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-rw-r--r--modules/navigation/godot_navigation_server.cpp337
1 files changed, 289 insertions, 48 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
index 2cdb5b7cb4..4532ea9391 100644
--- a/modules/navigation/godot_navigation_server.cpp
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -1,32 +1,32 @@
-/*************************************************************************/
-/* godot_navigation_server.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. */
-/*************************************************************************/
+/**************************************************************************/
+/* godot_navigation_server.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 "godot_navigation_server.h"
@@ -36,6 +36,8 @@
#include "navigation_mesh_generator.h"
#endif
+using namespace NavigationUtilities;
+
/// Creates a struct for each function and a function that once called creates
/// an instance of that struct with the submitted parameters.
/// Then, that struct is stored in an array; the `sync` function consume that array.
@@ -123,8 +125,8 @@ void GodotNavigationServer::add_command(SetCommand *command) const {
}
}
-Array GodotNavigationServer::get_maps() const {
- Array all_map_rids;
+TypedArray<RID> GodotNavigationServer::get_maps() const {
+ TypedArray<RID> all_map_rids;
List<RID> maps_owned;
map_owner.get_owned_list(&maps_owned);
if (maps_owned.size()) {
@@ -210,11 +212,25 @@ real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const {
return map->get_edge_connection_margin();
}
+COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius) {
+ NavMap *map = map_owner.get_or_null(p_map);
+ ERR_FAIL_COND(map == nullptr);
+
+ map->set_link_connection_radius(p_connection_radius);
+}
+
+real_t GodotNavigationServer::map_get_link_connection_radius(RID p_map) const {
+ const NavMap *map = map_owner.get_or_null(p_map);
+ ERR_FAIL_COND_V(map == nullptr, 0);
+
+ return map->get_link_connection_radius();
+}
+
Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());
- return map->get_path(p_origin, p_destination, p_optimize, p_navigation_layers);
+ return map->get_path(p_origin, p_destination, p_optimize, p_navigation_layers, nullptr, nullptr, nullptr);
}
Vector3 GodotNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
@@ -245,8 +261,22 @@ RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3
return map->get_closest_point_owner(p_point);
}
-Array GodotNavigationServer::map_get_regions(RID p_map) const {
- Array regions_rids;
+TypedArray<RID> GodotNavigationServer::map_get_links(RID p_map) const {
+ TypedArray<RID> link_rids;
+ const NavMap *map = map_owner.get_or_null(p_map);
+ ERR_FAIL_COND_V(map == nullptr, link_rids);
+
+ const LocalVector<NavLink *> links = map->get_links();
+ link_rids.resize(links.size());
+
+ for (uint32_t i = 0; i < links.size(); i++) {
+ link_rids[i] = links[i]->get_self();
+ }
+ return link_rids;
+}
+
+TypedArray<RID> GodotNavigationServer::map_get_regions(RID p_map) const {
+ TypedArray<RID> regions_rids;
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, regions_rids);
const LocalVector<NavRegion *> regions = map->get_regions();
@@ -257,8 +287,8 @@ Array GodotNavigationServer::map_get_regions(RID p_map) const {
return regions_rids;
}
-Array GodotNavigationServer::map_get_agents(RID p_map) const {
- Array agents_rids;
+TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const {
+ TypedArray<RID> agents_rids;
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, agents_rids);
const LocalVector<RvoAgent *> agents = map->get_agents();
@@ -355,6 +385,20 @@ real_t GodotNavigationServer::region_get_travel_cost(RID p_region) const {
return region->get_travel_cost();
}
+COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id) {
+ NavRegion *region = region_owner.get_or_null(p_region);
+ ERR_FAIL_COND(region == nullptr);
+
+ region->set_owner_id(p_owner_id);
+}
+
+ObjectID GodotNavigationServer::region_get_owner_id(RID p_region) const {
+ const NavRegion *region = region_owner.get_or_null(p_region);
+ ERR_FAIL_COND_V(region == nullptr, ObjectID());
+
+ return region->get_owner_id();
+}
+
bool GodotNavigationServer::region_owns_point(RID p_region, const Vector3 &p_point) const {
const NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(region == nullptr, false);
@@ -379,20 +423,20 @@ uint32_t GodotNavigationServer::region_get_navigation_layers(RID p_region) const
