summaryrefslogtreecommitdiff
path: root/modules/navigation
diff options
context:
space:
mode:
Diffstat (limited to 'modules/navigation')
-rw-r--r--modules/navigation/godot_navigation_server.cpp34
-rw-r--r--modules/navigation/godot_navigation_server.h4
-rw-r--r--modules/navigation/nav_agent.cpp (renamed from modules/navigation/rvo_agent.cpp)14
-rw-r--r--modules/navigation/nav_agent.h (renamed from modules/navigation/rvo_agent.h)10
-rw-r--r--modules/navigation/nav_map.cpp18
-rw-r--r--modules/navigation/nav_map.h20
6 files changed, 50 insertions, 50 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
index d546c5d3ba..c3cb1c5f13 100644
--- a/modules/navigation/godot_navigation_server.cpp
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -262,7 +262,7 @@ TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const {
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();
+ const LocalVector<NavAgent *> agents = map->get_agents();
agents_rids.resize(agents.size());
for (uint32_t i = 0; i < agents.size(); i++) {
@@ -282,7 +282,7 @@ 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);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND_V(agent == nullptr, RID());
if (agent->get_map()) {
@@ -579,13 +579,13 @@ RID GodotNavigationServer::agent_create() {
MutexLock lock(operations_mutex);
RID rid = agent_owner.make_rid();
- RvoAgent *agent = agent_owner.get_or_null(rid);
+ NavAgent *agent = agent_owner.get_or_null(rid);
agent->set_self(rid);
return rid;
}
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
if (agent->get_map()) {
@@ -612,77 +612,77 @@ COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
}
COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->neighborDist_ = p_distance;
}
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->maxNeighbors_ = p_count;
}
COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->timeHorizon_ = p_time;
}
COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->radius_ = p_radius;
}
COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->maxSpeed_ = p_max_speed;
}
COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->velocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
}
COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->prefVelocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
}
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->position_ = RVO::Vector3(p_position.x, p_position.y, p_position.z);
}
COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->ignore_y_ = p_ignore;
}
bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND_V(agent == nullptr, false);
return agent->is_map_changed();
}
COMMAND_2(agent_set_callback, RID, p_agent, Callable, p_callback) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_callback(p_callback);
@@ -713,7 +713,7 @@ COMMAND_1(free, RID, p_object) {
}
// Remove any assigned agent
- for (RvoAgent *agent : map->get_agents()) {
+ for (NavAgent *agent : map->get_agents()) {
map->remove_agent(agent);
agent->set_map(nullptr);
}
@@ -746,7 +746,7 @@ COMMAND_1(free, RID, p_object) {
link_owner.free(p_object);
} else if (agent_owner.owns(p_object)) {
- RvoAgent *agent = agent_owner.get_or_null(p_object);
+ NavAgent *agent = agent_owner.get_or_null(p_object);
// Removes this agent from the map if assigned
if (agent->get_map() != nullptr) {
diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h
index eea5713c40..0b113b77d4 100644
--- a/modules/navigation/godot_navigation_server.h
+++ b/modules/navigation/godot_navigation_server.h
@@ -36,10 +36,10 @@
#include "core/templates/rid_owner.h"
#include "servers/navigation_server_3d.h"
+#include "nav_agent.h"
#include "nav_link.h"
#include "nav_map.h"
#include "nav_region.h"
-#include "rvo_agent.h"
/// The commands are functions executed during the `sync` phase.
@@ -71,7 +71,7 @@ class GodotNavigationServer : public NavigationServer3D {
mutable RID_Owner<NavLink> link_owner;
mutable RID_Owner<NavMap> map_owner;
mutable RID_Owner<NavRegion> region_owner;
- mutable RID_Owner<RvoAgent> agent_owner;
+ mutable RID_Owner<NavAgent> agent_owner;
bool active = true;
LocalVector<NavMap *> active_maps;
diff --git a/modules/navigation/rvo_agent.cpp b/modules/navigation/nav_agent.cpp
index 40f1e925be..293544c0a5 100644
--- a/modules/navigation/rvo_agent.cpp
+++ b/modules/navigation/nav_agent.cpp
@@ -1,5 +1,5 @@
/**************************************************************************/
-/* rvo_agent.cpp */
+/* nav_agent.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@@ -28,15 +28,15 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
-#include "rvo_agent.h"
+#include "nav_agent.h"
#include "nav_map.h"
-void RvoAgent::set_map(NavMap *p_map) {
+void NavAgent::set_map(NavMap *p_map) {
map = p_map;
}
-bool RvoAgent::is_map_changed() {
+bool NavAgent::is_map_changed() {
if (map) {
bool is_changed = map->get_map_update_id() != map_update_id;
map_update_id = map->get_map_update_id();
@@ -46,15 +46,15 @@ bool RvoAgent::is_map_changed() {
}
}
-void RvoAgent::set_callback(Callable p_callback) {
+void NavAgent::set_callback(Callable p_callback) {
callback = p_callback;
}
-bool RvoAgent::has_callback() const {
