diff options
Diffstat (limited to 'modules')
| -rw-r--r-- | modules/gdscript/register_types.cpp | 2 | ||||
| -rw-r--r-- | modules/navigation/godot_navigation_server.cpp | 171 | ||||
| -rw-r--r-- | modules/navigation/godot_navigation_server.h | 22 | ||||
| -rw-r--r-- | modules/navigation/nav_base.h | 56 | ||||
| -rw-r--r-- | modules/navigation/nav_link.cpp | 60 | ||||
| -rw-r--r-- | modules/navigation/nav_link.h | 69 | ||||
| -rw-r--r-- | modules/navigation/nav_map.cpp | 164 | ||||
| -rw-r--r-- | modules/navigation/nav_map.h | 21 | ||||
| -rw-r--r-- | modules/navigation/nav_region.cpp | 8 | ||||
| -rw-r--r-- | modules/navigation/nav_region.h | 21 | ||||
| -rw-r--r-- | modules/navigation/nav_utils.h | 22 |
11 files changed, 570 insertions, 46 deletions
diff --git a/modules/gdscript/register_types.cpp b/modules/gdscript/register_types.cpp index 059ca703ab..19a8b59c6f 100644 --- a/modules/gdscript/register_types.cpp +++ b/modules/gdscript/register_types.cpp @@ -88,6 +88,8 @@ public: // TODO: Re-add compiled GDScript on export. return; } + + virtual String _get_name() const override { return "GDScript"; } }; static void _editor_init() { diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp index 4191e46f62..9e5d666a51 100644 --- a/modules/navigation/godot_navigation_server.cpp +++ b/modules/navigation/godot_navigation_server.cpp @@ -210,6 +210,20 @@ real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const { return map->get_edge_connection_margin(); } +COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius) { + NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND(map == nullptr); + + map->set_link_connection_radius(p_connection_radius); +} + +real_t GodotNavigationServer::map_get_link_connection_radius(RID p_map) const { + const NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND_V(map == nullptr, 0); + + return map->get_link_connection_radius(); +} + 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>()); @@ -245,6 +259,20 @@ RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 return map->get_closest_point_owner(p_point); } +TypedArray<RID> GodotNavigationServer::map_get_links(RID p_map) const { + TypedArray<RID> link_rids; + const NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND_V(map == nullptr, link_rids); + + const LocalVector<NavLink *> links = map->get_links(); + link_rids.resize(links.size()); + + for (uint32_t i = 0; i < links.size(); i++) { + link_rids[i] = links[i]->get_self(); + } + return link_rids; +} + TypedArray<RID> GodotNavigationServer::map_get_regions(RID p_map) const { TypedArray<RID> regions_rids; const NavMap *map = map_owner.get_or_null(p_map); @@ -417,6 +445,131 @@ Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, i return region->get_connection_pathway_end(p_connection_id); } +RID GodotNavigationServer::link_create() const { + GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); + MutexLock lock(mut_this->operations_mutex); + RID rid = link_owner.make_rid(); + NavLink *link = link_owner.get_or_null(rid); + link->set_self(rid); + return rid; +} + +COMMAND_2(link_set_map, RID, p_link, RID, p_map) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + if (link->get_map() != nullptr) { + if (link->get_map()->get_self() == p_map) { + return; // Pointless + } + + link->get_map()->remove_link(link); + link->set_map(nullptr); + } + + if (p_map.is_valid()) { + NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND(map == nullptr); + + map->add_link(link); + link->set_map(map); + } +} + +RID GodotNavigationServer::link_get_map(const RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, RID()); + + if (link->get_map()) { + return link->get_map()->get_self(); + } + return RID(); +} + +COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_bidirectional(p_bidirectional); +} + +bool GodotNavigationServer::link_is_bidirectional(RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, false); + + return link->is_bidirectional(); +} + +COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_navigation_layers(p_navigation_layers); +} + +uint32_t GodotNavigationServer::link_get_navigation_layers(const RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, 0); + + return link->get_navigation_layers(); +} + +COMMAND_2(link_set_start_location, RID, p_link, Vector3, p_location) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_start_location(p_location); +} + +Vector3 GodotNavigationServer::link_get_start_location(RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, Vector3()); + + return link->get_start_location(); +} + +COMMAND_2(link_set_end_location, RID, p_link, Vector3, p_location) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_end_location(p_location); +} + +Vector3 