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+/*************************************************************************/
+/* godot_navigation_server.h */
+/*************************************************************************/
+/* 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. */
+/*************************************************************************/
+
+#ifndef GODOT_NAVIGATION_SERVER_H
+#define GODOT_NAVIGATION_SERVER_H
+
+#include "core/templates/local_vector.h"
+#include "core/templates/rid.h"
+#include "core/templates/rid_owner.h"
+#include "servers/navigation_server_3d.h"
+
+#include "nav_map.h"
+#include "nav_region.h"
+#include "rvo_agent.h"
+
+/**
+ @author AndreaCatania
+*/
+
+/// The commands are functions executed during the `sync` phase.
+
+#define MERGE_INTERNAL(A, B) A##B
+#define MERGE(A, B) MERGE_INTERNAL(A, B)
+
+#define COMMAND_1(F_NAME, T_0, D_0) \
+ virtual void F_NAME(T_0 D_0) const; \
+ void MERGE(_cmd_, F_NAME)(T_0 D_0)
+
+#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
+ virtual void F_NAME(T_0 D_0, T_1 D_1) const; \
+ void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
+
+#define COMMAND_4_DEF(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, D_3_DEF) \
+ virtual void F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3 = D_3_DEF) const; \
+ void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
+
+class GodotNavigationServer;
+
+struct SetCommand {
+ virtual ~SetCommand() {}
+ virtual void exec(GodotNavigationServer *server) = 0;
+};
+
+class GodotNavigationServer : public NavigationServer3D {
+ Mutex commands_mutex;
+ /// Mutex used to make any operation threadsafe.
+ Mutex operations_mutex;
+
+ std::vector<SetCommand *> commands;
+
+ mutable RID_Owner<NavMap> map_owner;
+ mutable RID_Owner<NavRegion> region_owner;
+ mutable RID_Owner<RvoAgent> agent_owner;
+
+ bool active = true;
+ LocalVector<NavMap *> active_maps;
+ LocalVector<uint32_t> active_maps_update_id;
+
+public:
+ GodotNavigationServer();
+ virtual ~GodotNavigationServer();
+
+ void add_command(SetCommand *command) const;
+
+ virtual RID map_create() const;
+ COMMAND_2(map_set_active, RID, p_map, bool, p_active);
+ virtual bool map_is_active(RID p_map) const;
+
+ COMMAND_2(map_set_up, RID, p_map, Vector3, p_up);
+ virtual Vector3 map_get_up(RID p_map) const;
+
+ COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size);
+ virtual real_t map_get_cell_size(RID p_map) const;
+
+ COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
+ virtual real_t map_get_edge_connection_margin(RID p_map) const;
+
+ virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const;
+
+ virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const;
+ virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const;
+ virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const;
+ virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const;
+
+ virtual RID region_create() const;
+ COMMAND_2(region_set_map, RID, p_region, RID, p_map);
+ COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers);
+ virtual uint32_t region_get_layers(RID p_region) const;
+ COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform);
+ COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh);
+ virtual void region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const;
+ virtual int region_get_connections_count(RID p_region) const;
+ virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const;
+ virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const;
+
+ virtual RID agent_create() const;
+ 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_max_neighbors, RID, p_agent, int, p_count);
+ COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time);
+ COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius);
+ COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed);
+ COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity);
+ COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity);
+ COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position);
+ COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore);
+ virtual bool agent_is_map_changed(RID p_agent) const;
+ COMMAND_4_DEF(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata, Variant());
+
+ COMMAND_1(free, RID, p_object);
+
+ virtual void set_active(bool p_active) const;
+
+ void flush_queries();
+ virtual void process(real_t p_delta_time);
+};
+
+#undef COMMAND_1
+#undef COMMAND_2
+#undef COMMAND_4_DEF
+
+#endif // GODOT_NAVIGATION_SERVER_H
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