summaryrefslogtreecommitdiff
path: root/modules/navigation
diff options
context:
space:
mode:
Diffstat (limited to 'modules/navigation')
-rw-r--r--modules/navigation/godot_navigation_server.cpp204
-rw-r--r--modules/navigation/godot_navigation_server.h38
-rw-r--r--modules/navigation/nav_map.cpp94
-rw-r--r--modules/navigation/nav_map.h20
-rw-r--r--modules/navigation/navigation_mesh_generator.cpp14
5 files changed, 242 insertions, 128 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
index 4532ea9391..2b5db6462c 100644
--- a/modules/navigation/godot_navigation_server.cpp
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -52,7 +52,7 @@ using namespace NavigationUtilities;
server->MERGE(_cmd_, F_NAME)(d_0); \
} \
}; \
- void GodotNavigationServer::F_NAME(T_0 D_0) const { \
+ void GodotNavigationServer::F_NAME(T_0 D_0) { \
auto cmd = memnew(MERGE(F_NAME, _command)( \
D_0)); \
add_command(cmd); \
@@ -73,7 +73,7 @@ using namespace NavigationUtilities;
server->MERGE(_cmd_, F_NAME)(d_0, d_1); \
} \
}; \
- void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \
+ void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) { \
auto cmd = memnew(MERGE(F_NAME, _command)( \
D_0, \
D_1)); \
@@ -81,34 +81,34 @@ using namespace NavigationUtilities;
} \
void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
-#define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \
- struct MERGE(F_NAME, _command) : public SetCommand { \
- T_0 d_0; \
- T_1 d_1; \
- T_2 d_2; \
- T_3 d_3; \
- MERGE(F_NAME, _command) \
- ( \
- T_0 p_d_0, \
- T_1 p_d_1, \
- T_2 p_d_2, \
- T_3 p_d_3) : \
- d_0(p_d_0), \
- d_1(p_d_1), \
- d_2(p_d_2), \
- d_3(p_d_3) {} \
- virtual void exec(GodotNavigationServer *server) override { \
- server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \
- } \
- }; \
- void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) const { \
- auto cmd = memnew(MERGE(F_NAME, _command)( \
- D_0, \
- D_1, \
- D_2, \
- D_3)); \
- add_command(cmd); \
- } \
+#define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \
+ struct MERGE(F_NAME, _command) : public SetCommand { \
+ T_0 d_0; \
+ T_1 d_1; \
+ T_2 d_2; \
+ T_3 d_3; \
+ MERGE(F_NAME, _command) \
+ ( \
+ T_0 p_d_0, \
+ T_1 p_d_1, \
+ T_2 p_d_2, \
+ T_3 p_d_3) : \
+ d_0(p_d_0), \
+ d_1(p_d_1), \
+ d_2(p_d_2), \
+ d_3(p_d_3) {} \
+ virtual void exec(GodotNavigationServer *server) override { \
+ server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \
+ } \
+ }; \
+ void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) { \
+ auto cmd = memnew(MERGE(F_NAME, _command)( \
+ D_0, \
+ D_1, \
+ D_2, \
+ D_3)); \
+ add_command(cmd); \
+ } \
void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
GodotNavigationServer::GodotNavigationServer() {}
@@ -117,12 +117,10 @@ GodotNavigationServer::~GodotNavigationServer() {
flush_queries();
}
-void GodotNavigationServer::add_command(SetCommand *command) const {
- GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
- {
- MutexLock lock(commands_mutex);
- mut_this->commands.push_back(command);
- }
+void GodotNavigationServer::add_command(SetCommand *command) {
+ MutexLock lock(commands_mutex);
+
+ commands.push_back(command);
}
TypedArray<RID> GodotNavigationServer::get_maps() const {
@@ -137,12 +135,12 @@ TypedArray<RID> GodotNavigationServer::get_maps() const {
return all_map_rids;
}
-RID GodotNavigationServer::map_create() const {
- GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
- MutexLock lock(mut_this->operations_mutex);
+RID GodotNavigationServer::map_create() {
+ MutexLock lock(operations_mutex);
+
RID rid = map_owner.make_rid();
- NavMap *space = map_owner.get_or_null(rid);
- space->set_self(rid);
+ NavMap *map = map_owner.get_or_null(rid);
+ map->set_self(rid);
return rid;
}
@@ -279,8 +277,10 @@ TypedArray<RID> GodotNavigationServer::map_get_regions(RID p_map) const {
TypedArray<RID> regions_rids;
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, regions_rids);
+
const LocalVector<NavRegion *> regions = map->get_regions();
regions_rids.resize(regions.size());
+
for (uint32_t i = 0; i < regions.size(); i++) {
regions_rids[i] = regions[i]->get_self();
}
@@ -291,8 +291,10 @@ TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const {
TypedArray<RID> agents_rids;
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, agents_rids);
+
const LocalVector<RvoAgent *> agents = map->get_agents();
