diff options
Diffstat (limited to 'modules/navigation/godot_navigation_server.cpp')
| -rw-r--r-- | modules/navigation/godot_navigation_server.cpp | 297 |
1 files changed, 165 insertions, 132 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp index 58a0982425..79e8c3a6d6 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" @@ -52,7 +52,7 @@ using namespace NavigationUtilities; server->MERGE(_cmd_, F_NAME)(d_0); \ } \ }; \ - void GodotNavigationServer::F_NAME(T_0 D_0) const { \ + void GodotNavigationServer::F_NAME(T_0 D_0) { \ auto cmd = memnew(MERGE(F_NAME, _command)( \ D_0)); \ add_command(cmd); \ @@ -73,7 +73,7 @@ using namespace NavigationUtilities; server->MERGE(_cmd_, F_NAME)(d_0, d_1); \ } \ }; \ - void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \ + void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) { \ auto cmd = memnew(MERGE(F_NAME, _command)( \ D_0, \ D_1)); \ @@ -81,48 +81,16 @@ using namespace NavigationUtilities; } \ void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1) -#define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \ - struct MERGE(F_NAME, _command) : public SetCommand { \ - T_0 d_0; \ - T_1 d_1; \ - T_2 d_2; \ - T_3 d_3; \ - MERGE(F_NAME, _command) \ - ( \ - T_0 p_d_0, \ - T_1 p_d_1, \ - T_2 p_d_2, \ - T_3 p_d_3) : \ - d_0(p_d_0), \ - d_1(p_d_1), \ - d_2(p_d_2), \ - d_3(p_d_3) {} \ - virtual void exec(GodotNavigationServer *server) override { \ - server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \ - } \ - }; \ - void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) const { \ - auto cmd = memnew(MERGE(F_NAME, _command)( \ - D_0, \ - D_1, \ - D_2, \ - D_3)); \ - add_command(cmd); \ - } \ - void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) - GodotNavigationServer::GodotNavigationServer() {} GodotNavigationServer::~GodotNavigationServer() { flush_queries(); } -void GodotNavigationServer::add_command(SetCommand *command) const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - { - MutexLock lock(commands_mutex); - mut_this->commands.push_back(command); - } +void GodotNavigationServer::add_command(SetCommand *command) { + MutexLock lock(commands_mutex); + + commands.push_back(command); } TypedArray<RID> GodotNavigationServer::get_maps() const { @@ -137,12 +105,12 @@ TypedArray<RID> GodotNavigationServer::get_maps() const { return all_map_rids; } -RID GodotNavigationServer::map_create() const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - MutexLock lock(mut_this->operations_mutex); +RID GodotNavigationServer::map_create() { + MutexLock lock(operations_mutex); + RID rid = map_owner.make_rid(); - NavMap *space = map_owner.get_or_null(rid); - space->set_self(rid); + NavMap *map = map_owner.get_or_null(rid); + map->set_self(rid); return rid; } @@ -279,8 +247,10 @@ 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(); regions_rids.resize(regions.size()); + for (uint32_t i = 0; i < regions.size(); i++) { regions_rids[i] = regions[i]->get_self(); } @@ -291,8 +261,10 @@ 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(); + + const LocalVector<NavAgent *> 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(); } @@ -302,6 +274,7 @@ TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const { RID GodotNavigationServer::region_get_map(RID p_region) const { NavRegion *region = region_owner.get_or_null(p_region); ERR_FAIL_COND_V(region == nullptr, RID()); + if (region->get_map()) { return region->get_map()->get_self(); } @@ -309,17 +282,18 @@ RID GodotNavigationServer::region_get_map(RID p_region) const { } RID GodotNavigationServer::agent_get_map(RID p_agent) const { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND_V(agent == nullptr, RID()); + if (agent->get_map()) { return agent->get_map()->get_self(); } return RID(); } -RID GodotNavigationServer::region_create() const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - MutexLock lock(mut_this->operations_mutex); +RID GodotNavigationServer::region_create() { + MutexLock lock(operations_mutex); + RID rid = region_owner.make_rid(); NavRegion *reg = region_owner.get_or_null(rid); reg->set_self(rid); @@ -402,6 +376,7 @@ ObjectID GodotNavigationServer::region_get_owner_id(RID p_region) const { 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(); @@ -430,7 +405,7 @@ COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navi region->set_mesh(p_navigation_mesh); } -void GodotNavigationServer::region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) const { +void