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-rw-r--r--modules/navigation/nav_map.cpp85
1 files changed, 81 insertions, 4 deletions
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index 83862e1e34..8d58c9335d 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -38,6 +38,18 @@
#define THREE_POINTS_CROSS_PRODUCT(m_a, m_b, m_c) (((m_c) - (m_a)).cross((m_b) - (m_a)))
+// Helper macro
+#define APPEND_METADATA(poly) \
+ if (r_path_types) { \
+ r_path_types->push_back(poly->owner->get_type()); \
+ } \
+ if (r_path_rids) { \
+ r_path_rids->push_back(poly->owner->get_self()); \
+ } \
+ if (r_path_owners) { \
+ r_path_owners->push_back(poly->owner->get_owner_id()); \
+ }
+
void NavMap::set_up(Vector3 p_up) {
up = p_up;
regenerate_polygons = true;
@@ -71,7 +83,18 @@ gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
return p;
}
-Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const {
+Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers, Vector<int32_t> *r_path_types, TypedArray<RID> *r_path_rids, Vector<int64_t> *r_path_owners) const {
+ // Clear metadata outputs.
+ if (r_path_types) {
+ r_path_types->clear();
+ }
+ if (r_path_rids) {
+ r_path_rids->clear();
+ }
+ if (r_path_owners) {
+ r_path_owners->clear();
+ }
+
// Find the start poly and the end poly on this map.
const gd::Polygon *begin_poly = nullptr;
const gd::Polygon *end_poly = nullptr;
@@ -115,6 +138,24 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
return Vector<Vector3>();
}
if (begin_poly == end_poly) {
+ if (r_path_types) {
+ r_path_types->resize(2);
+ r_path_types->write[0] = begin_poly->owner->get_type();
+ r_path_types->write[1] = end_poly->owner->get_type();
+ }
+
+ if (r_path_rids) {
+ r_path_rids->resize(2);
+ (*r_path_rids)[0] = begin_poly->owner->get_self();
+ (*r_path_rids)[1] = end_poly->owner->get_self();
+ }
+
+ if (r_path_owners) {
+ r_path_owners->resize(2);
+ r_path_owners->write[0] = begin_poly->owner->get_owner_id();
+ r_path_owners->write[1] = end_poly->owner->get_owner_id();
+ }
+
Vector<Vector3> path;
path.resize(2);
path.write[0] = begin_point;
@@ -296,6 +337,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
gd::NavigationPoly *p = apex_poly;
path.push_back(end_point);
+ APPEND_METADATA(end_poly);
while (p) {
// Set left and right points of the pathway between polygons.
@@ -312,7 +354,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
left_poly = p;
left_portal = left;
} else {
- clip_path(navigation_polys, path, apex_poly, right_portal, right_poly);
+ clip_path(navigation_polys, path, apex_poly, right_portal, right_poly, r_path_types, r_path_rids, r_path_owners);
apex_point = right_portal;
p = right_poly;
@@ -320,7 +362,9 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
apex_poly = p;
left_portal = apex_point;
right_portal = apex_point;
+
path.push_back(apex_point);
+ APPEND_METADATA(apex_poly->poly);
skip = true;
}
}
@@ -331,7 +375,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
right_poly = p;
right_portal = right;
} else {
- clip_path(navigation_polys, path, apex_poly, left_portal, left_poly);
+ clip_path(navigation_polys, path, apex_poly, left_portal, left_poly, r_path_types, r_path_rids, r_path_owners);
apex_point = left_portal;
p = left_poly;
@@ -339,7 +383,9 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
apex_poly = p;
right_portal = apex_point;
left_portal = apex_point;
+
path.push_back(apex_point);
+ APPEND_METADATA(apex_poly->poly);
}
}
@@ -355,12 +401,23 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
// If the last point is not the begin point, add it to the list.
if (path[path.size() - 1] != begin_point) {
path.push_back(begin_point);
+ APPEND_METADATA(begin_poly);
}
path.reverse();
+ if (r_path_types) {
+ r_path_types->reverse();
+ }
+ if (r_path_rids) {
+ r_path_rids->reverse();
+ }
+ if (r_path_owners) {
+ r_path_owners->reverse();
+ }
} else {
path.push_back(end_point);
+ APPEND_METADATA(end_poly);
// Add mid points
int np_id = least_cost_id;
@@ -369,18 +426,37 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
int prev = navigation_polys[np_id].back_navigation_edge;
int prev_n = (navigation_polys[np_id].back_navigation_edge + 1) % navigation_polys[np_id].poly->points.size();
Vector3 point = (navigation_polys[np_id].poly->points[prev].pos + navigation_polys[np_id].poly->points[prev_n].pos) * 0.5;
+
path.push_back(point);
+ APPEND_METADATA(navigation_polys[np_id].poly);
} else {
path.push_back(navigation_polys[np_id].entry);
+ APPEND_METADATA(navigation_polys[np_id].poly);
}
np_id = navigation_polys[np_id].back_navigation_poly_id;
}
path.push_back(begin_point);
+ APPEND_METADATA(begin_poly);
+
path.reverse();
+ if (r_path_types) {
+ r_path_types->reverse();
+ }
+ if (r_path_rids) {
+ r_path_rids->reverse();
+ }
+ if (r_path_owners) {
+ r_path_owners->reverse();
+ }
}
+ // Ensure post conditions (path arrays MUST match in size).
+ CRASH_COND(r_path_types && path.size() != r_path_types->size());
+ CRASH_COND(r_path_rids && path.size() != r_path_rids->size());
+ CRASH_COND(r_path_owners && path.size() != r_path_owners->size());
+
return path;
}
@@ -837,7 +913,7 @@ void NavMap::dispatch_callbacks() {
}
}
-void NavMap::clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly) const {
+void NavMap::clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly, Vector<int32_t> *r_path_types, TypedArray<RID> *r_path_rids, Vector<int64_t> *r_path_owners) const {
Vector3 from = path[path.size() - 1];
if (from.is_equal_approx(p_to_point)) {
@@ -863,6 +939,7 @@ void NavMap::clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys
if (cut_plane.intersects_segment(pathway_start, pathway_end, &inters)) {
if (!inters.is_equal_approx(p_to_point) && !inters.is_equal_approx(path[path.size() - 1])) {
path.push_back(inters);
+ APPEND_METADATA(from_poly->poly);
}
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 01:12:19 +0000