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-rw-r--r--modules/navigation/navigation_mesh_generator.cpp121
-rw-r--r--modules/navigation/navigation_mesh_generator.h2
2 files changed, 102 insertions, 21 deletions
diff --git a/modules/navigation/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp
index 6cbdb645ca..52d5379e8b 100644
--- a/modules/navigation/navigation_mesh_generator.cpp
+++ b/modules/navigation/navigation_mesh_generator.cpp
@@ -140,12 +140,12 @@ void NavigationMeshGenerator::_add_faces(const PackedVector3Array &p_faces, cons
}
}
-void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_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) {
+void NavigationMeshGenerator::_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) {
if (Object::cast_to<MeshInstance3D>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
MeshInstance3D *mesh_instance = Object::cast_to<MeshInstance3D>(p_node);
Ref<Mesh> mesh = mesh_instance->get_mesh();
if (mesh.is_valid()) {
- _add_mesh(mesh, p_accumulated_transform * mesh_instance->get_transform(), p_vertices, p_indices);
+ _add_mesh(mesh, p_navmesh_transform * mesh_instance->get_global_transform(), p_vertices, p_indices);
}
}
@@ -159,7 +159,7 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
n = multimesh->get_instance_count();
}
for (int i = 0; i < n; i++) {
- _add_mesh(mesh, p_accumulated_transform * multimesh->get_instance_transform(i), p_vertices, p_indices);
+ _add_mesh(mesh, p_navmesh_transform * multimesh_instance->get_global_transform() * multimesh->get_instance_transform(i), p_vertices, p_indices);
}
}
}
@@ -171,7 +171,7 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
if (!meshes.is_empty()) {
Ref<Mesh> mesh = meshes[1];
if (mesh.is_valid()) {
- _add_mesh(mesh, p_accumulated_transform * csg_shape->get_transform(), p_vertices, p_indices);
+ _add_mesh(mesh, p_navmesh_transform * csg_shape->get_global_transform(), p_vertices, p_indices);
}
}
}
@@ -186,7 +186,7 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
if (Object::cast_to<CollisionShape3D>(child)) {
CollisionShape3D *col_shape = Object::cast_to<CollisionShape3D>(child);
- Transform3D transform = p_accumulated_transform * static_body->get_transform() * col_shape->get_transform();
+ Transform3D transform = p_navmesh_transform * static_body->get_global_transform() * col_shape->get_transform();
Ref<Mesh> mesh;
Ref<Shape3D> s = col_shape->get_shape();
@@ -265,27 +265,108 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
}
#ifdef MODULE_GRIDMAP_ENABLED
- if (Object::cast_to<GridMap>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
- GridMap *gridmap_instance = Object::cast_to<GridMap>(p_node);
- Array meshes = gridmap_instance->get_meshes();
- Transform3D xform = gridmap_instance->get_transform();
- for (int i = 0; i < meshes.size(); i += 2) {
- Ref<Mesh> mesh = meshes[i + 1];
- if (mesh.is_valid()) {
- _add_mesh(mesh, p_accumulated_transform * xform * (Transform3D)meshes[i], p_vertices, p_indices);
+ GridMap *gridmap = Object::cast_to<GridMap>(p_node);
+
+ if (gridmap) {
+ if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
+ Array meshes = gridmap->get_meshes();
+ Transform3D xform = gridmap->get_global_transform();
+ for (int i = 0; i < meshes.size(); i += 2) {
+ Ref<Mesh> mesh = meshes[i + 1];
+ if (mesh.is_valid()) {
+ _add_mesh(mesh, p_navmesh_transform * xform * (Transform3D)meshes[i], p_vertices, p_indices);
+ }
}
}
- }
-#endif
- if (Object::cast_to<Node3D>(p_node)) {
- Node3D *spatial = Object::cast_to<Node3D>(p_node);
- p_accumulated_transform = p_accumulated_transform * spatial->get_transform();
+ if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES && (gridmap->get_collision_layer() & p_collision_mask)) {
+ Array shapes = gridmap->get_collision_shapes();
