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-rw-r--r--scene/3d/navigation.cpp706
1 files changed, 52 insertions, 654 deletions
diff --git a/scene/3d/navigation.cpp b/scene/3d/navigation.cpp
index 4a82fe0080..8c543bc97f 100644
--- a/scene/3d/navigation.cpp
+++ b/scene/3d/navigation.cpp
@@ -30,669 +30,33 @@
#include "navigation.h"
-#define USE_ENTRY_POINT
+#include "servers/navigation_server.h"
-void Navigation::_navmesh_link(int p_id) {
+Vector<Vector3> Navigation::get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize) const {
- ERR_FAIL_COND(!navmesh_map.has(p_id));
- NavMesh &nm = navmesh_map[p_id];
- ERR_FAIL_COND(nm.linked);
- ERR_FAIL_COND(nm.navmesh.is_null());
-
- PoolVector<Vector3> vertices = nm.navmesh->get_vertices();
- int len = vertices.size();
- if (len == 0)
- return;
-
- PoolVector<Vector3>::Read r = vertices.read();
-
- for (int i = 0; i < nm.navmesh->get_polygon_count(); i++) {
-
- //build
-
- List<Polygon>::Element *P = nm.polygons.push_back(Polygon());
- Polygon &p = P->get();
- p.owner = &nm;
-
- Vector<int> poly = nm.navmesh->get_polygon(i);
- int plen = poly.size();
- const int *indices = poly.ptr();
- bool valid = true;
- p.edges.resize(plen);
-
- Vector3 center;
- float sum = 0;
-
- for (int j = 0; j < plen; j++) {
-
- int idx = indices[j];
- if (idx < 0 || idx >= len) {
- valid = false;
- break;
- }
-
- Polygon::Edge e;
- Vector3 ep = nm.xform.xform(r[idx]);
- center += ep;
- e.point = _get_point(ep);
- p.edges.write[j] = e;
-
- if (j >= 2) {
- Vector3 epa = nm.xform.xform(r[indices[j - 2]]);
- Vector3 epb = nm.xform.xform(r[indices[j - 1]]);
-
- sum += up.dot((epb - epa).cross(ep - epa));
- }
- }
-
- p.clockwise = sum > 0;
-
- if (!valid) {
- nm.polygons.pop_back();
- ERR_CONTINUE(!valid);
- }
-
- p.center = center;
- if (plen != 0) {
- p.center /= plen;
- }
-
- //connect
-
- for (int j = 0; j < plen; j++) {
-
- int next = (j + 1) % plen;
- EdgeKey ek(p.edges[j].point, p.edges[next].point);
-
- Map<EdgeKey, Connection>::Element *C = connections.find(ek);
- if (!C) {
-
- Connection c;
- c.A = &p;
- c.A_edge = j;
- c.B = NULL;
- c.B_edge = -1;
- connections[ek] = c;
- } else {
-
- if (C->get().B != NULL) {
- ConnectionPending pending;
- pending.polygon = &p;
- pending.edge = j;
- p.edges.write[j].P = C->get().pending.push_back(pending);
- continue;
- }
-
- C->get().B = &p;
- C->get().B_edge = j;
- C->get().A->edges.write[C->get().A_edge].C = &p;
- C->get().A->edges.write[C->get().A_edge].C_edge = j;
- p.edges.write[j].C = C->get().A;
- p.edges.write[j].C_edge = C->get().A_edge;
- //connection successful.
