diff options
Diffstat (limited to 'modules/navigation')
| -rw-r--r-- | modules/navigation/SCsub | 2 | ||||
| -rw-r--r-- | modules/navigation/editor/navigation_mesh_editor_plugin.cpp | 62 | ||||
| -rw-r--r-- | modules/navigation/editor/navigation_mesh_editor_plugin.h | 60 | ||||
| -rw-r--r-- | modules/navigation/godot_navigation_server.cpp | 526 | ||||
| -rw-r--r-- | modules/navigation/godot_navigation_server.h | 137 | ||||
| -rw-r--r-- | modules/navigation/nav_base.h | 64 | ||||
| -rw-r--r-- | modules/navigation/nav_link.cpp | 60 | ||||
| -rw-r--r-- | modules/navigation/nav_link.h | 73 | ||||
| -rw-r--r-- | modules/navigation/nav_map.cpp | 436 | ||||
| -rw-r--r-- | modules/navigation/nav_map.h | 118 | ||||
| -rw-r--r-- | modules/navigation/nav_region.cpp | 66 | ||||
| -rw-r--r-- | modules/navigation/nav_region.h | 87 | ||||
| -rw-r--r-- | modules/navigation/nav_rid.h | 58 | ||||
| -rw-r--r-- | modules/navigation/nav_utils.h | 88 | ||||
| -rw-r--r-- | modules/navigation/navigation_mesh_generator.cpp | 270 | ||||
| -rw-r--r-- | modules/navigation/navigation_mesh_generator.h | 66 | ||||
| -rw-r--r-- | modules/navigation/register_types.cpp | 58 | ||||
| -rw-r--r-- | modules/navigation/register_types.h | 58 | ||||
| -rw-r--r-- | modules/navigation/rvo_agent.cpp | 58 | ||||
| -rw-r--r-- | modules/navigation/rvo_agent.h | 58 |
20 files changed, 1656 insertions, 749 deletions
diff --git a/modules/navigation/SCsub b/modules/navigation/SCsub index 24a6b12639..0b0822db2d 100644 --- a/modules/navigation/SCsub +++ b/modules/navigation/SCsub @@ -57,7 +57,7 @@ env.modules_sources += thirdparty_obj module_obj = [] env_navigation.add_source_files(module_obj, "*.cpp") -if env["tools"]: +if env.editor_build: env_navigation.add_source_files(module_obj, "editor/*.cpp") env.modules_sources += module_obj diff --git a/modules/navigation/editor/navigation_mesh_editor_plugin.cpp b/modules/navigation/editor/navigation_mesh_editor_plugin.cpp index c243e3e6e3..54f7abda8d 100644 --- a/modules/navigation/editor/navigation_mesh_editor_plugin.cpp +++ b/modules/navigation/editor/navigation_mesh_editor_plugin.cpp @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* navigation_mesh_editor_plugin.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* navigation_mesh_editor_plugin.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #include "navigation_mesh_editor_plugin.h" @@ -110,7 +110,7 @@ NavigationMeshEditor::NavigationMeshEditor() { button_reset->set_flat(true); bake_hbox->add_child(button_reset); // No button text, we only use a revert icon which is set when entering the tree. - button_reset->set_tooltip(TTR("Clear the navigation mesh.")); + button_reset->set_tooltip_text(TTR("Clear the navigation mesh.")); button_reset->connect("pressed", callable_mp(this, &NavigationMeshEditor::_clear_pressed)); bake_info = memnew(Label); @@ -145,7 +145,7 @@ void NavigationMeshEditorPlugin::make_visible(bool p_visible) { NavigationMeshEditorPlugin::NavigationMeshEditorPlugin() { navigation_mesh_editor = memnew(NavigationMeshEditor); - EditorNode::get_singleton()->get_main_control()->add_child(navigation_mesh_editor); + EditorNode::get_singleton()->get_main_screen_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(); diff --git a/modules/navigation/editor/navigation_mesh_editor_plugin.h b/modules/navigation/editor/navigation_mesh_editor_plugin.h index bc9e4185b7..010be411d6 100644 --- a/modules/navigation/editor/navigation_mesh_editor_plugin.h +++ b/modules/navigation/editor/navigation_mesh_editor_plugin.h @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* navigation_mesh_editor_plugin.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* navigation_mesh_editor_plugin.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #ifndef NAVIGATION_MESH_EDITOR_PLUGIN_H #define NAVIGATION_MESH_EDITOR_PLUGIN_H @@ -35,6 +35,8 @@ #include "editor/editor_plugin.h" +class AcceptDialog; +class HBoxContainer; class NavigationRegion3D; class NavigationMeshEditor : public Control { diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp index bcbc721dbb..9b5d78d465 100644 --- a/modules/navigation/godot_navigation_server.cpp +++ b/modules/navigation/godot_navigation_server.cpp @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* godot_navigation_server.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* godot_navigation_server.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #include "godot_navigation_server.h" @@ -36,6 +36,8 @@ #include "navigation_mesh_generator.h" #endif +using namespace NavigationUtilities; + /// 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. @@ -50,7 +52,7 @@ 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); \ @@ -71,7 +73,7 @@ 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)); \ @@ -79,34 +81,34 @@ } \ 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() {} @@ -115,16 +117,14 @@ 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); } -Array GodotNavigationServer::get_maps() const { - Array all_map_rids; +TypedArray<RID> GodotNavigationServer::get_maps() const { + TypedArray<RID> all_map_rids; List<RID> maps_owned; map_owner.get_owned_list(&maps_owned); if (maps_owned.size()) { @@ -135,12 +135,12 @@ Array 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; } @@ -210,11 +210,25 @@ real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const { return map->get_edge_connection_margin(); } +COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius) { + NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND(map == nullptr); + + map->set_link_connection_radius(p_connection_radius); +} + +real_t GodotNavigationServer::map_get_link_connection_radius(RID p_map) const { + const NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND_V(map == nullptr, 0); + + return map->get_link_connection_radius(); +} + Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const { const NavMap *map = map_owner.get_or_null(p_map); ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>()); - return map->get_path(p_origin, p_destination, p_optimize, p_navigation_layers); + return map->get_path(p_origin, p_destination, p_optimize, p_navigation_layers, nullptr, nullptr, nullptr); } Vector3 GodotNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const { @@ -245,22 +259,44 @@ 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; +TypedArray<RID> GodotNavigationServer::map_get_links(RID p_map) const { + TypedArray<RID> link_rids; + const NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND_V(map == nullptr, link_rids); + + const LocalVector<NavLink *> links = map->get_links(); + link_rids.resize(links.size()); + + for (uint32_t i = 0; i < links.size(); i++) { + link_rids[i] = links[i]->get_self(); + } + return link_rids; +} + +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); - for (NavRegion *region : map->get_regions()) { - regions_rids.push_back(region->get_self()); + + 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(); } return regions_rids; } -Array GodotNavigationServer::map_get_agents(RID p_map) const { - Array agents_rids; +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); - for (RvoAgent *agent : map->get_agents()) { - agents_rids.push_back(agent->get_self()); + + 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(); } return agents_rids; } @@ -268,6 +304,7 @@ Array 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(); } @@ -277,15 +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); @@ -351,9 +389,24 @@ real_t GodotNavigationServer::region_get_travel_cost(RID p_region) const { return region->get_travel_cost(); } +COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id) { + NavRegion *region = region_owner.get_or_null(p_region); + ERR_FAIL_COND(region == nullptr); + + region->set_owner_id(p_owner_id); +} + +ObjectID GodotNavigationServer::region_get_owner_id(RID p_region) const { + const NavRegion *region = region_owner.get_or_null(p_region); + ERR_FAIL_COND_V(region == nullptr, ObjectID()); + + return region->get_owner_id(); +} + 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(); @@ -375,20 +428,20 @@ uint32_t GodotNavigationServer::region_get_navigation_layers(RID p_region) const return region->get_navigation_layers(); } -COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) { +COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navigation_mesh) { NavRegion *region = region_owner.get_or_null(p_region); ERR_FAIL_COND(region == nullptr); - region->set_mesh(p_nav_mesh); + region->set_mesh(p_navigation_mesh); } -void GodotNavigationServer::region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const { - ERR_FAIL_COND(r_mesh.is_null()); - ERR_FAIL_COND(p_node == nullptr); +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); #ifndef _3D_DISABLED - NavigationMeshGenerator::get_singleton()->clear(r_mesh); - NavigationMeshGenerator::get_singleton()->bake(r_mesh, p_node); + NavigationMeshGenerator::get_singleton()->clear(p_navigation_mesh); + NavigationMeshGenerator::get_singleton()->bake(p_navigation_mesh, p_root_node); #endif } @@ -413,9 +466,148 @@ Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, i return region->get_connection_pathway_end(p_connection_id); } -RID GodotNavigationServer::agent_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); + return rid; +} + +COMMAND_2(link_set_map, RID, p_link, RID, p_map) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + if (link->get_map() != nullptr) { + if (link->get_map()->get_self() == p_map) { + return; // Pointless + } + + link->get_map()->remove_link(link); + link->set_map(nullptr); + } + + if (p_map.is_valid()) { + NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND(map == nullptr); + + map->add_link(link); + link->set_map(map); + } +} + +RID GodotNavigationServer::link_get_map(const RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, RID()); + + if (link->get_map()) { + return link->get_map()->get_self(); + } + return RID(); +} + +COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_bidirectional(p_bidirectional); +} + +bool GodotNavigationServer::link_is_bidirectional(RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, false); + + return link->is_bidirectional(); +} + +COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_navigation_layers(p_navigation_layers); +} + +uint32_t GodotNavigationServer::link_get_navigation_layers(const RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, 0); + + return link->get_navigation_layers(); +} + +COMMAND_2(link_set_start_location, RID, p_link, Vector3, p_location) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_start_location(p_location); +} + +Vector3 GodotNavigationServer::link_get_start_location(RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, Vector3()); + + return link->get_start_location(); +} + +COMMAND_2(link_set_end_location, RID, p_link, Vector3, p_location) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_end_location(p_location); +} + +Vector3 GodotNavigationServer::link_get_end_location(RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, Vector3()); + + return link->get_end_location(); +} + +COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_enter_cost(p_enter_cost); +} + +real_t GodotNavigationServer::link_get_enter_cost(const RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, 0); + + return link->get_enter_cost(); +} + +COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_travel_cost(p_travel_cost); +} + +real_t GodotNavigationServer::link_get_travel_cost(const RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, 0); + + return link->get_travel_cost(); +} + +COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_owner_id(p_owner_id); +} + +ObjectID GodotNavigationServer::link_get_owner_id(RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, ObjectID()); + + return link->get_owner_id(); +} + +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); @@ -449,11 +641,11 @@ COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) { } } -COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist) { +COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance) { RvoAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); - agent->get_agent()->neighborDist_ = p_dist; + agent->get_agent()->neighborDist_ = p_distance; } COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) { @@ -519,14 +711,14 @@ bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const { return agent->is_map_changed(); } -COMMAND_4(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata) { +COMMAND_4(agent_set_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata) { RvoAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND(agent == nullptr); - agent->set_callback(p_receiver == nullptr ? ObjectID() : p_receiver->get_instance_id(), p_method, p_udata); + agent->set_callback(p_object_id, p_method, p_udata); if (agent->get_map()) { - if (p_receiver == nullptr) { + if (p_object_id == ObjectID()) { agent->get_map()->remove_agent_as_controlled(agent); } else { agent->get_map()->set_agent_as_controlled(agent); @@ -539,15 +731,22 @@ COMMAND_1(free, RID, p_object) { NavMap *map = map_owner.get_or_null(p_object); // Removes any assigned region - std::vector<NavRegion *> regions = map->get_regions(); - for (size_t i(0); i < regions.size(); i++) { + 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); } + // 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); + } + // Remove any assigned agent - std::vector<RvoAgent *> agents = map->get_agents(); - for (size_t i(0); i < agents.size(); i++) { + 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); } @@ -568,6 +767,17 @@ COMMAND_1(free, RID, p_object) { region_owner.free(p_object); + } else if (link_owner.owns(p_object)) { + NavLink *link = link_owner.get_or_null(p_object); + + // Removes this link from the map if assigned + if (link->get_map() != nullptr) { + link->get_map()->remove_link(link); + link->set_map(nullptr); + } + + link_owner.free(p_object); + } else if (agent_owner.owns(p_object)) { RvoAgent *agent = agent_owner.get_or_null(p_object); @@ -584,10 +794,10 @@ 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() { @@ -595,6 +805,7 @@ 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]); @@ -618,6 +829,15 @@ 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); @@ -626,6 +846,15 @@ 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]) { @@ -633,6 +862,89 @@ 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 { + PathQueryResult r_query_result; + + const NavMap *map = map_owner.get_or_null(p_parameters.map); + ERR_FAIL_COND_V(map == nullptr, r_query_result); + + // run the pathfinding + + if (p_parameters.pathfinding_algorithm == PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) { + // while postprocessing is still part of map.get_path() need to check and route it here for the correct "optimize" post-processing + if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) { + r_query_result.path = map->get_path( + p_parameters.start_position, + p_parameters.target_position, + true, + p_parameters.navigation_layers, + p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES) ? &r_query_result.path_types : nullptr, + p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS) ? &r_query_result.path_rids : nullptr, + p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS) ? &r_query_result.path_owner_ids : nullptr); + } else if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) { + r_query_result.path = map->get_path( + p_parameters.start_position, + p_parameters.target_position, + false, + p_parameters.navigation_layers, + p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES) ? &r_query_result.path_types : nullptr, + p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS) ? &r_query_result.path_rids : nullptr, + p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS) ? &r_query_result.path_owner_ids : nullptr); + } + } else { + return r_query_result; + } + + // add path postprocessing + + // add path stats + + 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 diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h index 8e7e99888c..a87a88d3bc 100644 --- a/modules/navigation/godot_navigation_server.h +++ b/modules/navigation/godot_navigation_server.h @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* godot_navigation_server.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* godot_navigation_server.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #ifndef GODOT_NAVIGATION_SERVER_H #define GODOT_NAVIGATION_SERVER_H @@ -36,6 +36,7 @@ #include "core/templates/rid_owner.h" #include "servers/navigation_server_3d.h" +#include "nav_link.h" #include "nav_map.h" #include "nav_region.h" #include "rvo_agent.h" @@ -45,16 +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; @@ -69,8 +70,9 @@ class GodotNavigationServer : public NavigationServer3D { /// Mutex used to make any operation threadsafe. Mutex operations_mutex; - std::vector<SetCommand *> commands; + LocalVector<SetCommand *> commands; + mutable RID_Owner<NavLink> link_owner; mutable RID_Owner<NavMap> map_owner; mutable RID_Owner<NavRegion> region_owner; mutable RID_Owner<RvoAgent> agent_owner; @@ -79,15 +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 Array get_maps() const override; + 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; @@ -100,6 +112,9 @@ public: 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 override; + COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius); + virtual real_t map_get_link_connection_radius(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_navigation_layers = 1) 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 override; @@ -107,18 +122,22 @@ public: 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 Array map_get_regions(RID p_map) const override; - virtual Array map_get_agents(RID p_map) const override; + virtual TypedArray<RID> map_get_links(RID p_map) const override; + virtual TypedArray<RID> map_get_regions(RID p_map) const override; + virtual