key < p_key.b.key) : (a.key < p_key.a.key); + } + + EdgeKey(const PointKey &p_a = PointKey(), const PointKey &p_b = PointKey()) : + a(p_a), + b(p_b) { + if (a.key > b.key) { + SWAP(a, b); + } + } +}; + +struct Point { + Vector3 pos; + PointKey key; +}; + +struct Edge { + /// This edge ID + int this_edge; + + /// Other Polygon + Polygon *other_polygon; + + /// The other `Polygon` at this edge id has this `Polygon`. + int other_edge; + + Edge() { + this_edge = -1; + other_polygon = NULL; + other_edge = -1; + } +}; + +struct Polygon { + NavRegion *owner; + + /// The points of this `Polygon` + std::vector<Point> points; + + /// Are the points clockwise ? + bool clockwise; + + /// The edges of this `Polygon` + std::vector<Edge> edges; + + /// The center of this `Polygon` + Vector3 center; +}; + +struct Connection { + + Polygon *A; + int A_edge; + Polygon *B; + int B_edge; + + Connection() { + A = NULL; + B = NULL; + A_edge = -1; + B_edge = -1; + } +}; + +struct NavigationPoly { + uint32_t self_id; + /// This poly. + const Polygon *poly; + /// The previous navigation poly (id in the `navigation_poly` array). + int prev_navigation_poly_id; + /// The edge id in this `Poly` to reach the `prev_navigation_poly_id`. + uint32_t back_navigation_edge; + /// The entry location of this poly. + Vector3 entry; + /// The distance to the destination. + float traveled_distance; + + NavigationPoly(const Polygon *p_poly) : + self_id(0), + poly(p_poly), + prev_navigation_poly_id(-1), + back_navigation_edge(0), + traveled_distance(0.0) { + } + + bool operator==(const NavigationPoly &other) const { + return this->poly == other.poly; + } + + bool operator!=(const NavigationPoly &other) const { + return !operator==(other); + } +}; + +struct FreeEdge { + bool is_free; + Polygon *poly; + uint32_t edge_id; + Vector3 edge_center; + Vector3 edge_dir; + float edge_len_squared; +}; +} // namespace gd + +#endif // NAV_UTILS_H |