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-rw-r--r--modules/gridmap/grid_map.cpp514
1 files changed, 394 insertions, 120 deletions
diff --git a/modules/gridmap/grid_map.cpp b/modules/gridmap/grid_map.cpp
index 7d80cbef7c..3c0bd56e86 100644
--- a/modules/gridmap/grid_map.cpp
+++ b/modules/gridmap/grid_map.cpp
@@ -1,32 +1,32 @@
-/*************************************************************************/
-/* grid_map.cpp */
-/*************************************************************************/
-/* This file is part of: */
-/* GODOT ENGINE */
-/* https://godotengine.org */
-/*************************************************************************/
-/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2022 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. */
-/*************************************************************************/
+/**************************************************************************/
+/* grid_map.cpp */
+/**************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/**************************************************************************/
#include "grid_map.h"
@@ -74,7 +74,7 @@ bool GridMap::_set(const StringName &p_name, const Variant &p_value) {
bm.mesh = meshes[i];
ERR_CONTINUE(!bm.mesh.is_valid());
bm.instance = RS::get_singleton()->instance_create();
- RS::get_singleton()->get_singleton()->instance_set_base(bm.instance, bm.mesh->get_rid());
+ RS::get_singleton()->instance_set_base(bm.instance, bm.mesh->get_rid());
RS::get_singleton()->instance_attach_object_instance_id(bm.instance, get_instance_id());
if (is_inside_tree()) {
RS::get_singleton()->instance_set_scenario(bm.instance, get_world_3d()->get_scenario());
@@ -138,7 +138,7 @@ void GridMap::_get_property_list(List<PropertyInfo> *p_list) const {
void GridMap::set_collision_layer(uint32_t p_layer) {
collision_layer = p_layer;
- _reset_physic_bodies_collision_filters();
+ _update_physics_bodies_collision_properties();
}
uint32_t GridMap::get_collision_layer() const {
@@ -147,7 +147,7 @@ uint32_t GridMap::get_collision_layer() const {
void GridMap::set_collision_mask(uint32_t p_mask) {
collision_mask = p_mask;
- _reset_physic_bodies_collision_filters();
+ _update_physics_bodies_collision_properties();
}
uint32_t GridMap::get_collision_mask() const {
@@ -157,13 +157,13 @@ uint32_t GridMap::get_collision_mask() const {
void GridMap::set_collision_layer_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Collision layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Collision layer number must be between 1 and 32 inclusive.");
- uint32_t collision_layer = get_collision_layer();
+ uint32_t collision_layer_new = get_collision_layer();
if (p_value) {
- collision_layer |= 1 << (p_layer_number - 1);
+ collision_layer_new |= 1 << (p_layer_number - 1);
} else {
- collision_layer &= ~(1 << (p_layer_number - 1));
+ collision_layer_new &= ~(1 << (p_layer_number - 1));
}
- set_collision_layer(collision_layer);
+ set_collision_layer(collision_layer_new);
}
bool GridMap::get_collision_layer_value(int p_layer_number) const {
@@ -184,6 +184,15 @@ void GridMap::set_collision_mask_value(int p_layer_number, bool p_value) {
set_collision_mask(mask);
}
+void GridMap::set_collision_priority(real_t p_priority) {
+ collision_priority = p_priority;
+ _update_physics_bodies_collision_properties();
+}
+
+real_t GridMap::get_collision_priority() const {
+ return collision_priority;
+}
+
void GridMap::set_physics_material(Ref<PhysicsMaterial> p_material) {
physics_material = p_material;
_recreate_octant_data();
@@ -226,31 +235,25 @@ bool GridMap::is_baking_navigation() {
return bake_navigation;
}
-void GridMap::set_navigation_layers(uint32_t p_navigation_layers) {
- navigation_layers = p_navigation_layers;
- _recreate_octant_data();
-}
-
-uint32_t GridMap::get_navigation_layers() const {
- return navigation_layers;