- }
- }
- }
-
- nm.linked = true;
+ return NavigationServer::get_singleton()->map_get_path(map, p_start, p_end, p_optimize);
}
-void Navigation::_navmesh_unlink(int p_id) {
-
- ERR_FAIL_COND(!navmesh_map.has(p_id));
- NavMesh &nm = navmesh_map[p_id];
- ERR_FAIL_COND(!nm.linked);
-
- for (List<Polygon>::Element *E = nm.polygons.front(); E; E = E->next()) {
-
- Polygon &p = E->get();
-
- int ec = p.edges.size();
- Polygon::Edge *edges = p.edges.ptrw();
-
- for (int i = 0; i < ec; i++) {
- int next = (i + 1) % ec;
-
- EdgeKey ek(edges[i].point, edges[next].point);
- Map<EdgeKey, Connection>::Element *C = connections.find(ek);
-
- ERR_CONTINUE(!C);
-
- if (edges[i].P) {
- C->get().pending.erase(edges[i].P);
- edges[i].P = NULL;
- } else if (C->get().B) {
- //disconnect
-
- C->get().B->edges.write[C->get().B_edge].C = NULL;
- C->get().B->edges.write[C->get().B_edge].C_edge = -1;
- C->get().A->edges.write[C->get().A_edge].C = NULL;
- C->get().A->edges.write[C->get().A_edge].C_edge = -1;
-
- if (C->get().A == &E->get()) {
-
- C->get().A = C->get().B;
- C->get().A_edge = C->get().B_edge;
- }
- C->get().B = NULL;
- C->get().B_edge = -1;
-
- if (C->get().pending.size()) {
- //reconnect if something is pending
- ConnectionPending cp = C->get().pending.front()->get();
- C->get().pending.pop_front();
-
- C->get().B = cp.polygon;
- C->get().B_edge = cp.edge;
- C->get().A->edges.write[C->get().A_edge].C = cp.polygon;
- C->get().A->edges.write[C->get().A_edge].C_edge = cp.edge;
- cp.polygon->edges.write[cp.edge].C = C->get().A;
- cp.polygon->edges.write[cp.edge].C_edge = C->get().A_edge;
- cp.polygon->edges.write[cp.edge].P = NULL;
- }
-
- } else {
- connections.erase(C);
- //erase
- }
- }
- }
-
- nm.polygons.clear();
-
- nm.linked = false;
+Vector3 Navigation::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, bool p_use_collision) const {
+ return NavigationServer::get_singleton()->map_get_closest_point_to_segment(map, p_from, p_to, p_use_collision);
}
-int Navigation::navmesh_add(const Ref<NavigationMesh> &p_mesh, const Transform &p_xform, Object *p_owner) {
-
- int id = last_id++;
- NavMesh nm;
- nm.linked = false;
- nm.navmesh = p_mesh;
- nm.xform = p_xform;
- nm.owner = p_owner;
- navmesh_map[id] = nm;
-
- _navmesh_link(id);
-
- return id;
+Vector3 Navigation::get_closest_point(const Vector3 &p_point) const {
+ return NavigationServer::get_singleton()->map_get_closest_point(map, p_point);
}
-void Navigation::navmesh_set_transform(int p_id, const Transform &p_xform) {
-
- ERR_FAIL_COND(!navmesh_map.has(p_id));
- NavMesh &nm = navmesh_map[p_id];
- if (nm.xform == p_xform)
- return; //bleh
- _navmesh_unlink(p_id);
- nm.xform = p_xform;
- _navmesh_link(p_id);
+Vector3 Navigation::get_closest_point_normal(const Vector3 &p_point) const {
+ return NavigationServer::get_singleton()->map_get_closest_point_normal(map, p_point);
}
-void Navigation::navmesh_remove(int p_id) {
- ERR_FAIL_COND_MSG(!navmesh_map.has(p_id), "Trying to remove nonexisting navmesh with id: " + itos(p_id));
- _navmesh_unlink(p_id);
- navmesh_map.erase(p_id);
-}
-
-void Navigation::_clip_path(Vector<Vector3> &path, Polygon *from_poly, const Vector3 &p_to_point, Polygon *p_to_poly) {
-
- Vector3 from = path[path.size() - 1];
-
- if (from.distance_to(p_to_point) < CMP_EPSILON)
- return;
- Plane cut_plane;
- cut_plane.normal = (from - p_to_point).cross(up);
- if (cut_plane.normal == Vector3())
- return;
- cut_plane.normal.normalize();
- cut_plane.d = cut_plane.normal.dot(from);
-
- while (from_poly != p_to_poly) {
-
- int pe = from_poly->prev_edge;
- Vector3 a = _get_vertex(from_poly->edges[pe].point);