GodotNavigationServer::link_get_end_location(RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, Vector3()); + + return link->get_end_location(); +} + +COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_enter_cost(p_enter_cost); +} + +real_t GodotNavigationServer::link_get_enter_cost(const RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, 0); + + return link->get_enter_cost(); +} + +COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_travel_cost(p_travel_cost); +} + +real_t GodotNavigationServer::link_get_travel_cost(const RID p_link) const { + const NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND_V(link == nullptr, 0); + + return link->get_travel_cost(); +} + RID GodotNavigationServer::agent_create() const { GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); MutexLock lock(mut_this->operations_mutex); @@ -549,6 +702,13 @@ COMMAND_1(free, RID, p_object) { regions[i]->set_map(nullptr); } + // Removes any assigned links + LocalVector<NavLink *> links = map->get_links(); + for (uint32_t i = 0; i < links.size(); i++) { + map->remove_link(links[i]); + links[i]->set_map(nullptr); + } + // Remove any assigned agent LocalVector<RvoAgent *> agents = map->get_agents(); for (uint32_t i = 0; i < agents.size(); i++) { @@ -572,6 +732,17 @@ COMMAND_1(free, RID, p_object) { region_owner.free(p_object); + } else if (link_owner.owns(p_object)) { + NavLink *link = link_owner.get_or_null(p_object); + + // Removes this link from the map if assigned + if (link->get_map() != nullptr) { + link->get_map()->remove_link(link); + link->set_map(nullptr); + } + + link_owner.free(p_object); + } else if (agent_owner.owns(p_object)) { RvoAgent *agent = agent_owner.get_or_null(p_object); diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h index 05ba46ede1..e6ef7e3bb1 100644 --- a/modules/navigation/godot_navigation_server.h +++ b/modules/navigation/godot_navigation_server.h @@ -36,6 +36,7 @@ #include "core/templates/rid_owner.h" #include "servers/navigation_server_3d.h" +#include "nav_link.h" #include "nav_map.h" #include "nav_region.h" #include "rvo_agent.h" @@ -71,6 +72,7 @@ class GodotNavigationServer : public NavigationServer3D { LocalVector<SetCommand *> commands; + mutable RID_Owner<NavLink> link_owner; mutable RID_Owner<NavMap> map_owner; mutable RID_Owner<NavRegion> region_owner; mutable RID_Owner<RvoAgent> agent_owner; @@ -100,6 +102,9 @@ 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; + COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius); + virtual real_t map_get_link_connection_radius(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_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; @@ -107,6 +112,7 @@ public: virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const override; virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const override; + virtual TypedArray<RID> map_get_links(RID p_map) const override; virtual TypedArray<RID> map_get_regions(RID p_map) const override; virtual TypedArray<RID> map_get_agents(RID p_map) const override; @@ -132,6 +138,22 @@ public: 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; + virtual RID link_create() const override; + COMMAND_2(link_set_map, RID, p_link, RID, p_map); + virtual RID link_get_map(RID p_link) const override; + COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional); + virtual bool link_is_bidirectional(RID p_link) const override; + COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers); + virtual uint32_t link_get_navigation_layers(RID p_link) const override; + COMMAND_2(link_set_start_location, RID, p_link, Vector3, p_location); + virtual Vector3 link_get_start_location(RID p_link) const override; + COMMAND_2(link_set_end_location, RID, p_link, Vector3, p_location); + virtual Vector3 link_get_end_location(RID p_link) const override; + COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost); + 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; + virtual RID agent_create() const override; COMMAND_2(agent_set_map, RID, p_agent, RID, p_map); virtual RID agent_get_map(RID p_agent) const override; diff --git a/modules/navigation/nav_base.h b/modules/navigation/nav_base.h new file mode 100644 index 0000000000..6dfaaf9af4 --- /dev/null +++ b/modules/navigation/nav_base.h @@ -0,0 +1,56 @@ +/*************************************************************************/ +/* nav_base.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef NAV_BASE_H +#define NAV_BASE_H + +#include "nav_rid.h" +#include "nav_utils.h" + +class NavMap; + +class NavBase : public NavRid { +protected: + uint32_t navigation_layers = 1; + float enter_cost = 0.0; + float travel_cost = 1.0; + +public: + void set_navigation_layers(uint32_t p_navigation_layers) { navigation_layers = p_navigation_layers; } + uint32_t get_navigation_layers() const { return navigation_layers; } + + 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; } +}; + +#endif // NAV_BASE_H diff --git a/modules/navigation/nav_link.cpp b/modules/navigation/nav_link.cpp new file mode 100644 index 0000000000..828b131ec6 --- /dev/null +++ b/modules/navigation/nav_link.cpp @@ -0,0 +1,60 @@ +/*************************************************************************/ +/* nav_link.