summaryrefslogtreecommitdiff
path: root/modules/navigation
diff options
context:
space:
mode:
Diffstat (limited to 'modules/navigation')
-rw-r--r--modules/navigation/godot_navigation_server.cpp72
-rw-r--r--modules/navigation/nav_map.cpp24
-rw-r--r--modules/navigation/nav_map.h7
-rw-r--r--modules/navigation/navigation_mesh_generator.cpp18
-rw-r--r--modules/navigation/register_types.cpp22
-rw-r--r--modules/navigation/register_types.h6
6 files changed, 88 insertions, 61 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
index ca4fc4f628..d16d41b438 100644
--- a/modules/navigation/godot_navigation_server.cpp
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -40,43 +40,43 @@
/// an instance of that struct with the submitted parameters.
/// Then, that struct is stored in an array; the `sync` function consume that array.
-#define COMMAND_1(F_NAME, T_0, D_0) \
- struct MERGE(F_NAME, _command) : public SetCommand { \
- T_0 d_0; \
- MERGE(F_NAME, _command) \
- (T_0 p_d_0) : \
- d_0(p_d_0) {} \
- virtual void exec(GodotNavigationServer *server) { \
- server->MERGE(_cmd_, F_NAME)(d_0); \
- } \
- }; \
- void GodotNavigationServer::F_NAME(T_0 D_0) const { \
- auto cmd = memnew(MERGE(F_NAME, _command)( \
- D_0)); \
- add_command(cmd); \
- } \
+#define COMMAND_1(F_NAME, T_0, D_0) \
+ struct MERGE(F_NAME, _command) : public SetCommand { \
+ T_0 d_0; \
+ MERGE(F_NAME, _command) \
+ (T_0 p_d_0) : \
+ d_0(p_d_0) {} \
+ virtual void exec(GodotNavigationServer *server) override { \
+ server->MERGE(_cmd_, F_NAME)(d_0); \
+ } \
+ }; \
+ void GodotNavigationServer::F_NAME(T_0 D_0) const { \
+ auto cmd = memnew(MERGE(F_NAME, _command)( \
+ D_0)); \
+ add_command(cmd); \
+ } \
void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0)
-#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
- struct MERGE(F_NAME, _command) : public SetCommand { \
- T_0 d_0; \
- T_1 d_1; \
- MERGE(F_NAME, _command) \
- ( \
- T_0 p_d_0, \
- T_1 p_d_1) : \
- d_0(p_d_0), \
- d_1(p_d_1) {} \
- virtual void exec(GodotNavigationServer *server) { \
- server->MERGE(_cmd_, F_NAME)(d_0, d_1); \
- } \
- }; \
- void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \
- auto cmd = memnew(MERGE(F_NAME, _command)( \
- D_0, \
- D_1)); \
- add_command(cmd); \
- } \
+#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
+ struct MERGE(F_NAME, _command) : public SetCommand { \
+ T_0 d_0; \
+ T_1 d_1; \
+ MERGE(F_NAME, _command) \
+ ( \
+ T_0 p_d_0, \
+ T_1 p_d_1) : \
+ d_0(p_d_0), \
+ d_1(p_d_1) {} \
+ virtual void exec(GodotNavigationServer *server) override { \
+ server->MERGE(_cmd_, F_NAME)(d_0, d_1); \
+ } \
+ }; \
+ void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \
+ auto cmd = memnew(MERGE(F_NAME, _command)( \
+ D_0, \
+ D_1)); \
+ add_command(cmd); \
+ } \
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) \
@@ -95,7 +95,7 @@
d_1(p_d_1), \
d_2(p_d_2), \
d_3(p_d_3) {} \
- virtual void exec(GodotNavigationServer *server) { \
+ virtual void exec(GodotNavigationServer *server) override { \
server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \
} \
}; \
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index 70d50999f9..cbc0adc574 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -30,7 +30,6 @@
#include "nav_map.h"
-#include "core/os/threaded_array_processor.h"
#include "nav_region.h"
#include "rvo_agent.h"
@@ -142,10 +141,10 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
bool is_reachable = true;
while (true) {
- gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id];
-
// Takes the current least_cost_poly neighbors (iterating over its edges) and compute the traveled_distance.
- for (size_t i = 0; i < least_cost_poly->poly->edges.size(); i++) {
+ for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) {
+ gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id];
+
const gd::Edge &edge = least_cost_poly->poly->edges[i];
// Iterate over connections in this edge, then compute the new optimized travel distance assigned to this polygon.
@@ -226,6 +225,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
navigation_polys.push_back(np);
to_visit.clear();
to_visit.push_back(0);
+ least_cost_id = 0;
reachable_end = nullptr;
@@ -245,6 +245,8 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
}
}
+ ERR_BREAK(least_cost_id == -1);
+
// Stores the further reachable end polygon, in case our goal is not reachable.