- Vector3 b = _get_vertex(from_poly->edges[(pe + 1) % from_poly->edges.size()].point);
-
- from_poly = from_poly->edges[pe].C;
- ERR_FAIL_COND(!from_poly);
-
- if (a.distance_to(b) > CMP_EPSILON) {
-
- Vector3 inters;
- if (cut_plane.intersects_segment(a, b, &inters)) {
- if (inters.distance_to(p_to_point) > CMP_EPSILON && inters.distance_to(path[path.size() - 1]) > CMP_EPSILON) {
- path.push_back(inters);
- }
- }
- }
- }
-}
-
-Vector<Vector3> Navigation::get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize) {
-
- Polygon *begin_poly = NULL;
- Polygon *end_poly = NULL;
- Vector3 begin_point;
- Vector3 end_point;
- float begin_d = 1e20;
- float end_d = 1e20;
-
- for (Map<int, NavMesh>::Element *E = navmesh_map.front(); E; E = E->next()) {
-
- if (!E->get().linked)
- continue;
- for (List<Polygon>::Element *F = E->get().polygons.front(); F; F = F->next()) {
-
- Polygon &p = F->get();
- for (int i = 2; i < p.edges.size(); i++) {
-
- Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
- Vector3 spoint = f.get_closest_point_to(p_start);
- float dpoint = spoint.distance_to(p_start);
- if (dpoint < begin_d) {
- begin_d = dpoint;
- begin_poly = &p;
- begin_point = spoint;
- }
-
- spoint = f.get_closest_point_to(p_end);
- dpoint = spoint.distance_to(p_end);
- if (dpoint < end_d) {
- end_d = dpoint;
- end_poly = &p;
- end_point = spoint;
- }
- }
-
- p.prev_edge = -1;
- }
- }
-
- if (!begin_poly || !end_poly) {
-
- return Vector<Vector3>(); //no path
- }
-
- if (begin_poly == end_poly) {
-
- Vector<Vector3> path;
- path.resize(2);
- path.write[0] = begin_point;
- path.write[1] = end_point;
- return path;
- }
-
- bool found_route = false;
-
- List<Polygon *> open_list;
-
- for (int i = 0; i < begin_poly->edges.size(); i++) {
-
- if (begin_poly->edges[i].C) {
-
- begin_poly->edges[i].C->prev_edge = begin_poly->edges[i].C_edge;
-#ifdef USE_ENTRY_POINT
- Vector3 edge[2] = {
- _get_vertex(begin_poly->edges[i].point),
- _get_vertex(begin_poly->edges[(i + 1) % begin_poly->edges.size()].point)
- };
-
- Vector3 entry = Geometry::get_closest_point_to_segment(begin_poly->entry, edge);
- begin_poly->edges[i].C->distance = begin_point.distance_to(entry);
- begin_poly->edges[i].C->entry = entry;
-#else
- begin_poly->edges[i].C->distance = begin_poly->center.distance_to(begin_poly->edges[i].C->center);
-#endif
- open_list.push_back(begin_poly->edges[i].C);
- }
- }
-
- while (!found_route) {
-
- if (open_list.size() == 0) {
- break;
- }
- //check open list
-
- List<Polygon *>::Element *least_cost_poly = NULL;
- float least_cost = 1e30;
-
- //this could be faster (cache previous results)
- for (List<Polygon *>::Element *E = open_list.front(); E; E = E->next()) {
-
- Polygon *p = E->get();
-
- float cost = p->distance;
-#ifdef USE_ENTRY_POINT
- cost += p->entry.distance_to(end_point);
-#else
- cost += p->center.distance_to(end_point);
-#endif
- if (cost < least_cost) {
- least_cost_poly = E;
- least_cost = cost;
- }
- }
-
- Polygon *p = least_cost_poly->get();
- //open the neighbours for search
-
- if (p == end_poly) {
- //oh my reached end! stop algorithm
- found_route = true;
- break;
- }
-
- for (int i = 0; i < p->edges.size(); i++) {
-
- Polygon::Edge &e = p->edges.write[i];
-
- if (!e.C)
- continue;
-
-#ifdef USE_ENTRY_POINT
- Vector3 edge[2] = {
- _get_vertex(p->edges[i].point),
- _get_vertex(p->edges[(i + 1) % p->edges.size()].point)
- };
-
- Vector3 entry = Geometry::get_closest_point_to_segment(p->entry, edge);
- float distance = p->entry.distance_to(entry) + p->distance;
-#else
- float distance = p->center.distance_to(e.C->center) + p->distance;
-#endif
-
- if (e.C->prev_edge != -1) {
- //oh this was visited already, can we win the cost?
