diff options
Diffstat (limited to 'modules/navigation')
| -rw-r--r-- | modules/navigation/godot_navigation_server.cpp | 73 | ||||
| -rw-r--r-- | modules/navigation/godot_navigation_server.h | 18 | ||||
| -rw-r--r-- | modules/navigation/nav_map.cpp | 24 | ||||
| -rw-r--r-- | modules/navigation/nav_map.h | 6 | ||||
| -rw-r--r-- | modules/navigation/nav_region.cpp | 8 | ||||
| -rw-r--r-- | modules/navigation/nav_region.h | 14 | ||||
| -rw-r--r-- | modules/navigation/navigation_mesh_generator.cpp | 65 | ||||
| -rw-r--r-- | modules/navigation/rvo_agent.cpp | 3 |
8 files changed, 176 insertions, 35 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp index cc9d05da47..bcbc721dbb 100644 --- a/modules/navigation/godot_navigation_server.cpp +++ b/modules/navigation/godot_navigation_server.cpp @@ -123,6 +123,18 @@ void GodotNavigationServer::add_command(SetCommand *command) const { } } +Array GodotNavigationServer::get_maps() const { + Array all_map_rids; + List<RID> maps_owned; + map_owner.get_owned_list(&maps_owned); + if (maps_owned.size()) { + for (const RID &E : maps_owned) { + all_map_rids.push_back(E); + } + } + return all_map_rids; +} + RID GodotNavigationServer::map_create() const { GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); MutexLock lock(mut_this->operations_mutex); @@ -198,11 +210,11 @@ real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const { return map->get_edge_connection_margin(); } -Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers) const { +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_layers); + return map->get_path(p_origin, p_destination, p_optimize, p_navigation_layers); } 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 { @@ -309,18 +321,58 @@ COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform) { region->set_transform(p_transform); } -COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers) { +COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost) { + NavRegion *region = region_owner.get_or_null(p_region); + ERR_FAIL_COND(region == nullptr); + ERR_FAIL_COND(p_enter_cost < 0.0); + + region->set_enter_cost(p_enter_cost); +} + +real_t GodotNavigationServer::region_get_enter_cost(RID p_region) const { + NavRegion *region = region_owner.get_or_null(p_region); + ERR_FAIL_COND_V(region == nullptr, 0); + + return region->get_enter_cost(); +} + +COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost) { NavRegion *region = region_owner.get_or_null(p_region); ERR_FAIL_COND(region == nullptr); + ERR_FAIL_COND(p_travel_cost < 0.0); - region->set_layers(p_layers); + region->set_travel_cost(p_travel_cost); } -uint32_t GodotNavigationServer::region_get_layers(RID p_region) const { +real_t GodotNavigationServer::region_get_travel_cost(RID p_region) const { NavRegion *region = region_owner.get_or_null(p_region); ERR_FAIL_COND_V(region == nullptr, 0); - return region->get_layers(); + return region->get_travel_cost(); +} + +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(); + } + return false; +} + +COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers) { + NavRegion *region = region_owner.get_or_null(p_region); + ERR_FAIL_COND(region == nullptr); + + region->set_navigation_layers(p_navigation_layers); +} + +uint32_t GodotNavigationServer::region_get_navigation_layers(RID p_region) const { + NavRegion *region = region_owner.get_or_null(p_region); + ERR_FAIL_COND_V(region == nullptr, 0); + + return region->get_navigation_layers(); } COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) { @@ -550,6 +602,15 @@ void GodotNavigationServer::flush_queries() { commands.clear(); } +void GodotNavigationServer::map_force_update(RID p_map) { + NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND(map == nullptr); + + flush_queries(); + + map->sync(); +} + void GodotNavigationServer::process(real_t p_delta_time) { flush_queries(); diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h index 89e7311e51..8e7e99888c 100644 --- a/modules/navigation/godot_navigation_server.h +++ b/modules/navigation/godot_navigation_server.h @@ -85,6 +85,8 @@ public: void add_command(SetCommand *command) const; + virtual Array get_maps() const override; + virtual RID map_create() const override; COMMAND_2(map_set_active, RID, p_map, bool, p_active); virtual bool map_is_active(RID p_map) const override; @@ -98,7 +100,7 @@ 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; - virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const override; + virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_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; virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const override; @@ -108,11 +110,21 @@ public: virtual Array map_get_regions(RID p_map) const override; virtual Array