agents_rids.resize(agents.size());
+
for (uint32_t i = 0; i < agents.size(); i++) {
agents_rids[i] = agents[i]->get_self();
}
@@ -302,6 +304,7 @@ TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const {
RID GodotNavigationServer::region_get_map(RID p_region) const {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(region == nullptr, RID());
+
if (region->get_map()) {
return region->get_map()->get_self();
}
@@ -311,15 +314,16 @@ RID GodotNavigationServer::region_get_map(RID p_region) const {
RID GodotNavigationServer::agent_get_map(RID p_agent) const {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND_V(agent == nullptr, RID());
+
if (agent->get_map()) {
return agent->get_map()->get_self();
}
return RID();
}
-RID GodotNavigationServer::region_create() const {
- GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
- MutexLock lock(mut_this->operations_mutex);
+RID GodotNavigationServer::region_create() {
+ MutexLock lock(operations_mutex);
+
RID rid = region_owner.make_rid();
NavRegion *reg = region_owner.get_or_null(rid);
reg->set_self(rid);
@@ -402,6 +406,7 @@ ObjectID GodotNavigationServer::region_get_owner_id(RID p_region) const {
bool GodotNavigationServer::region_owns_point(RID p_region, const Vector3 &p_point) const {
const NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(region == nullptr, false);
+
if (region->get_map()) {
RID closest_point_owner = map_get_closest_point_owner(region->get_map()->get_self(), p_point);
return closest_point_owner == region->get_self();
@@ -430,7 +435,7 @@ COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navi
region->set_mesh(p_navigation_mesh);
}
-void GodotNavigationServer::region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) const {
+void GodotNavigationServer::region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) {
ERR_FAIL_COND(p_navigation_mesh.is_null());
ERR_FAIL_COND(p_root_node == nullptr);
@@ -461,9 +466,9 @@ Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, i
return region->get_connection_pathway_end(p_connection_id);
}
-RID GodotNavigationServer::link_create() const {
- GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
- MutexLock lock(mut_this->operations_mutex);
+RID GodotNavigationServer::link_create() {
+ MutexLock lock(operations_mutex);
+
RID rid = link_owner.make_rid();
NavLink *link = link_owner.get_or_null(rid);
link->set_self(rid);
@@ -600,9 +605,9 @@ ObjectID GodotNavigationServer::link_get_owner_id(RID p_link) const {
return link->get_owner_id();
}
-RID GodotNavigationServer::agent_create() const {
- GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
- MutexLock lock(mut_this->operations_mutex);
+RID GodotNavigationServer::agent_create() {
+ MutexLock lock(operations_mutex);
+
RID rid = agent_owner.make_rid();
RvoAgent *agent = agent_owner.get_or_null(rid);
agent->set_self(rid);
@@ -726,24 +731,21 @@ COMMAND_1(free, RID, p_object) {
NavMap *map = map_owner.get_or_null(p_object);
// Removes any assigned region
- LocalVector<NavRegion *> regions = map->get_regions();
- for (uint32_t i = 0; i < regions.size(); i++) {
- map->remove_region(regions[i]);
- regions[i]->set_map(nullptr);
+ for (NavRegion *region : map->get_regions()) {
+ map->remove_region(region);
+ region->set_map(nullptr);
}
// Removes any assigned links
- LocalVector<NavLink *> links = map->get_links();
- for (uint32_t i = 0; i < links.size(); i++) {
- map->remove_link(links[i]);
- links[i]->set_map(nullptr);
+ for (NavLink *link : map->get_links()) {
+ map->remove_link(link);
+ link->set_map(nullptr);
}
// Remove any assigned agent
- LocalVector<RvoAgent *> agents = map->get_agents();
- for (uint32_t i = 0; i < agents.size(); i++) {
- map->remove_agent(agents[i]);
- agents[i]->set_map(nullptr);
+ for (RvoAgent *agent : map->get_agents()) {
+ map->remove_agent(agent);
+ agent->set_map(nullptr);
}
int map_index = active_maps.find(map);
@@ -789,10 +791,10 @@ COMMAND_1(free, RID, p_object) {
}
}
-void GodotNavigationServer::set_active(bool p_active) const {
- GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
- MutexLock lock(mut_this->operations_mutex);
- mut_this->active = p_active;
+void GodotNavigationServer::set_active(bool p_active) {
+ MutexLock lock(operations_mutex);
+
+ active = p_active;
}
void GodotNavigationServer::flush_queries() {
@@ -800,9 +802,10 @@ void GodotNavigationServer::flush_queries() {
// even with mutable functions.