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "nav_link.h" + +#include "nav_map.h" + +void NavLink::set_map(NavMap *p_map) { + map = p_map; + link_dirty = true; +} + +void NavLink::set_bidirectional(bool p_bidirectional) { + bidirectional = p_bidirectional; + link_dirty = true; +} + +void NavLink::set_start_location(const Vector3 p_location) { + start_location = p_location; + link_dirty = true; +} + +void NavLink::set_end_location(const Vector3 p_location) { + end_location = p_location; + link_dirty = true; +} + +bool NavLink::check_dirty() { + const bool was_dirty = link_dirty; + + link_dirty = false; + return was_dirty; +} diff --git a/modules/navigation/nav_link.h b/modules/navigation/nav_link.h new file mode 100644 index 0000000000..8d57f076c0 --- /dev/null +++ b/modules/navigation/nav_link.h @@ -0,0 +1,69 @@ +/*************************************************************************/ +/* nav_link.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef NAV_LINK_H +#define NAV_LINK_H + +#include "nav_base.h" +#include "nav_utils.h" + +class NavLink : public NavBase { + NavMap *map = nullptr; + bool bidirectional = true; + Vector3 start_location = Vector3(); + Vector3 end_location = Vector3(); + + bool link_dirty = true; + +public: + void set_map(NavMap *p_map); + NavMap *get_map() const { + return map; + } + + void set_bidirectional(bool p_bidirectional); + bool is_bidirectional() const { + return bidirectional; + } + + void set_start_location(Vector3 p_location); + Vector3 get_start_location() const { + return start_location; + } + + void set_end_location(Vector3 p_location); + Vector3 get_end_location() const { + return end_location; + } + + bool check_dirty(); +}; + +#endif // NAV_LINK_H diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index 49029b5513..100db9bc82 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -31,6 +31,7 @@ #include "nav_map.h" #include "core/object/worker_thread_pool.h" +#include "nav_link.h" #include "nav_region.h" #include "rvo_agent.h" #include <algorithm> @@ -52,6 +53,11 @@ void NavMap::set_edge_connection_margin(float p_edge_connection_margin) { regenerate_links = true; } +void NavMap::set_link_connection_radius(float p_link_connection_radius) { + link_connection_radius = p_link_connection_radius; + regenerate_links = true; +} + gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const { const int x = int(Math::floor(p_pos.x / cell_size)); const int y = int(Math::floor(p_pos.y / cell_size)); @@ -158,17 +164,17 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p continue; } - float region_enter_cost = 0.0; - float region_travel_cost = least_cost_poly->poly->owner->get_travel_cost(); + float poly_enter_cost = 0.0; + 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())) { - region_enter_cost = least_cost_poly->poly->owner->get_enter_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(); } 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) * region_travel_cost) + region_enter_cost + least_cost_poly->traveled_distance; + 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)); @@ -360,10 +366,15 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // Add mid points int np_id = least_cost_id; while (np_id != -1 && navigation_polys[np_id].back_navigation_poly_id != -1) { - 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); + if (navigation_polys[np_id].back_navigation_edge != -1) { + 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); + } else { + path.push_back(navigation_polys[np_id].entry); + } + np_id = navigation_polys[np_id].back_navigation_poly_id; } @@ -475,6 +486,19 @@ void NavMap::remove_region(NavRegion *p_region) { } } +void NavMap::add_link(NavLink *p_link) { + links.push_back(p_link); + regenerate_links = true; +} + +void NavMap::remove_link(NavLink *p_link) { + int64_t link_index = links.find(p_link); + if (link_index != -1) { + links.remove_at_unordered(link_index); + regenerate_links = true; + } +} + bool NavMap::has_agent(RvoAgent *agent) const { return (agents.find(agent) != -1); } @@ -526,6 +550,12 @@ void NavMap::sync() { } } + for (uint32_t l = 0; l < links.size(); l++) { + if (links[l]->check_dirty()) { + regenerate_links = true; + } + } + if (regenerate_links) { // Remove regions connections. for (uint32_t r = 0; r < regions.size(); r++) { @@ -651,7 +681,121 @@ void NavMap::sync() { free_edge.polygon->edges[free_edge.edge].connections.push_back(new_connection); // Add