diff options
Diffstat (limited to 'modules/navigation')
| -rw-r--r-- | modules/navigation/godot_navigation_server.cpp | 177 | ||||
| -rw-r--r-- | modules/navigation/godot_navigation_server.h | 38 | ||||
| -rw-r--r-- | modules/navigation/nav_map.cpp | 33 | ||||
| -rw-r--r-- | modules/navigation/nav_map.h | 20 |
4 files changed, 200 insertions, 68 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp index 4532ea9391..9b5d78d465 100644 --- a/modules/navigation/godot_navigation_server.cpp +++ b/modules/navigation/godot_navigation_server.cpp @@ -52,7 +52,7 @@ using namespace NavigationUtilities; server->MERGE(_cmd_, F_NAME)(d_0); \ } \ }; \ - void GodotNavigationServer::F_NAME(T_0 D_0) const { \ + void GodotNavigationServer::F_NAME(T_0 D_0) { \ auto cmd = memnew(MERGE(F_NAME, _command)( \ D_0)); \ add_command(cmd); \ @@ -73,7 +73,7 @@ using namespace NavigationUtilities; server->MERGE(_cmd_, F_NAME)(d_0, d_1); \ } \ }; \ - void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \ + void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) { \ auto cmd = memnew(MERGE(F_NAME, _command)( \ D_0, \ D_1)); \ @@ -81,34 +81,34 @@ using namespace NavigationUtilities; } \ void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1) -#define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \ - struct MERGE(F_NAME, _command) : public SetCommand { \ - T_0 d_0; \ - T_1 d_1; \ - T_2 d_2; \ - T_3 d_3; \ - MERGE(F_NAME, _command) \ - ( \ - T_0 p_d_0, \ - T_1 p_d_1, \ - T_2 p_d_2, \ - T_3 p_d_3) : \ - d_0(p_d_0), \ - d_1(p_d_1), \ - d_2(p_d_2), \ - d_3(p_d_3) {} \ - virtual void exec(GodotNavigationServer *server) override { \ - server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \ - } \ - }; \ - void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) const { \ - auto cmd = memnew(MERGE(F_NAME, _command)( \ - D_0, \ - D_1, \ - D_2, \ - D_3)); \ - add_command(cmd); \ - } \ +#define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \ + struct MERGE(F_NAME, _command) : public SetCommand { \ + T_0 d_0; \ + T_1 d_1; \ + T_2 d_2; \ + T_3 d_3; \ + MERGE(F_NAME, _command) \ + ( \ + T_0 p_d_0, \ + T_1 p_d_1, \ + T_2 p_d_2, \ + T_3 p_d_3) : \ + d_0(p_d_0), \ + d_1(p_d_1), \ + d_2(p_d_2), \ + d_3(p_d_3) {} \ + virtual void exec(GodotNavigationServer *server) override { \ + server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \ + } \ + }; \ + void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) { \ + auto cmd = memnew(MERGE(F_NAME, _command)( \ + D_0, \ + D_1, \ + D_2, \ + D_3)); \ + add_command(cmd); \ + } \ void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) GodotNavigationServer::GodotNavigationServer() {} @@ -117,12 +117,10 @@ GodotNavigationServer::~GodotNavigationServer() { flush_queries(); } -void GodotNavigationServer::add_command(SetCommand *command) const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - { - MutexLock lock(commands_mutex); - mut_this->commands.push_back(command); - } +void GodotNavigationServer::add_command(SetCommand *command) { + MutexLock lock(commands_mutex); + + commands.push_back(command); } TypedArray<RID> GodotNavigationServer::get_maps() const { @@ -137,12 +135,12 @@ TypedArray<RID> GodotNavigationServer::get_maps() const { return all_map_rids; } -RID GodotNavigationServer::map_create() const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - MutexLock lock(mut_this->operations_mutex); +RID GodotNavigationServer::map_create() { + MutexLock lock(operations_mutex); + RID rid = map_owner.make_rid(); - NavMap *space = map_owner.get_or_null(rid); - space->set_self(rid); + NavMap *map = map_owner.get_or_null(rid); + map->set_self(rid); return rid; } @@ -279,8 +277,10 @@ TypedArray<RID> GodotNavigationServer::map_get_regions(RID p_map) const { TypedArray<RID> regions_rids; const NavMap *map = map_owner.get_or_null(p_map); ERR_FAIL_COND_V(map == nullptr, regions_rids); + const LocalVector<NavRegion *> regions = map->get_regions(); regions_rids.resize(regions.size()); + for (uint32_t i = 0; i < regions.size(); i++) { regions_rids[i] = regions[i]->get_self(); } @@ -291,8 +291,10 @@ TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const { TypedArray<RID> agents_rids; const NavMap *map = map_owner.get_or_null(p_map); ERR_FAIL_COND_V(map == nullptr, agents_rids); + const LocalVector<RvoAgent *> agents = map->get_agents(); agents_rids.resize(agents.size()); + for (uint32_t i = 0; i < agents.size(); i++) { agents_rids[i] = agents[i]->get_self(); } @@ -302,6 +304,7 @@ TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const { RID GodotNavigationServer::region_get_map(RID p_region) const { NavRegion *region = region_owner.get_or_null(p_region); ERR_FAIL_COND_V(region == nullptr, RID()); + if (region->get_map()) { return region->get_map()->get_self(); } @@ -311,15 +314,16 @@ RID GodotNavigationServer::region_get_map(RID p_region) const { RID GodotNavigationServer::agent_get_map(RID p_agent) const { RvoAgent *agent = agent_owner.get_or_null(p_agent); ERR_FAIL_COND_V(agent == nullptr, RID()); + if (agent->get_map()) { return agent->get_map()->get_self(); } return RID(); } -RID GodotNavigationServer::region_create() const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - MutexLock lock(mut_this->operations_mutex); +RID GodotNavigationServer::region_create() { + MutexLock lock(operations_mutex); + RID rid = region_owner.make_rid(); NavRegion *reg = region_owner.get_or_null(rid); reg->set_self(rid); @@ -402,6 +406,7 @@ ObjectID GodotNavigationServer::region_get_owner_id(RID p_region) const { bool GodotNavigationServer::region_owns_point(RID p_region, const Vector3 &p_point) const { const NavRegion *region = region_owner.get_or_null(p_region); ERR_FAIL_COND_V(region == nullptr, false); + if (region->get_map()) { RID closest_point_owner = map_get_closest_point_owner(region->get_map()->get_self(), p_point); return closest_point_owner == region->get_self(); @@ -430,7 +435,7 @@ COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navi region->set_mesh(p_navigation_mesh); } -void GodotNavigationServer::region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) const { +void GodotNavigationServer::region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) { ERR_FAIL_COND(p_navigation_mesh.is_null()); ERR_FAIL_COND(p_root_node == nullptr); @@ -461,9 +466,9 @@ Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, i return region->get_connection_pathway_end(p_connection_id); } -RID GodotNavigationServer::link_create() const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - MutexLock lock(mut_this->operations_mutex); +RID GodotNavigationServer::link_create() { + MutexLock lock(operations_mutex); + RID rid = link_owner.make_rid(); NavLink *link = link_owner.get_or_null(rid); link->set_self(rid); @@ -600,9 +605,9 @@ ObjectID GodotNavigationServer::link_get_owner_id(RID p_link) const { return link->get_owner_id(); } -RID GodotNavigationServer::agent_create() const { - GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); - MutexLock lock(mut_this->operations_mutex); +RID GodotNavigationServer::agent_create() { + MutexLock lock(operations_mutex); + RID rid = agent_owner.make_rid(); RvoAgent *agent = agent_owner.get_or_null(rid); agent->set_self(rid); @@ -789,10 +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() { @@ -800,6 +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]); @@ -823,6 +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); @@ -831,6 +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]) { @@ -838,6 +862,15 @@ void GodotNavigationServer::process(real_t p_delta_time) { active_maps_update_id[i] = new_map_update_id; } } + + pm_region_count = _new_pm_region_count; + pm_agent_count = _new_pm_agent_count; + pm_link_count = _new_pm_link_count; + pm_polygon_count = _new_pm_polygon_count; + pm_edge_count = _new_pm_edge_count; + pm_edge_merge_count = _new_pm_edge_merge_count; + pm_edge_connection_count = _new_pm_edge_connection_count; + pm_edge_free_count = _new_pm_edge_free_count; } PathQueryResult GodotNavigationServer::_query_path(const PathQueryParameters &p_parameters) const { @@ -880,6 +913,40 @@ PathQueryResult GodotNavigationServer::_query_path(const PathQueryParameters &p_ return r_query_result; } +int