-}
-
-void GridMap::set_navigation_layer_value(int p_layer_number, bool p_value) {
- ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive.");
- ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive.");
- uint32_t _navigation_layers = get_navigation_layers();
- if (p_value) {
- _navigation_layers |= 1 << (p_layer_number - 1);
- } else {
- _navigation_layers &= ~(1 << (p_layer_number - 1));
+void GridMap::set_navigation_map(RID p_navigation_map) {
+ map_override = p_navigation_map;
+ for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
+ Octant &g = *octant_map[E.key];
+ for (KeyValue<IndexKey, Octant::NavigationCell> &F : g.navigation_cell_ids) {
+ if (F.value.region.is_valid()) {
+ NavigationServer3D::get_singleton()->region_set_map(F.value.region, map_override);
+ }
+ }
}
- set_navigation_layers(_navigation_layers);
}
-bool GridMap::get_navigation_layer_value(int p_layer_number) const {
- ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive.");
- ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive.");
- return get_navigation_layers() & (1 << (p_layer_number - 1));
+RID GridMap::get_navigation_map() const {
+ if (map_override.is_valid()) {
+ return map_override;
+ } else if (is_inside_tree()) {
+ return get_world_3d()->get_navigation_map();
+ }
+ return RID();
}
void GridMap::set_mesh_library(const Ref<MeshLibrary> &p_mesh_library) {
@@ -364,6 +367,7 @@ void GridMap::set_cell_item(const Vector3i &p_position, int p_item, int p_rot) {
PhysicsServer3D::get_singleton()->body_attach_object_instance_id(g->static_body, get_instance_id());
PhysicsServer3D::get_singleton()->body_set_collision_layer(g->static_body, collision_layer);
PhysicsServer3D::get_singleton()->body_set_collision_mask(g->static_body, collision_mask);
+ PhysicsServer3D::get_singleton()->body_set_collision_priority(g->static_body, collision_priority);
if (physics_material.is_valid()) {
PhysicsServer3D::get_singleton()->body_set_param(g->static_body, PhysicsServer3D::BODY_PARAM_FRICTION, physics_material->get_friction());
PhysicsServer3D::get_singleton()->body_set_param(g->static_body, PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material->get_bounce());
@@ -428,18 +432,87 @@ int GridMap::get_cell_item_orientation(const Vector3i &p_position) const {
return cell_map[key].rot;
}
-Vector3i GridMap::world_to_map(const Vector3 &p_world_position) const {
+static const Basis _ortho_bases[24] = {
+ Basis(1, 0, 0, 0, 1, 0, 0, 0, 1),
+ Basis(0, -1, 0, 1, 0, 0, 0, 0, 1),
+ Basis(-1, 0, 0, 0, -1, 0, 0, 0, 1),
+ Basis(0, 1, 0, -1, 0, 0, 0, 0, 1),
+ Basis(1, 0, 0, 0, 0, -1, 0, 1, 0),
+ Basis(0, 0, 1, 1, 0, 0, 0, 1, 0),
+ Basis(-1, 0, 0, 0, 0, 1, 0, 1, 0),
+ Basis(0, 0, -1, -1, 0, 0, 0, 1, 0),
+ Basis(1, 0, 0, 0, -1, 0, 0, 0, -1),
+ Basis(0, 1, 0, 1, 0, 0, 0, 0, -1),
+ Basis(-1, 0, 0, 0, 1, 0, 0, 0, -1),
+ Basis(0, -1, 0, -1, 0, 0, 0, 0, -1),
+ Basis(1, 0, 0, 0, 0, 1, 0, -1, 0),
+ Basis(0, 0, -1, 1, 0, 0, 0, -1, 0),
+ Basis(-1, 0, 0, 0, 0, -1, 0, -1, 0),
+ Basis(0, 0, 1, -1, 0, 0, 0, -1, 0),
+ Basis(0, 0, 1, 0, 1, 0, -1, 0, 0),
+ Basis(0, -1, 0, 0, 0, 1, -1, 0, 0),
+ Basis(0, 0, -1, 0, -1, 0, -1, 0, 0),
+ Basis(0, 1, 0, 0, 0, -1, -1, 0, 0),
+ Basis(0, 0, 1, 0, -1, 0, 1, 0, 0),
+ Basis(0, 1, 0, 0, 0, 1, 1, 0, 0),
+ Basis(0, 0, -1, 0, 1, 0, 1, 0, 0),
+ Basis(0, -1, 0, 0, 0, -1, 1, 0, 0)
+};
+
+Basis GridMap::get_cell_item_basis(const Vector3i &p_position) const {
+ int orientation = get_cell_item_orientation(p_position);
+
+ if (orientation == -1) {
+ return Basis();
+ }
+
+ return get_basis_with_orthogonal_index(orientation);
+}
+
+Basis GridMap::get_basis_with_orthogonal_index(int p_index) const {
+ ERR_FAIL_INDEX_V(p_index, 24, Basis());
+
+ return _ortho_bases[p_index];
+}
+
+int GridMap::get_orthogonal_index_from_basis(const Basis &p_basis) const {
+ Basis orth = p_basis;
+ for (int i = 0; i < 3; i++) {