TypedArray<RID> map_get_agents(RID p_map) const override; 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; COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost); virtual real_t region_get_travel_cost(RID p_region) const override; + COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id); + virtual ObjectID region_get_owner_id(RID p_region) const override; + virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const override; COMMAND_2(region_set_map, RID, p_region, RID, p_map); @@ -126,16 +145,34 @@ public: COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers); 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_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh); - virtual void region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const override; + 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) 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 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); + virtual bool link_is_bidirectional(RID p_link) const override; + COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers); + virtual uint32_t link_get_navigation_layers(RID p_link) const override; + COMMAND_2(link_set_start_location, RID, p_link, Vector3, p_location); + virtual Vector3 link_get_start_location(RID p_link) const override; + COMMAND_2(link_set_end_location, RID, p_link, Vector3, p_location); + virtual Vector3 link_get_end_location(RID p_link) const override; + COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost); + virtual real_t link_get_enter_cost(RID p_link) const override; + COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost); + virtual real_t link_get_travel_cost(RID p_link) const override; + 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() 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_neighbor_distance, RID, p_agent, real_t, p_distance); 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); COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius); @@ -145,14 +182,18 @@ public: 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 override; - COMMAND_4_DEF(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata, Variant()); + COMMAND_4_DEF(agent_set_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata, Variant()); 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_base.h b/modules/navigation/nav_base.h new file mode 100644 index 0000000000..e729f7d408 --- /dev/null +++ b/modules/navigation/nav_base.h @@ -0,0 +1,64 @@ +/**************************************************************************/ +/* nav_base.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef NAV_BASE_H +#define NAV_BASE_H + +#include "nav_rid.h" +#include "nav_utils.h" +#include "servers/navigation/navigation_utilities.h" + +class NavMap; + +class NavBase : public NavRid { +protected: + uint32_t navigation_layers = 1; + float enter_cost = 0.0; + float travel_cost = 1.0; + ObjectID owner_id; + NavigationUtilities::PathSegmentType type; + +public: + NavigationUtilities::PathSegmentType get_type() const { return type; } + + void set_navigation_layers(uint32_t p_navigation_layers) { navigation_layers = p_navigation_layers; } + uint32_t get_navigation_layers() const { return navigation_layers; } + + void set_enter_cost(float p_enter_cost) { enter_cost = MAX(p_enter_cost, 0.0); } + float get_enter_cost() const { return enter_cost; } + + void set_travel_cost(float p_travel_cost) { travel_cost = MAX(p_travel_cost, 0.0); } + float get_travel_cost() const { return travel_cost; } + + void set_owner_id(ObjectID p_owner_id) { owner_id = p_owner_id; } + ObjectID get_owner_id() const { return owner_id; } +}; + +#endif // NAV_BASE_H diff --git a/modules/navigation/nav_link.cpp b/modules/navigation/nav_link.cpp new file mode 100644 index 0000000000..05d2b21487 --- /dev/null +++ b/modules/navigation/nav_link.cpp @@ -0,0 +1,60 @@ +/**************************************************************************/ +/* nav_link.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#include "nav_link.h" + +#include "nav_map.h" + +void NavLink::set_map(NavMap *p_map) { + map = p_map; + link_dirty = true; +} + +void NavLink::set_bidirectional(bool p_bidirectional) { + bidirectional = p_bidirectional; + link_dirty = true; +} + +void NavLink::set_start_location(const Vector3 p_location) { + start_location = p_location; + link_dirty = true; +} + +void NavLink::set_end_location(const Vector3 p_location) { + end_location = p_location; + link_dirty = true; +} + +bool NavLink::check_dirty() { + const bool was_dirty = link_dirty; + + link_dirty = false; + return was_dirty; +} diff --git a/modules/navigation/nav_link.h b/modules/navigation/nav_link.h new file mode 100644 index 0000000000..47c1211db8 --- /dev/null +++ b/modules/navigation/nav_link.h @@ -0,0 +1,73 @@ +/**************************************************************************/ +/* nav_link.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ + +#ifndef NAV_LINK_H +#define NAV_LINK_H + +#include "nav_base.h" +#include "nav_utils.h" + +class NavLink : public NavBase { + NavMap *map = nullptr; + bool bidirectional = true; + Vector3 start_location; + Vector3 end_location; + + bool link_dirty = true; + +public: + NavLink() { + type = NavigationUtilities::PathSegmentType::PATH_SEGMENT_TYPE_LINK; + } + + void set_map(NavMap *p_map); + NavMap *get_map() const { + return map; + } + + void set_bidirectional(bool p_bidirectional); + bool is_bidirectional() const { + return bidirectional; + } + + void set_start_location(Vector3 p_location); + Vector3 get_start_location() const { + return start_location; + } + + void set_end_location(Vector3 p_location); + Vector3 get_end_location() const { + return end_location; + } + + bool check_dirty(); +}; + +#endif // NAV_LINK_H diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index 17d6e0a0a1..fd735f8793 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -1,42 +1,55 @@ -/*************************************************************************/ -/* nav_map.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* nav_map.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #include "nav_map.h" +#include "core/object/worker_thread_pool.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))) +// Helper macro +#define APPEND_METADATA(poly) \ + if (r_path_types) { \ + r_path_types->push_back(poly->owner->get_type()); \ + } \ + if (r_path_rids) { \ + r_path_rids->push_back(poly->owner->get_self()); \ + } \ + if (r_path_owners) { \ + r_path_owners->push_back(poly->owner->get_owner_id()); \ + } + void NavMap::set_up(Vector3 p_up) { up = p_up; regenerate_polygons = true; @@ -52,6 +65,11 @@ void NavMap::set_edge_connection_margin(float p_edge_connection_margin) { regenerate_links = true; } +void NavMap::set_link_connection_radius(float p_link_connection_radius) { + link_connection_radius = p_link_connection_radius; + regenerate_links = true; +} + gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const { const int x = int(Math::floor(p_pos.x / cell_size)); const int y = int(Math::floor(p_pos.y / cell_size)); @@ -65,7 +83,18 @@ gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const { return p; } -Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const { +Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers, Vector<int32_t> *r_path_types, TypedArray<RID> *r_path_rids, Vector<int64_t> *r_path_owners) const { + // Clear metadata outputs. + if (r_path_types) { + r_path_types->clear(); + } + if (r_path_rids) { + r_path_rids->clear(); + } + if (r_path_owners) { + r_path_owners->clear(); + } + // Find the start poly and the end poly on this map. const gd::Polygon *begin_poly = nullptr; const gd::Polygon *end_poly = nullptr; @@ -109,6 +138,24 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p return Vector<Vector3>(); } if (begin_poly == end_poly) { + if (r_path_types) { + r_path_types->resize(2); + r_path_types->write[0] = begin_poly->owner->get_type(); + r_path_types->write[1] = end_poly->owner->get_type(); + } + + if (r_path_rids) { + r_path_rids->resize(2); + (*r_path_rids)[0] = begin_poly->owner->get_self(); + (*r_path_rids)[1] = end_poly->owner->get_self(); + } + + if (r_path_owners) { + r_path_owners->resize(2); + r_path_owners->write[0] = begin_poly->owner->get_owner_id(); + r_path_owners->write[1] = end_poly->owner->get_owner_id(); + } + Vector<Vector3> path; path.resize(2); path.write[0] = begin_point; @@ -117,7 +164,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p } // List of all reachable navigation polys. - std::vector<gd::NavigationPoly> navigation_polys; + LocalVector<gd::NavigationPoly> navigation_polys; navigation_polys.reserve(polygons.size() * 0.75); // Add the start polygon to the reachable navigation polygons. @@ -134,20 +181,17 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // This is an implementation of the A* algorithm. int least_cost_id = 0; + int prev_least_cost_id = -1; bool found_route = false; const gd::Polygon *reachable_end = nullptr; float reachable_d = 1e30; bool is_reachable = true; - gd::NavigationPoly *prev_least_cost_poly = nullptr; - 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++) { - gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id]; - - const gd::Edge &edge = least_cost_poly->poly->edges[i]; + const gd::Edge &edge = navigation_polys[least_cost_id].poly->edges[i]; // 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++) { @@ -158,32 +202,31 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p continue; } - float region_enter_cost = 0.0; - float region_travel_cost = least_cost_poly->poly->owner->get_travel_cost(); + const gd::NavigationPoly &least_cost_poly = navigation_polys[least_cost_id]; + float poly_enter_cost = 0.0; + float poly_travel_cost = least_cost_poly.poly->owner->get_travel_cost(); - if (prev_least_cost_poly != nullptr && !