GodotNavigationServer::get_process_info(ProcessInfo p_info) const { + switch (p_info) { + case INFO_ACTIVE_MAPS: { + return active_maps.size(); + } break; + case INFO_REGION_COUNT: { + return pm_region_count; + } break; + case INFO_AGENT_COUNT: { + return pm_agent_count; + } break; + case INFO_LINK_COUNT: { + return pm_link_count; + } break; + case INFO_POLYGON_COUNT: { + return pm_polygon_count; + } break; + case INFO_EDGE_COUNT: { + return pm_edge_count; + } break; + case INFO_EDGE_MERGE_COUNT: { + return pm_edge_merge_count; + } break; + case INFO_EDGE_CONNECTION_COUNT: { + return pm_edge_connection_count; + } break; + case INFO_EDGE_FREE_COUNT: { + return pm_edge_free_count; + } break; + } + + return 0; +} + #undef COMMAND_1 #undef COMMAND_2 #undef COMMAND_4 diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h index 519034119d..a87a88d3bc 100644 --- a/modules/navigation/godot_navigation_server.h +++ b/modules/navigation/godot_navigation_server.h @@ -46,16 +46,16 @@ #define MERGE_INTERNAL(A, B) A##B #define MERGE(A, B) MERGE_INTERNAL(A, B) -#define COMMAND_1(F_NAME, T_0, D_0) \ - virtual void F_NAME(T_0 D_0) const override; \ +#define COMMAND_1(F_NAME, T_0, D_0) \ + virtual void F_NAME(T_0 D_0) override; \ void MERGE(_cmd_, F_NAME)(T_0 D_0) -#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \ - virtual void F_NAME(T_0 D_0, T_1 D_1) const override; \ +#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \ + virtual void F_NAME(T_0 D_0, T_1 D_1) override; \ void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1) -#define COMMAND_4_DEF(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, D_3_DEF) \ - virtual void F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3 = D_3_DEF) const override; \ +#define COMMAND_4_DEF(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, D_3_DEF) \ + virtual void F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3 = D_3_DEF) override; \ void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) class GodotNavigationServer; @@ -81,15 +81,25 @@ class GodotNavigationServer : public NavigationServer3D { LocalVector<NavMap *> active_maps; LocalVector<uint32_t> active_maps_update_id; + // Performance Monitor + int pm_region_count = 0; + int pm_agent_count = 0; + int pm_link_count = 0; + int pm_polygon_count = 0; + int pm_edge_count = 0; + int pm_edge_merge_count = 0; + int pm_edge_connection_count = 0; + int pm_edge_free_count = 0; + public: GodotNavigationServer(); virtual ~GodotNavigationServer(); - void add_command(SetCommand *command) const; + void add_command(SetCommand *command); virtual TypedArray<RID> get_maps() const override; - virtual RID map_create() const override; + virtual RID map_create() override; COMMAND_2(map_set_active, RID, p_map, bool, p_active); virtual bool map_is_active(RID p_map) const override; @@ -118,7 +128,7 @@ public: virtual void map_force_update(RID p_map) override; - virtual RID region_create() const override; + virtual RID region_create() override; COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost); virtual real_t region_get_enter_cost(RID p_region) const override; @@ -136,12 +146,12 @@ public: virtual uint32_t region_get_navigation_layers(RID p_region) const override; COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform); COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navigation_mesh); - virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) const override; + virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) override; virtual int region_get_connections_count(RID p_region) const override; virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override; virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override; - virtual RID link_create() const override; + virtual RID link_create() override; COMMAND_2(link_set_map, RID, p_link, RID, p_map); virtual RID link_get_map(RID p_link) const override; COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional); @@ -159,7 +169,7 @@ public: COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id); virtual ObjectID link_get_owner_id(RID p_link) const override; - virtual