diff options
Diffstat (limited to 'modules/navigation/godot_navigation_server.cpp')
| -rw-r--r-- | modules/navigation/godot_navigation_server.cpp | 313 |
1 files changed, 212 insertions, 101 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp index 8ca73a3adb..9b5d78d465 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. @@ -50,7 +52,7 @@ 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); \ @@ -71,7 +73,7 @@ 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)); \ @@ -79,34 +81,34 @@ } \ 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); \ - } \ +#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) { \ + 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() {} @@ -115,12 +117,10 @@ 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 { @@ -135,12 +135,12 @@ 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; } @@ -228,7 +228,7 @@ Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, 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 { @@ -277,8 +277,10 @@ 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(); } @@ -289,8 +291,10 @@ 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(); agents_rids.resize(agents.size()); + for (uint32_t i = 0; i < agents.size(); i++) { agents_rids[i] = agents[i]->get_self(); } @@ -300,6 +304,7 @@ 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(); } @@ -309,15 +314,16 @@ 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); 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); @@ -383,9 +389,24 @@ 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); + 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(); @@ -407,20 +428,20 @@ 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) { + 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 } @@ -445,9 +466,9 @@ 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); @@ -570,9 +591,23 @@ real_t GodotNavigationServer::link_get_travel_cost(const RID p_link) const { return link->get_travel_cost(); } -RID GodotNavigationServer::agent_create() const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - MutexLock lock(mut_this->operations_mutex); +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() { + MutexLock lock(operations_mutex); + RID rid = agent_owner.make_rid(); RvoAgent *agent = agent_owner.get_or_null(rid); agent->set_self(rid); @@ -676,14 +711,14 @@ 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); @@ -759,10 +794,10 @@ COMMAND_1(free, RID, p_object) { } } -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() { @@ -770,6 +805,7 @@ 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]); @@ -793,6 +829,15 @@ 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); @@ -801,6 +846,15 @@ 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]) { @@ -808,22 +862,45 @@ 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; } -NavigationUtilities::PathQueryResult GodotNavigationServer::_query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const { - NavigationUtilities::PathQueryResult r_query_result; +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 == NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) { + 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 == 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); + 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; @@ -836,6 +913,40 @@ NavigationUtilities::PathQueryResult GodotNavigationServer::_query_path(const Na 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 |