+ for (int j = 0; j < 3; j++) {
+ real_t v = orth[i][j];
+ if (v > 0.5) {
+ v = 1.0;
+ } else if (v < -0.5) {
+ v = -1.0;
+ } else {
+ v = 0;
+ }
+
+ orth[i][j] = v;
+ }
+ }
+
+ for (int i = 0; i < 24; i++) {
+ if (_ortho_bases[i] == orth) {
+ return i;
+ }
+ }
+
+ return 0;
+}
+
+Vector3i GridMap::local_to_map(const Vector3 &p_world_position) const {
Vector3 map_position = (p_world_position / cell_size).floor();
return Vector3i(map_position);
}
-Vector3 GridMap::map_to_world(const Vector3i &p_map_position) const {
+Vector3 GridMap::map_to_local(const Vector3i &p_map_position) const {
Vector3 offset = _get_offset();
- Vector3 world_pos(
+ Vector3 local_position(
p_map_position.x * cell_size.x + offset.x,
p_map_position.y * cell_size.y + offset.y,
p_map_position.z * cell_size.z + offset.z);
- return world_pos;
+ return local_position;
}
void GridMap::_octant_transform(const OctantKey &p_key) {
@@ -452,13 +525,13 @@ void GridMap::_octant_transform(const OctantKey &p_key) {
}
// update transform for NavigationServer regions and navigation debugmesh instances
- for (const KeyValue<IndexKey, Octant::NavMesh> &E : g.navmesh_ids) {
+ for (const KeyValue<IndexKey, Octant::NavigationCell> &E : g.navigation_cell_ids) {
if (bake_navigation) {
if (E.value.region.is_valid()) {
NavigationServer3D::get_singleton()->region_set_transform(E.value.region, get_global_transform() * E.value.xform);
}
- if (E.value.navmesh_debug_instance.is_valid()) {
- RS::get_singleton()->instance_set_transform(E.value.navmesh_debug_instance, get_global_transform() * E.value.xform);
+ if (E.value.navigation_mesh_debug_instance.is_valid()) {
+ RS::get_singleton()->instance_set_transform(E.value.navigation_mesh_debug_instance, get_global_transform() * E.value.xform);
}
}
}
@@ -484,13 +557,13 @@ bool GridMap::_octant_update(const OctantKey &p_key) {
}
//erase navigation
- for (const KeyValue<IndexKey, Octant::NavMesh> &E : g.navmesh_ids) {
+ for (const KeyValue<IndexKey, Octant::NavigationCell> &E : g.navigation_cell_ids) {
NavigationServer3D::get_singleton()->free(E.value.region);
- if (E.value.navmesh_debug_instance.is_valid()) {
- RS::get_singleton()->free(E.value.navmesh_debug_instance);
+ if (E.value.navigation_mesh_debug_instance.is_valid()) {
+ RS::get_singleton()->free(E.value.navigation_mesh_debug_instance);
}
}
- g.navmesh_ids.clear();
+ g.navigation_cell_ids.clear();
//erase multimeshes
@@ -529,7 +602,7 @@ bool GridMap::_octant_update(const OctantKey &p_key) {
Transform3D xform;
- xform.basis.set_orthogonal_index(c.rot);
+ xform.basis = _ortho_bases[c.rot];
xform.set_origin(cellpos * cell_size + ofs);
xform.basis.scale(Vector3(cell_scale, cell_scale, cell_scale));
if (baked_meshes.size() == 0) {
@@ -558,40 +631,54 @@ bool GridMap::_octant_update(const OctantKey &p_key) {
}
}
- // add the item's navmesh at given xform to GridMap's Navigation ancestor
- Ref<NavigationMesh> navmesh = mesh_library->get_item_navmesh(c.item);
- if (navmesh.is_valid()) {
- Octant::NavMesh nm;
- nm.xform = xform * mesh_library->get_item_navmesh_transform(c.item);
+ // add the item's navigation_mesh at given xform to GridMap's Navigation ancestor
+ Ref<NavigationMesh> navigation_mesh = mesh_library->get_item_navigation_mesh(c.item);
+ if (navigation_mesh.is_valid()) {
+ Octant::NavigationCell nm;
+ nm.xform = xform * mesh_library->get_item_navigation_mesh_transform(c.item);
+ nm.navigation_layers = mesh_library->get_item_navigation_layers(c.item);
if (bake_navigation) {
RID region = NavigationServer3D::get_singleton()->region_create();
- NavigationServer3D::get_singleton()->region_set_navigation_layers(region, navigation_layers);
- NavigationServer3D::get_singleton()->region_set_navmesh(region, navmesh);
+ NavigationServer3D::get_singleton()->region_set_owner_id(region, get_instance_id());
+ NavigationServer3D::get_singleton()->region_set_navigation_layers(region, nm.navigation_layers);
