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-rw-r--r--modules/navigation/SCsub2
-rw-r--r--modules/navigation/editor/navigation_mesh_editor_plugin.cpp (renamed from modules/navigation/navigation_mesh_editor_plugin.cpp)27
-rw-r--r--modules/navigation/editor/navigation_mesh_editor_plugin.h (renamed from modules/navigation/navigation_mesh_editor_plugin.h)28
-rw-r--r--modules/navigation/godot_navigation_server.cpp122
-rw-r--r--modules/navigation/godot_navigation_server.h65
-rw-r--r--modules/navigation/nav_map.cpp138
-rw-r--r--modules/navigation/nav_map.h25
-rw-r--r--modules/navigation/nav_region.cpp8
-rw-r--r--modules/navigation/nav_region.h9
-rw-r--r--modules/navigation/nav_rid.h8
-rw-r--r--modules/navigation/nav_utils.h29
-rw-r--r--modules/navigation/navigation_mesh_generator.cpp222
-rw-r--r--modules/navigation/navigation_mesh_generator.h7
-rw-r--r--modules/navigation/register_types.cpp28
-rw-r--r--modules/navigation/register_types.h10
-rw-r--r--modules/navigation/rvo_agent.cpp10
-rw-r--r--modules/navigation/rvo_agent.h8
17 files changed, 423 insertions, 323 deletions
diff --git a/modules/navigation/SCsub b/modules/navigation/SCsub
index 22b5509b32..24a6b12639 100644
--- a/modules/navigation/SCsub
+++ b/modules/navigation/SCsub
@@ -57,6 +57,8 @@ env.modules_sources += thirdparty_obj
module_obj = []
env_navigation.add_source_files(module_obj, "*.cpp")
+if env["tools"]:
+ env_navigation.add_source_files(module_obj, "editor/*.cpp")
env.modules_sources += module_obj
# Needed to force rebuilding the module files when the thirdparty library is updated.
diff --git a/modules/navigation/navigation_mesh_editor_plugin.cpp b/modules/navigation/editor/navigation_mesh_editor_plugin.cpp
index 587e56f593..c243e3e6e3 100644
--- a/modules/navigation/navigation_mesh_editor_plugin.cpp
+++ b/modules/navigation/editor/navigation_mesh_editor_plugin.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -28,12 +28,14 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
-#ifdef TOOLS_ENABLED
#include "navigation_mesh_editor_plugin.h"
+#ifdef TOOLS_ENABLED
+
+#include "../navigation_mesh_generator.h"
#include "core/io/marshalls.h"
#include "core/io/resource_saver.h"
-#include "navigation_mesh_generator.h"
+#include "editor/editor_node.h"
#include "scene/3d/mesh_instance_3d.h"
#include "scene/gui/box_container.h"
@@ -45,10 +47,12 @@ void NavigationMeshEditor::_node_removed(Node *p_node) {
}
}
-void NavigationMeshEditor::_notification(int p_option) {
- if (p_option == NOTIFICATION_ENTER_TREE) {
- button_bake->set_icon(get_theme_icon(SNAME("Bake"), SNAME("EditorIcons")));
- button_reset->set_icon(get_theme_icon(SNAME("Reload"), SNAME("EditorIcons")));
+void NavigationMeshEditor::_notification(int p_what) {
+ switch (p_what) {
+ case NOTIFICATION_ENTER_TREE: {
+ button_bake->set_icon(get_theme_icon(SNAME("Bake"), SNAME("EditorIcons")));
+ button_reset->set_icon(get_theme_icon(SNAME("Reload"), SNAME("EditorIcons")));
+ } break;
}
}
@@ -139,10 +143,9 @@ void NavigationMeshEditorPlugin::make_visible(bool p_visible) {
}
}
-NavigationMeshEditorPlugin::NavigationMeshEditorPlugin(EditorNode *p_node) {
- editor = p_node;
+NavigationMeshEditorPlugin::NavigationMeshEditorPlugin() {
navigation_mesh_editor = memnew(NavigationMeshEditor);
- editor->get_main_control()->add_child(navigation_mesh_editor);
+ EditorNode::get_singleton()->get_main_control()->add_child(navigation_mesh_editor);
add_control_to_container(CONTAINER_SPATIAL_EDITOR_MENU, navigation_mesh_editor->bake_hbox);
navigation_mesh_editor->hide();
navigation_mesh_editor->bake_hbox->hide();
@@ -151,4 +154,4 @@ NavigationMeshEditorPlugin::NavigationMeshEditorPlugin(EditorNode *p_node) {
NavigationMeshEditorPlugin::~NavigationMeshEditorPlugin() {
}
-#endif
+#endif // TOOLS_ENABLED
diff --git a/modules/navigation/navigation_mesh_editor_plugin.h b/modules/navigation/editor/navigation_mesh_editor_plugin.h
