diff options
Diffstat (limited to 'modules/gridmap/grid_map.cpp')
| -rw-r--r-- | modules/gridmap/grid_map.cpp | 742 |
1 files changed, 558 insertions, 184 deletions
diff --git a/modules/gridmap/grid_map.cpp b/modules/gridmap/grid_map.cpp index ccf1e49693..de50e9ea1e 100644 --- a/modules/gridmap/grid_map.cpp +++ b/modules/gridmap/grid_map.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* 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 */ @@ -31,9 +31,11 @@ #include "grid_map.h" #include "core/io/marshalls.h" -#include "core/message_queue.h" +#include "core/object/message_queue.h" #include "scene/3d/light_3d.h" #include "scene/resources/mesh_library.h" +#include "scene/resources/physics_material.h" +#include "scene/resources/primitive_meshes.h" #include "scene/resources/surface_tool.h" #include "scene/scene_string_names.h" #include "servers/navigation_server_3d.h" @@ -101,9 +103,10 @@ bool GridMap::_get(const StringName &p_name, Variant &r_ret) const { { int *w = cells.ptrw(); int i = 0; - for (Map<IndexKey, Cell>::Element *E = cell_map.front(); E; E = E->next(), i++) { - encode_uint64(E->key().key, (uint8_t *)&w[i * 3]); - encode_uint32(E->get().cell, (uint8_t *)&w[i * 3 + 2]); + for (const KeyValue<IndexKey, Cell> &E : cell_map) { + encode_uint64(E.key.key, (uint8_t *)&w[i * 3]); + encode_uint32(E.value.cell, (uint8_t *)&w[i * 3 + 2]); + i++; } } @@ -151,32 +154,124 @@ uint32_t GridMap::get_collision_mask() const { return collision_mask; } -void GridMap::set_collision_mask_bit(int p_bit, bool p_value) { +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_new = get_collision_layer(); + if (p_value) { + collision_layer_new |= 1 << (p_layer_number - 1); + } else { + collision_layer_new &= ~(1 << (p_layer_number - 1)); + } + set_collision_layer(collision_layer_new); +} + +bool GridMap::get_collision_layer_value(int p_layer_number) const { + ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Collision layer number must be between 1 and 32 inclusive."); + ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Collision layer number must be between 1 and 32 inclusive."); + return get_collision_layer() & (1 << (p_layer_number - 1)); +} + +void GridMap::set_collision_mask_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 mask = get_collision_mask(); if (p_value) { - mask |= 1 << p_bit; + mask |= 1 << (p_layer_number - 1); } else { - mask &= ~(1 << p_bit); + mask &= ~(1 << (p_layer_number - 1)); } set_collision_mask(mask); } -bool GridMap::get_collision_mask_bit(int p_bit) const { - return get_collision_mask() & (1 << p_bit); +void GridMap::set_physics_material(Ref<PhysicsMaterial> p_material) { + physics_material = p_material; + _recreate_octant_data(); +} + +Ref<PhysicsMaterial> GridMap::get_physics_material() const { + return physics_material; +} + +bool GridMap::get_collision_mask_value(int p_layer_number) const { + ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Collision layer number must be between 1 and 32 inclusive."); + ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Collision layer number must be between 1 and 32 inclusive."); + return get_collision_mask() & (1 << (p_layer_number - 1)); +} + +Array GridMap::get_collision_shapes() const { + Array shapes; + for (const KeyValue<OctantKey, Octant *> &E : octant_map) { + Octant *g = E.value; + RID body = g->static_body; + Transform3D body_xform = PhysicsServer3D::get_singleton()->body_get_state(body, PhysicsServer3D::BODY_STATE_TRANSFORM); + int nshapes = PhysicsServer3D::get_singleton()->body_get_shape_count(body); + for (int i = 0; i < nshapes; i++) { + RID shape = PhysicsServer3D::get_singleton()->body_get_shape(body, i); + Transform3D xform = PhysicsServer3D::get_singleton()->body_get_shape_transform(body, i); + shapes.push_back(body_xform * xform); + shapes.push_back(shape); + } + } + + return shapes; +} + +void GridMap::set_bake_navigation(bool p_bake_navigation) { + bake_navigation = p_bake_navigation; + _recreate_octant_data(); +} + +bool GridMap::is_baking_navigation() { + return