diff options
Diffstat (limited to 'modules/navigation/nav_map.h')
| -rw-r--r-- | modules/navigation/nav_map.h | 21 |
1 files changed, 13 insertions, 8 deletions
diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h index f46297a7ce..2036dbecd7 100644 --- a/modules/navigation/nav_map.h +++ b/modules/navigation/nav_map.h @@ -28,13 +28,14 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef RVO_SPACE_H -#define RVO_SPACE_H +#ifndef NAV_MAP_H +#define NAV_MAP_H #include "nav_rid.h" #include "core/math/math_defs.h" -#include "core/templates/map.h" +#include "core/templates/rb_map.h" +#include "core/templates/thread_work_pool.h" #include "nav_utils.h" #include <KdTree.h> @@ -49,10 +50,10 @@ class NavMap : public NavRid { /// To find the polygons edges the vertices are displaced in a grid where /// each cell has the following cell_size. - real_t cell_size = 0.3; + real_t cell_size = 0.25; /// This value is used to detect the near edges to connect. - real_t edge_connection_margin = 5.0; + real_t edge_connection_margin = 0.25; bool regenerate_polygons = true; bool regenerate_links = true; @@ -80,8 +81,12 @@ class NavMap : public NavRid { /// Change the id each time the map is updated. uint32_t map_update_id = 0; + /// Pooled threads for computing steps + ThreadWorkPool step_work_pool; + public: - NavMap() {} + NavMap(); + ~NavMap(); void set_up(Vector3 p_up); Vector3 get_up() const { @@ -100,7 +105,7 @@ public: gd::PointKey get_point_key(const Vector3 &p_pos) const; - Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const; + Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const; Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const; Vector3 get_closest_point(const Vector3 &p_point) const; Vector3 get_closest_point_normal(const Vector3 &p_point) const; @@ -136,4 +141,4 @@ private: void clip_path(const std::vector<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; }; -#endif // RVO_SPACE_H +#endif // NAV_MAP_H |