index c39269865b..bc9e4185b7 100644
--- a/modules/navigation/navigation_mesh_editor_plugin.h
+++ b/modules/navigation/editor/navigation_mesh_editor_plugin.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -33,7 +33,6 @@
#ifdef TOOLS_ENABLED
-#include "editor/editor_node.h"
#include "editor/editor_plugin.h"
class NavigationRegion3D;
@@ -43,14 +42,14 @@ class NavigationMeshEditor : public Control {
GDCLASS(NavigationMeshEditor, Control);
- AcceptDialog *err_dialog;
+ AcceptDialog *err_dialog = nullptr;
- HBoxContainer *bake_hbox;
- Button *button_bake;
- Button *button_reset;
- Label *bake_info;
+ HBoxContainer *bake_hbox = nullptr;
+ Button *button_bake = nullptr;
+ Button *button_reset = nullptr;
+ Label *bake_info = nullptr;
- NavigationRegion3D *node;
+ NavigationRegion3D *node = nullptr;
void _bake_pressed();
void _clear_pressed();
@@ -58,7 +57,7 @@ class NavigationMeshEditor : public Control {
protected:
void _node_removed(Node *p_node);
static void _bind_methods();
- void _notification(int p_option);
+ void _notification(int p_what);
public:
void edit(NavigationRegion3D *p_nav_region);
@@ -69,8 +68,7 @@ public:
class NavigationMeshEditorPlugin : public EditorPlugin {
GDCLASS(NavigationMeshEditorPlugin, EditorPlugin);
- NavigationMeshEditor *navigation_mesh_editor;
- EditorNode *editor;
+ NavigationMeshEditor *navigation_mesh_editor = nullptr;
public:
virtual String get_name() const override { return "NavigationMesh"; }
@@ -79,10 +77,10 @@ public:
virtual bool handles(Object *p_object) const override;
virtual void make_visible(bool p_visible) override;
- NavigationMeshEditorPlugin(EditorNode *p_node);
+ NavigationMeshEditorPlugin();
~NavigationMeshEditorPlugin();
};
-#endif
+#endif // TOOLS_ENABLED
-#endif
+#endif // NAVIGATION_MESH_EDITOR_PLUGIN_H
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
index ac3422187f..cc9d05da47 100644
--- a/modules/navigation/godot_navigation_server.cpp
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -36,51 +36,47 @@
#include "navigation_mesh_generator.h"
#endif
-/**
- @author AndreaCatania
-*/
-
/// Creates a struct for each function and a function that once called creates
/// 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) \
@@ -99,7 +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); \
} \
}; \
@@ -113,9 +109,7 @@
} \
void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
-GodotNavigationServer::GodotNavigationServer() :
- NavigationServer3D() {
-}
+GodotNavigationServer::GodotNavigationServer() {}
GodotNavigationServer::~GodotNavigationServer() {
flush_queries();
@@ -239,6 +233,44 @@ RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3
return map->get_closest_point_owner(p_point);
}
+Array GodotNavigationServer::map_get_regions(RID p_map) const {
+ Array regions_rids;
+ const NavMap *map = map_owner.get_or_null(p_map);
+ ERR_FAIL_COND_V(map == nullptr, regions_rids);
+ for (NavRegion *region : map->get_regions()) {
+ regions_rids.push_back(region->get_self());
+ }
+ return regions_rids;
+}
+
+Array GodotNavigationServer::map_get_agents(RID p_map) const {
+ Array agents_rids;
+ const NavMap *map = map_owner.get_or_null(p_map);
+ ERR_FAIL_COND_V(map == nullptr, agents_rids);
+ for (RvoAgent *agent : map->get_agents()) {
+ agents_rids.push_back(agent->get_self());
+ }
+ return agents_rids;
+}
+
+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();
+ }
+ return RID();
+}
+
+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);
diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h
index 65224493fd..89e7311e51 100644
--- a/modules/navigation/godot_navigation_server.h
+++ b/modules/navigation/godot_navigation_server.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -40,25 +40,21 @@
#include "nav_region.h"
#include "rvo_agent.h"
-/**
- @author AndreaCatania
-*/
-
/// The commands are functions executed during the `sync` phase.