-
- if (e.C->distance > distance) {
-
- e.C->prev_edge = e.C_edge;
- e.C->distance = distance;
-#ifdef USE_ENTRY_POINT
- e.C->entry = entry;
-#endif
- }
- } else {
- //add to open neighbours
-
- e.C->prev_edge = e.C_edge;
- e.C->distance = distance;
-#ifdef USE_ENTRY_POINT
- e.C->entry = entry;
-#endif
- open_list.push_back(e.C);
- }
- }
-
- open_list.erase(least_cost_poly);
- }
-
- if (found_route) {
-
- Vector<Vector3> path;
-
- if (p_optimize) {
- //string pulling
-
- Polygon *apex_poly = end_poly;
- Vector3 apex_point = end_point;
- Vector3 portal_left = apex_point;
- Vector3 portal_right = apex_point;
- Polygon *left_poly = end_poly;
- Polygon *right_poly = end_poly;
- Polygon *p = end_poly;
- path.push_back(end_point);
-
- while (p) {
-
- Vector3 left;
- Vector3 right;
-
-#define CLOCK_TANGENT(m_a, m_b, m_c) (((m_a) - (m_c)).cross((m_a) - (m_b)))
-
- if (p == begin_poly) {
- left = begin_point;
- right = begin_point;
- } else {
- int prev = p->prev_edge;
- int prev_n = (p->prev_edge + 1) % p->edges.size();
- left = _get_vertex(p->edges[prev].point);
- right = _get_vertex(p->edges[prev_n].point);
-
- //if (CLOCK_TANGENT(apex_point,left,(left+right)*0.5).dot(up) < 0){
- if (p->clockwise) {
- SWAP(left, right);
- }
- }
-
- bool skip = false;
-
- if (CLOCK_TANGENT(apex_point, portal_left, left).dot(up) >= 0) {
- //process
- if (portal_left == apex_point || CLOCK_TANGENT(apex_point, left, portal_right).dot(up) > 0) {
- left_poly = p;
- portal_left = left;
- } else {
-
- _clip_path(path, apex_poly, portal_right, right_poly);
-
- apex_point = portal_right;
- p = right_poly;
- left_poly = p;
- apex_poly = p;
- portal_left = apex_point;
- portal_right = apex_point;
- path.push_back(apex_point);
- skip = true;
- }
- }
-
- if (!skip && CLOCK_TANGENT(apex_point, portal_right, right).dot(up) <= 0) {
- //process
- if (portal_right == apex_point || CLOCK_TANGENT(apex_point, right, portal_left).dot(up) < 0) {
- right_poly = p;
- portal_right = right;
- } else {
-
- _clip_path(path, apex_poly, portal_left, left_poly);
-
- apex_point = portal_left;
- p = left_poly;
- right_poly = p;
- apex_poly = p;
- portal_right = apex_point;
- portal_left = apex_point;
- path.push_back(apex_point);
- }
- }
-
- if (p != begin_poly)
- p = p->edges[p->prev_edge].C;
- else
- p = NULL;
- }
-
- if (path[path.size() - 1] != begin_point)
- path.push_back(begin_point);
-
- path.invert();
-
- } else {
- //midpoints
- Polygon *p = end_poly;
-
- path.push_back(end_point);
- while (true) {
- int prev = p->prev_edge;
-#ifdef USE_ENTRY_POINT
- Vector3 point = p->entry;
-#else
- int prev_n = (p->prev_edge + 1) % p->edges.size();
- Vector3 point = (_get_vertex(p->edges[prev].point) + _get_vertex(p->edges[prev_n].point)) * 0.5;
-#endif
- path.push_back(point);
- p = p->edges[prev].C;
- if (p == begin_poly)
- break;
- }
-
- path.push_back(begin_point);
-
- path.invert();
- }
-
- return path;
- }
-
- return Vector<Vector3>();
-}
-
-Vector3 Navigation::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool &p_use_collision) {
-
- bool use_collision = p_use_collision;
- Vector3 closest_point;
- float closest_point_d = 1e20;
-
- for (Map<int, NavMesh>::Element *E = navmesh_map.front(); E; E = E->next()) {
