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-rw-r--r--modules/navigation/editor/navigation_mesh_editor_plugin.h2
-rw-r--r--modules/navigation/godot_navigation_server.cpp80
-rw-r--r--modules/navigation/godot_navigation_server.h11
-rw-r--r--modules/navigation/nav_base.h8
-rw-r--r--modules/navigation/nav_link.h8
-rw-r--r--modules/navigation/nav_map.cpp85
-rw-r--r--modules/navigation/nav_map.h4
-rw-r--r--modules/navigation/nav_region.h4
-rw-r--r--modules/navigation/navigation_mesh_generator.cpp102
-rw-r--r--modules/navigation/navigation_mesh_generator.h8
10 files changed, 227 insertions, 85 deletions
diff --git a/modules/navigation/editor/navigation_mesh_editor_plugin.h b/modules/navigation/editor/navigation_mesh_editor_plugin.h
index bc9e4185b7..b7bde98131 100644
--- a/modules/navigation/editor/navigation_mesh_editor_plugin.h
+++ b/modules/navigation/editor/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 8ca73a3adb..58a0982425 100644
--- a/modules/navigation/godot_navigation_server.cpp
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -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.
@@ -228,7 +230,7 @@ Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin,
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 {
@@ -383,6 +385,20 @@ 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);
@@ -407,20 +423,20 @@ 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) const {
+ 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
}
@@ -570,6 +586,20 @@ real_t GodotNavigationServer::link_get_travel_cost(const RID p_link) const {
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() const {
GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
@@ -676,14 +706,14 @@ 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);
@@ -810,20 +840,34 @@ void GodotNavigationServer::process(real_t p_delta_time) {
}
}
-NavigationUtilities::PathQueryResult GodotNavigationServer::_query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const {
- NavigationUtilities::PathQueryResult r_query_result;
+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 == NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) {
+ 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 == NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) {
- r_query_result.path = map->get_path(p_parameters.start_position, p_parameters.target_position, true, p_parameters.navigation_layers);
- } else if (p_parameters.path_postprocessing == NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) {
- r_query_result.path = map->get_path(p_parameters.start_position, p_parameters.target_position, false, p_parameters.navigation_layers);
+ 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;
diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h
index ab5e722d35..6f39420c67 100644
--- a/modules/navigation/godot_navigation_server.h
+++ b/modules/navigation/godot_navigation_server.h
@@ -125,6 +125,9 @@ public:
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);
@@ -132,8 +135,8 @@ 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) const override;
virtual int region_get_connections_count(RID p_region) const override;
virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override;
virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override;
@@ -153,6 +156,8 @@ public:
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() const override;
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map);
@@ -167,7 +172,7 @@ 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);
diff --git a/modules/navigation/nav_base.h b/modules/navigation/nav_base.h
index 6dfaaf9af4..a3ab77301b 100644
--- a/modules/navigation/nav_base.h
+++ b/modules/navigation/nav_base.h
@@ -33,6 +33,7 @@
#include "nav_rid.h"
#include "nav_utils.h"
+#include "servers/navigation/navigation_utilities.h"
class NavMap;
@@ -41,8 +42,12 @@ 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; }
@@ -51,6 +56,9 @@ public:
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.h b/modules/navigation/nav_link.h
index 8d57f076c0..e9c69286f9 100644
--- a/modules/navigation/nav_link.h
+++ b/modules/navigation/nav_link.h
@@ -37,12 +37,16 @@
class NavLink : public NavBase {
NavMap *map = nullptr;
bool bidirectional = true;
- Vector3 start_location = Vector3();
- Vector3 end_location = Vector3();
+ 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;
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index 83862e1e34..8d58c9335d 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -38,6 +38,18 @@
#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;
@@ -71,7 +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;
@@ -115,6 +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;
@@ -296,6 +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.
@@ -312,7 +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;
@@ -320,7 +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;
}
}
@@ -331,7 +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;
@@ -339,7 +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);
}
}
@@ -355,12 +401,23 @@ 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;
@@ -369,18 +426,37 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
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;
}
@@ -837,7 +913,7 @@ void NavMap::dispatch_callbacks() {
}
}
-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) 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)) {
@@ -863,6 +939,7 @@ void NavMap::clip_path(const LocalVector<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);
}
}
}
diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
index a3da9fa727..3be13133d2 100644
--- a/modules/navigation/nav_map.h
+++ b/modules/navigation/nav_map.h
@@ -115,7 +115,7 @@ public:
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;
@@ -154,7 +154,7 @@ public:
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) 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.h b/modules/navigation/nav_region.h
index 8d2b5aa9eb..3ef3ef5748 100644
--- a/modules/navigation/nav_region.h
+++ b/modules/navigation/nav_region.h
@@ -48,7 +48,9 @@ class NavRegion : public NavBase {
LocalVector<gd::Polygon> polygons;
public:
- NavRegion() {}
+ NavRegion() {
+ type = NavigationUtilities::PathSegmentType::PATH_SEGMENT_TYPE_REGION;
+ }
void scratch_polygons() {
polygons_dirty = true;
diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp
index f0d3e329ce..62db6ff4e9 100644
--- a/modules/navigation/navigation_mesh_generator.cpp
+++ b/modules/navigation/navigation_mesh_generator.cpp
@@ -470,14 +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];
@@ -492,13 +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
@@ -528,42 +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.");
}
@@ -574,9 +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();
+ AABB baking_aabb = p_navigation_mesh->get_filter_baking_aabb();
if (baking_aabb.has_volume()) {
- Vector3 baking_aabb_offset = p_nav_mesh->get_filter_baking_aabb_offset();
+ 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;
@@ -627,13 +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);
}
@@ -665,10 +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));
@@ -710,7 +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;
@@ -729,8 +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);
@@ -755,17 +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);
}
@@ -777,7 +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
@@ -816,16 +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..f6bf39d714 100644
--- a/modules/navigation/navigation_mesh_generator.h
+++ b/modules/navigation/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
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-15 18:01:33 +0000