(prev_least_cost_poly->poly->owner->get_self() == least_cost_poly->poly->owner->get_self())) { - region_enter_cost = least_cost_poly->poly->owner->get_enter_cost(); + if (prev_least_cost_id != -1 && (navigation_polys[prev_least_cost_id].poly->owner->get_self() != least_cost_poly.poly->owner->get_self())) { + poly_enter_cost = least_cost_poly.poly->owner->get_enter_cost(); } - prev_least_cost_poly = least_cost_poly; + prev_least_cost_id = least_cost_id; Vector3 pathway[2] = { connection.pathway_start, connection.pathway_end }; - const Vector3 new_entry = Geometry3D::get_closest_point_to_segment(least_cost_poly->entry, pathway); - const float new_distance = (least_cost_poly->entry.distance_to(new_entry) * region_travel_cost) + region_enter_cost + least_cost_poly->traveled_distance; + const Vector3 new_entry = Geometry3D::get_closest_point_to_segment(least_cost_poly.entry, pathway); + const float new_distance = (least_cost_poly.entry.distance_to(new_entry) * poly_travel_cost) + poly_enter_cost + least_cost_poly.traveled_distance; - const std::vector<gd::NavigationPoly>::iterator it = std::find( - navigation_polys.begin(), - navigation_polys.end(), - gd::NavigationPoly(connection.polygon)); + int64_t already_visited_polygon_index = navigation_polys.find(gd::NavigationPoly(connection.polygon)); - if (it != navigation_polys.end()) { + if (already_visited_polygon_index != -1) { // Polygon already visited, check if we can reduce the travel cost. - if (new_distance < it->traveled_distance) { - it->back_navigation_poly_id = least_cost_id; - it->back_navigation_edge = connection.edge; - it->back_navigation_edge_pathway_start = connection.pathway_start; - it->back_navigation_edge_pathway_end = connection.pathway_end; - it->traveled_distance = new_distance; - it->entry = new_entry; + gd::NavigationPoly &avp = navigation_polys[already_visited_polygon_index]; + if (new_distance < avp.traveled_distance) { + avp.back_navigation_poly_id = least_cost_id; + avp.back_navigation_edge = connection.edge; + avp.back_navigation_edge_pathway_start = connection.pathway_start; + avp.back_navigation_edge_pathway_end = connection.pathway_end; + avp.traveled_distance = new_distance; + avp.entry = new_entry; } } else { // Add the neighbour polygon to the reachable ones. @@ -236,6 +279,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p to_visit.clear(); to_visit.push_back(0); least_cost_id = 0; + prev_least_cost_id = -1; reachable_end = nullptr; @@ -293,6 +337,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p gd::NavigationPoly *p = apex_poly; path.push_back(end_point); + APPEND_METADATA(end_poly); while (p) { // Set left and right points of the pathway between polygons. @@ -309,7 +354,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p left_poly = p; left_portal = left; } else { - clip_path(navigation_polys, path, apex_poly, right_portal, right_poly); + clip_path(navigation_polys, path, apex_poly, right_portal, right_poly, r_path_types, r_path_rids, r_path_owners); apex_point = right_portal; p = right_poly; @@ -317,7 +362,9 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p apex_poly = p; left_portal = apex_point; right_portal = apex_point; + path.push_back(apex_point); + APPEND_METADATA(apex_poly->poly); skip = true; } } @@ -328,7 +375,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p right_poly = p; right_portal = right; } else { - clip_path(navigation_polys, path, apex_poly, left_portal, left_poly); + clip_path(navigation_polys, path, apex_poly, left_portal, left_poly, r_path_types, r_path_rids, r_path_owners); apex_point = left_portal; p = left_poly; @@ -336,7 +383,9 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p apex_poly = p; right_portal = apex_point; left_portal = apex_point; + path.push_back(apex_point); + APPEND_METADATA(apex_poly->poly); } } @@ -352,27 +401,62 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // If the last point is not the begin point, add it to the list. if (path[path.size() - 1] != begin_point) { path.push_back(begin_point); + APPEND_METADATA(begin_poly); } path.reverse(); + if (r_path_types) { + r_path_types->reverse(); + } + if (r_path_rids) { + r_path_rids->reverse(); + } + if (r_path_owners) { + r_path_owners->reverse(); + } } else { path.push_back(end_point); + APPEND_METADATA(end_poly); // Add mid points int np_id = least_cost_id; 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); + if (navigation_polys[np_id].back_navigation_edge != -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); + APPEND_METADATA(navigation_polys[np_id].poly); + } else { + path.push_back(navigation_polys[np_id].entry); + APPEND_METADATA(navigation_polys[np_id].poly); + } + np_id = navigation_polys[np_id].back_navigation_poly_id; } path.push_back(begin_point); + APPEND_METADATA(begin_poly); + path.reverse(); + if (r_path_types) { + r_path_types->reverse(); + } + if (r_path_rids) { + r_path_rids->reverse(); + } + if (r_path_owners) { + r_path_owners->reverse(); + } } + // Ensure post conditions (path arrays MUST match in size). + CRASH_COND(r_path_types && path.size() != r_path_types->size()); + CRASH_COND(r_path_rids && path.size() != r_path_rids->size()); + CRASH_COND(r_path_owners && path.size() != r_path_owners->size()); + return path; } @@ -470,15 +554,28 @@ void NavMap::add_region(NavRegion *p_region) { } void NavMap::remove_region(NavRegion *p_region) { - const std::vector<NavRegion *>::iterator it = std::find(regions.begin(), regions.end(), p_region); - if (it != regions.end()) { - regions.erase(it); + int64_t region_index = regions.find(p_region); + if (region_index != -1) { + regions.remove_at_unordered(region_index); + regenerate_links = true; + } +} + +void NavMap::add_link(NavLink *p_link) { + links.push_back(p_link); + regenerate_links = true; +} + +void NavMap::remove_link(NavLink *p_link) { + int64_t link_index = links.find(p_link); + if (link_index != -1) { + links.remove_at_unordered(link_index); regenerate_links = true; } } bool NavMap::has_agent(RvoAgent *agent) const { - return std::find(agents.begin(), agents.end(), agent) != agents.end(); + return (agents.find(agent) != -1); } void NavMap::add_agent(RvoAgent *agent) { @@ -490,15 +587,15 @@ void NavMap::add_agent(RvoAgent *agent) { void NavMap::remove_agent(RvoAgent *agent) { remove_agent_as_controlled(agent); - const std::vector<RvoAgent *>::iterator it = std::find(agents.begin(), agents.end(), agent); - if (it != agents.end()) { - agents.erase(it); + int64_t agent_index = agents.find(agent); + if (agent_index != -1) { + agents.remove_at_unordered(agent_index); agents_dirty = true; } } void NavMap::set_agent_as_controlled(RvoAgent *agent) { - const bool exist = std::find(controlled_agents.begin(), controlled_agents.end(), agent) != controlled_agents.end(); + const bool exist = (controlled_agents.find(agent) != -1); if (!exist) { ERR_FAIL_COND(!has_agent(agent)); controlled_agents.push_back(agent); @@ -506,62 +603,88 @@ void NavMap::set_agent_as_controlled(RvoAgent *agent) { } void NavMap::remove_agent_as_controlled(RvoAgent *agent) { - const std::vector<RvoAgent *>::iterator it = std::find(controlled_agents.begin(), controlled_agents.end(), agent); - if (it != controlled_agents.end()) { - controlled_agents.erase(it); + 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); + agents_dirty = true; } } 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 (size_t r(0); r < regions.size(); r++) { + for (uint32_t r = 0; r < regions.size(); r++) { regions[r]->scratch_polygons(); } regenerate_links = true; } - for (size_t r(0); r < regions.size(); r++) { + for (uint32_t r = 0; r < regions.size(); r++) { if (regions[r]->sync()) { regenerate_links = true; } } + for (uint32_t l = 0; l < links.size(); l++) { + if (links[l]->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 (size_t r(0); r < regions.size(); r++) { + for (uint32_t r = 0; r < regions.size(); r++) { regions[r]->get_connections().clear(); } // Resize the polygon count. int count = 0; - for (size_t r(0); r < regions.size(); r++) { + for (uint32_t r = 0; r < regions.size(); r++) { count += regions[r]->get_polygons().size(); } polygons.resize(count); // Copy