RID agent_create() const override; + virtual RID agent_create() override; COMMAND_2(agent_set_map, RID, p_agent, RID, p_map); virtual RID agent_get_map(RID p_agent) const override; COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance); @@ -176,12 +186,14 @@ public: COMMAND_1(free, RID, p_object); - virtual void set_active(bool p_active) const override; + virtual void set_active(bool p_active) override; void flush_queries(); virtual void process(real_t p_delta_time) override; virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const override; + + int get_process_info(ProcessInfo p_info) const override; }; #undef COMMAND_1 diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index 2a2f8aa1b7..fd735f8793 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -611,6 +611,16 @@ void NavMap::remove_agent_as_controlled(RvoAgent *agent) { } void NavMap::sync() { + // Performance Monitor + int _new_pm_region_count = regions.size(); + int _new_pm_agent_count = agents.size(); + int _new_pm_link_count = links.size(); + int _new_pm_polygon_count = pm_polygon_count; + int _new_pm_edge_count = pm_edge_count; + int _new_pm_edge_merge_count = pm_edge_merge_count; + int _new_pm_edge_connection_count = pm_edge_connection_count; + int _new_pm_edge_free_count = pm_edge_free_count; + // Check if we need to update the links. if (regenerate_polygons) { for (uint32_t r = 0; r < regions.size(); r++) { @@ -632,6 +642,12 @@ void NavMap::sync() { } if (regenerate_links) { + _new_pm_polygon_count = 0; + _new_pm_edge_count = 0; + _new_pm_edge_merge_count = 0; + _new_pm_edge_connection_count = 0; + _new_pm_edge_free_count = 0; + // Remove regions connections. for (uint32_t r = 0; r < regions.size(); r++) { regions[r]->get_connections().clear(); @@ -654,6 +670,8 @@ void NavMap::sync() { 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 (uint32_t poly_id = 0; poly_id < polygons.size(); poly_id++) { @@ -666,6 +684,7 @@ void NavMap::sync() { HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey>::Iterator connection = connections.find(ek); if (!connection) { connections[ek] = Vector<gd::Edge::Connection>(); + _new_pm_edge_count += 1; } if (connections[ek].size() <= 1) { // Add the polygon/edge tuple to this key. @@ -691,6 +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]); @@ -704,6 +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; @@ -757,6 +779,7 @@ void NavMap::sync() { // Add the connection to the region_connection map. ((NavRegion *)free_edge.polygon->owner)->get_connections().push_back(new_connection); + _new_pm_edge_connection_count += 1; } } @@ -892,6 +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) { diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h index 321d5560f0..fce7aff3ba 100644 --- a/modules/navigation/nav_map.h +++ b/modules/navigation/nav_map.h @@ -89,6 +89,16 @@ class NavMap : public NavRid { /// Change the id each time the map is updated. uint32_t map_update_id = 0; + // Performance Monitor + int pm_region_count = 0; + int pm_agent_count = 0; + int pm_link_count = 0; + int pm_polygon_count = 0; + int pm_edge_count = 0; + int pm_edge_merge_count = 0; + int pm_edge_connection_count = 0; + int pm_edge_free_count = 0; + public: NavMap(); ~NavMap(); @@ -152,6 +162,16 @@ public: void step(real_t p_deltatime); void dispatch_callbacks(); + // Performance Monitor + int get_pm_region_count() const { return pm_region_count; } + int get_pm_agent_count() const { return pm_agent_count; } + int get_pm_link_count() const { return pm_link_count; } + int get_pm_polygon_count() const { return pm_polygon_count; } + int get_pm_edge_count() const { return pm_edge_count; } + int get_pm_edge_merge_count() const { return pm_edge_merge_count; } + int get_pm_edge_connection_count() const { return pm_edge_connection_count; } + int get_pm_edge_free_count() const { return pm_edge_free_count; } + private: void compute_single_step(uint32_t index, RvoAgent **agent); void clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly, Vector<int32_t> *r_path_types, TypedArray<RID> *r_path_rids, Vector<int64_t> *r_path_owners) const; |