bake_navigation; } -void GridMap::set_collision_layer_bit(int p_bit, bool p_value) { - uint32_t mask = get_collision_layer(); +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::NavMesh> &F : g.navmesh_ids) { + if (F.value.region.is_valid()) { + NavigationServer3D::get_singleton()->region_set_map(F.value.region, map_override); + } + } + } +} + +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_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) { - mask |= 1 << p_bit; + _navigation_layers |= 1 << (p_layer_number - 1); } else { - mask &= ~(1 << p_bit); + _navigation_layers &= ~(1 << (p_layer_number - 1)); } - set_collision_layer(mask); + set_navigation_layers(_navigation_layers); } -bool GridMap::get_collision_layer_bit(int p_bit) const { - return get_collision_layer() & (1 << p_bit); +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)); } void GridMap::set_mesh_library(const Ref<MeshLibrary> &p_mesh_library) { @@ -189,7 +284,6 @@ void GridMap::set_mesh_library(const Ref<MeshLibrary> &p_mesh_library) { } _recreate_octant_data(); - _change_notify("mesh_library"); } Ref<MeshLibrary> GridMap::get_mesh_library() const { @@ -200,7 +294,7 @@ void GridMap::set_cell_size(const Vector3 &p_size) { ERR_FAIL_COND(p_size.x < 0.001 || p_size.y < 0.001 || p_size.z < 0.001); cell_size = p_size; _recreate_octant_data(); - emit_signal("cell_size_changed", cell_size); + emit_signal(SNAME("cell_size_changed"), cell_size); } Vector3 GridMap::get_cell_size() const { @@ -286,10 +380,15 @@ void GridMap::set_cell_item(const Vector3i &p_position, int p_item, int p_rot) { //create octant because it does not exist Octant *g = memnew(Octant); g->dirty = true; - g->static_body = PhysicsServer3D::get_singleton()->body_create(PhysicsServer3D::BODY_MODE_STATIC); + g->static_body = PhysicsServer3D::get_singleton()->body_create(); + PhysicsServer3D::get_singleton()->body_set_mode(g->static_body, PhysicsServer3D::BODY_MODE_STATIC); 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); + 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()); + } SceneTree *st = SceneTree::get_singleton(); if (st && st->is_debugging_collisions_hint()) { @@ -350,21 +449,87 @@ 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 { - Vector3 map_position = p_world_position / cell_size; - map_position.x = floor(map_position.x); - map_position.y = floor(map_position.y); - map_position.z = floor(map_position.z); +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) { @@ -376,6 +541,18 @@ void GridMap::_octant_transform(const OctantKey &p_key) { RS::get_singleton()->instance_set_transform(g.collision_debug_instance, get_global_transform()); } + // update transform for NavigationServer regions and navigation debugmesh instances + for (const KeyValue<IndexKey, Octant::NavMesh> &E : g.navmesh_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); + } + } + } + for (int i = 0; i < g.multimesh_instances.size(); i++) { RS::get_singleton()->instance_set_transform(g.multimesh_instances[i].instance, get_global_transform()); } @@ -397,8 +574,11 @@ bool GridMap::_octant_update(const OctantKey &p_key) { } //erase navigation - for (Map<IndexKey, Octant::NavMesh>::Element *E = g.navmesh_ids.front(); E; E = E->next()) { - NavigationServer3D::get_singleton()->free(E->get().region); + for (const KeyValue<IndexKey, Octant::NavMesh> &E : g.navmesh_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); + } } g.navmesh_ids.clear(); @@ -424,33 +604,33 @@ bool GridMap::_octant_update(const OctantKey &p_key) { * and set said multimesh bounding box to one containing all cells which have this item */ - Map<int, List<Pair<Transform, IndexKey>>> multimesh_items; + HashMap<int, List<Pair<Transform3D, IndexKey>>> multimesh_items; - for (Set<IndexKey>::Element *E = g.cells.front(); E; E = E->next()) { - ERR_CONTINUE(!cell_map.has(E->get())); - const Cell &c = cell_map[E->get()]; + for (const IndexKey &E : g.cells) { + ERR_CONTINUE(!cell_map.has(E)); + const Cell &c = cell_map[E]; if (!mesh_library.is_valid() || !mesh_library->has_item(c.item)) { continue; } - Vector3 cellpos = Vector3(E->get().x, E->get().y, E->get().z); + Vector3 cellpos = Vector3(E.x, E.y, E.z); Vector3 ofs = _get_offset(); - Transform xform; + 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) { if (mesh_library->get_item_mesh(c.item).is_valid()) { if (!multimesh_items.has(c.item)) { - multimesh_items[c.item] = List<Pair<Transform, IndexKey>>(); + multimesh_items[c.item] = List<Pair<Transform3D, IndexKey>>(); } - Pair<Transform, IndexKey> p; - p.first = xform; - p.second = E->get(); + Pair<Transform3D, IndexKey> p; + p.first = xform * mesh_library->get_item_mesh_transform(c.item); + p.second = E; multimesh_items[c.item].push_back(p); } } @@ -474,35 +654,64 @@ bool GridMap::_octant_update(const OctantKey &p_key) { Octant::NavMesh nm; nm.xform = xform * mesh_library->get_item_navmesh_transform(c.item); - if (navigation) { + 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_transform(region, navigation->get_global_transform() * nm.xform); - NavigationServer3D::get_singleton()->region_set_map(region, navigation->get_rid()); + NavigationServer3D::get_singleton()->region_set_transform(region, get_global_transform() * nm.xform); + 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); + } + 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); + } + } +#endif // DEBUG_ENABLED } - g.navmesh_ids[E->get()] = nm; + g.navmesh_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 (Map<int, List<Pair<Transform, IndexKey>>>::Element *E = multimesh_items.front(); E; E = E->next()) { + for (const KeyValue<int, List<Pair<Transform3D, IndexKey>>> &E : multimesh_items) { Octant::MultimeshInstance mmi; RID mm = RS::get_singleton()->multimesh_create(); - RS::get_singleton()->multimesh_allocate(mm, E->get().size(), RS::MULTIMESH_TRANSFORM_3D); - RS::get_singleton()->multimesh_set_mesh(mm, mesh_library->get_item_mesh(E->key())->get_rid()); + RS::get_singleton()->multimesh_allocate_data(mm, E.value.size(), RS::MULTIMESH_TRANSFORM_3D); + RS::get_singleton()->multimesh_set_mesh(mm, mesh_library->get_item_mesh(E.key)->get_rid()); int idx = 0; - for (List<Pair<Transform, IndexKey>>::Element *F = E->get().front(); F; F = F->next()) { - RS::get_singleton()->multimesh_instance_set_transform(mm, idx, F->get().first); + for (const Pair<Transform3D, IndexKey> &F : E.value) { + RS::get_singleton()->multimesh_instance_set_transform(mm, idx, F.first); #ifdef TOOLS_ENABLED Octant::MultimeshInstance::Item it; it.index = idx; - it.transform = F->get().first; - it.key = F->get().second; + it.transform = F.first; + it.key = F.second; mmi.items.push_back(it); #endif @@ -542,9 +751,9 @@ bool GridMap::_octant_update(const OctantKey &p_key) { } void GridMap::_reset_physic_bodies_collision_filters() { - for (Map<OctantKey, Octant *>::Element *E = octant_map.front(); E; E = E->next()) { - PhysicsServer3D::get_singleton()->body_set_collision_layer(E->get()->static_body, collision_layer); - PhysicsServer3D::get_singleton()->body_set_collision_mask(E->get()->static_body, collision_mask); + 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); } } @@ -564,19 +773,38 @@ void GridMap::_octant_enter_world(const OctantKey &p_key) { RS::get_singleton()->instance_set_transform(g.multimesh_instances[i].instance, get_global_transform()); } - if (navigation && mesh_library.is_valid()) { - for (Map<IndexKey, Octant::NavMesh>::Element *F = g.navmesh_ids.front(); F; F = F->next()) { - if (cell_map.has(F->key()) && F->get().region.is_valid() == false) { - Ref<NavigationMesh> nm = mesh_library->get_item_navmesh(cell_map[F->key()].item); + if (bake_navigation && mesh_library.is_valid()) { + for (KeyValue<IndexKey, Octant::NavMesh> &F : g.navmesh_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()) { 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_transform(region, navigation->get_global_transform() * F->get().xform); - NavigationServer3D::get_singleton()->region_set_map(region, navigation->get_rid()); - F->get().region = region; + NavigationServer3D::get_singleton()->region_set_transform(region, get_global_transform() * F.value.xform); + 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 } } @@ -594,14 +822,28 @@ void GridMap::_octant_exit_world(const OctantKey &p_key) { RS::get_singleton()->instance_set_scenario(g.multimesh_instances[i].instance, RID()); } - if (navigation) { - for (Map<IndexKey, Octant::NavMesh>::Element *F = g.navmesh_ids.front(); F; F = F->next()) { - if (F->get().region.is_valid()) { - NavigationServer3D::get_singleton()->free(F->get().region); - F->get().region = RID(); - } + for (KeyValue<IndexKey, Octant::NavMesh> &F : g.navmesh_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(); } } + +#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) { @@ -618,11 +860,28 @@ void GridMap::_octant_clean_up(const OctantKey &p_key) { PhysicsServer3D::get_singleton()->free(g.static_body); // Erase navigation - for (Map<IndexKey, Octant::NavMesh>::Element *E = g.navmesh_ids.front(); E; E = E->next()) { - NavigationServer3D::get_singleton()->free(E->get().region); + for (const KeyValue<IndexKey, Octant::NavMesh> &E : g.navmesh_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); + } } g.navmesh_ids.clear(); +#ifdef DEBUG_ENABLED + if (bake_navigation) { + if (g.navigation_debug_edge_connections_instance.is_valid()) { + RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_instance); + g.navigation_debug_edge_connections_instance = RID(); + } + if (g.navigation_debug_edge_connections_mesh.is_valid()) { + RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_mesh->get_rid()); + } + } +#endif // DEBUG_ENABLED + //erase multimeshes for (int i = 0; i < g.multimesh_instances.size(); i++) { @@ -635,36 +894,34 @@ void GridMap::_octant_clean_up(const OctantKey &p_key) { void GridMap::_notification(int p_what) { switch (p_what) { case NOTIFICATION_ENTER_WORLD: { - Node3D *c = this; - while (c) { - navigation = Object::cast_to<Navigation3D>(c); - if (navigation) { - break; - } - - c = Object::cast_to<Node3D>(c->get_parent()); - } - last_transform = get_global_transform(); - for (Map<OctantKey, Octant *>::Element *E = octant_map.front(); E; E = E->next()) { - _octant_enter_world(E->key()); + for (const KeyValue<OctantKey, Octant *> &E : octant_map) { + _octant_enter_world(E.key); } for (int i = 0; i < baked_meshes.size(); i++) { RS::get_singleton()->instance_set_scenario(baked_meshes[i].instance, get_world_3d()->get_scenario()); RS::get_singleton()->instance_set_transform(baked_meshes[i].instance, get_global_transform()); } + } 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: { - Transform new_xform = get_global_transform(); + Transform3D new_xform = get_global_transform(); if (new_xform == last_transform) { break; } //update run - for (Map<OctantKey, Octant *>::Element *E = octant_map.front(); E; E = E->next()) { - _octant_transform(E->key()); + for (const KeyValue<OctantKey, Octant *> &E : octant_map) { + _octant_transform(E.key); } last_transform = new_xform; @@ -672,23 +929,21 @@ void GridMap::_notification(int p_what) { for (int i = 0; i < baked_meshes.size(); i++) { RS::get_singleton()->instance_set_transform(baked_meshes[i].instance, get_global_transform()); } - } break; + case NOTIFICATION_EXIT_WORLD: { - for (Map<OctantKey, Octant *>::Element *E = octant_map.front(); E; E = E->next()) { - _octant_exit_world(E->key()); + for (const KeyValue<OctantKey, Octant *> &E : octant_map) { + _octant_exit_world(E.key); } - navigation = nullptr; - //_queue_octants_dirty(MAP_DIRTY_INSTANCES|MAP_DIRTY_TRANSFORMS); //_update_octants_callback(); //_update_area_instances(); for (int i = 0; i < baked_meshes.size(); i++) { RS::get_singleton()->instance_set_scenario(baked_meshes[i].instance, RID()); } - } break; + case NOTIFICATION_VISIBILITY_CHANGED: { _update_visibility(); } break; @@ -700,15 +955,17 @@ void GridMap::_update_visibility() { return; } - _change_notify("visible"); - - for (Map<OctantKey, Octant *>::Element *e = octant_map.front(); e; e = e->next()) { - Octant *octant = e->value(); + for (KeyValue<OctantKey, Octant *> &e : octant_map) { + Octant *octant = e.value; for (int i = 0; i < octant->multimesh_instances.size(); i++) { const Octant::MultimeshInstance &mi = octant->multimesh_instances[i]; - RS::get_singleton()->instance_set_visible(mi.instance, is_visible()); + RS::get_singleton()->instance_set_visible(mi.instance, is_visible_in_tree()); } } + + for (int i = 0; i < baked_meshes.size(); i++) { + RS::get_singleton()->instance_set_visible(baked_meshes[i].instance, is_visible_in_tree()); + } } void GridMap::_queue_octants_dirty() { @@ -722,22 +979,22 @@ void GridMap::_queue_octants_dirty() { void GridMap::_recreate_octant_data() { recreating_octants = true; - Map<IndexKey, Cell> cell_copy = cell_map; + HashMap<IndexKey, Cell, IndexKey> cell_copy = cell_map; _clear_internal(); - for (Map<IndexKey, Cell>::Element *E = cell_copy.front(); E; E = E->next()) { - set_cell_item(Vector3i(E->key()), E->get().item, E->get().rot); + for (const KeyValue<IndexKey, Cell> &E : cell_copy) { + set_cell_item(Vector3i(E.key), E.value.item, E.value.rot); } recreating_octants = false; } void GridMap::_clear_internal() { - for (Map<OctantKey, Octant *>::Element *E = octant_map.front(); E; E = E->next()) { + for (const KeyValue<OctantKey, Octant *> &E : octant_map) { if (is_inside_world()) { - _octant_exit_world(E->key()); + _octant_exit_world(E.key); } - _octant_clean_up(E->key()); - memdelete(E->get()); + _octant_clean_up(E.key); + memdelete(E.value); } octant_map.clear(); @@ -749,7 +1006,7 @@ void GridMap::clear() { clear_baked_meshes(); } -void GridMap::resource_changed(const RES &p_res) { +void GridMap::resource_changed(const Ref<Resource> &p_res) { _recreate_octant_data(); } @@ -759,15 +1016,16 @@ void GridMap::_update_octants_callback() { } List<OctantKey> to_delete; - for (Map<OctantKey, Octant *>::Element *E = octant_map.front(); E; E = E->next()) { - if (_octant_update(E->key())) { - to_delete.push_back(E->key()); + for (const KeyValue<OctantKey, Octant *> &E : octant_map) { + if (_octant_update(E.key)) { + to_delete.push_back(E.key); } } while (to_delete.front()) { + memdelete(octant_map[to_delete.front()->get()]); octant_map.erase(to_delete.front()->get()); - to_delete.pop_back(); + to_delete.pop_front(); } _update_visibility(); @@ -781,11 +1039,26 @@ void GridMap::_bind_methods() { ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &GridMap::set_collision_mask); ClassDB::bind_method(D_METHOD("get_collision_mask"), &GridMap::get_collision_mask); - ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &GridMap::set_collision_mask_bit); - ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &GridMap::get_collision_mask_bit); + ClassDB::bind_method(D_METHOD("set_collision_mask_value", "layer_number", "value"), &GridMap::set_collision_mask_value); + ClassDB::bind_method(D_METHOD("get_collision_mask_value", "layer_number"), &GridMap::get_collision_mask_value); + + 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_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_collision_layer_bit", "bit", "value"), &GridMap::set_collision_layer_bit); - ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &GridMap::get_collision_layer_bit); + 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_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_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_mesh_library", "mesh_library"), &GridMap::set_mesh_library); ClassDB::bind_method(D_METHOD("get_mesh_library"), &GridMap::get_mesh_library); @@ -802,9 +1075,12 @@ 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); @@ -816,11 +1092,10 @@ void GridMap::_bind_methods() { ClassDB::bind_method(D_METHOD("set_center_z", "enable"), &GridMap::set_center_z); ClassDB::bind_method(D_METHOD("get_center_z"), &GridMap::get_center_z); - ClassDB::bind_method(D_METHOD("set_clip", "enabled", "clipabove", "floor", "axis"), &GridMap::set_clip, DEFVAL(true), DEFVAL(0), DEFVAL(Vector3::AXIS_X)); - ClassDB::bind_method(D_METHOD("clear"), &GridMap::clear); ClassDB::bind_method(D_METHOD("get_used_cells"), &GridMap::get_used_cells); + ClassDB::bind_method(D_METHOD("get_used_cells_by_item", "item"), &GridMap::get_used_cells_by_item); ClassDB::bind_method(D_METHOD("get_meshes"), &GridMap::get_meshes); ClassDB::bind_method(D_METHOD("get_bake_meshes"), &GridMap::get_bake_meshes); @@ -830,8 +1105,9 @@ void GridMap::_bind_methods() { ClassDB::bind_method(D_METHOD("make_baked_meshes", "gen_lightmap_uv", "lightmap_uv_texel_size"), &GridMap::make_baked_meshes, DEFVAL(false), DEFVAL(0.1)); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "mesh_library", PROPERTY_HINT_RESOURCE_TYPE, "MeshLibrary"), "set_mesh_library", "get_mesh_library"); + ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material", "get_physics_material"); ADD_GROUP("Cell", "cell_"); - ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "cell_size"), "set_cell_size", "get_cell_size"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "cell_size", PROPERTY_HINT_NONE, "suffix:m"), "set_cell_size", "get_cell_size"); ADD_PROPERTY(PropertyInfo(Variant::INT, "cell_octant_size", PROPERTY_HINT_RANGE, "1,1024,1"), "set_octant_size", "get_octant_size"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "cell_center_x"), "set_center_x", "get_center_x"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "cell_center_y"), "set_center_y", "get_center_y"); @@ -840,34 +1116,15 @@ 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_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); ADD_SIGNAL(MethodInfo("cell_size_changed", PropertyInfo(Variant::VECTOR3, "cell_size"))); } -void GridMap::set_clip(bool p_enabled, bool p_clip_above, int p_floor, Vector3::Axis p_axis) { - if (!p_enabled && !clip) { - return; - } - if (clip && p_enabled && clip_floor == p_floor && p_clip_above == clip_above && p_axis == clip_axis) { - return; - } - - clip = p_enabled; - clip_floor = p_floor; - clip_axis = p_axis; - clip_above = p_clip_above; - - //make it all update - for (Map<OctantKey, Octant *>::Element *E = octant_map.front(); E; E = E->next()) { - Octant *g = E->get(); - g->dirty = true; - } - awaiting_update = true; - _update_octants_callback(); -} - void GridMap::set_cell_scale(float p_scale) { cell_scale = p_scale; _recreate_octant_data(); @@ -877,19 +1134,31 @@ 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 (Map<IndexKey, Cell>::Element *E = cell_map.front(); E; E = E->next()) { - Vector3 p(E->key().x, E->key().y, E->key().z); + for (const KeyValue<IndexKey, Cell> &E : cell_map) { + Vector3i p(E.key.x, E.key.y, E.key.z); a[i++] = p; } return a; } -Array GridMap::get_meshes() { +TypedArray<Vector3i> GridMap::get_used_cells_by_item(int p_item) const { + TypedArray<Vector3i> a; + for (const KeyValue<IndexKey, Cell> &E : cell_map) { + if ((int)E.value.item == p_item) { + Vector3i p(E.key.x, E.key.y, E.key.z); + a.push_back(p); + } + } + + return a; +} + +Array GridMap::get_meshes() const { if (mesh_library.is_null()) { return Array(); } @@ -897,8 +1166,8 @@ Array GridMap::get_meshes() { Vector3 ofs = _get_offset(); Array meshes; - for (Map<IndexKey, Cell>::Element *E = cell_map.front(); E; E = E->next()) { - int id = E->get().item; + for (const KeyValue<IndexKey, Cell> &E : cell_map) { + int id = E.value.item; if (!mesh_library->has_item(id)) { continue; } @@ -907,18 +1176,18 @@ Array GridMap::get_meshes() { continue; } - IndexKey ik = E->key(); + IndexKey ik = E.key; Vector3 cellpos = Vector3(ik.x, ik.y, ik.z); - Transform xform; + Transform3D xform; - xform.basis.set_orthogonal_index(E->get().