-
- if (!E->get().linked)
- continue;
- for (List<Polygon>::Element *F = E->get().polygons.front(); F; F = F->next()) {
-
- Polygon &p = F->get();
- for (int i = 2; i < p.edges.size(); i++) {
-
- Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
- Vector3 inters;
- if (f.intersects_segment(p_from, p_to, &inters)) {
-
- if (!use_collision) {
- closest_point = inters;
- use_collision = true;
- closest_point_d = p_from.distance_to(inters);
- } else if (closest_point_d > inters.distance_to(p_from)) {
-
- closest_point = inters;
- closest_point_d = p_from.distance_to(inters);
- }
- }
- }
-
- if (!use_collision) {
-
- for (int i = 0; i < p.edges.size(); i++) {
-
- Vector3 a, b;
-
- Geometry::get_closest_points_between_segments(p_from, p_to, _get_vertex(p.edges[i].point), _get_vertex(p.edges[(i + 1) % p.edges.size()].point), a, b);
-
- float d = a.distance_to(b);
- if (d < closest_point_d) {
-
- closest_point_d = d;
- closest_point = b;
- }
- }
- }
- }
- }
-
- return closest_point;
-}
-
-Vector3 Navigation::get_closest_point(const Vector3 &p_point) {
-
- Vector3 closest_point;
- float closest_point_d = 1e20;
-
- for (Map<int, NavMesh>::Element *E = navmesh_map.front(); E; E = E->next()) {
-
- if (!E->get().linked)
- continue;
- for (List<Polygon>::Element *F = E->get().polygons.front(); F; F = F->next()) {
-
- Polygon &p = F->get();
- for (int i = 2; i < p.edges.size(); i++) {
-
- Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
- Vector3 inters = f.get_closest_point_to(p_point);
- float d = inters.distance_to(p_point);
- if (d < closest_point_d) {
- closest_point = inters;
- closest_point_d = d;
- }
- }
- }
- }
-
- return closest_point;
-}
-
-Vector3 Navigation::get_closest_point_normal(const Vector3 &p_point) {
-
- Vector3 closest_point;
- Vector3 closest_normal;
- float closest_point_d = 1e20;
-
- for (Map<int, NavMesh>::Element *E = navmesh_map.front(); E; E = E->next()) {
-
- if (!E->get().linked)
- continue;
- for (List<Polygon>::Element *F = E->get().polygons.front(); F; F = F->next()) {
-
- Polygon &p = F->get();
- for (int i = 2; i < p.edges.size(); i++) {
-
- Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
- Vector3 inters = f.get_closest_point_to(p_point);
- float d = inters.distance_to(p_point);
- if (d < closest_point_d) {
- closest_point = inters;
- closest_point_d = d;
- closest_normal = f.get_plane().normal;
- }
- }
- }
- }
-
- return closest_normal;
-}
-
-Object *Navigation::get_closest_point_owner(const Vector3 &p_point) {
-
- Vector3 closest_point;
- Object *owner = NULL;
- float closest_point_d = 1e20;
-
- for (Map<int, NavMesh>::Element *E = navmesh_map.front(); E; E = E->next()) {
-
- if (!E->get().linked)
- continue;
- for (List<Polygon>::Element *F = E->get().polygons.front(); F; F = F->next()) {
-
- Polygon &p = F->get();
- for (int i = 2; i < p.edges.size(); i++) {
-
- Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
- Vector3 inters = f.get_closest_point_to(p_point);
- float d = inters.distance_to(p_point);
- if (d < closest_point_d) {
- closest_point = inters;
- closest_point_d = d;
- owner = E->get().owner;
- }
- }
- }
- }
-
- return owner;
