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Diffstat (limited to 'modules/navigation/nav_map.h')
| -rw-r--r-- | modules/navigation/nav_map.h | 141 |
1 files changed, 141 insertions, 0 deletions
diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h new file mode 100644 index 0000000000..8e013a72eb --- /dev/null +++ b/modules/navigation/nav_map.h @@ -0,0 +1,141 @@ +/*************************************************************************/ +/* nav_map.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 RVO_SPACE_H +#define RVO_SPACE_H + +#include "nav_rid.h" + +#include "core/math/math_defs.h" +#include "core/templates/map.h" +#include "nav_utils.h" +#include <KdTree.h> + +/** + @author AndreaCatania +*/ + +class NavRegion; +class RvoAgent; +class NavRegion; + +class NavMap : public NavRid { + /// Map Up + Vector3 up = Vector3(0, 1, 0); + + /// 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; + + /// This value is used to detect the near edges to connect. + real_t edge_connection_margin = 5.0; + + bool regenerate_polygons = true; + bool regenerate_links = true; + + std::vector<NavRegion *> regions; + + /// Map polygons + std::vector<gd::Polygon> polygons; + + /// Rvo world + RVO::KdTree rvo; + + /// Is agent array modified? + bool agents_dirty = false; + + /// All the Agents (even the controlled one) + std::vector<RvoAgent *> agents; + + /// Controlled agents + std::vector<RvoAgent *> controlled_agents; + + /// Physics delta time + real_t deltatime = 0.0; + + /// Change the id each time the map is updated. + uint32_t map_update_id = 0; + +public: + NavMap() {} + + void set_up(Vector3 p_up); + Vector3 get_up() const { + return up; + } + + void set_cell_size(float p_cell_size); + float get_cell_size() const { + return cell_size; + } + + void set_edge_connection_margin(float p_edge_connection_margin); + float get_edge_connection_margin() const { + return edge_connection_margin; + } + + 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; + 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; + RID get_closest_point_owner(const Vector3 &p_point) const; + + void add_region(NavRegion *p_region); + void remove_region(NavRegion *p_region); + const std::vector<NavRegion *> &get_regions() const { + return regions; + } + + bool has_agent(RvoAgent *agent) const; + void add_agent(RvoAgent *agent); + void remove_agent(RvoAgent *agent); + const std::vector<RvoAgent *> &get_agents() const { + return agents; + } + + void set_agent_as_controlled(RvoAgent *agent); + void remove_agent_as_controlled(RvoAgent *agent); + + uint32_t get_map_update_id() const { + return map_update_id; + } + + void sync(); + void step(real_t p_deltatime); + void dispatch_callbacks(); + +private: + void compute_single_step(uint32_t index, RvoAgent **agent); + 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 |