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-rw-r--r--modules/navigation/godot_navigation_server.cpp75
-rw-r--r--modules/navigation/godot_navigation_server.h11
-rw-r--r--modules/navigation/nav_agent.cpp (renamed from modules/navigation/rvo_agent.cpp)44
-rw-r--r--modules/navigation/nav_agent.h (renamed from modules/navigation/rvo_agent.h)23
-rw-r--r--modules/navigation/nav_map.cpp18
-rw-r--r--modules/navigation/nav_map.h20
6 files changed, 68 insertions, 123 deletions
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
index 5baf6db2e8..c3cb1c5f13 100644
--- a/modules/navigation/godot_navigation_server.cpp
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -81,36 +81,6 @@ 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) { \
- 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() {}
GodotNavigationServer::~GodotNavigationServer() {
@@ -292,7 +262,7 @@ TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const {
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();
+ const LocalVector<NavAgent *> agents = map->get_agents();
agents_rids.resize(agents.size());
for (uint32_t i = 0; i < agents.size(); i++) {
@@ -312,7 +282,7 @@ 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);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND_V(agent == nullptr, RID());
if (agent->get_map()) {
@@ -609,13 +579,13 @@ RID GodotNavigationServer::agent_create() {
MutexLock lock(operations_mutex);
RID rid = agent_owner.make_rid();
- RvoAgent *agent = agent_owner.get_or_null(rid);
+ NavAgent *agent = agent_owner.get_or_null(rid);
agent->set_self(rid);
return rid;
}
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
if (agent->get_map()) {
@@ -642,86 +612,86 @@ COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
}
COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->neighborDist_ = p_distance;
}
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->maxNeighbors_ = p_count;
}
COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->timeHorizon_ = p_time;
}
COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->radius_ = p_radius;
}
COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->maxSpeed_ = p_max_speed;
}
COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->velocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
}
COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->prefVelocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
}
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->position_ = RVO::Vector3(p_position.x, p_position.y, p_position.z);
}
COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore) {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->ignore_y_ = p_ignore;
}
bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const {
- RvoAgent *agent = agent_owner.get_or_null(p_agent);
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND_V(agent == nullptr, false);
return agent->is_map_changed();
}
-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);
+COMMAND_2(agent_set_callback, RID, p_agent, Callable, p_callback) {
+ NavAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
- agent->set_callback(p_object_id, p_method, p_udata);
+ agent->set_callback(p_callback);
if (agent->get_map()) {
- if (p_object_id == ObjectID()) {
- agent->get_map()->remove_agent_as_controlled(agent);
- } else {
+ if (p_callback.is_valid()) {
agent->get_map()->set_agent_as_controlled(agent);
+ } else {
+ agent->get_map()->remove_agent_as_controlled(agent);
}
}
}
@@ -743,7 +713,7 @@ COMMAND_1(free, RID, p_object) {
}
// Remove any assigned agent
- for (RvoAgent *agent : map->get_agents()) {
+ for (NavAgent *agent : map->get_agents()) {
map->remove_agent(agent);
agent->set_map(nullptr);
}
@@ -776,7 +746,7 @@ COMMAND_1(free, RID, p_object) {
link_owner.free(p_object);
} else if (agent_owner.owns(p_object)) {
- RvoAgent *agent = agent_owner.get_or_null(p_object);
+ NavAgent *agent = agent_owner.get_or_null(p_object);
// Removes this agent from the map if assigned
if (agent->get_map() != nullptr) {
@@ -946,4 +916,3 @@ int GodotNavigationServer::get_process_info(ProcessInfo p_info) const {
#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 efefa60de8..0b113b77d4 100644
--- a/modules/navigation/godot_navigation_server.h
+++ b/modules/navigation/godot_navigation_server.h
@@ -36,10 +36,10 @@
#include "core/templates/rid_owner.h"
#include "servers/navigation_server_3d.h"
+#include "nav_agent.h"
#include "nav_link.h"
#include "nav_map.h"
#include "nav_region.h"
-#include "rvo_agent.h"
/// The commands are functions executed during the `sync` phase.