MutexLock lock(commands_mutex);
MutexLock lock2(operations_mutex);
- for (size_t i(0); i < commands.size(); i++) {
- commands[i]->exec(this);
- memdelete(commands[i]);
+
+ for (SetCommand *command : commands) {
+ command->exec(this);
+ memdelete(command);
}
commands.clear();
}
@@ -823,6 +826,15 @@ void GodotNavigationServer::process(real_t p_delta_time) {
return;
}
+ int _new_pm_region_count = 0;
+ int _new_pm_agent_count = 0;
+ int _new_pm_link_count = 0;
+ int _new_pm_polygon_count = 0;
+ int _new_pm_edge_count = 0;
+ int _new_pm_edge_merge_count = 0;
+ int _new_pm_edge_connection_count = 0;
+ int _new_pm_edge_free_count = 0;
+
// In c++ we can't be sure that this is performed in the main thread
// even with mutable functions.
MutexLock lock(operations_mutex);
@@ -831,6 +843,15 @@ void GodotNavigationServer::process(real_t p_delta_time) {
active_maps[i]->step(p_delta_time);
active_maps[i]->dispatch_callbacks();
+ _new_pm_region_count += active_maps[i]->get_pm_region_count();
+ _new_pm_agent_count += active_maps[i]->get_pm_agent_count();
+ _new_pm_link_count += active_maps[i]->get_pm_link_count();
+ _new_pm_polygon_count += active_maps[i]->get_pm_polygon_count();
+ _new_pm_edge_count += active_maps[i]->get_pm_edge_count();
+ _new_pm_edge_merge_count += active_maps[i]->get_pm_edge_merge_count();
+ _new_pm_edge_connection_count += active_maps[i]->get_pm_edge_connection_count();
+ _new_pm_edge_free_count += active_maps[i]->get_pm_edge_free_count();
+
// Emit a signal if a map changed.