return region->get_navigation_layers();
}
-COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) {
+COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navigation_mesh) {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND(region == nullptr);
- region->set_mesh(p_nav_mesh);
+ region->set_mesh(p_navigation_mesh);
}
-void GodotNavigationServer::region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const {
- ERR_FAIL_COND(r_mesh.is_null());
- ERR_FAIL_COND(p_node == nullptr);
+void GodotNavigationServer::region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) const {
+ ERR_FAIL_COND(p_navigation_mesh.is_null());
+ ERR_FAIL_COND(p_root_node == nullptr);
#ifndef _3D_DISABLED
- NavigationMeshGenerator::get_singleton()->clear(r_mesh);
- NavigationMeshGenerator::get_singleton()->bake(r_mesh, p_node);
+ NavigationMeshGenerator::get_singleton()->clear(p_navigation_mesh);
+ NavigationMeshGenerator::get_singleton()->bake(p_navigation_mesh, p_root_node);
#endif
}
@@ -417,6 +461,145 @@ Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, i
return region->get_connection_pathway_end(p_connection_id);
}
+RID GodotNavigationServer::link_create() const {
+ GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
+ MutexLock lock(mut_this->operations_mutex);
+ RID rid = link_owner.make_rid();
+ NavLink *link = link_owner.get_or_null(rid);
+ link->set_self(rid);
+ return rid;
+}
+
+COMMAND_2(link_set_map, RID, p_link, RID, p_map) {
+ NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND(link == nullptr);
+
+ if (link->get_map() != nullptr) {
+ if (link->get_map()->get_self() == p_map) {
+ return; // Pointless
+ }
+
+ link->get_map()->remove_link(link);
+ link->set_map(nullptr);
+ }
+
+ if (p_map.is_valid()) {
+ NavMap *map = map_owner.get_or_null(p_map);
+ ERR_FAIL_COND(map == nullptr);
+
+ map->add_link(link);
+ link->set_map(map);
+ }
+}
+
+RID GodotNavigationServer::link_get_map(const RID p_link) const {
+ const NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND_V(link == nullptr, RID());
+
+ if (link->get_map()) {
+ return link->get_map()->get_self();
+ }
+ return RID();
+}
+
+COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional) {
+ NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND(link == nullptr);
+
+ link->set_bidirectional(p_bidirectional);
+}
+
+bool GodotNavigationServer::link_is_bidirectional(RID p_link) const {
+ const NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND_V(link == nullptr, false);
+
+ return link->is_bidirectional();
+}
+
+COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers) {
+ NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND(link == nullptr);
+
+ link->set_navigation_layers(p_navigation_layers);
+}
+
+uint32_t GodotNavigationServer::link_get_navigation_layers(const RID p_link) const {
+ const NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND_V(link == nullptr, 0);
+
+ return link->get_navigation_layers();
+}
+
+COMMAND_2(link_set_start_location, RID, p_link, Vector3, p_location) {
+ NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND(link == nullptr);
+
+ link->set_start_location(p_location);
+}
+
+Vector3 GodotNavigationServer::link_get_start_location(RID p_link) const {
+ const NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND_V(link == nullptr, Vector3());
+
+ return link->get_start_location();
+}
+
+COMMAND_2(link_set_end_location, RID, p_link, Vector3, p_location) {
+ NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND(link == nullptr);
+
+ link->set_end_location(p_location);
+}
+
+Vector3 GodotNavigationServer::link_get_end_location(RID p_link) const {
+ const NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND_V(link == nullptr, Vector3());
+
+ return link->get_end_location();
+}
+
+COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost) {
+ NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND(link == nullptr);
+
+ link->set_enter_cost(p_enter_cost);
+}
+
+real_t GodotNavigationServer::link_get_enter_cost(const RID p_link) const {
+ const NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND_V(link == nullptr, 0);
+
+ return link->get_enter_cost();
+}
+
+COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost) {
+ NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND(link == nullptr);
+
+ link->set_travel_cost(p_travel_cost);
+}
+