@@ -54,10 +54,6 @@
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) override; \
- void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
-
class GodotNavigationServer;
struct SetCommand {
@@ -75,7 +71,7 @@ class GodotNavigationServer : public NavigationServer3D {
mutable RID_Owner<NavLink> link_owner;
mutable RID_Owner<NavMap> map_owner;
mutable RID_Owner<NavRegion> region_owner;
- mutable RID_Owner<RvoAgent> agent_owner;
+ mutable RID_Owner<NavAgent> agent_owner;
bool active = true;
LocalVector<NavMap *> active_maps;
@@ -182,7 +178,7 @@ 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, ObjectID, p_object_id, StringName, p_method, Variant, p_udata, Variant());
+ COMMAND_2(agent_set_callback, RID, p_agent, Callable, p_callback);
COMMAND_1(free, RID, p_object);
@@ -198,6 +194,5 @@ public:
#undef COMMAND_1
#undef COMMAND_2
-#undef COMMAND_4_DEF
#endif // GODOT_NAVIGATION_SERVER_H
diff --git a/modules/navigation/rvo_agent.cpp b/modules/navigation/nav_agent.cpp
index 979ef0d917..293544c0a5 100644
--- a/modules/navigation/rvo_agent.cpp
+++ b/modules/navigation/nav_agent.cpp
@@ -1,5 +1,5 @@
/**************************************************************************/
-/* rvo_agent.cpp */
+/* nav_agent.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@@ -28,19 +28,15 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
-#include "rvo_agent.h"
+#include "nav_agent.h"
#include "nav_map.h"
-RvoAgent::RvoAgent() {
- callback.id = ObjectID();
-}
-
-void RvoAgent::set_map(NavMap *p_map) {
+void NavAgent::set_map(NavMap *p_map) {
map = p_map;
}
-bool RvoAgent::is_map_changed() {
+bool NavAgent::is_map_changed() {
if (map) {
bool is_changed = map->get_map_update_id() != map_update_id;
map_update_id = map->get_map_update_id();
@@ -50,31 +46,25 @@ bool RvoAgent::is_map_changed() {
}
}
-void RvoAgent::set_callback(ObjectID p_id, const StringName p_method, const Variant p_udata) {
- callback.id = p_id;
- callback.method = p_method;
- callback.udata = p_udata;
+void NavAgent::set_callback(Callable p_callback) {
+ callback = p_callback;
}
-bool RvoAgent::has_callback() const {
- return callback.id.is_valid();
+bool NavAgent::has_callback() const {
+ return callback.is_valid();
}
-void RvoAgent::dispatch_callback() {
- if (callback.id.is_null()) {
+void NavAgent::dispatch_callback() {
+ if (!callback.is_valid()) {
return;
}
- Object *obj = ObjectDB::get_instance(callback.id);
- if (!obj) {
- callback.id = ObjectID();
- return;
- }
-
- Callable::CallError responseCallError;
- callback.new_velocity = Vector3(agent.newVelocity_.x(), agent.newVelocity_.y(), agent.newVelocity_.z());
+ Vector3 new_velocity = Vector3(agent.newVelocity_.x(), agent.newVelocity_.y(), agent.newVelocity_.z());
- const Variant *vp[2] = { &callback.new_velocity, &callback.udata };
- int argc = (callback.udata.get_type() == Variant::NIL) ? 1 : 2;
- obj->callp(callback.method, vp, argc, responseCallError);
+ // Invoke the callback with the new velocity.
+ Variant args[] = { new_velocity };
+ const Variant *args_p[] = { &args[0] };
+ Variant return_value;
+ Callable::CallError call_error;
+ callback.callp(args_p, 1, return_value, call_error);
}
diff --git a/modules/navigation/rvo_agent.h b/modules/navigation/nav_agent.h
index 7b19907b2b..f154ce14d9 100644
--- a/modules/navigation/rvo_agent.h
+++ b/modules/navigation/nav_agent.h
@@ -1,5 +1,5 @@
/**************************************************************************/
-/* rvo_agent.h */
+/* nav_agent.h */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
@@ -28,8 +28,8 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
-#ifndef RVO_AGENT_H
-#define RVO_AGENT_H
+#ifndef NAV_AGENT_H
+#define NAV_AGENT_H
#include "core/object/class_db.h"
#include "nav_rid.h"
@@ -38,22 +38,13 @@
class NavMap;
-class RvoAgent : public NavRid {
- struct AvoidanceComputedCallback {
- ObjectID id;
- StringName method;
- Variant udata;
- Variant new_velocity;
- };
-
+class NavAgent : public NavRid {
NavMap *map = nullptr;
RVO::Agent agent;
- AvoidanceComputedCallback callback;
+ Callable callback = Callable();
uint32_t map_update_id = 0;
public:
- RvoAgent();
-
void set_map(NavMap *p_map);
NavMap *get_map() {
return map;
@@ -65,10 +56,10 @@ public:
bool is_map_changed();
- void set_callback(ObjectID p_id, const StringName p_method, const Variant p_udata = Variant());