const uint32_t new_map_update_id = active_maps[i]->get_map_update_id();
if (new_map_update_id != active_maps_update_id[i]) {
@@ -838,6 +859,15 @@ void GodotNavigationServer::process(real_t p_delta_time) {
active_maps_update_id[i] = new_map_update_id;
}
}
+
+ pm_region_count = _new_pm_region_count;
+ pm_agent_count = _new_pm_agent_count;
+ pm_link_count = _new_pm_link_count;
+ pm_polygon_count = _new_pm_polygon_count;
+ pm_edge_count = _new_pm_edge_count;
+ pm_edge_merge_count = _new_pm_edge_merge_count;
+ pm_edge_connection_count = _new_pm_edge_connection_count;
+ pm_edge_free_count = _new_pm_edge_free_count;
}
PathQueryResult GodotNavigationServer::_query_path(const PathQueryParameters &p_parameters) const {
@@ -880,6 +910,40 @@ PathQueryResult GodotNavigationServer::_query_path(const PathQueryParameters &p_
return r_query_result;
}
+int GodotNavigationServer::get_process_info(ProcessInfo p_info) const {
+ switch (p_info) {
+ case INFO_ACTIVE_MAPS: {
+ return active_maps.size();
+ } break;
+ case INFO_REGION_COUNT: {
+ return pm_region_count;
+ } break;
+ case INFO_AGENT_COUNT: {
+ return pm_agent_count;
+ } break;
+ case INFO_LINK_COUNT: {
+ return pm_link_count;
+ } break;
+ case INFO_POLYGON_COUNT: {
+ return pm_polygon_count;
+ } break;
+ case INFO_EDGE_COUNT: {
+ return pm_edge_count;
+ } break;
+ case INFO_EDGE_MERGE_COUNT: {
+ return pm_edge_merge_count;
+ } break;
+ case INFO_EDGE_CONNECTION_COUNT: {
+ return pm_edge_connection_count;
+ } break;
+ case INFO_EDGE_FREE_COUNT: {
+ return pm_edge_free_count;
+ } break;
+ }
+
+ return 0;
+}
+
#undef COMMAND_1
#undef COMMAND_2
#undef COMMAND_4
diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h
index 519034119d..a87a88d3bc 100644
--- a/modules/navigation/godot_navigation_server.h
+++ b/modules/navigation/godot_navigation_server.h
@@ -46,16 +46,16 @@
#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 override; \
+#define COMMAND_1(F_NAME, T_0, D_0) \
+ virtual void F_NAME(T_0 D_0) override; \
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 override; \
+#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) override; \
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 override; \
+#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) override; \
void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
class GodotNavigationServer;
@@ -81,15 +81,25 @@ class GodotNavigationServer : public NavigationServer3D {
LocalVector<NavMap *> active_maps;
LocalVector<uint32_t> active_maps_update_id;
+ // Performance Monitor
+ int pm_region_count = 0;
+ int pm_agent_count = 0;
+ int pm_link_count = 0;
+ int pm_polygon_count = 0;
+ int pm_edge_count = 0;
+ int pm_edge_merge_count = 0;
+ int pm_edge_connection_count = 0;
+ int pm_edge_free_count = 0;
+
public:
GodotNavigationServer();
virtual ~GodotNavigationServer();
- void add_command(SetCommand *command) const;
+ void add_command(SetCommand *command);
virtual TypedArray<RID> get_maps() const override;
- virtual RID map_create() const override;
+ virtual RID map_create() override;
COMMAND_2(map_set_active, RID, p_map, bool, p_active);
virtual bool map_is_active(RID p_map) const override;
@@ -118,7 +128,7 @@ public:
virtual void map_force_update(RID p_map) override;
- virtual RID region_create() const override;
+ virtual RID region_create() override;
COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost);
virtual real_t region_get_enter_cost(RID p_region) const override;
@@ -136,12 +146,12 @@ public:
virtual uint32_t region_get_navigation_layers(RID p_region) const override;
COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform);
COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navigation_mesh);
- virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) const override;
+ virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) override;
virtual int region_get_connections_count(RID p_region) const override;
virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override;
virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override;
- virtual RID link_create() const override;
+ virtual RID link_create() override;
COMMAND_2(link_set_map, RID, p_link, RID, p_map);
virtual RID link_get_map(RID p_link) const override;
COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional);
@@ -159,7 +169,7 @@ public:
COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id);
virtual ObjectID link_get_owner_id(RID p_link) const override;
- virtual RID agent_create() const override;
+ virtual RID agent_create() override;
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map);
virtual RID agent_get_map(RID p_agent) const override;
COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance);
@@ -176,12 +186,14 @@ public:
COMMAND_1(free, RID, p_object);
- virtual void set_active(bool p_active) const override;
+ virtual void set_active(bool p_active) override;
void flush_queries();
virtual void process(real_t p_delta_time) override;
virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const override;
+
+ int get_process_info(ProcessInfo p_info) const override;
};
#undef COMMAND_1
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index 2a2f8aa1b7..fe255c1ce8 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -103,9 +103,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
float begin_d = 1e20;
float end_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 (const gd::Polygon &p : polygons) {
// Only consider the polygon if it in a region with compatible layers.
if ((p_navigation_layers & p.owner->get_navigation_layers()) == 0) {
continue;
@@ -190,9 +188,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
while (true) {
// Takes the current least_cost_poly neighbors (iterating over its edges) and compute the traveled_distance.