the connection to the region_connection map. - free_edge.polygon->owner->get_connections().push_back(new_connection); + ((NavRegion *)free_edge.polygon->owner)->get_connections().push_back(new_connection); + } + } + + uint32_t link_poly_idx = 0; + link_polygons.resize(links.size()); + + // Search for polygons within range of a nav link. + for (uint32_t l = 0; l < links.size(); l++) { + const NavLink *link = links[l]; + const Vector3 start = link->get_start_location(); + const Vector3 end = link->get_end_location(); + + gd::Polygon *closest_start_polygon = nullptr; + real_t closest_start_distance = link_connection_radius; + Vector3 closest_start_point; + + gd::Polygon *closest_end_polygon = nullptr; + real_t closest_end_distance = link_connection_radius; + Vector3 closest_end_point; + + // Create link to any polygons within the search radius of the start point. + for (uint32_t start_index = 0; start_index < polygons.size(); start_index++) { + gd::Polygon &start_poly = polygons[start_index]; + + // For each face check the distance to the start + for (uint32_t start_point_id = 2; start_point_id < start_poly.points.size(); start_point_id += 1) { + const Face3 start_face(start_poly.points[0].pos, start_poly.points[start_point_id - 1].pos, start_poly.points[start_point_id].pos); + const Vector3 start_point = start_face.get_closest_point_to(start); + const real_t start_distance = start_point.distance_to(start); + + // Pick the polygon that is within our radius and is closer than anything we've seen yet. + if (start_distance <= link_connection_radius && start_distance < closest_start_distance) { + closest_start_distance = start_distance; + closest_start_point = start_point; + closest_start_polygon = &start_poly; + } + } + } + + // Find any polygons within the search radius of the end point. + for (uint32_t end_index = 0; end_index < polygons.size(); end_index++) { + gd::Polygon &end_poly = polygons[end_index]; + + // For each face check the distance to the end + for (uint32_t end_point_id = 2; end_point_id < end_poly.points.size(); end_point_id += 1) { + const Face3 end_face(end_poly.points[0].pos, end_poly.points[end_point_id - 1].pos, end_poly.points[end_point_id].pos); + const Vector3 end_point = end_face.get_closest_point_to(end); + const real_t end_distance = end_point.distance_to(end); + + // Pick the polygon that is within our radius and is closer than anything we've seen yet. + if (end_distance <= link_connection_radius && end_distance < closest_end_distance) { + closest_end_distance = end_distance; + closest_end_point = end_point; + closest_end_polygon = &end_poly; + } + } + } + + // If we have both a start and end point, then create a synthetic polygon to route through. + if (closest_start_polygon && closest_end_polygon) { + gd::Polygon &new_polygon = link_polygons[link_poly_idx++]; + new_polygon.owner = link; + + new_polygon.edges.clear(); + new_polygon.edges.resize(4); + new_polygon.points.clear(); + new_polygon.points.reserve(4); + + // Build a set of vertices that create a thin polygon going from the start to the end point. + new_polygon.points.push_back({ closest_start_point, get_point_key(closest_start_point) }); + new_polygon.points.push_back({ closest_start_point, get_point_key(closest_start_point) }); + new_polygon.points.push_back({ closest_end_point, get_point_key(closest_end_point) }); + new_polygon.points.push_back({ closest_end_point, get_point_key(closest_end_point) }); + + Vector3 center; + for (int p = 0; p < 4; ++p) { + center += new_polygon.points[p].pos; + } + new_polygon.center = center / real_t(new_polygon.points.size()); + new_polygon.clockwise = true; + + // Setup connections to go forward in the link. + { + gd::Edge::Connection entry_connection; + entry_connection.polygon = &new_polygon; + entry_connection.edge = -1; + entry_connection.pathway_start = new_polygon.points[0].pos; + entry_connection.pathway_end = new_polygon.points[1].pos; + closest_start_polygon->edges[0].connections.push_back(entry_connection); + + gd::Edge::Connection exit_connection; + exit_connection.polygon = closest_end_polygon; + exit_connection.edge = -1; + exit_connection.pathway_start = new_polygon.points[2].pos; + exit_connection.pathway_end = new_polygon.points[3].pos; + new_polygon.edges[2].connections.push_back(exit_connection); + } + + // If the link is bi-directional, create connections from the end to the start. + if (link->is_bidirectional()) { + gd::Edge::Connection entry_connection; + entry_connection.polygon = &new_polygon; + entry_connection.edge = -1; + entry_connection.pathway_start = new_polygon.points[2].pos; + entry_connection.pathway_end = new_polygon.points[3].pos; + closest_end_polygon->edges[0].connections.push_back(entry_connection); + + gd::Edge::Connection