+ NavigationServer3D::get_singleton()->region_set_navigation_mesh(region, navigation_mesh);
NavigationServer3D::get_singleton()->region_set_transform(region, get_global_transform() * nm.xform);
- NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
+ if (is_inside_tree()) {
+ if (map_override.is_valid()) {
+ NavigationServer3D::get_singleton()->region_set_map(region, map_override);
+ } else {
+ NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
+ }
+ }
nm.region = region;
+#ifdef DEBUG_ENABLED
// add navigation debugmesh visual instances if debug is enabled
SceneTree *st = SceneTree::get_singleton();
if (st && st->is_debugging_navigation_hint()) {
- if (!nm.navmesh_debug_instance.is_valid()) {
- RID navmesh_debug_rid = navmesh->get_debug_mesh()->get_rid();
- nm.navmesh_debug_instance = RS::get_singleton()->instance_create();
- RS::get_singleton()->instance_set_base(nm.navmesh_debug_instance, navmesh_debug_rid);
- RS::get_singleton()->mesh_surface_set_material(navmesh_debug_rid, 0, st->get_debug_navigation_material()->get_rid());
+ if (!nm.navigation_mesh_debug_instance.is_valid()) {
+ RID navigation_mesh_debug_rid = navigation_mesh->get_debug_mesh()->get_rid();
+ nm.navigation_mesh_debug_instance = RS::get_singleton()->instance_create();
+ RS::get_singleton()->instance_set_base(nm.navigation_mesh_debug_instance, navigation_mesh_debug_rid);
}
if (is_inside_tree()) {
- RS::get_singleton()->instance_set_scenario(nm.navmesh_debug_instance, get_world_3d()->get_scenario());
- RS::get_singleton()->instance_set_transform(nm.navmesh_debug_instance, get_global_transform() * nm.xform);
+ RS::get_singleton()->instance_set_scenario(nm.navigation_mesh_debug_instance, get_world_3d()->get_scenario());
+ RS::get_singleton()->instance_set_transform(nm.navigation_mesh_debug_instance, get_global_transform() * nm.xform);
}
}
+#endif // DEBUG_ENABLED
}
-
- g.navmesh_ids[E] = nm;
+ g.navigation_cell_ids[E] = nm;
}
}
+#ifdef DEBUG_ENABLED
+ if (bake_navigation) {
+ _update_octant_navigation_debug_edge_connections_mesh(p_key);
+ }
+#endif // DEBUG_ENABLED
+
//update multimeshes, only if not baked
if (baked_meshes.size() == 0) {
for (const KeyValue<int, List<Pair<Transform3D, IndexKey>>> &E : multimesh_items) {
@@ -648,10 +735,11 @@ bool GridMap::_octant_update(const OctantKey &p_key) {
return false;
}
-void GridMap::_reset_physic_bodies_collision_filters() {
+void GridMap::_update_physics_bodies_collision_properties() {
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
PhysicsServer3D::get_singleton()->body_set_collision_layer(E.value->static_body, collision_layer);
PhysicsServer3D::get_singleton()->body_set_collision_mask(E.value->static_body, collision_mask);
+ PhysicsServer3D::get_singleton()->body_set_collision_priority(E.value->static_body, collision_priority);
}
}
@@ -672,24 +760,46 @@ void GridMap::_octant_enter_world(const OctantKey &p_key) {
}
if (bake_navigation && mesh_library.is_valid()) {
- for (KeyValue<IndexKey, Octant::NavMesh> &F : g.navmesh_ids) {
+ for (KeyValue<IndexKey, Octant::NavigationCell> &F : g.navigation_cell_ids) {
if (cell_map.has(F.key) && F.value.region.is_valid() == false) {
- Ref<NavigationMesh> nm = mesh_library->get_item_navmesh(cell_map[F.key].item);
- if (nm.is_valid()) {
+ Ref<NavigationMesh> navigation_mesh = mesh_library->get_item_navigation_mesh(cell_map[F.key].item);
+ if (navigation_mesh.is_valid()) {
RID region = NavigationServer3D::get_singleton()->region_create();
- NavigationServer3D::get_singleton()->region_set_navigation_layers(region, navigation_layers);
- NavigationServer3D::get_singleton()->region_set_navmesh(region, nm);
+ NavigationServer3D::get_singleton()->region_set_owner_id(region, get_instance_id());
+ NavigationServer3D::get_singleton()->region_set_navigation_layers(region, F.value.navigation_layers);
