diff options
Diffstat (limited to 'modules/navigation')
| -rw-r--r-- | modules/navigation/SCsub | 2 | ||||
| -rw-r--r-- | modules/navigation/godot_navigation_server.cpp | 26 | ||||
| -rw-r--r-- | modules/navigation/godot_navigation_server.h | 2 | ||||
| -rw-r--r-- | modules/navigation/nav_map.cpp | 21 | ||||
| -rw-r--r-- | modules/navigation/navigation_mesh_generator.cpp | 12 |
5 files changed, 45 insertions, 18 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/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp index 9e5d666a51..8ca73a3adb 100644 --- a/modules/navigation/godot_navigation_server.cpp +++ b/modules/navigation/godot_navigation_server.cpp @@ -810,6 +810,32 @@ void GodotNavigationServer::process(real_t p_delta_time) { } } +NavigationUtilities::PathQueryResult GodotNavigationServer::_query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const { + NavigationUtilities::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) { + // 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); + } + } else { + return r_query_result; + } + + // add path postprocessing + + // add path stats + + return r_query_result; +} + #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 e6ef7e3bb1..ab5e722d35 100644 --- a/modules/navigation/godot_navigation_server.h +++ b/modules/navigation/godot_navigation_server.h @@ -175,6 +175,8 @@ public: void flush_queries(); virtual void process(real_t p_delta_time) override; + + virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const override; }; #undef COMMAND_1 diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index 100db9bc82..83862e1e34 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -140,20 +140,17 @@ 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++) { @@ -164,17 +161,18 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p continue; } + 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(); + 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())) { - poly_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) * poly_travel_cost) + poly_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; int64_t already_visited_polygon_index = navigation_polys.find(gd::NavigationPoly(connection.polygon)); @@ -240,6 +238,7 @@ 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; diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp index f989fc45a5..f0d3e329ce 100644 --- a/modules/navigation/navigation_mesh_generator.cpp +++ b/modules/navigation/navigation_mesh_generator.cpp @@ -266,10 +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]]); @@ -392,10 +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]]); |