+ for (int i = 0; i < shapes.size(); i += 2) {
+ RID shape = shapes[i + 1];
+ PhysicsServer3D::ShapeType type = PhysicsServer3D::get_singleton()->shape_get_type(shape);
+ Variant data = PhysicsServer3D::get_singleton()->shape_get_data(shape);
+ Ref<Mesh> mesh;
+
+ switch (type) {
+ case PhysicsServer3D::SHAPE_SPHERE: {
+ real_t radius = data;
+ Ref<SphereMesh> sphere_mesh;
+ sphere_mesh.instantiate();
+ sphere_mesh->set_radius(radius);
+ sphere_mesh->set_height(radius * 2.0);
+ mesh = sphere_mesh;
+ } break;
+ case PhysicsServer3D::SHAPE_BOX: {
+ Vector3 extents = data;
+ Ref<BoxMesh> box_mesh;
+ box_mesh.instantiate();
+ box_mesh->set_size(2.0 * extents);
+ mesh = box_mesh;
+ } break;
+ case PhysicsServer3D::SHAPE_CAPSULE: {
+ Dictionary dict = data;
+ real_t radius = dict["radius"];
+ real_t height = dict["height"];
+ Ref<CapsuleMesh> capsule_mesh;
+ capsule_mesh.instantiate();
+ capsule_mesh->set_radius(radius);
+ capsule_mesh->set_height(height);
+ mesh = capsule_mesh;
+ } break;
+ case PhysicsServer3D::SHAPE_CYLINDER: {
+ Dictionary dict = data;
+ real_t radius = dict["radius"];
+ real_t height = dict["height"];
+ Ref<CylinderMesh> cylinder_mesh;
+ cylinder_mesh.instantiate();
+ cylinder_mesh->set_height(height);
+ cylinder_mesh->set_bottom_radius(radius);
+ cylinder_mesh->set_top_radius(radius);
+ mesh = cylinder_mesh;
+ } break;
+ case PhysicsServer3D::SHAPE_CONVEX_POLYGON: {
+ PackedVector3Array vertices = data;
+ Geometry3D::MeshData md;
+
+ Error err = ConvexHullComputer::convex_hull(vertices, md);
+
+ if (err == OK) {
+ PackedVector3Array faces;
+
+ for (int j = 0; j < md.faces.size(); ++j) {
+ Geometry3D::MeshData::Face face = md.faces[j];
+
+ for (int 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]]);
+ }
+ }
+
+ _add_faces(faces, shapes[i], p_vertices, p_indices);
+ }
+ } break;
+ case PhysicsServer3D::SHAPE_CONCAVE_POLYGON: {
+ Dictionary dict = data;
+ PackedVector3Array faces = Variant(dict["faces"]);
+ _add_faces(faces, shapes[i], p_vertices, p_indices);
+ } break;
+ default: {
+ WARN_PRINT("Unsupported collision shape type.");
+ } break;
+ }
+
+ if (mesh.is_valid()) {
+ _add_mesh(mesh, shapes[i], p_vertices, p_indices);
+ }
+ }
+ }
}
+#endif
if (p_recurse_children) {
for (int i = 0; i < p_node->get_child_count(); i++) {
- _parse_geometry(p_accumulated_transform, p_node->get_child(i), p_vertices, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
+ _parse_geometry(p_navmesh_transform, p_node->get_child(i), p_vertices, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
}
}
}
@@ -530,7 +611,7 @@ void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node)
p_node->get_tree()->get_nodes_in_group(p_nav_mesh->get_source_group_name(), &parse_nodes);
}
- Transform3D navmesh_xform = Object::cast_to<Node3D>(p_node)->get_transform().affine_inverse();
+ Transform3D navmesh_xform = Object::cast_to<Node3D>(p_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();
diff --git a/modules/navigation/navigation_mesh_generator.h b/modules/navigation/navigation_mesh_generator.h
index 1ffdd39aee..21f7a4941b 100644
--- a/modules/navigation/navigation_mesh_generator.h
+++ b/modules/navigation/navigation_mesh_generator.h
@@ -52,7 +52,7 @@ protected:
static void _add_vertex(const Vector3 &p_vec3, Vector<float> &p_vertices);
static void _add_mesh(const Ref<Mesh> &p_mesh, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
static void _add_faces(const PackedVector3Array &p_faces, const Transform3D &p_xform, Vector<float> &p_vertices, Vector<int> &p_indices);
- static void _parse_geometry(Transform3D p_accumulated_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 _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 _build_recast_navigation_mesh(
generated by cgit v1.2.3 (git 2.25.1) at 2025-03-21 13:35:25 +0000