map_get_agents(RID p_map) const override; + virtual void map_force_update(RID p_map) override; + virtual RID region_create() const 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; + + 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); virtual RID region_get_map(RID p_region) const override; - COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers); - virtual uint32_t region_get_layers(RID p_region) const override; + 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; diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index 344475fb37..17d6e0a0a1 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -65,7 +65,7 @@ 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_layers) const { +Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const { // Find the start poly and the end poly on this map. const gd::Polygon *begin_poly = nullptr; const gd::Polygon *end_poly = nullptr; @@ -78,7 +78,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p const gd::Polygon &p = polygons[i]; // Only consider the polygon if it in a region with compatible layers. - if ((p_layers & p.owner->get_layers()) == 0) { + if ((p_navigation_layers & p.owner->get_navigation_layers()) == 0) { continue; } @@ -140,6 +140,8 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p 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++) { @@ -152,13 +154,21 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p const gd::Edge::Connection &connection = edge.connections[connection_index]; // Only consider the connection to another polygon if this polygon is in a region with compatible layers. - if ((p_layers & connection.polygon->owner->get_layers()) == 0) { + if ((p_navigation_layers & connection.polygon->owner->get_navigation_layers()) == 0) { continue; } + float region_enter_cost = 0.0; + float region_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(); + } + prev_least_cost_poly = least_cost_poly; + 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) + least_cost_poly->traveled_distance; + const float new_distance = (least_cost_poly->entry.distance_to(new_entry) * region_travel_cost) + region_enter_cost + least_cost_poly->traveled_distance; const std::vector<gd::NavigationPoly>::iterator it = std::find( navigation_polys.begin(), @@ -238,7 +248,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p for (List<uint32_t>::Element *element = to_visit.front(); element != nullptr; element = element->next()) { gd::NavigationPoly *np = &navigation_polys[element->get()]; float cost = np->traveled_distance; - cost += np->entry.distance_to(end_point); + cost += (np->entry.distance_to(end_point) * np->poly->owner->get_travel_cost()); if (cost < least_cost) { least_cost_id = np->self_id; least_cost = cost; @@ -249,7 +259,7 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // Stores the further reachable end polygon, in case our goal is not reachable. if (is_reachable) { - float d = navigation_polys[least_cost_id].entry.distance_to(p_destination); + float d = navigation_polys[least_cost_id].entry.distance_to(p_destination) * navigation_polys[least_cost_id].poly->owner->get_travel_cost(); if (reachable_d > d) { reachable_d = d; reachable_end = navigation_polys[least_cost_id].poly; @@ -563,7 +573,7 @@ void NavMap::sync() { connections[ek].push_back(new_connection); } else { // The edge is already connected with another edge, skip. - ERR_PRINT("Attempted to merge a navigation mesh triangle edge with another already-merged edge. This happens when the current `cell_size` is different from the one used to generate the navigation mesh. This will cause navigation problem."); + ERR_PRINT_ONCE("Attempted to merge a navigation mesh triangle edge with another already-merged edge. This happens when the current `cell_size` is different from the one used to generate the navigation mesh. This will cause navigation problems."); } } } diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h index f58a78d4ca..2036dbecd7 100644 --- a/modules/navigation/nav_map.h +++ b/modules/navigation/nav_map.h @@ -50,10 +50,10 @@ class NavMap : public NavRid { /// To find the polygons edges the vertices are displaced in a grid where /// each cell has the following cell_size. - real_t cell_size = 0.3; + real_t cell_size = 0.25; /// This value is used to detect the near edges to connect. - real_t edge_connection_margin = 5.0; + real_t edge_connection_margin = 0.25; bool regenerate_polygons = true; bool regenerate_links = true; @@ -105,7 +105,7 @@ 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_layers = 1) const; + Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) 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; diff --git a/modules/navigation/nav_region.cpp b/modules/navigation/nav_region.cpp index