- for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) {
- const gd::Edge &edge = navigation_polys[least_cost_id].poly->edges[i];
-
+ for (const gd::Edge &edge : navigation_polys[least_cost_id].poly->edges) {
// Iterate over connections in this edge, then compute the new optimized travel distance assigned to this polygon.
for (int connection_index = 0; connection_index < edge.connections.size(); connection_index++) {
const gd::Edge::Connection &connection = edge.connections[connection_index];
@@ -229,7 +225,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
avp.entry = new_entry;
}
} else {
- // Add the neighbour polygon to the reachable ones.
+ // Add the neighbor polygon to the reachable ones.
gd::NavigationPoly new_navigation_poly = gd::NavigationPoly(connection.polygon);
new_navigation_poly.self_id = navigation_polys.size();
new_navigation_poly.back_navigation_poly_id = least_cost_id;
@@ -240,7 +236,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
new_navigation_poly.entry = new_entry;
navigation_polys.push_back(new_navigation_poly);
- // Add the neighbour polygon to the polygons to visit.
+ // Add the neighbor polygon to the polygons to visit.
to_visit.push_back(navigation_polys.size() - 1);
}
}
@@ -465,9 +461,7 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
Vector3 closest_point;
real_t closest_point_d = 1e20;
- for (size_t i(0); i < polygons.size(); i++) {
- const gd::Polygon &p = polygons[i];
-
+ for (const gd::Polygon &p : polygons) {
// 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[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
@@ -611,54 +605,70 @@ void NavMap::remove_agent_as_controlled(RvoAgent *agent) {
}
void NavMap::sync() {
+ // Performance Monitor
+ int _new_pm_region_count = regions.size();
+ int _new_pm_agent_count = agents.size();
+ int _new_pm_link_count = links.size();
+ int _new_pm_polygon_count = pm_polygon_count;
+ int _new_pm_edge_count = pm_edge_count;
+ int _new_pm_edge_merge_count = pm_edge_merge_count;
+ int _new_pm_edge_connection_count = pm_edge_connection_count;
+ int _new_pm_edge_free_count = pm_edge_free_count;
+
// Check if we need to update the links.
if (regenerate_polygons) {
- for (uint32_t r = 0; r < regions.size(); r++) {
- regions[r]->scratch_polygons();
+ for (NavRegion *region : regions) {
+ region->scratch_polygons();
}
regenerate_links = true;
}
- for (uint32_t r = 0; r < regions.size(); r++) {
- if (regions[r]->sync()) {
+ for (NavRegion *region : regions) {
+ if (region->sync()) {
regenerate_links = true;
}
}
- for (uint32_t l = 0; l < links.size(); l++) {
- if (links[l]->check_dirty()) {
+ for (NavLink *link : links) {
+ if (link->check_dirty()) {
regenerate_links = true;
}
}
if (regenerate_links) {
+ _new_pm_polygon_count = 0;
+ _new_pm_edge_count = 0;
+ _new_pm_edge_merge_count = 0;
+ _new_pm_edge_connection_count = 0;
+ _new_pm_edge_free_count = 0;
+
// Remove regions connections.
- for (uint32_t r = 0; r < regions.size(); r++) {
- regions[r]->get_connections().clear();
+ for (NavRegion *region : regions) {
+ region->get_connections().clear();
}
// Resize the polygon count.
int count = 0;
- for (uint32_t r = 0; r < regions.size(); r++) {
- count += regions[r]->get_polygons().size();
+ for (const NavRegion *region : regions) {
+ count += region->get_polygons().size();
}
polygons.resize(count);
// Copy all region polygons in the map.
count = 0;
- for (uint32_t r = 0; r < regions.size(); r++) {
- const LocalVector<gd::Polygon> &polygons_source = regions[r]->get_polygons();
+ for (const NavRegion *region : regions) {
+ const LocalVector<gd::Polygon> &polygons_source = region->get_polygons();
for (uint32_t n = 0; n < polygons_source.size(); n++) {
polygons[count + n] = polygons_source[n];
}
- count += regions[r]->get_polygons().size();
+ count += region->get_polygons().size();
}
+ _new_pm_polygon_count = polygons.size();
+
// Group all edges per key.
HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey> connections;
- for (uint32_t poly_id = 0; poly_id < polygons.size(); poly_id++) {
- gd::Polygon &poly(polygons[poly_id]);
-
+ for (gd::Polygon &poly : polygons) {
for (uint32_t p = 0; p < poly.points.size(); p++) {
int next_point = (p + 1) % poly.points.size();
gd::EdgeKey ek(poly.points[p].key, poly.points[next_point].key);
@@ -666,6 +676,7 @@ void NavMap::sync() {
HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey>::Iterator connection = connections.find(ek);
if (!connection) {
connections[ek] = Vector<gd::Edge::Connection>();
+ _new_pm_edge_count += 1;
}
if (connections[ek].size() <= 1) {
// Add the polygon/edge tuple to this key.
@@ -691,6 +702,7 @@ void NavMap::sync() {
c1.polygon->edges[c1.edge].connections.push_back(c2);
c2.polygon->edges[c2.edge].connections.push_back(c1);
// Note: The pathway_start/end are full for those connection and do not need to be modified.
+ _new_pm_edge_merge_count += 1;
} else {
CRASH_COND_MSG(E.value.size() != 1, vformat("Number of connection != 1. Found: %d", E.value.size()));
free_edges.push_back(E.value[0]);
@@ -704,6 +716,8 @@ void NavMap::sync() {
// to be connected, create new polygons to remove that small gap is
// not really useful and would result in wasteful computation during
// connection, integration and path finding.
+ _new_pm_edge_free_count = free_edges.size();
+
for (int i = 0; i < free_edges.size(); i++) {
const gd::Edge::Connection &free_edge = free_edges[i];
Vector3 edge_p1 = free_edge.polygon->points[free_edge.edge].pos;
@@ -757,6 +771,7 @@ void NavMap::sync() {
// Add the connection to the region_connection map.
((NavRegion *)free_edge.polygon->owner)->get_connections().push_back(new_connection);
+ _new_pm_edge_connection_count += 1;
}
}
@@ -764,8 +779,7 @@ void NavMap::sync() {
link_polygons.resize(links.size());
// Search for polygons within range of a nav link.
- for (uint32_t l = 0; l < links.size(); l++) {
- const NavLink *link = links[l];
+ for (const NavLink *link : links) {
const Vector3 start = link->get_start_location();
const Vector3 end = link->get_end_location();
@@ -797,9 +811,7 @@ void NavMap::sync() {
}
// Find any polygons within the search radius of the end point.
- for (uint32_t end_index = 0; end_index < polygons.size(); end_index++) {
- gd::Polygon &end_poly = polygons[end_index];
-
+ for (gd::Polygon &end_poly : polygons) {
// For each face check the distance to the end
for (uint32_t end_point_id = 2; end_point_id < end_poly.points.size(); end_point_id += 1) {
const Face3 end_face(end_poly.points[0].pos, end_poly.points[end_point_id - 1].pos, end_poly.points[end_point_id].pos);
@@ -883,8 +895,8 @@ void NavMap::sync() {
// cannot use LocalVector here as RVO library expects std::vector to build KdTree
std::vector<RVO::Agent *> raw_agents;
raw_agents.reserve(agents.size());
- for (size_t i(0); i < agents.size(); i++) {
- raw_agents.push_back(agents[i]->get_agent());
+ for (RvoAgent *agent : agents) {
+ raw_agents.push_back(agent->get_agent());
}
rvo.buildAgentTree(raw_agents);
}
@@ -892,6 +904,16 @@ void NavMap::sync() {
regenerate_polygons = false;
regenerate_links = false;
agents_dirty = false;
+
+ // Performance Monitor
+ pm_region_count = _new_pm_region_count;
+ pm_agent_count = _new_pm_agent_count;
+ pm_link_count = _new_pm_link_count;
+ pm_polygon_count = _new_pm_polygon_count;
+ pm_edge_count = _new_pm_edge_count;
+ pm_edge_merge_count = _new_pm_edge_merge_count;
+ pm_edge_connection_count = _new_pm_edge_connection_count;
+ pm_edge_free_count = _new_pm_edge_free_count;
}
void NavMap::compute_single_step(uint32_t index, RvoAgent **agent) {
@@ -908,8 +930,8 @@ void NavMap::step(real_t p_deltatime) {
}
void NavMap::dispatch_callbacks() {
- for (int i(0); i < static_cast<int>(controlled_agents.size()); i++) {
- controlled_agents[i]->dispatch_callback();
+ for (RvoAgent *agent : controlled_agents) {
+ agent->dispatch_callback();
}
}
diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
index 321d5560f0..fce7aff3ba 100644
--- a/modules/navigation/nav_map.h
+++ b/modules/navigation/nav_map.h
@@ -89,6 +89,16 @@ class NavMap : public NavRid {
/// Change the id each time the map is updated.