#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; \
+#define COMMAND_1(F_NAME, T_0, D_0) \
+ virtual void F_NAME(T_0 D_0) const 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; \
+#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; \
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; \
+#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; \
void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
class GodotNavigationServer;
@@ -89,39 +85,44 @@ public:
void add_command(SetCommand *command) const;
- virtual RID map_create() const;
+ virtual RID map_create() const override;
COMMAND_2(map_set_active, RID, p_map, bool, p_active);
- virtual bool map_is_active(RID p_map) const;
+ virtual bool map_is_active(RID p_map) const override;
COMMAND_2(map_set_up, RID, p_map, Vector3, p_up);
- virtual Vector3 map_get_up(RID p_map) const;
+ virtual Vector3 map_get_up(RID p_map) const override;
COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size);
- virtual real_t map_get_cell_size(RID p_map) const;
+ virtual real_t map_get_cell_size(RID p_map) const override;
COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
- virtual real_t map_get_edge_connection_margin(RID p_map) const;
+ virtual real_t map_get_edge_connection_margin(RID p_map) const override;
+
+ virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const override;
- virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const;
+ virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const override;
+ virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const override;
+ virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const override;
+ virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const override;
- virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const;
- virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const;
- virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const;
- virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const;
+ virtual Array map_get_regions(RID p_map) const override;
+ virtual Array map_get_agents(RID p_map) const override;
- virtual RID region_create() const;
+ virtual RID region_create() const override;
COMMAND_2(region_set_map, RID, p_region, RID, p_map);
+ virtual RID region_get_map(RID p_region) const override;
COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers);
- virtual uint32_t region_get_layers(RID p_region) const;
+ virtual uint32_t region_get_layers(RID p_region) const override;
COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform);
COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh);
- virtual void region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const;
- virtual int region_get_connections_count(RID p_region) const;
- virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const;
- virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const;
+ virtual void region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const 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 agent_create() const;
+ virtual RID agent_create() const 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_dist, RID, p_agent, real_t, p_dist);
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count);
COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time);
@@ -131,15 +132,15 @@ public:
COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity);
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position);
COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore);
- virtual bool agent_is_map_changed(RID p_agent) const;
+ virtual bool agent_is_map_changed(RID p_agent) const override;
COMMAND_4_DEF(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata, Variant());
COMMAND_1(free, RID, p_object);
- virtual void set_active(bool p_active) const;
+ virtual void set_active(bool p_active) const override;
void flush_queries();
- virtual void process(real_t p_delta_time);
+ virtual void process(real_t p_delta_time) override;
};
#undef COMMAND_1
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index 0c8f0ed8c9..344475fb37 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -30,16 +30,11 @@
#include "nav_map.h"
-#include "core/os/threaded_array_processor.h"
#include "nav_region.h"
#include "rvo_agent.h"
#include <algorithm>
-/**
- @author AndreaCatania
-*/
-
#define THREE_POINTS_CROSS_PRODUCT(m_a, m_b, m_c) (((m_c) - (m_a)).cross((m_b) - (m_a)))
void NavMap::set_up(Vector3 p_up) {
@@ -87,12 +82,9 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
continue;
}
- // For each point cast a face and check the distance between the origin/destination
- for (size_t point_id = 0; point_id < p.points.size(); point_id++) {
- const Vector3 p1 = p.points[point_id].pos;
- const Vector3 p2 = p.points[(point_id + 1) % p.points.size()].pos;
- const Vector3 p3 = p.points[(point_id + 2) % p.points.size()].pos;
- const Face3 face(p1, p2, p3);
+ // For each face check the distance between the origin/destination
+ for (size_t point_id = 2; point_id < p.points.size(); point_id++) {