+ NavigationServer3D::get_singleton()->region_set_navigation_mesh(region, navigation_mesh);
NavigationServer3D::get_singleton()->region_set_transform(region, get_global_transform() * F.value.xform);
- NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
+ if (map_override.is_valid()) {
+ NavigationServer3D::get_singleton()->region_set_map(region, map_override);
+ } else {
+ NavigationServer3D::get_singleton()->region_set_map(region, get_world_3d()->get_navigation_map());
+ }
F.value.region = region;
}
}
}
+
+#ifdef DEBUG_ENABLED
+ if (bake_navigation) {
+ if (!g.navigation_debug_edge_connections_instance.is_valid()) {
+ g.navigation_debug_edge_connections_instance = RenderingServer::get_singleton()->instance_create();
+ }
+ if (!g.navigation_debug_edge_connections_mesh.is_valid()) {
+ g.navigation_debug_edge_connections_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
+ }
+
+ _update_octant_navigation_debug_edge_connections_mesh(p_key);
+ }
+#endif // DEBUG_ENABLED
}
}
void GridMap::_octant_exit_world(const OctantKey &p_key) {
+ ERR_FAIL_NULL(RenderingServer::get_singleton());
+ ERR_FAIL_NULL(PhysicsServer3D::get_singleton());
+ ERR_FAIL_NULL(NavigationServer3D::get_singleton());
+
ERR_FAIL_COND(!octant_map.has(p_key));
Octant &g = *octant_map[p_key];
PhysicsServer3D::get_singleton()->body_set_state(g.static_body, PhysicsServer3D::BODY_STATE_TRANSFORM, get_global_transform());
@@ -703,19 +813,35 @@ void GridMap::_octant_exit_world(const OctantKey &p_key) {
RS::get_singleton()->instance_set_scenario(g.multimesh_instances[i].instance, RID());
}
- for (KeyValue<IndexKey, Octant::NavMesh> &F : g.navmesh_ids) {
+ for (KeyValue<IndexKey, Octant::NavigationCell> &F : g.navigation_cell_ids) {
if (F.value.region.is_valid()) {
NavigationServer3D::get_singleton()->free(F.value.region);
F.value.region = RID();
}
- if (F.value.navmesh_debug_instance.is_valid()) {
- RS::get_singleton()->free(F.value.navmesh_debug_instance);
- F.value.navmesh_debug_instance = RID();
+ if (F.value.navigation_mesh_debug_instance.is_valid()) {
+ RS::get_singleton()->free(F.value.navigation_mesh_debug_instance);
+ F.value.navigation_mesh_debug_instance = RID();
+ }
+ }
+
+#ifdef DEBUG_ENABLED
+ if (bake_navigation) {
+ if (g.navigation_debug_edge_connections_instance.is_valid()) {
+ RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_instance);
+ g.navigation_debug_edge_connections_instance = RID();
+ }
+ if (g.navigation_debug_edge_connections_mesh.is_valid()) {
+ RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_mesh->get_rid());
}
}
+#endif // DEBUG_ENABLED
}
void GridMap::_octant_clean_up(const OctantKey &p_key) {
+ ERR_FAIL_NULL(RenderingServer::get_singleton());
+ ERR_FAIL_NULL(PhysicsServer3D::get_singleton());
+ ERR_FAIL_NULL(NavigationServer3D::get_singleton());
+
ERR_FAIL_COND(!octant_map.has(p_key));
Octant &g = *octant_map[p_key];
@@ -729,15 +855,27 @@ void GridMap::_octant_clean_up(const OctantKey &p_key) {
PhysicsServer3D::get_singleton()->free(g.static_body);
// Erase navigation
- for (const KeyValue<IndexKey, Octant::NavMesh> &E : g.navmesh_ids) {
+ for (const KeyValue<IndexKey, Octant::NavigationCell> &E : g.navigation_cell_ids) {
if (E.value.region.is_valid()) {
NavigationServer3D::get_singleton()->free(E.value.region);
}
- if (E.value.navmesh_debug_instance.is_valid()) {
- RS::get_singleton()->free(E.value.navmesh_debug_instance);
+ if (E.value.navigation_mesh_debug_instance.is_valid()) {
+ RS::get_singleton()->free(E.value.navigation_mesh_debug_instance);
}
}
- g.navmesh_ids.clear();
+ g.navigation_cell_ids.clear();
+
+#ifdef DEBUG_ENABLED
+ if (bake_navigation) {
+ if (g.navigation_debug_edge_connections_instance.is_valid()) {
+ RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_instance);
+ g.navigation_debug_edge_connections_instance = RID();
+ }
+ if (g.navigation_debug_edge_connections_mesh.is_valid()) {
+ RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_mesh->get_rid());
+ }
+ }
+#endif // DEBUG_ENABLED
//erase multimeshes
@@ -763,6 +901,14 @@ void GridMap::_notification(int p_what) {
}
} break;
+#ifdef DEBUG_ENABLED
+ case NOTIFICATION_ENTER_TREE: {
+ if (bake_navigation && NavigationServer3D::get_singleton()->get_debug_enabled()) {
+ _update_navigation_debug_edge_connections();
+ }
+ } break;
+#endif // DEBUG_ENABLED
+
case NOTIFICATION_TRANSFORM_CHANGED: {
Transform3D new_xform = get_global_transform();
if (new_xform == last_transform) {
@@ -894,17 +1040,17 @@ void GridMap::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_collision_layer_value", "layer_number", "value"), &GridMap::set_collision_layer_value);
ClassDB::bind_method(D_METHOD("get_collision_layer_value", "layer_number"), &GridMap::get_collision_layer_value);
+ ClassDB::bind_method(D_METHOD("set_collision_priority", "priority"), &GridMap::set_collision_priority);
+ ClassDB::bind_method(D_METHOD("get_collision_priority"), &GridMap::get_collision_priority);
+
ClassDB::bind_method(D_METHOD("set_physics_material", "material"), &GridMap::set_physics_material);
ClassDB::bind_method(D_METHOD("get_physics_material"), &GridMap::get_physics_material);
ClassDB::bind_method(D_METHOD("set_bake_navigation", "bake_navigation"), &GridMap::set_bake_navigation);
ClassDB::bind_method(D_METHOD("is_baking_navigation"), &GridMap::is_baking_navigation);
- ClassDB::bind_method(D_METHOD("set_navigation_layers", "layers"), &GridMap::set_navigation_layers);
- ClassDB::bind_method(D_METHOD("get_navigation_layers"), &GridMap::get_navigation_layers);
-
- ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &GridMap::set_navigation_layer_value);
- ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &GridMap::get_navigation_layer_value);
+ ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &GridMap::set_navigation_map);
+ ClassDB::bind_method(D_METHOD("get_navigation_map"), &GridMap::get_navigation_map);
ClassDB::bind_method(D_METHOD("set_mesh_library", "mesh_library"), &GridMap::set_mesh_library);
ClassDB::bind_method(D_METHOD("get_mesh_library"), &GridMap::get_mesh_library);
@@ -921,9 +1067,12 @@ void GridMap::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_cell_item", "position", "item", "orientation"), &GridMap::set_cell_item, DEFVAL(0));
ClassDB::bind_method(D_METHOD("get_cell_item", "position"), &GridMap::get_cell_item);
ClassDB::bind_method(D_METHOD("get_cell_item_orientation", "position"), &GridMap::get_cell_item_orientation);
+ ClassDB::bind_method(D_METHOD("get_cell_item_basis", "position"), &GridMap::get_cell_item_basis);
+ ClassDB::bind_method(D_METHOD("get_basis_with_orthogonal_index", "index"), &GridMap::get_basis_with_orthogonal_index);
+ ClassDB::bind_method(D_METHOD("get_orthogonal_index_from_basis", "basis"), &GridMap::get_orthogonal_index_from_basis);
- ClassDB::bind_method(D_METHOD("world_to_map", "world_position"), &GridMap::world_to_map);
- ClassDB::bind_method(D_METHOD("map_to_world", "map_position"), &GridMap::map_to_world);
+ ClassDB::bind_method(D_METHOD("local_to_map", "local_position"), &GridMap::local_to_map);
+ ClassDB::bind_method(D_METHOD("map_to_local", "map_position"), &GridMap::map_to_local);
ClassDB::bind_method(D_METHOD("_update_octants_callback"), &GridMap::_update_octants_callback);
ClassDB::bind_method(D_METHOD("resource_changed", "resource"), &GridMap::resource_changed);
@@ -959,9 +1108,9 @@ void GridMap::_bind_methods() {
ADD_GROUP("Collision", "collision_");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_priority"), "set_collision_priority", "get_collision_priority");
ADD_GROUP("Navigation", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "bake_navigation"), "set_bake_navigation", "is_baking_navigation");
- ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
BIND_CONSTANT(INVALID_CELL_ITEM);