if (is_reachable) {
float d = navigation_polys[least_cost_id].entry.distance_to(p_destination);
@@ -254,8 +256,6 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
}
}
- ERR_BREAK(least_cost_id == -1);
-
// Check if we reached the end
if (navigation_polys[least_cost_id].poly == end_poly) {
found_route = true;
@@ -673,7 +673,10 @@ void NavMap::compute_single_step(uint32_t index, RvoAgent **agent) {
void NavMap::step(real_t p_deltatime) {
deltatime = p_deltatime;
if (controlled_agents.size() > 0) {
- thread_process_array(
+ if (step_work_pool.get_thread_count() == 0) {
+ step_work_pool.init();
+ }
+ step_work_pool.do_work(
controlled_agents.size(),
this,
&NavMap::compute_single_step,
@@ -718,3 +721,10 @@ void NavMap::clip_path(const std::vector<gd::NavigationPoly> &p_navigation_polys
}
}
}
+
+NavMap::NavMap() {
+}
+
+NavMap::~NavMap() {
+ step_work_pool.finish();
+}
diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
index f46297a7ce..5232e42bed 100644
--- a/modules/navigation/nav_map.h
+++ b/modules/navigation/nav_map.h
@@ -35,6 +35,7 @@
#include "core/math/math_defs.h"
#include "core/templates/map.h"
+#include "core/templates/thread_work_pool.h"
#include "nav_utils.h"
#include <KdTree.h>
@@ -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 {
diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp
index 9e2daf3a99..2d6c78f704 100644
--- a/modules/navigation/navigation_mesh_generator.cpp
+++ b/modules/navigation/navigation_mesh_generator.cpp
@@ -34,7 +34,6 @@
#include "core/math/convex_hull.h"
#include "core/os/thread.h"
-#include "scene/3d/collision_shape_3d.h"
#include "scene/3d/mesh_instance_3d.h"
#include "scene/3d/multimesh_instance_3d.h"
#include "scene/3d/physics_body_3d.h"
@@ -202,14 +201,17 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
StaticBody3D *static_body = Object::cast_to<StaticBody3D>(p_node);
if (static_body->get_collision_layer() & p_collision_mask) {
- for (int i = 0; i < p_node->get_child_count(); ++i) {
- Node *child = p_node->get_child(i);
- if (Object::cast_to<CollisionShape3D>(child)) {
- CollisionShape3D *col_shape = Object::cast_to<CollisionShape3D>(child);
-
- Transform3D transform = p_navmesh_transform * static_body->get_global_transform() * col_shape->get_transform();
+ List<uint32_t> shape_owners;
+ static_body->get_shape_owners(&shape_owners);
+ for (uint32_t shape_owner : shape_owners) {
+ const int shape_count = static_body->shape_owner_get_shape_count(shape_owner);
+ for (int i = 0; i < shape_count; i++) {
+ Ref<Shape3D> s = static_body->shape_owner_get_shape(shape_owner, i);
+ if (s.is_null()) {
+ continue;
+ }
- Ref<Shape3D> s = col_shape->get_shape();
+ const Transform3D transform = p_navmesh_transform * static_body->get_global_transform() * static_body->shape_owner_get_transform(shape_owner);
BoxShape3D *box = Object::cast_to<BoxShape3D>(*s);
if (box) {
diff --git a/modules/navigation/register_types.cpp b/modules/navigation/register_types.cpp
index 218f2c2937..62ae2c7f02 100644
--- a/modules/navigation/register_types.cpp
+++ b/modules/navigation/register_types.cpp
@@ -51,21 +51,29 @@ NavigationServer3D *new_server() {
return memnew(GodotNavigationServer);
}
-void register_navigation_types() {
- NavigationServer3DManager::set_default_server(new_server);
+void initialize_navigation_module(ModuleInitializationLevel p_level) {
+ if (p_level == MODULE_INITIALIZATION_LEVEL_SERVERS) {
+ NavigationServer3DManager::set_default_server(new_server);
#ifndef _3D_DISABLED
- _nav_mesh_generator = memnew(NavigationMeshGenerator);
- GDREGISTER_CLASS(NavigationMeshGenerator);
- Engine::get_singleton()->add_singleton(Engine::Singleton("NavigationMeshGenerator", NavigationMeshGenerator::get_singleton()));
+ _nav_mesh_generator = memnew(NavigationMeshGenerator);
+ GDREGISTER_CLASS(NavigationMeshGenerator);
+ Engine::get_singleton()->add_singleton(Engine::Singleton("NavigationMeshGenerator", NavigationMeshGenerator::get_singleton()));
#endif
+ }
#ifdef TOOLS_ENABLED
- EditorPlugins::add_by_type<NavigationMeshEditorPlugin>();
+ if (p_level == MODULE_INITIALIZATION_LEVEL_EDITOR) {
+ EditorPlugins::add_by_type<NavigationMeshEditorPlugin>();
+ }
#endif
}
-void unregister_navigation_types() {
+void uninitialize_navigation_module(ModuleInitializationLevel p_level) {
+ if (p_level != MODULE_INITIALIZATION_LEVEL_SERVERS) {
+ return;
+ }
+
#ifndef _3D_DISABLED
if (_nav_mesh_generator) {
memdelete(_nav_mesh_generator);
diff --git a/modules/navigation/register_types.h b/modules/navigation/register_types.h
index 11fa5769d7..c4dbd19ed3 100644
--- a/modules/navigation/register_types.h
+++ b/modules/navigation/register_types.h
@@ -31,7 +31,9 @@
#ifndef NAVIGATION_REGISTER_TYPES_H
#define NAVIGATION_REGISTER_TYPES_H
-void register_navigation_types();
-void unregister_navigation_types();
+#include "modules/register_module_types.h"
+
+void initialize_navigation_module(ModuleInitializationLevel p_level);
+void uninitialize_navigation_module(ModuleInitializationLevel p_level);
#endif // NAVIGATION_REGISTER_TYPES_H
generated by cgit v1.2.3 (git 2.25.1) at 2025-07-22 05:01:25 +0000