+ const Face3 face(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
Vector3 point = face.get_closest_point_to(p_origin);
float distance_to_point = point.distance_to(p_origin);
@@ -149,10 +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.
@@ -218,7 +210,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
end_poly = reachable_end;
end_d = 1e20;
for (size_t point_id = 2; point_id < end_poly->points.size(); point_id++) {
- Face3 f(end_poly->points[point_id - 2].pos, end_poly->points[point_id - 1].pos, end_poly->points[point_id].pos);
+ Face3 f(end_poly->points[0].pos, end_poly->points[point_id - 1].pos, end_poly->points[point_id].pos);
Vector3 spoint = f.get_closest_point_to(p_destination);
float dpoint = spoint.distance_to(p_destination);
if (dpoint < end_d) {
@@ -233,6 +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;
@@ -252,6 +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);
@@ -261,8 +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;
@@ -358,11 +351,15 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
// Add mid points
int np_id = least_cost_id;
- while (np_id != -1) {
- path.push_back(navigation_polys[np_id].entry);
+ while (np_id != -1 && navigation_polys[np_id].back_navigation_poly_id != -1) {
+ int prev = navigation_polys[np_id].back_navigation_edge;
+ int prev_n = (navigation_polys[np_id].back_navigation_edge + 1) % navigation_polys[np_id].poly->points.size();
+ Vector3 point = (navigation_polys[np_id].poly->points[prev].pos + navigation_polys[np_id].poly->points[prev_n].pos) * 0.5;
+ path.push_back(point);
np_id = navigation_polys[np_id].back_navigation_poly_id;
}
+ path.push_back(begin_point);
path.reverse();
}
@@ -374,13 +371,12 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
Vector3 closest_point;
real_t closest_point_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 each point cast a face and check the distance to the segment
+ // 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[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
+ const Face3 f(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
Vector3 inters;
if (f.intersects_segment(p_from, p_to, &inters)) {
const real_t d = closest_point_d = p_from.distance_to(inters);
@@ -420,82 +416,42 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
}
Vector3 NavMap::get_closest_point(const Vector3 &p_point) const {
- // TODO this is really not optimal, please redesign the API to directly return all this data
-
- Vector3 closest_point;
- real_t closest_point_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 each point cast a face and check the distance to the point
- for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
- const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
- const Vector3 inters = f.get_closest_point_to(p_point);
- const real_t d = inters.distance_to(p_point);
- if (d < closest_point_d) {
- closest_point = inters;
- closest_point_d = d;
- }
- }
- }
-
- return closest_point;
+ gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
+ return cp.point;
}
Vector3 NavMap::get_closest_point_normal(const Vector3 &p_point) const {
- // TODO this is really not optimal, please redesign the API to directly return all this data
-
- Vector3 closest_point;
- Vector3 closest_point_normal;
- real_t closest_point_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 each point cast a face and check the distance to the point
- for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
- const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
- const Vector3 inters = f.get_closest_point_to(p_point);
- const real_t d = inters.distance_to(p_point);
- if (d < closest_point_d) {
- closest_point = inters;
- closest_point_normal = f.get_plane().normal;
- closest_point_d = d;
- }
- }
- }
-
- return closest_point_normal;
+ gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
+ return cp.normal;
}
RID NavMap::get_closest_point_owner(const Vector3 &p_point) const {
- // TODO this is really not optimal, please redesign the API to directly return all this data
+ gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
+ return cp.owner;
+}
- Vector3 closest_point;
- RID closest_point_owner;
- real_t closest_point_d = 1e20;
+gd::ClosestPointQueryResult NavMap::get_closest_point_info(const Vector3 &p_point) const {
+ gd::ClosestPointQueryResult result;
+ real_t closest_point_ds = 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 each point cast a face and check the distance to the point
+ // For each face check the distance to the point
for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
- const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
+ const Face3 f(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
const Vector3 inters = f.get_closest_point_to(p_point);
- const real_t d = inters.distance_to(p_point);
- if (d < closest_point_d) {
- closest_point = inters;
- closest_point_owner = p.owner->get_self();
- closest_point_d = d;
+ const real_t ds = inters.distance_squared_to(p_point);
+ if (ds < closest_point_ds) {
+ result.point = inters;