exit_connection; + exit_connection.polygon = closest_start_polygon; + exit_connection.edge = -1; + exit_connection.pathway_start = new_polygon.points[0].pos; + exit_connection.pathway_end = new_polygon.points[1].pos; + new_polygon.edges[0].connections.push_back(exit_connection); + } } } diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h index e50a1afbe9..a3da9fa727 100644 --- a/modules/navigation/nav_map.h +++ b/modules/navigation/nav_map.h @@ -40,9 +40,9 @@ #include <KdTree.h> +class NavLink; class NavRegion; class RvoAgent; -class NavRegion; class NavMap : public NavRid { /// Map Up @@ -55,11 +55,19 @@ class NavMap : public NavRid { /// This value is used to detect the near edges to connect. real_t edge_connection_margin = 0.25; + /// This value is used to limit how far links search to find polygons to connect to. + real_t link_connection_radius = 1.0; + bool regenerate_polygons = true; bool regenerate_links = true; + /// Map regions LocalVector<NavRegion *> regions; + /// Map links + LocalVector<NavLink *> links; + LocalVector<gd::Polygon> link_polygons; + /// Map polygons LocalVector<gd::Polygon> polygons; @@ -100,6 +108,11 @@ public: return edge_connection_margin; } + void set_link_connection_radius(float p_link_connection_radius); + float get_link_connection_radius() const { + return link_connection_radius; + } + 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; @@ -115,6 +128,12 @@ public: return regions; } + void add_link(NavLink *p_link); + void remove_link(NavLink *p_link); + const LocalVector<NavLink *> &get_links() const { + return links; + } + bool has_agent(RvoAgent *agent) const; void add_agent(RvoAgent *agent); void remove_agent(RvoAgent *agent); diff --git a/modules/navigation/nav_region.cpp b/modules/navigation/nav_region.cpp index 88740807eb..d43f53d1c0 100644 --- a/modules/navigation/nav_region.cpp +++ b/modules/navigation/nav_region.cpp @@ -40,14 +40,6 @@ void NavRegion::set_map(NavMap *p_map) { } } -void NavRegion::set_navigation_layers(uint32_t p_navigation_layers) { - navigation_layers = p_navigation_layers; -} - -uint32_t NavRegion::get_navigation_layers() const { - return navigation_layers; -} - void NavRegion::set_transform(Transform3D p_transform) { transform = p_transform; polygons_dirty = true; diff --git a/modules/navigation/nav_region.h b/modules/navigation/nav_region.h index c9d2d80f6c..8d2b5aa9eb 100644 --- a/modules/navigation/nav_region.h +++ b/modules/navigation/nav_region.h @@ -33,21 +33,13 @@ #include "scene/resources/navigation_mesh.h" -#include "nav_rid.h" +#include "nav_base.h" #include "nav_utils.h" -#include <vector> - -class NavMap; -class NavRegion; - -class NavRegion : public NavRid { +class NavRegion : public NavBase { NavMap *map = nullptr; Transform3D transform; Ref<NavigationMesh> mesh; - uint32_t navigation_layers = 1; - float enter_cost = 0.0; - float travel_cost = 1.0; Vector<gd::Edge::Connection> connections; bool polygons_dirty = true; @@ -67,15 +59,6 @@ public: return map; } - 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 { return transform; diff --git a/modules/navigation/nav_utils.h b/modules/navigation/nav_utils.h index 47f04b6a75..16b96dcfe9 100644 --- a/modules/navigation/nav_utils.h +++ b/modules/navigation/nav_utils.h @@ -35,9 +35,8 @@ #include "core/templates/hash_map.h" #include "core/templates/hashfuncs.h" #include "core/templates/local_vector.h" -#include <vector> -class NavRegion; +class NavBase; namespace gd { struct Polygon; @@ -79,26 +78,33 @@ struct Point { }; struct Edge { - /// This edge ID - int this_edge = -1; - /// The gateway in the edge, as, in some case, the whole edge might not be navigable. struct Connection { + /// Polygon that this connection leads to. Polygon *polygon = nullptr; + + /// Edge of the source polygon where this connection starts from. int edge = -1; + + /// Point on the edge where the gateway leading to the poly starts. Vector3 pathway_start; + + /// Point on the edge where the gateway leading to the poly ends. Vector3 pathway_end; }; + + /// Connections from this edge to other polygons. Vector<Connection> connections; }; struct Polygon { - NavRegion *owner = nullptr; + /// Navigation region or link that contains this polygon. + const NavBase *owner = nullptr; /// The points of this `Polygon` LocalVector<Point> points; - /// Are the points clockwise ? + /// Are the points clockwise? bool clockwise; /// The edges of this `Polygon` @@ -115,7 +121,7 @@ struct NavigationPoly { /// Those 4 variables are used to travel the path backwards. int back_navigation_poly_id = -1; - uint32_t back_navigation_edge = UINT32_MAX; + int back_navigation_edge = -1; Vector3 back_navigation_edge_pathway_start; Vector3 back_navigation_edge_pathway_end; |