+real_t GodotNavigationServer::link_get_travel_cost(const RID p_link) const {
+ const NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND_V(link == nullptr, 0);
+
+ return link->get_travel_cost();
+}
+
+COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id) {
+ NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND(link == nullptr);
+
+ link->set_owner_id(p_owner_id);
+}
+
+ObjectID GodotNavigationServer::link_get_owner_id(RID p_link) const {
+ const NavLink *link = link_owner.get_or_null(p_link);
+ ERR_FAIL_COND_V(link == nullptr, ObjectID());
+
+ return link->get_owner_id();
+}
+
RID GodotNavigationServer::agent_create() const {
GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
@@ -453,11 +636,11 @@ COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
}
}
-COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist) {
+COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
- agent->get_agent()->neighborDist_ = p_dist;
+ agent->get_agent()->neighborDist_ = p_distance;
}
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
@@ -523,14 +706,14 @@ bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const {
return agent->is_map_changed();
}
-COMMAND_4(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata) {
+COMMAND_4(agent_set_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
- agent->set_callback(p_receiver == nullptr ? ObjectID() : p_receiver->get_instance_id(), p_method, p_udata);
+ agent->set_callback(p_object_id, p_method, p_udata);
if (agent->get_map()) {
- if (p_receiver == nullptr) {
+ if (p_object_id == ObjectID()) {
agent->get_map()->remove_agent_as_controlled(agent);
} else {
agent->get_map()->set_agent_as_controlled(agent);
@@ -549,6 +732,13 @@ COMMAND_1(free, RID, p_object) {
regions[i]->set_map(nullptr);
}
+ // Removes any assigned links
+ LocalVector<NavLink *> links = map->get_links();
+ for (uint32_t i = 0; i < links.size(); i++) {
+ map->remove_link(links[i]);
+ links[i]->set_map(nullptr);
+ }
+
// Remove any assigned agent
LocalVector<RvoAgent *> agents = map->get_agents();
for (uint32_t i = 0; i < agents.size(); i++) {
@@ -572,6 +762,17 @@ COMMAND_1(free, RID, p_object) {
region_owner.free(p_object);
+ } else if (link_owner.owns(p_object)) {
+ NavLink *link = link_owner.get_or_null(p_object);
+
+ // Removes this link from the map if assigned
+ if (link->get_map() != nullptr) {
+ link->get_map()->remove_link(link);
+ link->set_map(nullptr);
+ }
+
+ link_owner.free(p_object);
+
} else if (agent_owner.owns(p_object)) {
RvoAgent *agent = agent_owner.get_or_null(p_object);
@@ -639,6 +840,46 @@ void GodotNavigationServer::process(real_t p_delta_time) {
}
}
+PathQueryResult GodotNavigationServer::_query_path(const PathQueryParameters &p_parameters) const {
+ PathQueryResult r_query_result;
+
+ const NavMap *map = map_owner.get_or_null(p_parameters.map);
+ ERR_FAIL_COND_V(map == nullptr, r_query_result);
+
+ // run the pathfinding
+
+ if (p_parameters.pathfinding_algorithm == PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) {
+ // while postprocessing is still part of map.get_path() need to check and route it here for the correct "optimize" post-processing
+ if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) {
+ r_query_result.path = map->get_path(
+ p_parameters.start_position,
+ p_parameters.target_position,
+ true,
+ p_parameters.navigation_layers,
+ p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES) ? &r_query_result.path_types : nullptr,
+ p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS) ? &r_query_result.path_rids : nullptr,
+ p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS) ? &r_query_result.path_owner_ids : nullptr);
+ } else if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) {
+ r_query_result.path = map->get_path(
+ p_parameters.start_position,
+ p_parameters.target_position,
+ false,
+ p_parameters.navigation_layers,
+ p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES) ? &r_query_result.path_types : nullptr,
+ p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS) ? &r_query_result.path_rids : nullptr,
+ p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS) ? &r_query_result.path_owner_ids : nullptr);
+ }
+ } else {
+ return r_query_result;
+ }
+
+ // add path postprocessing
+
+ // add path stats
+
+ return r_query_result;
+}
+
#undef COMMAND_1
#undef COMMAND_2
#undef COMMAND_4
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-24 22:52:29 +0000