+ result.normal = f.get_plane().normal;
+ result.owner = p.owner->get_self();
+ closest_point_ds = ds;
}
}
}
- return closest_point_owner;
+ return result;
}
void NavMap::add_region(NavRegion *p_region) {
@@ -585,7 +541,7 @@ void NavMap::sync() {
}
// Group all edges per key.
- Map<gd::EdgeKey, Vector<gd::Edge::Connection>> connections;
+ HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey> connections;
for (size_t poly_id(0); poly_id < polygons.size(); poly_id++) {
gd::Polygon &poly(polygons[poly_id]);
@@ -593,7 +549,7 @@ void NavMap::sync() {
int next_point = (p + 1) % poly.points.size();
gd::EdgeKey ek(poly.points[p].key, poly.points[next_point].key);
- Map<gd::EdgeKey, Vector<gd::Edge::Connection>>::Element *connection = connections.find(ek);
+ HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey>::Iterator connection = connections.find(ek);
if (!connection) {
connections[ek] = Vector<gd::Edge::Connection>();
}
@@ -717,7 +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,
@@ -762,3 +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 8e013a72eb..f58a78d4ca 100644
--- a/modules/navigation/nav_map.h
+++ b/modules/navigation/nav_map.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -28,19 +28,17 @@
/* 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>
-/**
- @author AndreaCatania
-*/
+#include <KdTree.h>
class NavRegion;
class RvoAgent;
@@ -83,8 +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 {
@@ -107,6 +109,7 @@ public:
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;
+ gd::ClosestPointQueryResult get_closest_point_info(const Vector3 &p_point) const;
RID get_closest_point_owner(const Vector3 &p_point) const;
void add_region(NavRegion *p_region);
@@ -138,4 +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
diff --git a/modules/navigation/nav_region.cpp b/modules/navigation/nav_region.cpp
index 81b15a49f5..fea0ad519a 100644
--- a/modules/navigation/nav_region.cpp
+++ b/modules/navigation/nav_region.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -32,10 +32,6 @@
#include "nav_map.h"
-/**
- @author AndreaCatania
-*/
-
void NavRegion::set_map(NavMap *p_map) {
map = p_map;
polygons_dirty = true;
diff --git a/modules/navigation/nav_region.h b/modules/navigation/nav_region.h
index f8b067e638..7a6da281c0 100644
--- a/modules/navigation/nav_region.h
+++ b/modules/navigation/nav_region.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -35,11 +35,8 @@
#include "nav_rid.h"
#include "nav_utils.h"
-#include <vector>
-/**
- @author AndreaCatania
-*/
+#include <vector>
class NavMap;
class NavRegion;
diff --git a/modules/navigation/nav_rid.h b/modules/navigation/nav_rid.h
index a0a60a3643..31e20440d2 100644
--- a/modules/navigation/nav_rid.h
+++ b/modules/navigation/nav_rid.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -33,10 +33,6 @@
#include "core/templates/rid.h"
-/**
- @author AndreaCatania
-*/
-
class NavRid {
RID self;
diff --git a/modules/navigation/nav_utils.h b/modules/navigation/nav_utils.h
index 35da391eea..a9f4e0e2fc 100644
--- a/modules/navigation/nav_utils.h
+++ b/modules/navigation/nav_utils.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -32,13 +32,11 @@
#define NAV_UTILS_H
#include "core/math/vector3.h"
-
+#include "core/templates/hash_map.h"
+#include "core/templates/hashfuncs.h"
+#include "core/templates/vector.h"
#include <vector>
-/**
- @author AndreaCatania
-*/
-
class NavRegion;
namespace gd {
@@ -52,15 +50,18 @@ union PointKey {
};
uint64_t key = 0;
- bool operator<(const PointKey &p_key) const { return key < p_key.key; }
};
struct EdgeKey {
PointKey a;
PointKey b;
- bool operator<(const EdgeKey &p_key) const {
- return (a.key == p_key.a.key) ? (b.key < p_key.b.key) : (a.key < p_key.a.key);
+ static uint32_t hash(const EdgeKey &p_val) {
+ return hash_one_uint64(p_val.a.key) ^ hash_one_uint64(p_val.b.key);
+ }
+
+ bool operator==(const EdgeKey &p_key) const {
+ return (a.key == p_key.a.key) && (b.key == p_key.b.key);
}
EdgeKey(const PointKey &p_a = PointKey(), const PointKey &p_b = PointKey()) :
@@ -92,7 +93,7 @@ struct Edge {
};
struct Polygon {
- NavRegion *owner;
+ NavRegion *owner = nullptr;
/// The points of this `Polygon`
std::vector<Point> points;
@@ -135,6 +136,12 @@ struct NavigationPoly {
}
};
+struct ClosestPointQueryResult {
+ Vector3 point;
+ Vector3 normal;
+ RID owner;
+};
+
} // namespace gd
#endif // NAV_UTILS_H
diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp
index 0bce0fc9f0..1bc7cd7cdc 100644
--- a/modules/navigation/navigation_mesh_generator.cpp
+++ b/modules/navigation/navigation_mesh_generator.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -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"
@@ -50,7 +49,6 @@
#ifdef TOOLS_ENABLED
#include "editor/editor_node.h"
-#include "editor/editor_settings.h"
#endif
#include "modules/modules_enabled.gen.h" // For csg, gridmap.
@@ -125,6 +123,28 @@ void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform
}
}
+void NavigationMeshGenerator::_add_mesh_array(const Array &p_array, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
