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-rw-r--r--modules/navigation/nav_map.cpp102
1 files changed, 27 insertions, 75 deletions
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index 0c8f0ed8c9..1151df6390 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* 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 */
@@ -36,10 +36,6 @@
#include <algorithm>
-/**
- @author AndreaCatania
-*/
-
#define THREE_POINTS_CROSS_PRODUCT(m_a, m_b, m_c) (((m_c) - (m_a)).cross((m_b) - (m_a)))
void NavMap::set_up(Vector3 p_up) {
@@ -87,12 +83,9 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
continue;
}
- // For each point cast a face and check the distance between the origin/destination
- for (size_t point_id = 0; point_id < p.points.size(); point_id++) {
- const Vector3 p1 = p.points[point_id].pos;
- const Vector3 p2 = p.points[(point_id + 1) % p.points.size()].pos;
- const Vector3 p3 = p.points[(point_id + 2) % p.points.size()].pos;
- const Face3 face(p1, p2, p3);
+ // For each face check the distance between the origin/destination
+ for (size_t point_id = 2; point_id < p.points.size(); point_id++) {
+ const Face3 face(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
Vector3 point = face.get_closest_point_to(p_origin);
float distance_to_point = point.distance_to(p_origin);
@@ -218,7 +211,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
end_poly = reachable_end;
end_d = 1e20;
for (size_t point_id = 2; point_id < end_poly->points.size(); point_id++) {
- Face3 f(end_poly->points[point_id - 2].pos, end_poly->points[point_id - 1].pos, end_poly->points[point_id].pos);
+ Face3 f(end_poly->points[0].pos, end_poly->points[point_id - 1].pos, end_poly->points[point_id].pos);
Vector3 spoint = f.get_closest_point_to(p_destination);
float dpoint = spoint.distance_to(p_destination);
if (dpoint < end_d) {
@@ -374,13 +367,12 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
Vector3 closest_point;
real_t closest_point_d = 1e20;
- // Find the initial poly and the end poly on this map.
for (size_t i(0); i < polygons.size(); i++) {
const gd::Polygon &p = polygons[i];
- // For each point cast a face and check the distance to the segment
+ // For each face check the distance to the segment
for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
- const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
+ const Face3 f(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
Vector3 inters;
if (f.intersects_segment(p_from, p_to, &inters)) {
const real_t d = closest_point_d = p_from.distance_to(inters);
@@ -420,82 +412,42 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
}
Vector3 NavMap::get_closest_point(const Vector3 &p_point) const {
- // TODO this is really not optimal, please redesign the API to directly return all this data
-
- Vector3 closest_point;
- real_t closest_point_d = 1e20;
-
- // Find the initial poly and the end poly on this map.
- for (size_t i(0); i < polygons.size(); i++) {
- const gd::Polygon &p = polygons[i];
-
- // For each point cast a face and check the distance to the point
- for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
- const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
- const Vector3 inters = f.get_closest_point_to(p_point);
- const real_t d = inters.distance_to(p_point);
- if (d < closest_point_d) {
- closest_point = inters;
- closest_point_d = d;
- }
- }
- }
-
- return closest_point;
+ gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
+ return cp.point;
}
Vector3 NavMap::get_closest_point_normal(const Vector3 &p_point) const {
- // TODO this is really not optimal, please redesign the API to directly return all this data
-
- Vector3 closest_point;
- Vector3 closest_point_normal;
- real_t closest_point_d = 1e20;
-
- // Find the initial poly and the end poly on this map.
- for (size_t i(0); i < polygons.size(); i++) {
- const gd::Polygon &p = polygons[i];
-
- // For each point cast a face and check the distance to the point
- for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
- const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
- const Vector3 inters = f.get_closest_point_to(p_point);
- const real_t d = inters.distance_to(p_point);
- if (d < closest_point_d) {
- closest_point = inters;
- closest_point_normal = f.get_plane().normal;
- closest_point_d = d;
- }
- }
- }
-
- return closest_point_normal;
+ gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
+ return cp.normal;
}
RID NavMap::get_closest_point_owner(const Vector3 &p_point) const {
- // TODO this is really not optimal, please redesign the API to directly return all this data
+ gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
+ return cp.owner;
+}
- Vector3 closest_point;
- RID closest_point_owner;
- real_t closest_point_d = 1e20;
+gd::ClosestPointQueryResult NavMap::get_closest_point_info(const Vector3 &p_point) const {
+ gd::ClosestPointQueryResult result;
+ real_t closest_point_ds = 1e20;
- // Find the initial poly and the end poly on this map.
for (size_t i(0); i < polygons.size(); i++) {
const gd::Polygon &p = polygons[i];
- // For each point cast a face and check the distance to the point
+ // For each face check the distance to the point
for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
- const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
+ const Face3 f(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
const Vector3 inters = f.get_closest_point_to(p_point);
- const real_t d = inters.distance_to(p_point);
- if (d < closest_point_d) {
- closest_point = inters;
- closest_point_owner = p.owner->get_self();
- closest_point_d = d;
+ const real_t ds = inters.distance_squared_to(p_point);
+ if (ds < closest_point_ds) {
+ result.point = inters;
+ result.normal = f.get_plane().normal;
+ result.owner = p.owner->get_self();
+ closest_point_ds = ds;
}
}
}
- return closest_point_owner;
+ return result;
}
void NavMap::add_region(NavRegion *p_region) {
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-07 22:54:46 +0000