diff options
Diffstat (limited to 'modules/navigation/godot_navigation_server.cpp')
| -rw-r--r-- | modules/navigation/godot_navigation_server.cpp | 300 |
1 files changed, 280 insertions, 20 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp index f4e719b0c1..0e40e5a4af 100644 --- a/modules/navigation/godot_navigation_server.cpp +++ b/modules/navigation/godot_navigation_server.cpp @@ -123,6 +123,18 @@ void GodotNavigationServer::add_command(SetCommand *command) const { } } +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()) { + for (const RID &E : maps_owned) { + all_map_rids.push_back(E); + } + } + return all_map_rids; +} + RID GodotNavigationServer::map_create() const { GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); MutexLock lock(mut_this->operations_mutex); @@ -198,11 +210,25 @@ real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const { return map->get_edge_connection_margin(); } -Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers) const { +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_layers); + return map->get_path(p_origin, p_destination, p_optimize, p_navigation_layers); } 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 { @@ -233,22 +259,40 @@ 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); - for (NavRegion *region : map->get_regions()) { - regions_rids.push_back(region->get_self()); + const LocalVector<NavRegion *> regions = map->get_regions(); + regions_rids.resize(regions.size()); + for (uint32_t i = 0; i < regions.size(); i++) { + regions_rids[i] = regions[i]->get_self(); } 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); - for (RvoAgent *agent : map->get_agents()) { - agents_rids.push_back(agent->get_self()); + const LocalVector<RvoAgent *> agents = map->get_agents(); + agents_rids.resize(agents.size()); + for (uint32_t i = 0; i < agents.size(); i++) { + agents_rids[i] = agents[i]->get_self(); } return agents_rids; } @@ -339,18 +383,42 @@ real_t GodotNavigationServer::region_get_travel_cost(RID p_region) const { return region->get_travel_cost(); } -COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers) { +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_layers(p_layers); + region->set_owner_id(p_owner_id); } -uint32_t GodotNavigationServer::region_get_layers(RID p_region) const { +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); + if (region->get_map()) { + RID closest_point_owner = map_get_closest_point_owner(region->get_map()->get_self(), p_point); + return closest_point_owner == region->get_self(); + } + return false; +} + +COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers) { + NavRegion *region = region_owner.get_or_null(p_region); + ERR_FAIL_COND(region == nullptr); + + region->set_navigation_layers(p_navigation_layers); +} + +uint32_t GodotNavigationServer::region_get_navigation_layers(RID p_region) const { NavRegion *region = region_owner.get_or_null(p_region); ERR_FAIL_COND_V(region == nullptr, 0); - return region->get_layers(); + return region->get_navigation_layers(); } COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) { @@ -391,6 +459,145 @@ 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); @@ -427,11 +634,11 @@ 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) { @@ -517,15 +724,22 @@ COMMAND_1(free, RID, p_object) { NavMap *map = map_owner.get_or_null(p_object); // Removes any assigned region - std::vector<NavRegion *> regions = map->get_regions(); - for (size_t i(0); i < regions.size(); i++) { + LocalVector<NavRegion *> regions = map->get_regions(); + for (uint32_t i = 0; i < regions.size(); i++) { map->remove_region(regions[i]); 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 - std::vector<RvoAgent *> agents = map->get_agents(); - for (size_t i(0); i < agents.size(); i++) { + LocalVector<RvoAgent *> agents = map->get_agents(); + for (uint32_t i = 0; i < agents.size(); i++) { map->remove_agent(agents[i]); agents[i]->set_map(nullptr); } @@ -546,6 +760,17 @@ 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); @@ -580,6 +805,15 @@ void GodotNavigationServer::flush_queries() { commands.clear(); } +void GodotNavigationServer::map_force_update(RID p_map) { + NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND(map == nullptr); + + flush_queries(); + + map->sync(); +} + void GodotNavigationServer::process(real_t p_delta_time) { flush_queries(); @@ -604,6 +838,32 @@ void GodotNavigationServer::process(real_t p_delta_time) { } } +NavigationUtilities::PathQueryResult GodotNavigationServer::_query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const { + NavigationUtilities::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 == NavigationUtilities::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 == NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) { + r_query_result.path = map->get_path(p_parameters.start_position, p_parameters.target_position, true, p_parameters.navigation_layers); + } else if (p_parameters.path_postprocessing == NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) { + r_query_result.path = map->get_path(p_parameters.start_position, p_parameters.target_position, false, p_parameters.navigation_layers); + } + } else { + return r_query_result; + } + + // add path postprocessing + + // add path stats + + return r_query_result; +} + #undef COMMAND_1 #undef COMMAND_2 #undef COMMAND_4 |