+ Vector<Vector3> mesh_vertices = p_array[Mesh::ARRAY_VERTEX];
+ const Vector3 *vr = mesh_vertices.ptr();
+
+ Vector<int> mesh_indices = p_array[Mesh::ARRAY_INDEX];
+ const int *ir = mesh_indices.ptr();
+
+ const int face_count = mesh_indices.size() / 3;
+ const int current_vertex_count = p_vertices.size() / 3;
+
+ for (int j = 0; j < mesh_vertices.size(); j++) {
+ _add_vertex(p_xform.xform(vr[j]), p_vertices);
+ }
+
+ for (int j = 0; j < face_count; j++) {
+ // CCW
+ p_indices.push_back(current_vertex_count + (ir[j * 3 + 0]));
+ p_indices.push_back(current_vertex_count + (ir[j * 3 + 2]));
+ p_indices.push_back(current_vertex_count + (ir[j * 3 + 1]));
+ }
+}
+
void NavigationMeshGenerator::_add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices) {
int face_count = p_faces.size() / 3;
int current_vertex_count = p_vertices.size() / 3;
@@ -140,26 +160,28 @@ void NavigationMeshGenerator::_add_faces(const PackedVector3Array &p_faces, cons
}
}
-void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children) {
+void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_transform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children) {
if (Object::cast_to<MeshInstance3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
MeshInstance3D *mesh_instance = Object::cast_to<MeshInstance3D>(p_node);
Ref<Mesh> mesh = mesh_instance->get_mesh();
if (mesh.is_valid()) {
- _add_mesh(mesh, p_accumulated_transform * mesh_instance->get_transform(), p_vertices, p_indices);
+ _add_mesh(mesh, p_navmesh_transform * mesh_instance->get_global_transform(), p_vertices, p_indices);
}
}
if (Object::cast_to<MultiMeshInstance3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
MultiMeshInstance3D *multimesh_instance = Object::cast_to<MultiMeshInstance3D>(p_node);
Ref<MultiMesh> multimesh = multimesh_instance->get_multimesh();
- Ref<Mesh> mesh = multimesh->get_mesh();
- if (mesh.is_valid()) {
- int n = multimesh->get_visible_instance_count();
- if (n == -1) {
- n = multimesh->get_instance_count();
- }
- for (int i = 0; i < n; i++) {
- _add_mesh(mesh, p_accumulated_transform * multimesh->get_instance_transform(i), p_vertices, p_indices);
+ if (multimesh.is_valid()) {
+ Ref<Mesh> mesh = multimesh->get_mesh();
+ if (mesh.is_valid()) {
+ int n = multimesh->get_visible_instance_count();
+ if (n == -1) {
+ n = multimesh->get_instance_count();
+ }
+ for (int i = 0; i < n; i++) {
+ _add_mesh(mesh, p_navmesh_transform * multimesh_instance->get_global_transform() * multimesh->get_instance_transform(i), p_vertices, p_indices);
+ }
}
}
}
@@ -171,7 +193,7 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
if (!meshes.is_empty()) {
Ref<Mesh> mesh = meshes[1];
if (mesh.is_valid()) {
- _add_mesh(mesh, p_accumulated_transform * csg_shape->get_transform(), p_vertices, p_indices);
+ _add_mesh(mesh, p_navmesh_transform * csg_shape->get_global_transform(), p_vertices, p_indices);
}
}
}
@@ -181,50 +203,48 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
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_accumulated_transform * static_body->get_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<Mesh> mesh;
- 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) {
- Ref<BoxMesh> box_mesh;
- box_mesh.instantiate();
- box_mesh->set_size(box->get_size());
- mesh = box_mesh;
+ Array arr;
+ arr.resize(RS::ARRAY_MAX);
+ BoxMesh::create_mesh_array(arr, box->get_size());
+ _add_mesh_array(arr, transform, p_vertices, p_indices);
}
CapsuleShape3D *capsule = Object::cast_to<CapsuleShape3D>(*s);
if (capsule) {
- Ref<CapsuleMesh> capsule_mesh;
- capsule_mesh.instantiate();
- capsule_mesh->set_radius(capsule->get_radius());
- capsule_mesh->set_height(capsule->get_height());
- mesh = capsule_mesh;
+ Array arr;
+ arr.resize(RS::ARRAY_MAX);
+ CapsuleMesh::create_mesh_array(arr, capsule->get_radius(), capsule->get_height());
+ _add_mesh_array(arr, transform, p_vertices, p_indices);
}
CylinderShape3D *cylinder = Object::cast_to<CylinderShape3D>(*s);
if (cylinder) {
- Ref<CylinderMesh> cylinder_mesh;
- cylinder_mesh.instantiate();
- cylinder_mesh->set_height(cylinder->get_height());
- cylinder_mesh->set_bottom_radius(cylinder->get_radius());
- cylinder_mesh->set_top_radius(cylinder->get_radius());
- mesh = cylinder_mesh;
+ Array arr;
+ arr.resize(RS::ARRAY_MAX);
+ CylinderMesh::create_mesh_array(arr, cylinder->get_radius(), cylinder->get_radius(), cylinder->get_height());
+ _add_mesh_array(arr, transform, p_vertices, p_indices);
}
SphereShape3D *sphere = Object::cast_to<SphereShape3D>(*s);
if (sphere) {
- Ref<SphereMesh> sphere_mesh;
- sphere_mesh.instantiate();
- sphere_mesh->set_radius(sphere->get_radius());
- sphere_mesh->set_height(sphere->get_radius() * 2.0);
- mesh = sphere_mesh;
+ Array arr;
+ arr.resize(RS::ARRAY_MAX);
+ SphereMesh::create_mesh_array(arr, sphere->get_radius(), sphere->get_radius() * 2.0);
+ _add_mesh_array(arr, transform, p_vertices, p_indices);
}
ConcavePolygonShape3D *concave_polygon = Object::cast_to<ConcavePolygonShape3D>(*s);
@@ -255,37 +275,105 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