uint32_t map_update_id = 0;
+ // Performance Monitor
+ int pm_region_count = 0;
+ int pm_agent_count = 0;
+ int pm_link_count = 0;
+ int pm_polygon_count = 0;
+ int pm_edge_count = 0;
+ int pm_edge_merge_count = 0;
+ int pm_edge_connection_count = 0;
+ int pm_edge_free_count = 0;
+
public:
NavMap();
~NavMap();
@@ -152,6 +162,16 @@ public:
void step(real_t p_deltatime);
void dispatch_callbacks();
+ // Performance Monitor
+ int get_pm_region_count() const { return pm_region_count; }
+ int get_pm_agent_count() const { return pm_agent_count; }
+ int get_pm_link_count() const { return pm_link_count; }
+ int get_pm_polygon_count() const { return pm_polygon_count; }
+ int get_pm_edge_count() const { return pm_edge_count; }
+ int get_pm_edge_merge_count() const { return pm_edge_merge_count; }
+ int get_pm_edge_connection_count() const { return pm_edge_connection_count; }
+ int get_pm_edge_free_count() const { return pm_edge_free_count; }
+
private:
void compute_single_step(uint32_t index, RvoAgent **agent);
void 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;
diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp
index 568e8b9b26..74ff9312fd 100644
--- a/modules/navigation/navigation_mesh_generator.cpp
+++ b/modules/navigation/navigation_mesh_generator.cpp
@@ -207,11 +207,11 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
List<uint32_t> shape_owners;
static_body->get_shape_owners(&shape_owners);
for (uint32_t shape_owner : shape_owners) {
+ if (static_body->is_shape_owner_disabled(shape_owner)) {
+ continue;
+ }
const int shape_count = static_body->shape_owner_get_shape_count(shape_owner);
for (int i = 0; i < shape_count; i++) {
- if (static_body->is_shape_owner_disabled(i)) {
- continue;
- }
Ref<Shape3D> s = static_body->shape_owner_get_shape(shape_owner, i);
if (s.is_null()) {
continue;
@@ -266,9 +266,7 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
if (err == OK) {
PackedVector3Array faces;
- for (uint32_t j = 0; j < md.faces.size(); ++j) {
- const Geometry3D::MeshData::Face &face = md.faces[j];
-
+ for (const Geometry3D::MeshData::Face &face : md.faces) {
for (uint32_t k = 2; k < face.indices.size(); ++k) {
faces.push_back(md.vertices[face.indices[0]]);
faces.push_back(md.vertices[face.indices[k - 1]]);
@@ -392,9 +390,7 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
if (err == OK) {
PackedVector3Array faces;
- for (uint32_t j = 0; j < md.faces.size(); ++j) {
- const Geometry3D::MeshData::Face &face = md.faces[j];
-
+ for (const Geometry3D::MeshData::Face &face : md.faces) {
for (uint32_t k = 2; k < face.indices.size(); ++k) {
faces.push_back(md.vertices[face.indices[0]]);
faces.push_back(md.vertices[face.indices[k - 1]]);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-24 22:15:45 +0000