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Diffstat (limited to 'modules/navigation/godot_navigation_server.cpp')
| -rw-r--r-- | modules/navigation/godot_navigation_server.cpp | 547 |
1 files changed, 547 insertions, 0 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp new file mode 100644 index 0000000000..df003cfe6f --- /dev/null +++ b/modules/navigation/godot_navigation_server.cpp @@ -0,0 +1,547 @@ +/*************************************************************************/ +/* godot_navigation_server.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 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. */ +/*************************************************************************/ + +#include "godot_navigation_server.h" + +#include "core/os/mutex.h" + +#ifndef _3D_DISABLED +#include "navigation_mesh_generator.h" +#endif + +/** + @author AndreaCatania +*/ + +/// 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. + +#define COMMAND_1(F_NAME, T_0, D_0) \ + struct MERGE(F_NAME, _command) : public SetCommand { \ + T_0 d_0; \ + MERGE(F_NAME, _command) \ + (T_0 p_d_0) : \ + d_0(p_d_0) {} \ + virtual void exec(GodotNavigationServer *server) { \ + server->MERGE(_cmd_, F_NAME)(d_0); \ + } \ + }; \ + void GodotNavigationServer::F_NAME(T_0 D_0) const { \ + auto cmd = memnew(MERGE(F_NAME, _command)( \ + D_0)); \ + add_command(cmd); \ + } \ + void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0) + +#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \ + struct MERGE(F_NAME, _command) : public SetCommand { \ + T_0 d_0; \ + T_1 d_1; \ + MERGE(F_NAME, _command) \ + ( \ + T_0 p_d_0, \ + T_1 p_d_1) : \ + d_0(p_d_0), \ + d_1(p_d_1) {} \ + virtual void exec(GodotNavigationServer *server) { \ + server->MERGE(_cmd_, F_NAME)(d_0, d_1); \ + } \ + }; \ + void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \ + auto cmd = memnew(MERGE(F_NAME, _command)( \ + D_0, \ + D_1)); \ + add_command(cmd); \ + } \ + 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) { \ + 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() : + NavigationServer3D() { +} + +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); + } +} + +RID GodotNavigationServer::map_create() const { + GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); + MutexLock lock(mut_this->operations_mutex); + RID rid = map_owner.make_rid(); + NavMap *space = map_owner.getornull(rid); + space->set_self(rid); + return rid; +} + +COMMAND_2(map_set_active, RID, p_map, bool, p_active) { + NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND(map == nullptr); + + if (p_active) { + if (!map_is_active(p_map)) { + active_maps.push_back(map); + active_maps_update_id.push_back(map->get_map_update_id()); + } + } else { + int map_index = active_maps.find(map); + ERR_FAIL_COND(map_index < 0); + active_maps.remove(map_index); + active_maps_update_id.remove(map_index); + } +} + +bool GodotNavigationServer::map_is_active(RID p_map) const { + NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND_V(map == nullptr, false); + + return active_maps.find(map) >= 0; +} + +COMMAND_2(map_set_up, RID, p_map, Vector3, p_up) { + NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND(map == nullptr); + + map->set_up(p_up); +} + +Vector3 GodotNavigationServer::map_get_up(RID p_map) const { + const NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND_V(map == nullptr, Vector3()); + + return map->get_up(); +} + +COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size) { + NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND(map == nullptr); + + map->set_cell_size(p_cell_size); +} + +real_t GodotNavigationServer::map_get_cell_size(RID p_map) const { + const NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND_V(map == nullptr, 0); + + return map->get_cell_size(); +} + +COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin) { + NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND(map == nullptr); + + map->set_edge_connection_margin(p_connection_margin); +} + +real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const { + const NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND_V(map == nullptr, 0); + + 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 { + const NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>()); + + return map->get_path(p_origin, p_destination, p_optimize, p_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 { + const NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND_V(map == nullptr, Vector3()); + + return map->get_closest_point_to_segment(p_from, p_to, p_use_collision); +} + +Vector3 GodotNavigationServer::map_get_closest_point(RID p_map, const Vector3 &p_point) const { + const NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND_V(map == nullptr, Vector3()); + + return map->get_closest_point(p_point); +} + +Vector3 GodotNavigationServer::map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const { + const NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND_V(map == nullptr, Vector3()); + + return map->get_closest_point_normal(p_point); +} + +RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const { + const NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND_V(map == nullptr, RID()); + + return map->get_closest_point_owner(p_point); +} + +RID GodotNavigationServer::region_create() const { + GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); + MutexLock lock(mut_this->operations_mutex); + RID rid = region_owner.make_rid(); + NavRegion *reg = region_owner.getornull(rid); + reg->set_self(rid); + return rid; +} + +COMMAND_2(region_set_map, RID, p_region, RID, p_map) { + NavRegion *region = region_owner.getornull(p_region); + ERR_FAIL_COND(region == nullptr); + + if (region->get_map() != nullptr) { + if (region->get_map()->get_self() == p_map) { + return; // Pointless + } + + region->get_map()->remove_region(region); + region->set_map(nullptr); + } + + if (p_map.is_valid()) { + NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND(map == nullptr); + + map->add_region(region); + region->set_map(map); + } +} + +COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform) { + NavRegion *region = region_owner.getornull(p_region); + ERR_FAIL_COND(region == nullptr); + + region->set_transform(p_transform); +} + +COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers) { + NavRegion *region = region_owner.getornull(p_region); + ERR_FAIL_COND(region == nullptr); + + region->set_layers(p_layers); +} + +uint32_t GodotNavigationServer::region_get_layers(RID p_region) const { + NavRegion *region = region_owner.getornull(p_region); + ERR_FAIL_COND_V(region == nullptr, 0); + + return region->get_layers(); +} + +COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) { + NavRegion *region = region_owner.getornull(p_region); + ERR_FAIL_COND(region == nullptr); + + region->set_mesh(p_nav_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); + +#ifndef _3D_DISABLED + NavigationMeshGenerator::get_singleton()->clear(r_mesh); + NavigationMeshGenerator::get_singleton()->bake(r_mesh, p_node); +#endif +} + +int GodotNavigationServer::region_get_connections_count(RID p_region) const { + NavRegion *region = region_owner.getornull(p_region); + ERR_FAIL_COND_V(!region, 0); + + return region->get_connections_count(); +} + +Vector3 GodotNavigationServer::region_get_connection_pathway_start(RID p_region, int p_connection_id) const { + NavRegion *region = region_owner.getornull(p_region); + ERR_FAIL_COND_V(!region, Vector3()); + + return region->get_connection_pathway_start(p_connection_id); +} + +Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, int p_connection_id) const { + NavRegion *region = region_owner.getornull(p_region); + ERR_FAIL_COND_V(!region, Vector3()); + + return region->get_connection_pathway_end(p_connection_id); +} + +RID GodotNavigationServer::agent_create() const { + GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); + MutexLock lock(mut_this->operations_mutex); + RID rid = agent_owner.make_rid(); + RvoAgent *agent = agent_owner.getornull(rid); + agent->set_self(rid); + return rid; +} + +COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) { + RvoAgent *agent = agent_owner.getornull(p_agent); + ERR_FAIL_COND(agent == nullptr); + + if (agent->get_map()) { + if (agent->get_map()->get_self() == p_map) { + return; // Pointless + } + + agent->get_map()->remove_agent(agent); + } + + agent->set_map(nullptr); + + if (p_map.is_valid()) { + NavMap *map = map_owner.getornull(p_map); + ERR_FAIL_COND(map == nullptr); + + agent->set_map(map); + map->add_agent(agent); + + if (agent->has_callback()) { + map->set_agent_as_controlled(agent); + } + } +} + +COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist) { + RvoAgent *agent = agent_owner.getornull(p_agent); + ERR_FAIL_COND(agent == nullptr); + + agent->get_agent()->neighborDist_ = p_dist; +} + +COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) { + RvoAgent *agent = agent_owner.getornull(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.getornull(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.getornull(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.getornull(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.getornull(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.getornull(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.getornull(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.getornull(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.getornull(p_agent); + ERR_FAIL_COND_V(agent == nullptr, false); + + return agent->is_map_changed(); +} + +COMMAND_4(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata) { + RvoAgent *agent = agent_owner.getornull(p_agent); + ERR_FAIL_COND(agent == nullptr); + + agent->set_callback(p_receiver == nullptr ? ObjectID() : p_receiver->get_instance_id(), p_method, p_udata); + + if (agent->get_map()) { + if (p_receiver == nullptr) { + agent->get_map()->remove_agent_as_controlled(agent); + } else { + agent->get_map()->set_agent_as_controlled(agent); + } + } +} + +COMMAND_1(free, RID, p_object) { + if (map_owner.owns(p_object)) { + NavMap *map = map_owner.getornull(p_object); + + // Removes any assigned region + std::vector<NavRegion *> regions = map->get_regions(); + for (size_t i(0); i < regions.size(); i++) { + map->remove_region(regions[i]); + regions[i]->set_map(nullptr); + } + + // Remove any assigned agent + std::vector<RvoAgent *> agents = map->get_agents(); + for (size_t i(0); i < agents.size(); i++) { + map->remove_agent(agents[i]); + agents[i]->set_map(nullptr); + } + + int map_index = active_maps.find(map); + active_maps.remove(map_index); + active_maps_update_id.remove(map_index); + map_owner.free(p_object); + + } else if (region_owner.owns(p_object)) { + NavRegion *region = region_owner.getornull(p_object); + + // Removes this region from the map if assigned + if (region->get_map() != nullptr) { + region->get_map()->remove_region(region); + region->set_map(nullptr); + } + + region_owner.free(p_object); + + } else if (agent_owner.owns(p_object)) { + RvoAgent *agent = agent_owner.getornull(p_object); + + // Removes this agent from the map if assigned + if (agent->get_map() != nullptr) { + agent->get_map()->remove_agent(agent); + agent->set_map(nullptr); + } + + agent_owner.free(p_object); + + } else { + ERR_FAIL_COND("Invalid ID."); + } +} + +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::flush_queries() { + // In c++ we can't be sure that this is performed in the main thread + // 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]); + } + commands.clear(); +} + +void GodotNavigationServer::process(real_t p_delta_time) { + flush_queries(); + + if (!active) { + return; + } + + // In c++ we can't be sure that this is performed in the main thread + // even with mutable functions. + MutexLock lock(operations_mutex); + for (uint32_t i(0); i < active_maps.size(); i++) { + active_maps[i]->sync(); + active_maps[i]->step(p_delta_time); + active_maps[i]->dispatch_callbacks(); + + // 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]) { + emit_signal("map_changed", active_maps[i]->get_self()); + active_maps_update_id[i] = new_map_update_id; + } + } +} + +#undef COMMAND_1 +#undef COMMAND_2 +#undef COMMAND_4 |