_add_faces(faces, transform, p_vertices, p_indices);
}
}
-
- if (mesh.is_valid()) {
- _add_mesh(mesh, transform, p_vertices, p_indices);
- }
}
}
}
}
#ifdef MODULE_GRIDMAP_ENABLED
- if (Object::cast_to<GridMap>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
- GridMap *gridmap_instance = Object::cast_to<GridMap>(p_node);
- Array meshes = gridmap_instance->get_meshes();
- Transform3D xform = gridmap_instance->get_transform();
- for (int i = 0; i < meshes.size(); i += 2) {
- Ref<Mesh> mesh = meshes[i + 1];
- if (mesh.is_valid()) {
- _add_mesh(mesh, p_accumulated_transform * xform * (Transform3D)meshes[i], p_vertices, p_indices);
+ GridMap *gridmap = Object::cast_to<GridMap>(p_node);
+
+ if (gridmap) {
+ if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
+ Array meshes = gridmap->get_meshes();
+ Transform3D xform = gridmap->get_global_transform();
+ for (int i = 0; i < meshes.size(); i += 2) {
+ Ref<Mesh> mesh = meshes[i + 1];
+ if (mesh.is_valid()) {
+ _add_mesh(mesh, p_navmesh_transform * xform * (Transform3D)meshes[i], p_vertices, p_indices);
+ }
}
}
- }
-#endif
- if (Object::cast_to<Node3D>(p_node)) {
- Node3D *spatial = Object::cast_to<Node3D>(p_node);
- p_accumulated_transform = p_accumulated_transform * spatial->get_transform();
+ if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES && (gridmap->get_collision_layer() & p_collision_mask)) {
+ Array shapes = gridmap->get_collision_shapes();
+ for (int i = 0; i < shapes.size(); i += 2) {
+ RID shape = shapes[i + 1];
+ PhysicsServer3D::ShapeType type = PhysicsServer3D::get_singleton()->shape_get_type(shape);
+ Variant data = PhysicsServer3D::get_singleton()->shape_get_data(shape);
+
+ switch (type) {
+ case PhysicsServer3D::SHAPE_SPHERE: {
+ real_t radius = data;
+ Array arr;
+ arr.resize(RS::ARRAY_MAX);
+ SphereMesh::create_mesh_array(arr, radius, radius * 2.0);
+ _add_mesh_array(arr, shapes[i], p_vertices, p_indices);
+ } break;
+ case PhysicsServer3D::SHAPE_BOX: {
+ Vector3 extents = data;
+ Array arr;
+ arr.resize(RS::ARRAY_MAX);
+ BoxMesh::create_mesh_array(arr, extents * 2.0);
+ _add_mesh_array(arr, shapes[i], p_vertices, p_indices);
+ } break;
+ case PhysicsServer3D::SHAPE_CAPSULE: {
+ Dictionary dict = data;
+ real_t radius = dict["radius"];
+ real_t height = dict["height"];
+ Array arr;
+ arr.resize(RS::ARRAY_MAX);
+ CapsuleMesh::create_mesh_array(arr, radius, height);
+ _add_mesh_array(arr, shapes[i], p_vertices, p_indices);
+ } break;
+ case PhysicsServer3D::SHAPE_CYLINDER: {
+ Dictionary dict = data;
+ real_t radius = dict["radius"];
+ real_t height = dict["height"];
+ Array arr;
+ arr.resize(RS::ARRAY_MAX);
+ CylinderMesh::create_mesh_array(arr, radius, radius, height);
+ _add_mesh_array(arr, shapes[i], p_vertices, p_indices);
+ } break;
+ case PhysicsServer3D::SHAPE_CONVEX_POLYGON: {
+ PackedVector3Array vertices = data;
+ Geometry3D::MeshData md;
+
+ Error err = ConvexHullComputer::convex_hull(vertices, md);
+
+ if (err == OK) {
+ PackedVector3Array faces;
+
+ for (int j = 0; j < md.faces.size(); ++j) {
+ Geometry3D::MeshData::Face face = md.faces[j];
+
+ for (int k = 2; k < face.indices.size(); ++k) {
+ faces.push_back(md.vertices[face.indices[0]]);
+ faces.push_back(md.vertices[face.indices[k - 1]]);
+ faces.push_back(md.vertices[face.indices[k]]);
+ }
+ }
+
+ _add_faces(faces, shapes[i], p_vertices, p_indices);
+ }
+ } break;
+ case PhysicsServer3D::SHAPE_CONCAVE_POLYGON: {
+ Dictionary dict = data;
+ PackedVector3Array faces = Variant(dict["faces"]);
+ _add_faces(faces, shapes[i], p_vertices, p_indices);
+ } break;
+ default: {
+ WARN_PRINT("Unsupported collision shape type.");
+ } break;
+ }
+ }
+ }
}
+#endif
if (p_recurse_children) {
for (int i = 0; i < p_node->get_child_count(); i++) {
- _parse_geometry(p_accumulated_transform, p_node->get_child(i), p_vertices, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
+ _parse_geometry(p_navmesh_transform, p_node->get_child(i), p_vertices, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
}
}
}
@@ -359,7 +447,7 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh(
cfg.minRegionArea = (int)(p_nav_mesh->get_region_min_size() * p_nav_mesh->get_region_min_size());
cfg.mergeRegionArea = (int)(p_nav_mesh->get_region_merge_size() * p_nav_mesh->get_region_merge_size());
cfg.maxVertsPerPoly = (int)p_nav_mesh->get_verts_per_poly();
- cfg.detailSampleDist = p_nav_mesh->get_detail_sample_distance() < 0.9f ? 0 : p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance();
+ cfg.detailSampleDist = MAX(p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance(), 0.1f);
cfg.detailSampleMaxError = p_nav_mesh->get_cell_height() * p_nav_mesh->get_detail_sample_max_error();
cfg.bmin[0] = bmin[0];
@@ -376,6 +464,14 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh(
#endif
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
+ // ~30000000 seems to be around sweetspot where Editor baking breaks
+ if ((cfg.width * cfg.height) > 30000000) {
+ WARN_PRINT("NavigationMesh baking process will likely fail."