all region polygons in the map. count = 0; - for (size_t r(0); r < regions.size(); r++) { - std::copy( - regions[r]->get_polygons().data(), - regions[r]->get_polygons().data() + regions[r]->get_polygons().size(), - polygons.begin() + count); + for (uint32_t r = 0; r < regions.size(); r++) { + const LocalVector<gd::Polygon> &polygons_source = regions[r]->get_polygons(); + for (uint32_t n = 0; n < polygons_source.size(); n++) { + polygons[count + n] = polygons_source[n]; + } count += regions[r]->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 (size_t poly_id(0); poly_id < polygons.size(); poly_id++) { + for (uint32_t poly_id = 0; poly_id < polygons.size(); poly_id++) { gd::Polygon &poly(polygons[poly_id]); - for (size_t p(0); p < poly.points.size(); p++) { + 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); 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. @@ -587,6 +710,7 @@ 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]); @@ -600,6 +724,8 @@ 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; @@ -652,7 +778,122 @@ void NavMap::sync() { free_edge.polygon->edges[free_edge.edge].connections.push_back(new_connection); // Add the connection to the region_connection map. - free_edge.polygon->owner->get_connections().push_back(new_connection); + ((NavRegion *)free_edge.polygon->owner)->get_connections().push_back(new_connection); + _new_pm_edge_connection_count += 1; + } + } + + uint32_t link_poly_idx = 0; + 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]; + const Vector3 start = link->get_start_location(); + const Vector3 end = link->get_end_location(); + + gd::Polygon *closest_start_polygon = nullptr; + real_t closest_start_distance = link_connection_radius; + Vector3 closest_start_point; + + gd::Polygon *closest_end_polygon = nullptr; + real_t closest_end_distance = link_connection_radius; + Vector3 closest_end_point; + + // Create link to any polygons within the search radius of the start point. + for (uint32_t start_index = 0; start_index < polygons.size(); start_index++) { + gd::Polygon &start_poly = polygons[start_index]; + + // For each face check the distance to the start + for (uint32_t start_point_id = 2; start_point_id < start_poly.points.size(); start_point_id += 1) { + const Face3 start_face(start_poly.points[0].pos, start_poly.points[start_point_id - 1].pos, start_poly.points[start_point_id].pos); + const Vector3 start_point = start_face.get_closest_point_to(start); + const real_t start_distance = start_point.distance_to(start); + + // Pick the polygon that is within our radius and is closer than anything we've seen yet. + if (start_distance <= link_connection_radius && start_distance < closest_start_distance) { + closest_start_distance = start_distance; + closest_start_point = start_point; + closest_start_polygon = &start_poly; + } + } + } + + // 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 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); + const Vector3 end_point = end_face.get_closest_point_to(end); + const real_t end_distance = end_point.distance_to(end); + + // Pick the polygon that is within our radius and is closer than anything we've seen yet. + if (end_distance <= link_connection_radius && end_distance < closest_end_distance) { + closest_end_distance = end_distance; + closest_end_point = end_point; + closest_end_polygon = &end_poly; + } + } + } + + // If we have both a start and end point, then create a synthetic polygon to route through. + if (closest_start_polygon && closest_end_polygon) { + gd::Polygon &new_polygon = link_polygons[link_poly_idx++]; + new_polygon.owner = link; + + new_polygon.edges.clear(); + new_polygon.edges.resize(4); + new_polygon.points.clear(); + new_polygon.points.reserve(4); + + // Build a set of vertices that create a thin polygon going from the start to the end point. + new_polygon.points.push_back({ closest_start_point, get_point_key(closest_start_point) }); + new_polygon.points.push_back({ closest_start_point, get_point_key(closest_start_point) }); + new_polygon.points.push_back({ closest_end_point, get_point_key(closest_end_point) }); + new_polygon.points.push_back({ closest_end_point, get_point_key(closest_end_point) }); + + Vector3 center; + for (int p = 0; p < 4; ++p) { + center += new_polygon.points[p].pos; + } + new_polygon.center = center / real_t(new_polygon.points.size()); + new_polygon.clockwise = true; + + // Setup connections to go forward in the link. + { + gd::Edge::Connection entry_connection; + entry_connection.polygon = &new_polygon; + entry_connection.edge = -1; + entry_connection.pathway_start = new_polygon.points[0].pos; + entry_connection.pathway_end = new_polygon.points[1].pos; + closest_start_polygon->edges[0].connections.push_back(entry_connection); + + gd::Edge::Connection exit_connection; + exit_connection.polygon = closest_end_polygon; + exit_connection.edge = -1; + exit_connection.pathway_start = new_polygon.points[2].pos; + exit_connection.pathway_end = new_polygon.points[3].pos; + new_polygon.edges[2].connections.push_back(exit_connection); + } + + // If the link is bi-directional, create connections from the end to the start. + if (link->is_bidirectional()) { + gd::Edge::Connection entry_connection; + entry_connection.polygon = &new_polygon; + entry_connection.edge = -1; + entry_connection.pathway_start = new_polygon.points[2].pos; + entry_connection.pathway_end = new_polygon.points[3].pos; + closest_end_polygon->edges[0].connections.push_back(entry_connection); + + gd::Edge::Connection exit_connection; + exit_connection.polygon = closest_start_polygon; + exit_connection.edge = -1; + exit_connection.pathway_start = new_polygon.points[0].pos; + exit_connection.pathway_end = new_polygon.points[1].pos; + new_polygon.edges[0].connections.push_back(exit_connection); + } } } @@ -662,6 +903,7 @@ void NavMap::sync() { // Update agents tree. if (agents_dirty) { + // 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++) { @@ -673,6 +915,16 @@ 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) { @@ -683,14 +935,8 @@ 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) { - 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, - controlled_agents.data()); + WorkerThreadPool::GroupID group_task = WorkerThreadPool::get_singleton()->add_template_group_task(this, &NavMap::compute_single_step, controlled_agents.ptr(), controlled_agents.size(), -1, true, SNAME("NavigationMapAgents")); + WorkerThreadPool::get_singleton()->wait_for_group_task_completion(group_task); } } @@ -700,7 +946,7 @@ void NavMap::dispatch_callbacks() { } } -void NavMap::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 { +void NavMap::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 { Vector3 from = path[path.size() - 1]; if (from.is_equal_approx(p_to_point)) { @@ -726,6 +972,7 @@ void NavMap::clip_path(const std::vector<gd::NavigationPoly> &p_navigation_polys if (cut_plane.intersects_segment(pathway_start, pathway_end, &inters)) { if (!inters.is_equal_approx(p_to_point) && !inters.is_equal_approx(path[path.size() - 1])) { path.push_back(inters); + APPEND_METADATA(from_poly->poly); } } } @@ -736,5 +983,4 @@ NavMap::NavMap() { } NavMap::~NavMap() { - step_work_pool.finish(); } diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h index 2036dbecd7..fce7aff3ba 100644 --- a/modules/navigation/nav_map.h +++ b/modules/navigation/nav_map.h @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* nav_map.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* nav_map.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #ifndef NAV_MAP_H #define NAV_MAP_H @@ -34,15 +34,15 @@ #include "nav_rid.h" #include "core/math/math_defs.h" +#include "core/object/worker_thread_pool.h" #include "core/templates/rb_map.h" -#include "core/templates/thread_work_pool.h" #include "nav_utils.h" #include <KdTree.h> +class NavLink; class NavRegion; class RvoAgent; -class NavRegion; class NavMap : public NavRid { /// Map Up @@ -55,13 +55,21 @@ class NavMap : public NavRid { /// This value is used to detect the near edges to connect. real_t edge_connection_margin = 0.25; + /// This value is used to limit how far links search to find polygons to connect to. + real_t link_connection_radius = 1.0; + bool regenerate_polygons = true; bool regenerate_links = true; - std::vector<NavRegion *> regions; + /// Map regions + LocalVector<NavRegion *> regions; + + /// Map links + LocalVector<NavLink *> links; + LocalVector<gd::Polygon> link_polygons; /// Map polygons - std::vector<gd::Polygon> polygons; + LocalVector<gd::Polygon> polygons; /// Rvo world RVO::KdTree rvo; @@ -70,10 +78,10 @@ class NavMap : public NavRid { bool agents_dirty = false; /// All the Agents (even the controlled one) - std::vector<RvoAgent *> agents; + LocalVector<RvoAgent *> agents; /// Controlled agents - std::vector<RvoAgent *> controlled_agents; + LocalVector<RvoAgent *> controlled_agents; /// Physics delta time real_t deltatime = 0.0; @@ -81,8 +89,15 @@ 