fea0ad519a..88740807eb 100644 --- a/modules/navigation/nav_region.cpp +++ b/modules/navigation/nav_region.cpp @@ -40,12 +40,12 @@ void NavRegion::set_map(NavMap *p_map) { } } -void NavRegion::set_layers(uint32_t p_layers) { - layers = p_layers; +void NavRegion::set_navigation_layers(uint32_t p_navigation_layers) { + navigation_layers = p_navigation_layers; } -uint32_t NavRegion::get_layers() const { - return layers; +uint32_t NavRegion::get_navigation_layers() const { + return navigation_layers; } void NavRegion::set_transform(Transform3D p_transform) { diff --git a/modules/navigation/nav_region.h b/modules/navigation/nav_region.h index 7a6da281c0..484856ae36 100644 --- a/modules/navigation/nav_region.h +++ b/modules/navigation/nav_region.h @@ -45,7 +45,9 @@ class NavRegion : public NavRid { NavMap *map = nullptr; Transform3D transform; Ref<NavigationMesh> mesh; - uint32_t layers = 1; + uint32_t navigation_layers = 1; + float enter_cost = 0.0; + float travel_cost = 1.0; Vector<gd::Edge::Connection> connections; bool polygons_dirty = true; @@ -65,8 +67,14 @@ public: return map; } - void set_layers(uint32_t p_layers); - uint32_t get_layers() const; + 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 { diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp index 5cbaded6c1..6e8ac77f79 100644 --- a/modules/navigation/navigation_mesh_generator.cpp +++ b/modules/navigation/navigation_mesh_generator.cpp @@ -172,14 +172,16 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans if (Object::cast_to<MultiMeshInstance3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) { MultiMeshInstance3D *multimesh_instance = Object::cast_to<MultiMeshInstance3D>(p_node); Ref<MultiMesh> multimesh = multimesh_instance->get_multimesh(); - Ref<Mesh> mesh = multimesh->get_mesh(); - if (mesh.is_valid()) { - int n = multimesh->get_visible_instance_count(); - if (n == -1) { - n = multimesh->get_instance_count(); - } - for (int i = 0; i < n; i++) { - _add_mesh(mesh, p_navmesh_transform * multimesh_instance->get_global_transform() * multimesh->get_instance_transform(i), p_vertices, p_indices); + if (multimesh.is_valid()) { + Ref<Mesh> mesh = multimesh->get_mesh(); + if (mesh.is_valid()) { + int n = multimesh->get_visible_instance_count(); + if (n == -1) { + n = multimesh->get_instance_count(); + } + for (int i = 0; i < n; i++) { + _add_mesh(mesh, p_navmesh_transform * multimesh_instance->get_global_transform() * multimesh->get_instance_transform(i), p_vertices, p_indices); + } } } } @@ -448,6 +450,31 @@ void NavigationMeshGenerator::_build_recast_navigation_mesh( 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())) { + 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())) { + 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())) { + 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())) { + 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())) { + 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())) { + 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 (p_nav_mesh->get_cell_size() * p_nav_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."); + } + cfg.bmin[0] = bmin[0]; cfg.bmin[1] = bmin[1]; cfg.bmin[2] = bmin[2]; @@ -455,6 +482,21 @@ 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(); + + 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; + cfg.bmax[0] = cfg.bmin[0] + baking_aabb.size[0]; + cfg.bmax[1] = cfg.bmin[1] + baking_aabb.size[1]; + cfg.bmax[2] = cfg.bmin[2] + baking_aabb.size[2]; + } + #ifdef TOOLS_ENABLED if (ep) { ep->step(TTR("Calculating grid size..."), 2); @@ -604,6 +646,13 @@ void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) #ifdef TOOLS_ENABLED EditorProgress *ep(nullptr); + // FIXME +#endif +#if 0 + // After discussion on devchat disabled EditorProgress for now as it is not thread-safe and uses hacks and Main::iteration() for steps. + // EditorProgress randomly crashes the Engine when the bake function is used with a thread e.g. inside Editor with a tool script and procedural navigation + // This was not a problem in older versions as previously Godot was unable to (re)bake NavigationMesh at runtime. + // If EditorProgress is fixed and made thread-safe this should be enabled again. if (Engine::get_singleton()->is_editor_hint()) { ep = memnew(EditorProgress("bake", TTR("Navigation Mesh Generator Setup:"), 11)); } diff --git a/modules/navigation/rvo_agent.cpp b/modules/navigation/rvo_agent.cpp index a6a5660c0c..4ec72ad43f 100644 --- a/modules/navigation/rvo_agent.cpp +++ b/modules/navigation/rvo_agent.cpp @@ -65,8 +65,9 @@ void RvoAgent::dispatch_callback() { return; } Object *obj = ObjectDB::get_instance(callback.id); - if (obj == nullptr) { + if (!obj) { callback.id = ObjectID(); + return; } Callable::CallError responseCallError; |