+ "\nSource geometry is suspiciously big for the current Cell Size and Cell Height in the NavMesh Resource bake settings."
+ "\nIf baking does not fail, the resulting NavigationMesh will create serious pathfinding performance issues."
+ "\nIt is advised to increase Cell Size and/or Cell Height in the NavMesh Resource bake settings or reduce the size / scale of the source geometry.");
+ }
+
#ifdef TOOLS_ENABLED
if (ep) {
ep->step(TTR("Creating heightfield..."), 3);
@@ -530,7 +626,7 @@ void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node)
p_node->get_tree()->get_nodes_in_group(p_nav_mesh->get_source_group_name(), &parse_nodes);
}
- Transform3D navmesh_xform = Object::cast_to<Node3D>(p_node)->get_transform().affine_inverse();
+ Transform3D navmesh_xform = Object::cast_to<Node3D>(p_node)->get_global_transform().affine_inverse();
for (Node *E : parse_nodes) {
NavigationMesh::ParsedGeometryType geometry_type = p_nav_mesh->get_parsed_geometry_type();
uint32_t collision_mask = p_nav_mesh->get_collision_mask();
diff --git a/modules/navigation/navigation_mesh_generator.h b/modules/navigation/navigation_mesh_generator.h
index dac844c68e..8cc1531b53 100644
--- a/modules/navigation/navigation_mesh_generator.h
+++ b/modules/navigation/navigation_mesh_generator.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -51,8 +51,9 @@ protected:
static void _add_vertex(const Vector3 &p_vec3, Vector<float> &p_vertices);
static void _add_mesh(const Ref<Mesh> &p_mesh, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
+ static void _add_mesh_array(const Array &p_array, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
static void _add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
- static void _parse_geometry(Transform3D p_accumulated_transform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children);
+ static void _parse_geometry(const Transform3D &p_navmesh_transform, Node *p_node, Vector<float> &p_vertices, Vector<int> &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children);
static void _convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref<NavigationMesh> p_nav_mesh);
static void _build_recast_navigation_mesh(
diff --git a/modules/navigation/register_types.cpp b/modules/navigation/register_types.cpp
index 97c01d42ab..62ae2c7f02 100644
--- a/modules/navigation/register_types.cpp
+++ b/modules/navigation/register_types.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -40,7 +40,7 @@
#endif
#ifdef TOOLS_ENABLED
-#include "navigation_mesh_editor_plugin.h"
+#include "editor/navigation_mesh_editor_plugin.h"
#endif
#ifndef _3D_DISABLED
@@ -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 4737c818eb..c4dbd19ed3 100644
--- a/modules/navigation/register_types.h
+++ b/modules/navigation/register_types.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -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
diff --git a/modules/navigation/rvo_agent.cpp b/modules/navigation/rvo_agent.cpp
index 21e43d08c1..a6a5660c0c 100644
--- a/modules/navigation/rvo_agent.cpp
+++ b/modules/navigation/rvo_agent.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -32,10 +32,6 @@
#include "nav_map.h"
-/**
- @author AndreaCatania
-*/
-
RvoAgent::RvoAgent() {
callback.id = ObjectID();
}
@@ -79,5 +75,5 @@ void RvoAgent::dispatch_callback() {
const Variant *vp[2] = { &callback.new_velocity, &callback.udata };
int argc = (callback.udata.get_type() == Variant::NIL) ? 1 : 2;
- obj->call(callback.method, vp, argc, responseCallError);
+ obj->callp(callback.method, vp, argc, responseCallError);
}
diff --git a/modules/navigation/rvo_agent.h b/modules/navigation/rvo_agent.h
index 369cb1f9a3..54baab404e 100644
--- a/modules/navigation/rvo_agent.h
+++ b/modules/navigation/rvo_agent.h
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2022 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 */
@@ -36,10 +36,6 @@
#include <Agent.h>
-/**
- @author AndreaCatania
-*/
-
class NavMap;
class RvoAgent : public NavRid {
generated by cgit v1.2.3 (git 2.39.1) at 2026-02-03 16:04:57 +0000