@@ -977,23 +1126,23 @@ float GridMap::get_cell_scale() const {
return cell_scale;
}
-Array GridMap::get_used_cells() const {
- Array a;
+TypedArray<Vector3i> GridMap::get_used_cells() const {
+ TypedArray<Vector3i> a;
a.resize(cell_map.size());
int i = 0;
for (const KeyValue<IndexKey, Cell> &E : cell_map) {
- Vector3 p(E.key.x, E.key.y, E.key.z);
+ Vector3i p(E.key.x, E.key.y, E.key.z);
a[i++] = p;
}
return a;
}
-Array GridMap::get_used_cells_by_item(int p_item) const {
- Array a;
+TypedArray<Vector3i> GridMap::get_used_cells_by_item(int p_item) const {
+ TypedArray<Vector3i> a;
for (const KeyValue<IndexKey, Cell> &E : cell_map) {
- if (E.value.item == p_item) {
- Vector3 p(E.key.x, E.key.y, E.key.z);
+ if ((int)E.value.item == p_item) {
+ Vector3i p(E.key.x, E.key.y, E.key.z);
a.push_back(p);
}
}
@@ -1025,7 +1174,7 @@ Array GridMap::get_meshes() const {
Transform3D xform;
- xform.basis.set_orthogonal_index(E.value.rot);
+ xform.basis = _ortho_bases[E.value.rot];
xform.set_origin(cellpos * cell_size + ofs);
xform.basis.scale(Vector3(cell_scale, cell_scale, cell_scale));
@@ -1045,6 +1194,7 @@ Vector3 GridMap::_get_offset() const {
}
void GridMap::clear_baked_meshes() {
+ ERR_FAIL_NULL(RenderingServer::get_singleton());
for (int i = 0; i < baked_meshes.size(); i++) {
RS::get_singleton()->free(baked_meshes[i].instance);
}
@@ -1079,7 +1229,7 @@ void GridMap::make_baked_meshes(bool p_gen_lightmap_uv, float p_lightmap_uv_texe
Transform3D xform;
- xform.basis.set_orthogonal_index(E.value.rot);
+ xform.basis = _ortho_bases[E.value.rot];
xform.set_origin(cellpos * cell_size + ofs);
xform.basis.scale(Vector3(cell_scale, cell_scale, cell_scale));
@@ -1122,7 +1272,7 @@ void GridMap::make_baked_meshes(bool p_gen_lightmap_uv, float p_lightmap_uv_texe
BakedMesh bm;
bm.mesh = mesh;
bm.instance = RS::get_singleton()->instance_create();
- RS::get_singleton()->get_singleton()->instance_set_base(bm.instance, bm.mesh->get_rid());
+ RS::get_singleton()->instance_set_base(bm.instance, bm.mesh->get_rid());
RS::get_singleton()->instance_attach_object_instance_id(bm.instance, get_instance_id());
if (is_inside_tree()) {
RS::get_singleton()->instance_set_scenario(bm.instance, get_world_3d()->get_scenario());
@@ -1159,12 +1309,136 @@ RID GridMap::get_bake_mesh_instance(int p_idx) {
GridMap::GridMap() {
set_notify_transform(true);
+#ifdef DEBUG_ENABLED
+ NavigationServer3D::get_singleton()->connect("map_changed", callable_mp(this, &GridMap::_navigation_map_changed));
+ NavigationServer3D::get_singleton()->connect("navigation_debug_changed", callable_mp(this, &GridMap::_update_navigation_debug_edge_connections));
+#endif // DEBUG_ENABLED
+}
+
+#ifdef DEBUG_ENABLED
+void GridMap::_update_navigation_debug_edge_connections() {
+ if (bake_navigation) {
+ for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
+ _update_octant_navigation_debug_edge_connections_mesh(E.key);
+ }
+ }
}
+void GridMap::_navigation_map_changed(RID p_map) {
+ if (bake_navigation && is_inside_tree() && p_map == get_world_3d()->get_navigation_map()) {
+ _update_navigation_debug_edge_connections();
+ }
+}
+#endif // DEBUG_ENABLED
+
GridMap::~GridMap() {
if (!mesh_library.is_null()) {
mesh_library->unregister_owner(this);
}
clear();
+#ifdef DEBUG_ENABLED
+ NavigationServer3D::get_singleton()->disconnect("map_changed", callable_mp(this, &GridMap::_navigation_map_changed));
+ NavigationServer3D::get_singleton()->disconnect("navigation_debug_changed", callable_mp(this, &GridMap::_update_navigation_debug_edge_connections));
+#endif // DEBUG_ENABLED
+}
+
+#ifdef DEBUG_ENABLED
+void GridMap::_update_octant_navigation_debug_edge_connections_mesh(const OctantKey &p_key) {
+ ERR_FAIL_COND(!octant_map.has(p_key));
+ Octant &g = *octant_map[p_key];
+
+ if (!NavigationServer3D::get_singleton()->get_debug_enabled()) {
+ if (g.navigation_debug_edge_connections_instance.is_valid()) {
+ RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false);
+ }
+ return;
+ }
+
+ if (!is_inside_tree()) {
+ return;
+ }
+
+ if (!bake_navigation) {
+ if (g.navigation_debug_edge_connections_instance.is_valid()) {
+ RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false);
+ }
+ return;
+ }
+
+ if (!g.navigation_debug_edge_connections_instance.is_valid()) {
+ g.navigation_debug_edge_connections_instance = RenderingServer::get_singleton()->instance_create();
+ }
+
+ if (!g.navigation_debug_edge_connections_mesh.is_valid()) {
+ g.navigation_debug_edge_connections_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
+ }
+
+ g.navigation_debug_edge_connections_mesh->clear_surfaces();
+
+ float edge_connection_margin = NavigationServer3D::get_singleton()->map_get_edge_connection_margin(get_world_3d()->get_navigation_map());
+ float half_edge_connection_margin = edge_connection_margin * 0.5;
+
+ Vector<Vector3> vertex_array;
+
+ for (KeyValue<IndexKey, Octant::NavigationCell> &F : g.navigation_cell_ids) {
+ if (cell_map.has(F.key) && F.value.region.is_valid()) {
+ int connections_count = NavigationServer3D::get_singleton()->region_get_connections_count(F.value.region);
+ if (connections_count == 0) {
+ continue;
+ }
+
+ for (int i = 0; i < connections_count; i++) {
+ Vector3 connection_pathway_start = NavigationServer3D::get_singleton()->region_get_connection_pathway_start(F.value.region, i);
+ Vector3 connection_pathway_end = NavigationServer3D::get_singleton()->region_get_connection_pathway_end(F.value.region, i);
+
+ Vector3 direction_start_end = connection_pathway_start.direction_to(connection_pathway_end);
+ Vector3 direction_end_start = connection_pathway_end.direction_to(connection_pathway_start);
+
+ Vector3 start_right_dir = direction_start_end.cross(Vector3(0, 1, 0));
+ Vector3 start_left_dir = -start_right_dir;
+
+ Vector3 end_right_dir = direction_end_start.cross(Vector3(0, 1, 0));
+ Vector3 end_left_dir = -end_right_dir;
+
+ Vector3 left_start_pos = connection_pathway_start + (start_left_dir * half_edge_connection_margin);
+ Vector3 right_start_pos = connection_pathway_start + (start_right_dir * half_edge_connection_margin);
+ Vector3 left_end_pos = connection_pathway_end + (end_right_dir * half_edge_connection_margin);
+ Vector3 right_end_pos = connection_pathway_end + (end_left_dir * half_edge_connection_margin);
+
+ vertex_array.push_back(right_end_pos);
+ vertex_array.push_back(left_start_pos);
+ vertex_array.push_back(right_start_pos);
+
+ vertex_array.push_back(left_end_pos);
+ vertex_array.push_back(right_end_pos);
+ vertex_array.push_back(right_start_pos);
+ }
+ }
+ }
+
+ if (vertex_array.size() == 0) {
+ return;
+ }
+
+ Ref<StandardMaterial3D> edge_connections_material = NavigationServer3D::get_singleton()->get_debug_navigation_edge_connections_material();
+
+ Array mesh_array;
+ mesh_array.resize(Mesh::ARRAY_MAX);
+ mesh_array[Mesh::ARRAY_VERTEX] = vertex_array;
+
+ g.navigation_debug_edge_connections_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, mesh_array);
+ g.navigation_debug_edge_connections_mesh->surface_set_material(0, edge_connections_material);
+
+ RS::get_singleton()->instance_set_base(g.navigation_debug_edge_connections_instance, g.navigation_debug_edge_connections_mesh->get_rid());
+ RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, is_visible_in_tree());
+ if (is_inside_tree()) {
+ RS::get_singleton()->instance_set_scenario(g.navigation_debug_edge_connections_instance, get_world_3d()->get_scenario());
+ }
+
+ bool enable_edge_connections = NavigationServer3D::get_singleton()->get_debug_navigation_enable_edge_connections();
+ if (!enable_edge_connections) {
+ RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false);
+ }
}
+#endif // DEBUG_ENABLED
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-27 09:06:21 +0000