GodotNavigationServer::region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) { ERR_FAIL_COND(p_navigation_mesh.is_null()); ERR_FAIL_COND(p_root_node == nullptr); @@ -461,9 +436,9 @@ 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 GodotNavigationServer::link_create() { + MutexLock lock(operations_mutex); + RID rid = link_owner.make_rid(); NavLink *link = link_owner.get_or_null(rid); link->set_self(rid); @@ -530,32 +505,32 @@ uint32_t GodotNavigationServer::link_get_navigation_layers(const RID p_link) con return link->get_navigation_layers(); } -COMMAND_2(link_set_start_location, RID, p_link, Vector3, p_location) { +COMMAND_2(link_set_start_position, RID, p_link, Vector3, p_position) { NavLink *link = link_owner.get_or_null(p_link); ERR_FAIL_COND(link == nullptr); - link->set_start_location(p_location); + link->set_start_position(p_position); } -Vector3 GodotNavigationServer::link_get_start_location(RID p_link) const { +Vector3 GodotNavigationServer::link_get_start_position(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(); + return link->get_start_position(); } -COMMAND_2(link_set_end_location, RID, p_link, Vector3, p_location) { +COMMAND_2(link_set_end_position, RID, p_link, Vector3, p_position) { NavLink *link = link_owner.get_or_null(p_link); ERR_FAIL_COND(link == nullptr); - link->set_end_location(p_location); + link->set_end_position(p_position); } -Vector3 GodotNavigationServer::link_get_end_location(RID p_link) const { +Vector3 GodotNavigationServer::link_get_end_position(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(); + return link->get_end_position(); } COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost) { @@ -600,17 +575,17 @@ ObjectID GodotNavigationServer::link_get_owner_id(RID p_link) const { return link->get_owner_id(); } -RID GodotNavigationServer::agent_create() const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - MutexLock lock(mut_this->operations_mutex); +RID GodotNavigationServer::agent_create() { + MutexLock lock(operations_mutex); + RID rid = agent_owner.make_rid(); - RvoAgent *agent = agent_owner.get_or_null(rid); + NavAgent *agent = agent_owner.get_or_null(rid); agent->set_self(rid); return rid; } COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); if (agent->get_map()) { @@ -637,86 +612,86 @@ COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) { } COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance) { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->neighborDist_ = p_distance; } COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->maxNeighbors_ = p_count; } COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time) { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->timeHorizon_ = p_time; } COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->radius_ = p_radius; } COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->maxSpeed_ = p_max_speed; } COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->velocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z); } COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity) { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->prefVelocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z); } COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->position_ = RVO::Vector3(p_position.x, p_position.y, p_position.z); } COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore) { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->ignore_y_ = p_ignore; } bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const { - RvoAgent *agent = agent_owner.get_or_null(p_agent); + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND_V(agent == nullptr, false); return agent->is_map_changed(); } -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); +COMMAND_2(agent_set_callback, RID, p_agent, Callable, p_callback) { + NavAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); - agent->set_callback(p_object_id, p_method, p_udata); + agent->set_callback(p_callback); if (agent->get_map()) { - if (p_object_id == ObjectID()) { - agent->get_map()->remove_agent_as_controlled(agent); - } else { + if (p_callback.is_valid()) { agent->get_map()->set_agent_as_controlled(agent); + } else { + agent->get_map()->remove_agent_as_controlled(agent); } } } @@ -726,24 +701,21 @@ COMMAND_1(free, RID, p_object) { NavMap *map = map_owner.get_or_null(p_object); // Removes any assigned region - 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); + for (NavRegion *region : map->get_regions()) { + map->remove_region(region); + region->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); + for (NavLink *link : map->get_links()) { + map->remove_link(link); + link->set_map(nullptr); } // Remove any assigned agent - 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); + for (NavAgent *agent : map->get_agents()) { + map->remove_agent(agent); + agent->set_map(nullptr); } int map_index = active_maps.find(map); @@ -774,7 +746,7 @@ COMMAND_1(free, RID, p_object) { link_owner.free(p_object); } else if (agent_owner.owns(p_object)) { - RvoAgent *agent = agent_owner.get_or_null(p_object); + NavAgent *agent = agent_owner.get_or_null(p_object); // Removes this agent from the map if assigned if (agent->get_map() != nullptr) { @@ -785,14 +757,14 @@ COMMAND_1(free, RID, p_object) { agent_owner.free(p_object); } else { - ERR_FAIL_COND("Invalid ID."); + ERR_FAIL_COND("Attempted to free a NavigationServer RID that did not exist (or was already freed)."); } } -void GodotNavigationServer::set_active(bool p_active) const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - MutexLock lock(mut_this->operations_mutex); - mut_this->active = p_active; +void GodotNavigationServer::set_active(bool p_active) { + MutexLock lock(operations_mutex); + + active = p_active; } void GodotNavigationServer::flush_queries() { @@ -800,9 +772,10 @@ void GodotNavigationServer::flush_queries() { // even with mutable functions. MutexLock lock(commands_mutex); MutexLock lock2(operations_mutex); - for (size_t i(0); i < commands.size(); i++) { - commands[i]->exec(this); - memdelete(commands[i]); + + for (SetCommand *command : commands) { + command->exec(this); + memdelete(command); } commands.clear(); } @@ -823,6 +796,15 @@ void GodotNavigationServer::process(real_t p_delta_time) { return; } + int _new_pm_region_count = 0; + int _new_pm_agent_count = 0; + int _new_pm_link_count = 0; + int _new_pm_polygon_count = 0; + int _new_pm_edge_count = 0; + int _new_pm_edge_merge_count = 0; + int _new_pm_edge_connection_count = 0; + int _new_pm_edge_free_count = 0; + // In c++ we can't be sure that this is performed in the main thread // even with mutable functions. MutexLock lock(operations_mutex); @@ -831,6 +813,15 @@ void GodotNavigationServer::process(real_t p_delta_time) { active_maps[i]->step(p_delta_time); active_maps[i]->dispatch_callbacks(); + _new_pm_region_count += active_maps[i]->get_pm_region_count(); + _new_pm_agent_count += active_maps[i]->get_pm_agent_count(); + _new_pm_link_count += active_maps[i]->get_pm_link_count(); + _new_pm_polygon_count += active_maps[i]->get_pm_polygon_count(); + _new_pm_edge_count += active_maps[i]->get_pm_edge_count(); + _new_pm_edge_merge_count += active_maps[i]->get_pm_edge_merge_count(); + _new_pm_edge_connection_count += active_maps[i]->get_pm_edge_connection_count(); + _new_pm_edge_free_count += active_maps[i]->get_pm_edge_free_count(); + // Emit a signal if a map changed. const uint32_t new_map_update_id = active_maps[i]->get_map_update_id(); if (new_map_update_id != active_maps_update_id[i]) { @@ -838,6 +829,15 @@ void GodotNavigationServer::process(real_t p_delta_time) { active_maps_update_id[i] = new_map_update_id; } } + + pm_region_count = _new_pm_region_count; + pm_agent_count = _new_pm_agent_count; + pm_link_count = _new_pm_link_count; + pm_polygon_count = _new_pm_polygon_count; + pm_edge_count = _new_pm_edge_count; + pm_edge_merge_count = _new_pm_edge_merge_count; + pm_edge_connection_count = _new_pm_edge_connection_count; + pm_edge_free_count = _new_pm_edge_free_count; } PathQueryResult GodotNavigationServer::_query_path(const PathQueryParameters &p_parameters) const { @@ -880,6 +880,39 @@ PathQueryResult GodotNavigationServer::_query_path(const PathQueryParameters &p_ return r_query_result; } +int GodotNavigationServer::get_process_info(ProcessInfo p_info) const { + switch (p_info) { + case INFO_ACTIVE_MAPS: { + return active_maps.size(); + } break; + case INFO_REGION_COUNT: { + return pm_region_count; + } break; + case INFO_AGENT_COUNT: { + return pm_agent_count; + } break; + case INFO_LINK_COUNT: { + return pm_link_count; + } break; + case INFO_POLYGON_COUNT: { + return pm_polygon_count; + } break; + case INFO_EDGE_COUNT: { + return pm_edge_count; + } break; + case INFO_EDGE_MERGE_COUNT: { + return pm_edge_merge_count; + } break; + case INFO_EDGE_CONNECTION_COUNT: { + return pm_edge_connection_count; + } break; + case INFO_EDGE_FREE_COUNT: { + return pm_edge_free_count; + } break; + } + + return 0; +} + #undef COMMAND_1 #undef COMMAND_2 -#undef COMMAND_4 |