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; + // 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(); @@ -103,9 +118,14 @@ public: return edge_connection_margin; } + void set_link_connection_radius(float p_link_connection_radius); + float get_link_connection_radius() const { + return link_connection_radius; + } + gd::PointKey get_point_key(const Vector3 &p_pos) const; - Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const; + Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers, Vector<int32_t> *r_path_types, TypedArray<RID> *r_path_rids, Vector<int64_t> *r_path_owners) const; Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const; Vector3 get_closest_point(const Vector3 &p_point) const; Vector3 get_closest_point_normal(const Vector3 &p_point) const; @@ -114,14 +134,20 @@ public: void add_region(NavRegion *p_region); void remove_region(NavRegion *p_region); - const std::vector<NavRegion *> &get_regions() const { + const LocalVector<NavRegion *> &get_regions() const { return regions; } + void add_link(NavLink *p_link); + void remove_link(NavLink *p_link); + const LocalVector<NavLink *> &get_links() const { + return links; + } + bool has_agent(RvoAgent *agent) const; void add_agent(RvoAgent *agent); void remove_agent(RvoAgent *agent); - const std::vector<RvoAgent *> &get_agents() const { + const LocalVector<RvoAgent *> &get_agents() const { return agents; } @@ -136,9 +162,19 @@ 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 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; + 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; }; #endif // NAV_MAP_H diff --git a/modules/navigation/nav_region.cpp b/modules/navigation/nav_region.cpp index 88740807eb..797c523627 100644 --- a/modules/navigation/nav_region.cpp +++ b/modules/navigation/nav_region.cpp @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* nav_region.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* nav_region.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #include "nav_region.h" @@ -40,14 +40,6 @@ void NavRegion::set_map(NavMap *p_map) { } } -void NavRegion::set_navigation_layers(uint32_t p_navigation_layers) { - navigation_layers = p_navigation_layers; -} - -uint32_t NavRegion::get_navigation_layers() const { - return navigation_layers; -} - void NavRegion::set_transform(Transform3D p_transform) { transform = p_transform; polygons_dirty = true; diff --git a/modules/navigation/nav_region.h b/modules/navigation/nav_region.h index 484856ae36..0942aa22f0 100644 --- a/modules/navigation/nav_region.h +++ b/modules/navigation/nav_region.h @@ -1,62 +1,56 @@ -/*************************************************************************/ -/* nav_region.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* nav_region.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #ifndef NAV_REGION_H #define NAV_REGION_H #include "scene/resources/navigation_mesh.h" -#include "nav_rid.h" +#include "nav_base.h" #include "nav_utils.h" -#include <vector> - -class NavMap; -class NavRegion; - -class NavRegion : public NavRid { +class NavRegion : public NavBase { NavMap *map = nullptr; Transform3D transform; Ref<NavigationMesh> mesh; - uint32_t navigation_layers = 1; - float enter_cost = 0.0; - float travel_cost = 1.0; Vector<gd::Edge::Connection> connections; bool polygons_dirty = true; /// Cache - std::vector<gd::Polygon> polygons; + LocalVector<gd::Polygon> polygons; public: - NavRegion() {} + NavRegion() { + type = NavigationUtilities::PathSegmentType::PATH_SEGMENT_TYPE_REGION; + } void scratch_polygons() { polygons_dirty = true; @@ -67,15 +61,6 @@ public: return map; } - void set_enter_cost(float p_enter_cost) { enter_cost = MAX(p_enter_cost, 0.0); } - float get_enter_cost() const { return enter_cost; } - - void set_travel_cost(float p_travel_cost) { travel_cost = MAX(p_travel_cost, 0.0); } - float get_travel_cost() const { return travel_cost; } - - void set_navigation_layers(uint32_t p_navigation_layers); - uint32_t get_navigation_layers() const; - void set_transform(Transform3D transform); const Transform3D &get_transform() const { return transform; @@ -93,7 +78,7 @@ public: Vector3 get_connection_pathway_start(int p_connection_id) const; Vector3 get_connection_pathway_end(int p_connection_id) const; - std::vector<gd::Polygon> const &get_polygons() const { + LocalVector<gd::Polygon> const &get_polygons() const { return polygons; } diff --git a/modules/navigation/nav_rid.h b/modules/navigation/nav_rid.h index 31e20440d2..6229985a8d 100644 --- a/modules/navigation/nav_rid.h +++ b/modules/navigation/nav_rid.h @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* nav_rid.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* nav_rid.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #ifndef NAV_RID_H #define NAV_RID_H diff --git a/modules/navigation/nav_utils.h b/modules/navigation/nav_utils.h index a9f4e0e2fc..50437469aa 100644 --- a/modules/navigation/nav_utils.h +++ b/modules/navigation/nav_utils.h @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* nav_utils.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* nav_utils.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #ifndef NAV_UTILS_H #define NAV_UTILS_H @@ -34,10 +34,9 @@ #include "core/math/vector3.h" #include "core/templates/hash_map.h" #include "core/templates/hashfuncs.h" -#include "core/templates/vector.h" -#include <vector> +#include "core/templates/local_vector.h" -class NavRegion; +class NavBase; namespace gd { struct Polygon; @@ -79,30 +78,37 @@ struct Point { }; struct Edge { - /// This edge ID - int this_edge = -1; - /// The gateway in the edge, as, in some case, the whole edge might not be navigable. struct Connection { + /// Polygon that this connection leads to. Polygon *polygon = nullptr; + + /// Edge of the source polygon where this connection starts from. int edge = -1; + + /// Point on the edge where the gateway leading to the poly starts. Vector3 pathway_start; + + /// Point on the edge where the gateway leading to the poly ends. Vector3 pathway_end; }; + + /// Connections from this edge to other polygons. Vector<Connection> connections; }; struct Polygon { - NavRegion *owner = nullptr; + /// Navigation region or link that contains this polygon. + const NavBase *owner = nullptr; /// The points of this `Polygon` - std::vector<Point> points; + LocalVector<Point> points; - /// Are the points clockwise ? + /// Are the points clockwise? bool clockwise; /// The edges of this `Polygon` - std::vector<Edge> edges; + LocalVector<Edge> edges; /// The center of this `Polygon` Vector3 center; @@ -115,7 +121,7 @@ struct NavigationPoly { /// Those 4 variables are used to travel the path backwards. int back_navigation_poly_id = -1; - uint32_t back_navigation_edge = UINT32_MAX; + int back_navigation_edge = -1; Vector3 back_navigation_edge_pathway_start; Vector3 back_navigation_edge_pathway_end; @@ -124,6 +130,8 @@ struct NavigationPoly { /// The distance to the destination. float traveled_distance = 0.0; + NavigationPoly() { poly = nullptr; } + NavigationPoly(const Polygon *p_poly) : poly(p_poly) {} diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp index 6e8ac77f79..fff7a02fc4 100644 --- a/modules/navigation/navigation_mesh_generator.cpp +++ b/modules/navigation/navigation_mesh_generator.cpp @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* navigation_mesh_generator.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* navigation_mesh_generator.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #ifndef _3D_DISABLED @@ -42,6 +42,7 @@ #include "scene/resources/concave_polygon_shape_3d.h" #include "scene/resources/convex_polygon_shape_3d.h" #include "scene/resources/cylinder_shape_3d.h" +#include "scene/resources/height_map_shape_3d.h" #include "scene/resources/primitive_meshes.h" #include "scene/resources/shape_3d.h" #include "scene/resources/sphere_shape_3d.h" @@ -206,6 +207,9 @@ 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++) { Ref<Shape3D> s = static_body->shape_owner_get_shape(shape_owner, i); @@ -262,10 +266,10 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans if (err == OK) { PackedVector3Array faces; - for (int j = 0; j < md.faces.size(); ++j) { - Geometry3D::MeshData::Face face = md.faces[j]; + for (uint32_t j = 0; j < md.faces.size(); ++j) { + const Geometry3D::MeshData::Face &face = md.faces[j]; - for (int k = 2; k < face.indices.size(); ++k) { + 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]]); faces.push_back(md.vertices[face.indices[k]]); @@ -275,6 +279,50 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans _add_faces(faces, transform, p_vertices, p_indices); } } + + HeightMapShape3D *heightmap_shape = Object::cast_to<HeightMapShape3D>(*s); + if (heightmap_shape) { + int heightmap_depth = heightmap_shape->get_map_depth(); + int heightmap_width = heightmap_shape->get_map_width(); + + if (heightmap_depth >= 2 && heightmap_width >= 2) { + const Vector<real_t> &map_data = heightmap_shape->get_map_data(); + + Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1); + Vector2 start = heightmap_gridsize * -0.5; + + Vector<Vector3> vertex_array; + vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6); + int map_data_current_index = 0; + + for (int d = 0; d < heightmap_depth - 1; d++) { + for (int w = 0; w < heightmap_width - 1; w++) { + if (map_data_current_index + 1 + heightmap_depth < map_data.size()) { + float top_left_height = map_data[map_data_current_index]; + float top_right_height = map_data[map_data_current_index + 1]; + float bottom_left_height = map_data[map_data_current_index + heightmap_depth]; + float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth]; + + Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d); + Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d); + Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0); + Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0); + + vertex_array.push_back(top_right); + vertex_array.push_back(bottom_left); + vertex_array.push_back(top_left); + vertex_array.push_back(top_right); + vertex_array.push_back(bottom_right); + vertex_array.push_back(bottom_left); + } + map_data_current_index += 1; + } + } + if (vertex_array.size() > 0) { + _add_faces(vertex_array, transform, p_vertices, p_indices); + } + } + } } } } @@ -344,10 +392,10 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans if (err == OK) { PackedVector3Array faces; - for (int j = 0; j < md.faces.size(); ++j) { - Geometry3D::MeshData::Face face = md.faces[j]; + for (uint32_t j = 0; j < md.faces.size(); ++j) { + const Geometry3D::MeshData::Face &face = md.faces[j]; - for (int k = 2; k < face.indices.size(); ++k) { + 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]]); faces.push_back(md.vertices[face.indices[k]]); @@ -362,6 +410,50 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans PackedVector3Array faces = Variant(dict["faces"]); _add_faces(faces, shapes[i], p_vertices, p_indices); } break; + case PhysicsServer3D::SHAPE_HEIGHTMAP: { + Dictionary dict = data; + ///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights" + int heightmap_depth = dict["depth"]; + int heightmap_width = dict["width"]; + + if (heightmap_depth >= 2 && heightmap_width >= 2) { + const Vector<real_t> &map_data = dict["heights"]; + + Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1); + Vector2 start = heightmap_gridsize * -0.5; + + Vector<Vector3> vertex_array; + vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6); + int map_data_current_index = 0; + + for (int d = 0; d < heightmap_depth - 1; d++) { + for (int w = 0; w < heightmap_width - 1; w++) { + if (map_data_current_index + 1 + heightmap_depth < map_data.size()) { + float top_left_height = map_data[map_data_current_index]; + float top_right_height = map_data[map_data_current_index + 1]; + float bottom_left_height = map_data[map_data_current_index + heightmap_depth]; + float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth]; + + Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d); + Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d); + Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0); + Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0); + + vertex_array.push_back(top_right); + vertex_array.push_back(bottom_left); + vertex_array.push_back(top_left); + vertex_array.push_back(top_right); + vertex_array.push_back(bottom_right); + vertex_array.push_back(bottom_left); + } + map_data_current_index += 1; + } + } + if (vertex_array.size() > 0) { + _add_faces(vertex_array, shapes[i], p_vertices, p_indices); + } + } + } break; default: { WARN_PRINT("Unsupported collision shape type."); } break; @@ -378,14 +470,14 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans } } -void NavigationMeshGenerator::_convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref<NavigationMesh> p_nav_mesh) { +void NavigationMeshGenerator::_convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref<NavigationMesh> p_navigation_mesh) { Vector<Vector3> nav_vertices; for (int i = 0; i < p_detail_mesh->nverts; i++) { const float *v = &p_detail_mesh->verts[i * 3]; nav_vertices.push_back(Vector3(v[0], v[1], v[2])); } - p_nav_mesh->set_vertices(nav_vertices); + p_navigation_mesh->set_vertices(nav_vertices); for (int i = 0; i < p_detail_mesh->nmeshes; i++) { const unsigned int *m = &p_detail_mesh->meshes[i * 4]; @@ -400,13 +492,13 @@ void NavigationMeshGenerator::_convert_detail_mesh_to_native_navigation_mesh(con nav_indices.write[0] = ((int)(bverts + tris[j * 4 + 0])); nav_indices.write[1] = ((int)(bverts + tris[j * 4 + 2])); nav_indices.write[2] = ((int)(bverts + tris[j * 4 + 1])); - p_nav_mesh->add_polygon(nav_indices); + p_navigation_mesh->add_polygon(nav_indices); } } } void NavigationMeshGenerator::_build_recast_navigation_mesh( - Ref<NavigationMesh> p_nav_mesh, + Ref<NavigationMesh> p_navigation_mesh, #ifdef TOOLS_ENABLED EditorProgress *ep, #endif @@ -436,42 +528,42 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh( rcConfig cfg; memset(&cfg, 0, sizeof(cfg)); - cfg.cs = p_nav_mesh->get_cell_size(); - cfg.ch = p_nav_mesh->get_cell_height(); - cfg.walkableSlopeAngle = p_nav_mesh->get_agent_max_slope(); - cfg.walkableHeight = (int)Math::ceil(p_nav_mesh->get_agent_height() / cfg.ch); - cfg.walkableClimb = (int)Math::floor(p_nav_mesh->get_agent_max_climb() / cfg.ch); - cfg.walkableRadius = (int)Math::ceil(p_nav_mesh->get_agent_radius() / cfg.cs); - cfg.maxEdgeLen = (int)(p_nav_mesh->get_edge_max_length() / p_nav_mesh->get_cell_size()); - cfg.maxSimplificationError = p_nav_mesh->get_edge_max_error(); - 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 = 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(); - - if (!Math::is_equal_approx((float)cfg.walkableHeight * cfg.ch, p_nav_mesh->get_agent_height())) { + cfg.cs = p_navigation_mesh->get_cell_size(); + cfg.ch = p_navigation_mesh->get_cell_height(); + cfg.walkableSlopeAngle = p_navigation_mesh->get_agent_max_slope(); + cfg.walkableHeight = (int)Math::ceil(p_navigation_mesh->get_agent_height() / cfg.ch); + cfg.walkableClimb = (int)Math::floor(p_navigation_mesh->get_agent_max_climb() / cfg.ch); + cfg.walkableRadius = (int)Math::ceil(p_navigation_mesh->get_agent_radius() / cfg.cs); + cfg.maxEdgeLen = (int)(p_navigation_mesh->get_edge_max_length() / p_navigation_mesh->get_cell_size()); + cfg.maxSimplificationError = p_navigation_mesh->get_edge_max_error(); + cfg.minRegionArea = (int)(p_navigation_mesh->get_region_min_size() * p_navigation_mesh->get_region_min_size()); + cfg.mergeRegionArea = (int)(p_navigation_mesh->get_region_merge_size() * p_navigation_mesh->get_region_merge_size()); + cfg.maxVertsPerPoly = (int)p_navigation_mesh->get_vertices_per_polygon(); + cfg.detailSampleDist = MAX(p_navigation_mesh->get_cell_size() * p_navigation_mesh->get_detail_sample_distance(), 0.1f); + cfg.detailSampleMaxError = p_navigation_mesh->get_cell_height() * p_navigation_mesh->get_detail_sample_max_error(); + + if (!Math::is_equal_approx((float)cfg.walkableHeight * cfg.ch, p_navigation_mesh->get_agent_height())) { WARN_PRINT("Property agent_height is ceiled to cell_height voxel units and loses precision."); } - if (!Math::is_equal_approx((float)cfg.walkableClimb * cfg.ch, p_nav_mesh->get_agent_max_climb())) { + if (!Math::is_equal_approx((float)cfg.walkableClimb * cfg.ch, p_navigation_mesh->get_agent_max_climb())) { WARN_PRINT("Property agent_max_climb is floored to cell_height voxel units and loses precision."); } - if (!Math::is_equal_approx((float)cfg.walkableRadius * cfg.cs, p_nav_mesh->get_agent_radius())) { + if (!Math::is_equal_approx((float)cfg.walkableRadius * cfg.cs, p_navigation_mesh->get_agent_radius())) { WARN_PRINT("Property agent_radius is ceiled to cell_size voxel units and loses precision."); } - if (!Math::is_equal_approx((float)cfg.maxEdgeLen * cfg.cs, p_nav_mesh->get_edge_max_length())) { + if (!Math::is_equal_approx((float)cfg.maxEdgeLen * cfg.cs, p_navigation_mesh->get_edge_max_length())) { WARN_PRINT("Property edge_max_length is rounded to cell_size voxel units and loses precision."); } - if (!Math::is_equal_approx((float)cfg.minRegionArea, p_nav_mesh->get_region_min_size() * p_nav_mesh->get_region_min_size())) { + if (!Math::is_equal_approx((float)cfg.minRegionArea, p_navigation_mesh->get_region_min_size() * p_navigation_mesh->get_region_min_size())) { WARN_PRINT("Property region_min_size is converted to int and loses precision."); } - if (!Math::is_equal_approx((float)cfg.mergeRegionArea, p_nav_mesh->get_region_merge_size() * p_nav_mesh->get_region_merge_size())) { + if (!Math::is_equal_approx((float)cfg.mergeRegionArea, p_navigation_mesh->get_region_merge_size() * p_navigation_mesh->get_region_merge_size())) { WARN_PRINT("Property region_merge_size is converted to int and loses precision."); } - if (!Math::is_equal_approx((float)cfg.maxVertsPerPoly, p_nav_mesh->get_verts_per_poly())) { - WARN_PRINT("Property verts_per_poly is converted to int and loses precision."); + if (!Math::is_equal_approx((float)cfg.maxVertsPerPoly, p_navigation_mesh->get_vertices_per_polygon())) { + WARN_PRINT("Property vertices_per_polygon is converted to int and loses precision."); } - if (p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance() < 0.1f) { + if (p_navigation_mesh->get_cell_size() * p_navigation_mesh->get_detail_sample_distance() < 0.1f) { WARN_PRINT("Property detail_sample_distance is clamped to 0.1 world units as the resulting value from multiplying with cell_size is too low."); } @@ -482,13 +574,9 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh( cfg.bmax[1] = bmax[1]; cfg.bmax[2] = bmax[2]; - AABB baking_aabb = p_nav_mesh->get_filter_baking_aabb(); - - bool aabb_has_no_volume = baking_aabb.has_no_volume(); - - if (!aabb_has_no_volume) { - Vector3 baking_aabb_offset = p_nav_mesh->get_filter_baking_aabb_offset(); - + AABB baking_aabb = p_navigation_mesh->get_filter_baking_aabb(); + if (baking_aabb.has_volume()) { + Vector3 baking_aabb_offset = p_navigation_mesh->get_filter_baking_aabb_offset(); cfg.bmin[0] = baking_aabb.position[0] + baking_aabb_offset.x; cfg.bmin[1] = baking_aabb.position[1] + baking_aabb_offset.y; cfg.bmin[2] = baking_aabb.position[2] + baking_aabb_offset.z; @@ -539,13 +627,13 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh( ERR_FAIL_COND(!rcRasterizeTriangles(&ctx, verts, nverts, tris, tri_areas.ptr(), ntris, *hf, cfg.walkableClimb)); } - if (p_nav_mesh->get_filter_low_hanging_obstacles()) { + if (p_navigation_mesh->get_filter_low_hanging_obstacles()) { rcFilterLowHangingWalkableObstacles(&ctx, cfg.walkableClimb, *hf); } - if (p_nav_mesh->get_filter_ledge_spans()) { + if (p_navigation_mesh->get_filter_ledge_spans()) { rcFilterLedgeSpans(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf); } - if (p_nav_mesh->get_filter_walkable_low_height_spans()) { + if (p_navigation_mesh->get_filter_walkable_low_height_spans()) { rcFilterWalkableLowHeightSpans(&ctx, cfg.walkableHeight, *hf); } @@ -577,10 +665,10 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh( } #endif - if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) { + if (p_navigation_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) { ERR_FAIL_COND(!rcBuildDistanceField(&ctx, *chf)); ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea)); - } else if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_MONOTONE) { + } else if (p_navigation_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_MONOTONE) { ERR_FAIL_COND(!rcBuildRegionsMonotone(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea)); } else { ERR_FAIL_COND(!rcBuildLayerRegions(&ctx, *chf, 0, cfg.minRegionArea)); @@ -622,7 +710,7 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh( } #endif - _convert_detail_mesh_to_native_navigation_mesh(detail_mesh, p_nav_mesh); + _convert_detail_mesh_to_native_navigation_mesh(detail_mesh, p_navigation_mesh); rcFreePolyMesh(poly_mesh); poly_mesh = nullptr; @@ -641,8 +729,8 @@ NavigationMeshGenerator::NavigationMeshGenerator() { NavigationMeshGenerator::~NavigationMeshGenerator() { } -void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) { - ERR_FAIL_COND_MSG(!p_nav_mesh.is_valid(), "Invalid navigation mesh."); +void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) { + ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh."); #ifdef TOOLS_ENABLED EditorProgress *ep(nullptr); @@ -667,17 +755,17 @@ void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) List<Node *> parse_nodes; - if (p_nav_mesh->get_source_geometry_mode() == NavigationMesh::SOURCE_GEOMETRY_NAVMESH_CHILDREN) { - parse_nodes.push_back(p_node); + if (p_navigation_mesh->get_source_geometry_mode() == NavigationMesh::SOURCE_GEOMETRY_ROOT_NODE_CHILDREN) { + parse_nodes.push_back(p_root_node); } else { - p_node->get_tree()->get_nodes_in_group(p_nav_mesh->get_source_group_name(), &parse_nodes); + p_root_node->get_tree()->get_nodes_in_group(p_navigation_mesh->get_source_group_name(), &parse_nodes); } - Transform3D navmesh_xform = Object::cast_to<Node3D>(p_node)->get_global_transform().affine_inverse(); + Transform3D navmesh_xform = Object::cast_to<Node3D>(p_root_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(); - bool recurse_children = p_nav_mesh->get_source_geometry_mode() != NavigationMesh::SOURCE_GEOMETRY_GROUPS_EXPLICIT; + NavigationMesh::ParsedGeometryType geometry_type = p_navigation_mesh->get_parsed_geometry_type(); + uint32_t collision_mask = p_navigation_mesh->get_collision_mask(); + bool recurse_children = p_navigation_mesh->get_source_geometry_mode() != NavigationMesh::SOURCE_GEOMETRY_GROUPS_EXPLICIT; _parse_geometry(navmesh_xform, E, vertices, indices, geometry_type, collision_mask, recurse_children); } @@ -689,7 +777,7 @@ void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) rcPolyMeshDetail *detail_mesh = nullptr; _build_recast_navigation_mesh( - p_nav_mesh, + p_navigation_mesh, #ifdef TOOLS_ENABLED ep, #endif @@ -728,16 +816,16 @@ void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) #endif } -void NavigationMeshGenerator::clear(Ref<NavigationMesh> p_nav_mesh) { - if (p_nav_mesh.is_valid()) { - p_nav_mesh->clear_polygons(); - p_nav_mesh->set_vertices(Vector<Vector3>()); +void NavigationMeshGenerator::clear(Ref<NavigationMesh> p_navigation_mesh) { + if (p_navigation_mesh.is_valid()) { + p_navigation_mesh->clear_polygons(); + p_navigation_mesh->set_vertices(Vector<Vector3>()); } } void NavigationMeshGenerator::_bind_methods() { - ClassDB::bind_method(D_METHOD("bake", "nav_mesh", "root_node"), &NavigationMeshGenerator::bake); - ClassDB::bind_method(D_METHOD("clear", "nav_mesh"), &NavigationMeshGenerator::clear); + ClassDB::bind_method(D_METHOD("bake", "navigation_mesh", "root_node"), &NavigationMeshGenerator::bake); + ClassDB::bind_method(D_METHOD("clear", "navigation_mesh"), &NavigationMeshGenerator::clear); } #endif diff --git a/modules/navigation/navigation_mesh_generator.h b/modules/navigation/navigation_mesh_generator.h index 8cc1531b53..4399c422e2 100644 --- a/modules/navigation/navigation_mesh_generator.h +++ b/modules/navigation/navigation_mesh_generator.h @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* navigation_mesh_generator.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* navigation_mesh_generator.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #ifndef NAVIGATION_MESH_GENERATOR_H #define NAVIGATION_MESH_GENERATOR_H @@ -55,9 +55,9 @@ protected: static void _add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices); 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 _convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref<NavigationMesh> p_navigation_mesh); static void _build_recast_navigation_mesh( - Ref<NavigationMesh> p_nav_mesh, + Ref<NavigationMesh> p_navigation_mesh, #ifdef TOOLS_ENABLED EditorProgress *ep, #endif @@ -75,8 +75,8 @@ public: NavigationMeshGenerator(); ~NavigationMeshGenerator(); - void bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node); - void clear(Ref<NavigationMesh> p_nav_mesh); + void bake(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node); + void clear(Ref<NavigationMesh> p_navigation_mesh); }; #endif diff --git a/modules/navigation/register_types.cpp b/modules/navigation/register_types.cpp index 62ae2c7f02..6ba5e90c2e 100644 --- a/modules/navigation/register_types.cpp +++ b/modules/navigation/register_types.cpp @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* register_types.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* register_types.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #include "register_types.h" diff --git a/modules/navigation/register_types.h b/modules/navigation/register_types.h index c4dbd19ed3..b07c3b9308 100644 --- a/modules/navigation/register_types.h +++ b/modules/navigation/register_types.h @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* register_types.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* register_types.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #ifndef NAVIGATION_REGISTER_TYPES_H #define NAVIGATION_REGISTER_TYPES_H diff --git a/modules/navigation/rvo_agent.cpp b/modules/navigation/rvo_agent.cpp index 4ec72ad43f..979ef0d917 100644 --- a/modules/navigation/rvo_agent.cpp +++ b/modules/navigation/rvo_agent.cpp @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* rvo_agent.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* rvo_agent.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #include "rvo_agent.h" diff --git a/modules/navigation/rvo_agent.h b/modules/navigation/rvo_agent.h index 54baab404e..7b19907b2b 100644 --- a/modules/navigation/rvo_agent.h +++ b/modules/navigation/rvo_agent.h @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* rvo_agent.h */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* 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 */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* rvo_agent.h */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #ifndef RVO_AGENT_H #define RVO_AGENT_H |