+bool NavAgent::has_callback() const {
return callback.is_valid();
}
-void RvoAgent::dispatch_callback() {
+void NavAgent::dispatch_callback() {
if (!callback.is_valid()) {
return;
}
diff --git a/modules/navigation/rvo_agent.h b/modules/navigation/nav_agent.h
index 5f377b6079..f154ce14d9 100644
--- a/modules/navigation/rvo_agent.h
+++ b/modules/navigation/nav_agent.h
@@ -1,5 +1,5 @@
/**************************************************************************/
-/* rvo_agent.h */
+/* nav_agent.h */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@@ -28,8 +28,8 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
-#ifndef RVO_AGENT_H
-#define RVO_AGENT_H
+#ifndef NAV_AGENT_H
+#define NAV_AGENT_H
#include "core/object/class_db.h"
#include "nav_rid.h"
@@ -38,7 +38,7 @@
class NavMap;
-class RvoAgent : public NavRid {
+class NavAgent : public NavRid {
NavMap *map = nullptr;
RVO::Agent agent;
Callable callback = Callable();
@@ -62,4 +62,4 @@ public:
void dispatch_callback();
};
-#endif // RVO_AGENT_H
+#endif // NAV_AGENT_H
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index d763b1d3bc..b1674c8fc5 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -31,9 +31,9 @@
#include "nav_map.h"
#include "core/object/worker_thread_pool.h"
+#include "nav_agent.h"
#include "nav_link.h"
#include "nav_region.h"
-#include "rvo_agent.h"
#include <algorithm>
#define THREE_POINTS_CROSS_PRODUCT(m_a, m_b, m_c) (((m_c) - (m_a)).cross((m_b) - (m_a)))
@@ -568,18 +568,18 @@ void NavMap::remove_link(NavLink *p_link) {
}
}
-bool NavMap::has_agent(RvoAgent *agent) const {
+bool NavMap::has_agent(NavAgent *agent) const {
return (agents.find(agent) != -1);
}
-void NavMap::add_agent(RvoAgent *agent) {
+void NavMap::add_agent(NavAgent *agent) {
if (!has_agent(agent)) {
agents.push_back(agent);
agents_dirty = true;
}
}
-void NavMap::remove_agent(RvoAgent *agent) {
+void NavMap::remove_agent(NavAgent *agent) {
remove_agent_as_controlled(agent);
int64_t agent_index = agents.find(agent);
if (agent_index != -1) {
@@ -588,7 +588,7 @@ void NavMap::remove_agent(RvoAgent *agent) {
}
}
-void NavMap::set_agent_as_controlled(RvoAgent *agent) {
+void NavMap::set_agent_as_controlled(NavAgent *agent) {
const bool exist = (controlled_agents.find(agent) != -1);
if (!exist) {
ERR_FAIL_COND(!has_agent(agent));
@@ -596,7 +596,7 @@ void NavMap::set_agent_as_controlled(RvoAgent *agent) {
}
}
-void NavMap::remove_agent_as_controlled(RvoAgent *agent) {
+void NavMap::remove_agent_as_controlled(NavAgent *agent) {
int64_t active_avoidance_agent_index = controlled_agents.find(agent);
if (active_avoidance_agent_index != -1) {
controlled_agents.remove_at_unordered(active_avoidance_agent_index);
@@ -895,7 +895,7 @@ 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 (RvoAgent *agent : agents) {
+ for (NavAgent *agent : agents) {
raw_agents.push_back(agent->get_agent());
}
rvo.buildAgentTree(raw_agents);
@@ -916,7 +916,7 @@ void NavMap::sync() {
pm_edge_free_count = _new_pm_edge_free_count;
}
-void NavMap::compute_single_step(uint32_t index, RvoAgent **agent) {
+void NavMap::compute_single_step(uint32_t index, NavAgent **agent) {
(*(agent + index))->get_agent()->computeNeighbors(&rvo);
(*(agent + index))->get_agent()->computeNewVelocity(deltatime);
}
@@ -930,7 +930,7 @@ void NavMap::step(real_t p_deltatime) {
}
void NavMap::dispatch_callbacks() {
- for (RvoAgent *agent : controlled_agents) {
+ for (NavAgent *agent : controlled_agents) {
agent->dispatch_callback();
}
}
diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
index fce7aff3ba..ab6a48dd70 100644
--- a/modules/navigation/nav_map.h
+++ b/modules/navigation/nav_map.h
@@ -42,7 +42,7 @@
class NavLink;
class NavRegion;
-class RvoAgent;
+class NavAgent;
class NavMap : public NavRid {
/// Map Up
@@ -78,10 +78,10 @@ class NavMap : public NavRid {
bool agents_dirty = false;
/// All the Agents (even the controlled one)
- LocalVector<RvoAgent *> agents;
+ LocalVector<NavAgent *> agents;
/// Controlled agents
- LocalVector<RvoAgent *> controlled_agents;
+ LocalVector<NavAgent *> controlled_agents;
/// Physics delta time
real_t deltatime = 0.0;
@@ -144,15 +144,15 @@ public:
return links;
}
- bool has_agent(RvoAgent *agent) const;
- void add_agent(RvoAgent *agent);
- void remove_agent(RvoAgent *agent);
- const LocalVector<RvoAgent *> &get_agents() const {
+ bool has_agent(NavAgent *agent) const;
+ void add_agent(NavAgent *agent);
+ void remove_agent(NavAgent *agent);
+ const LocalVector<NavAgent *> &get_agents() const {
return agents;
}
- void set_agent_as_controlled(RvoAgent *agent);
- void remove_agent_as_controlled(RvoAgent *agent);
+ void set_agent_as_controlled(NavAgent *agent);
+ void remove_agent_as_controlled(NavAgent *agent);
uint32_t get_map_update_id() const {
return map_update_id;
@@ -173,7 +173,7 @@ public:
int get_pm_edge_free_count() const { return pm_edge_free_count; }
private:
- void compute_single_step(uint32_t index, RvoAgent **agent);
+ void compute_single_step(uint32_t index, NavAgent **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;
};
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 02:59:50 +0000