+ void set_callback(Callable p_callback);
bool has_callback() const;
void dispatch_callback();
};
-#endif // RVO_AGENT_H
+#endif // NAV_AGENT_H
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index d763b1d3bc..b1674c8fc5 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -31,9 +31,9 @@
#include "nav_map.h"
#include "core/object/worker_thread_pool.h"
+#include "nav_agent.h"
#include "nav_link.h"
#include "nav_region.h"
-#include "rvo_agent.h"
#include <algorithm>
#define THREE_POINTS_CROSS_PRODUCT(m_a, m_b, m_c) (((m_c) - (m_a)).cross((m_b) - (m_a)))
@@ -568,18 +568,18 @@ void NavMap::remove_link(NavLink *p_link) {
}
}
-bool NavMap::has_agent(RvoAgent *agent) const {
+bool NavMap::has_agent(NavAgent *agent) const {
return (agents.find(agent) != -1);
}
-void NavMap::add_agent(RvoAgent *agent) {
+void NavMap::add_agent(NavAgent *agent) {
if (!has_agent(agent)) {
agents.push_back(agent);
agents_dirty = true;
}
}
-void NavMap::remove_agent(RvoAgent *agent) {
+void NavMap::remove_agent(NavAgent *agent) {
remove_agent_as_controlled(agent);
int64_t agent_index = agents.find(agent);
if (agent_index != -1) {
@@ -588,7 +588,7 @@ void NavMap::remove_agent(RvoAgent *agent) {
}
}
-void NavMap::set_agent_as_controlled(RvoAgent *agent) {
+void NavMap::set_agent_as_controlled(NavAgent *agent) {
const bool exist = (controlled_agents.find(agent) != -1);
if (!exist) {
ERR_FAIL_COND(!has_agent(agent));
@@ -596,7 +596,7 @@ void NavMap::set_agent_as_controlled(RvoAgent *agent) {
}
}
-void NavMap::remove_agent_as_controlled(RvoAgent *agent) {
+void NavMap::remove_agent_as_controlled(NavAgent *agent) {
int64_t active_avoidance_agent_index = controlled_agents.find(agent);
if (active_avoidance_agent_index != -1) {
controlled_agents.remove_at_unordered(active_avoidance_agent_index);
@@ -895,7 +895,7 @@ void NavMap::sync() {
// cannot use LocalVector here as RVO library expects std::vector to build KdTree
std::vector<RVO::Agent *> raw_agents;
raw_agents.reserve(agents.size());
- for (RvoAgent *agent : agents) {
+ for (NavAgent *agent : agents) {
raw_agents.push_back(agent->get_agent());
}
rvo.buildAgentTree(raw_agents);
@@ -916,7 +916,7 @@ void NavMap::sync() {
pm_edge_free_count = _new_pm_edge_free_count;
}
-void NavMap::compute_single_step(uint32_t index, RvoAgent **agent) {
+void NavMap::compute_single_step(uint32_t index, NavAgent **agent) {
(*(agent + index))->get_agent()->computeNeighbors(&rvo);
(*(agent + index))->get_agent()->computeNewVelocity(deltatime);
}
@@ -930,7 +930,7 @@ void NavMap::step(real_t p_deltatime) {
}
void NavMap::dispatch_callbacks() {
- for (RvoAgent *agent : controlled_agents) {
+ for (NavAgent *agent : controlled_agents) {
agent->dispatch_callback();
}
}
diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
index fce7aff3ba..ab6a48dd70 100644
--- a/modules/navigation/nav_map.h
+++ b/modules/navigation/nav_map.h
@@ -42,7 +42,7 @@
class NavLink;
class NavRegion;
-class RvoAgent;
+class NavAgent;
class NavMap : public NavRid {
/// Map Up
@@ -78,10 +78,10 @@ class NavMap : public NavRid {
bool agents_dirty = false;
/// All the Agents (even the controlled one)
- LocalVector<RvoAgent *> agents;
+ LocalVector<NavAgent *> agents;
/// Controlled agents
- LocalVector<RvoAgent *> controlled_agents;
+ LocalVector<NavAgent *> controlled_agents;
/// Physics delta time
real_t deltatime = 0.0;
@@ -144,15 +144,15 @@ public:
return links;
}
- bool has_agent(RvoAgent *agent) const;
- void add_agent(RvoAgent *agent);
- void remove_agent(RvoAgent *agent);
- const LocalVector<RvoAgent *> &get_agents() const {
+ bool has_agent(NavAgent *agent) const;
+ void add_agent(NavAgent *agent);
+ void remove_agent(NavAgent *agent);
+ const LocalVector<NavAgent *> &get_agents() const {
return agents;
}
- void set_agent_as_controlled(RvoAgent *agent);
- void remove_agent_as_controlled(RvoAgent *agent);
+ void set_agent_as_controlled(NavAgent *agent);
+ void remove_agent_as_controlled(NavAgent *agent);
uint32_t get_map_update_id() const {
return map_update_id;
@@ -173,7 +173,7 @@ public:
int get_pm_edge_free_count() const { return pm_edge_free_count; }
private:
- void compute_single_step(uint32_t index, RvoAgent **agent);
+ void compute_single_step(uint32_t index, NavAgent **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;
};
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-13 14:27:47 +0000