+RID Navigation::get_closest_point_owner(const Vector3 &p_point) const {
+ return NavigationServer::get_singleton()->map_get_closest_point_owner(map, p_point);
}
void Navigation::set_up_vector(const Vector3 &p_up) {
up = p_up;
+ NavigationServer::get_singleton()->map_set_up(map, up);
}
Vector3 Navigation::get_up_vector() const {
@@ -700,11 +64,19 @@ Vector3 Navigation::get_up_vector() const {
return up;
}
+void Navigation::set_cell_size(float p_cell_size) {
+ cell_size = p_cell_size;
+ NavigationServer::get_singleton()->map_set_cell_size(map, cell_size);
+}
+
+void Navigation::set_edge_connection_margin(float p_edge_connection_margin) {
+ edge_connection_margin = p_edge_connection_margin;
+ NavigationServer::get_singleton()->map_set_edge_connection_margin(map, edge_connection_margin);
+}
+
void Navigation::_bind_methods() {
- ClassDB::bind_method(D_METHOD("navmesh_add", "mesh", "xform", "owner"), &Navigation::navmesh_add, DEFVAL(Variant()));
- ClassDB::bind_method(D_METHOD("navmesh_set_transform", "id", "xform"), &Navigation::navmesh_set_transform);
- ClassDB::bind_method(D_METHOD("navmesh_remove", "id"), &Navigation::navmesh_remove);
+ ClassDB::bind_method(D_METHOD("get_rid"), &Navigation::get_rid);
ClassDB::bind_method(D_METHOD("get_simple_path", "start", "end", "optimize"), &Navigation::get_simple_path, DEFVAL(true));
ClassDB::bind_method(D_METHOD("get_closest_point_to_segment", "start", "end", "use_collision"), &Navigation::get_closest_point_to_segment, DEFVAL(false));
@@ -715,13 +87,39 @@ void Navigation::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_up_vector", "up"), &Navigation::set_up_vector);
ClassDB::bind_method(D_METHOD("get_up_vector"), &Navigation::get_up_vector);
+ ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &Navigation::set_cell_size);
+ ClassDB::bind_method(D_METHOD("get_cell_size"), &Navigation::get_cell_size);
+
+ ClassDB::bind_method(D_METHOD("set_edge_connection_margin", "margin"), &Navigation::set_edge_connection_margin);
+ ClassDB::bind_method(D_METHOD("get_edge_connection_margin"), &Navigation::get_edge_connection_margin);
+
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "up_vector"), "set_up_vector", "get_up_vector");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell_size"), "set_cell_size", "get_cell_size");
+ ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "edge_connection_margin"), "set_edge_connection_margin", "get_edge_connection_margin");
+}
+
+void Navigation::_notification(int p_what) {
+ switch (p_what) {
+ case NOTIFICATION_READY: {
+ NavigationServer::get_singleton()->map_set_active(map, true);
+ } break;
+ case NOTIFICATION_EXIT_TREE: {
+
+ NavigationServer::get_singleton()->map_set_active(map, false);
+ } break;
+ }
}
Navigation::Navigation() {
- ERR_FAIL_COND(sizeof(Point) != 8);
- cell_size = 0.01; //one centimeter
- last_id = 1;
+ map = NavigationServer::get_singleton()->map_create();
+
+ set_cell_size(0.3);
+ set_edge_connection_margin(5.0); // Five meters, depends alot on the agents radius
+
up = Vector3(0, 1, 0);
}
+
+Navigation::~Navigation() {
+ NavigationServer::get_singleton()->free(map);
+}
generated by cgit v1.2.3 (git 2.25.1) at 2025-02-17 00:14:35 +0000