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)); - meshes.push_back(xform); + meshes.push_back(xform * mesh_library->get_item_mesh_transform(id)); meshes.push_back(mesh); } @@ -947,12 +1216,12 @@ void GridMap::make_baked_meshes(bool p_gen_lightmap_uv, float p_lightmap_uv_texe } //generate - Map<OctantKey, Map<Ref<Material>, Ref<SurfaceTool>>> surface_map; + HashMap<OctantKey, HashMap<Ref<Material>, Ref<SurfaceTool>>, OctantKey> surface_map; - for (Map<IndexKey, Cell>::Element *E = cell_map.front(); E; E = E->next()) { - IndexKey key = E->key(); + for (KeyValue<IndexKey, Cell> &E : cell_map) { + IndexKey key = E.key; - int item = E->get().item; + int item = E.value.item; if (!mesh_library->has_item(item)) { continue; } @@ -965,9 +1234,9 @@ void GridMap::make_baked_meshes(bool p_gen_lightmap_uv, float p_lightmap_uv_texe Vector3 cellpos = Vector3(key.x, key.y, key.z); Vector3 ofs = _get_offset(); - Transform xform; + Transform3D xform; - xform.basis.set_orthogonal_index(E->get().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)); @@ -977,10 +1246,10 @@ void GridMap::make_baked_meshes(bool p_gen_lightmap_uv, float p_lightmap_uv_texe ok.z = key.z / octant_size; if (!surface_map.has(ok)) { - surface_map[ok] = Map<Ref<Material>, Ref<SurfaceTool>>(); + surface_map[ok] = HashMap<Ref<Material>, Ref<SurfaceTool>>(); } - Map<Ref<Material>, Ref<SurfaceTool>> &mat_map = surface_map[ok]; + HashMap<Ref<Material>, Ref<SurfaceTool>> &mat_map = surface_map[ok]; for (int i = 0; i < mesh->get_surface_count(); i++) { if (mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) { @@ -990,7 +1259,7 @@ void GridMap::make_baked_meshes(bool p_gen_lightmap_uv, float p_lightmap_uv_texe Ref<Material> surf_mat = mesh->surface_get_material(i); if (!mat_map.has(surf_mat)) { Ref<SurfaceTool> st; - st.instance(); + st.instantiate(); st->begin(Mesh::PRIMITIVE_TRIANGLES); st->set_material(surf_mat); mat_map[surf_mat] = st; @@ -1000,11 +1269,11 @@ void GridMap::make_baked_meshes(bool p_gen_lightmap_uv, float p_lightmap_uv_texe } } - for (Map<OctantKey, Map<Ref<Material>, Ref<SurfaceTool>>>::Element *E = surface_map.front(); E; E = E->next()) { + for (KeyValue<OctantKey, HashMap<Ref<Material>, Ref<SurfaceTool>>> &E : surface_map) { Ref<ArrayMesh> mesh; - mesh.instance(); - for (Map<Ref<Material>, Ref<SurfaceTool>>::Element *F = E->get().front(); F; F = F->next()) { - F->get()->commit(mesh); + mesh.instantiate(); + for (KeyValue<Ref<Material>, Ref<SurfaceTool>> &F : E.value) { + F.value->commit(mesh); } BakedMesh bm; @@ -1034,7 +1303,7 @@ Array GridMap::get_bake_meshes() { Array arr; for (int i = 0; i < baked_meshes.size(); i++) { arr.push_back(baked_meshes[i].mesh); - arr.push_back(Transform()); + arr.push_back(Transform3D()); } return arr; @@ -1046,32 +1315,137 @@ RID GridMap::get_bake_mesh_instance(int p_idx) { } GridMap::GridMap() { - collision_layer = 1; - collision_mask = 1; - - cell_size = Vector3(2, 2, 2); - octant_size = 8; - awaiting_update = false; - _in_tree = false; - center_x = true; - center_y = true; - center_z = true; - - clip = false; - clip_floor = 0; - clip_axis = Vector3::AXIS_Z; - clip_above = true; - cell_scale = 1.0; - - navigation = nullptr; set_notify_transform(true); - recreating_octants = false; +#ifdef DEBUG_ENABLED + NavigationServer3D::get_singleton_mut()->connect("map_changed", callable_mp(this, &GridMap::_navigation_map_changed)); + NavigationServer3D::get_singleton_mut()->connect("navigation_debug_changed", callable_mp(this, &GridMap::_update_navigation_debug_edge_connections)); +#endif // DEBUG_ENABLED +} + +#ifdef DEBUG_ENABLED +void GridMap::_update_navigation_debug_edge_connections() { + if (bake_navigation) { + for (const KeyValue<OctantKey, Octant *> &E : octant_map) { + _update_octant_navigation_debug_edge_connections_mesh(E.key); + } + } } +void GridMap::_navigation_map_changed(RID p_map) { + if (bake_navigation && is_inside_tree() && p_map == get_world_3d()->get_navigation_map()) { + _update_navigation_debug_edge_connections(); + } +} +#endif // DEBUG_ENABLED + GridMap::~GridMap() { if (!mesh_library.is_null()) { mesh_library->unregister_owner(this); } clear(); +#ifdef DEBUG_ENABLED + NavigationServer3D::get_singleton_mut()->disconnect("map_changed", callable_mp(this, &GridMap::_navigation_map_changed)); + NavigationServer3D::get_singleton_mut()->disconnect("navigation_debug_changed", callable_mp(this, &GridMap::_update_navigation_debug_edge_connections)); +#endif // DEBUG_ENABLED +} + +#ifdef DEBUG_ENABLED +void GridMap::_update_octant_navigation_debug_edge_connections_mesh(const OctantKey &p_key) { + ERR_FAIL_COND(!octant_map.has(p_key)); + Octant &g = *octant_map[p_key]; + + if (!NavigationServer3D::get_singleton()->get_debug_enabled()) { + if (g.navigation_debug_edge_connections_instance.is_valid()) { + RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false); + } + return; + } + + if (!is_inside_tree()) { + return; + } + + if (!bake_navigation) { + if (g.navigation_debug_edge_connections_instance.is_valid()) { + RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false); + } + return; + } + + if (!g.navigation_debug_edge_connections_instance.is_valid()) { + g.navigation_debug_edge_connections_instance = RenderingServer::get_singleton()->instance_create(); + } + + if (!g.navigation_debug_edge_connections_mesh.is_valid()) { + g.navigation_debug_edge_connections_mesh = Ref<ArrayMesh>(memnew(ArrayMesh)); + } + + g.navigation_debug_edge_connections_mesh->clear_surfaces(); + + float edge_connection_margin = NavigationServer3D::get_singleton()->map_get_edge_connection_margin(get_world_3d()->get_navigation_map()); + float half_edge_connection_margin = edge_connection_margin * 0.5; + + Vector<Vector3> vertex_array; + + for (KeyValue<IndexKey, Octant::NavMesh> &F : g.navmesh_ids) { + if (cell_map.has(F.key) && F.value.region.is_valid()) { + int connections_count = NavigationServer3D::get_singleton()->region_get_connections_count(F.value.region); + if (connections_count == 0) { + continue; + } + + for (int i = 0; i < connections_count; i++) { + Vector3 connection_pathway_start = NavigationServer3D::get_singleton()->region_get_connection_pathway_start(F.value.region, i); + Vector3 connection_pathway_end = NavigationServer3D::get_singleton()->region_get_connection_pathway_end(F.value.region, i); + + Vector3 direction_start_end = connection_pathway_start.direction_to(connection_pathway_end); + Vector3 direction_end_start = connection_pathway_end.direction_to(connection_pathway_start); + + Vector3 start_right_dir = direction_start_end.cross(Vector3(0, 1, 0)); + Vector3 start_left_dir = -start_right_dir; + + Vector3 end_right_dir = direction_end_start.cross(Vector3(0, 1, 0)); + Vector3 end_left_dir = -end_right_dir; + + Vector3 left_start_pos = connection_pathway_start + (start_left_dir * half_edge_connection_margin); + Vector3 right_start_pos = connection_pathway_start + (start_right_dir * half_edge_connection_margin); + Vector3 left_end_pos = connection_pathway_end + (end_right_dir * half_edge_connection_margin); + Vector3 right_end_pos = connection_pathway_end + (end_left_dir * half_edge_connection_margin); + + vertex_array.push_back(right_end_pos); + vertex_array.push_back(left_start_pos); + vertex_array.push_back(right_start_pos); + + vertex_array.push_back(left_end_pos); + vertex_array.push_back(right_end_pos); + vertex_array.push_back(right_start_pos); + } + } + } + + if (vertex_array.size() == 0) { + return; + } + + Ref<StandardMaterial3D> edge_connections_material = NavigationServer3D::get_singleton_mut()->get_debug_navigation_edge_connections_material(); + + Array mesh_array; + mesh_array.resize(Mesh::ARRAY_MAX); + mesh_array[Mesh::ARRAY_VERTEX] = vertex_array; + + g.navigation_debug_edge_connections_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, mesh_array); + g.navigation_debug_edge_connections_mesh->surface_set_material(0, edge_connections_material); + + RS::get_singleton()->instance_set_base(g.navigation_debug_edge_connections_instance, g.navigation_debug_edge_connections_mesh->get_rid()); + RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, is_visible_in_tree()); + if (is_inside_tree()) { + RS::get_singleton()->instance_set_scenario(g.navigation_debug_edge_connections_instance, get_world_3d()->get_scenario()); + } + + bool enable_edge_connections = NavigationServer3D::get_singleton()->get_debug_navigation_enable_edge_connections(); + if (!enable_edge_connections) { + RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false); + } } +#endif // DEBUG_ENABLED |