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-rw-r--r--scene/3d/navigation.h132
1 files changed, 132 insertions, 0 deletions
diff --git a/scene/3d/navigation.h b/scene/3d/navigation.h
new file mode 100644
index 0000000000..40f474858c
--- /dev/null
+++ b/scene/3d/navigation.h
@@ -0,0 +1,132 @@
+#ifndef NAVIGATION_H
+#define NAVIGATION_H
+
+#include "scene/3d/spatial.h"
+#include "scene/3d/navigation_mesh.h"
+
+class Navigation : public Spatial {
+
+ OBJ_TYPE( Navigation, Spatial);
+
+
+ union Point {
+
+ struct {
+ int64_t x:21;
+ int64_t y:22;
+ int64_t z:21;
+ };
+
+ uint64_t key;
+ bool operator<(const Point& p_key) const { return key < p_key.key; }
+ };
+
+
+ struct EdgeKey {
+
+ Point a;
+ Point b;
+
+ bool operator<(const EdgeKey& p_key) const {
+ return (a.key==p_key.a.key)?(b.key<p_key.b.key):(a.key<p_key.a.key);
+ };
+
+ EdgeKey(const Point& p_a=Point(),const Point& p_b=Point()) {
+ a=p_a;
+ b=p_b;
+ if (a.key > b.key) {
+ SWAP(a,b);
+ }
+ }
+ };
+
+
+
+ struct Polygon {
+
+ struct Edge {
+ Point point;
+ Polygon *C; //connection
+ int C_edge;
+ Edge() { C=NULL; C_edge=-1; }
+ };
+
+ Vector<Edge> edges;
+
+ Vector3 center;
+
+ float distance;
+ int prev_edge;
+ };
+
+
+ struct Connection {
+
+ Polygon *A;
+ int A_edge;
+ Polygon *B;
+ int B_edge;
+ Connection() { A=NULL; B=NULL; A_edge=-1; B_edge=-1;}
+ };
+
+ Map<EdgeKey,Connection> connections;
+
+
+ struct NavMesh {
+
+ Transform xform;
+ bool linked;
+ Ref<NavigationMesh> navmesh;
+ List<Polygon> polygons;
+
+ };
+
+
+
+ _FORCE_INLINE_ Point _get_point(const Vector3& p_pos) const {
+
+ int x = int(Math::floor(p_pos.x/cell_size));
+ int y = int(Math::floor(p_pos.y/cell_size));
+ int z = int(Math::floor(p_pos.z/cell_size));
+
+ Point p;
+ p.key=0;
+ p.x=x;
+ p.y=y;
+ p.z=z;
+ return p;
+
+ }
+
+ _FORCE_INLINE_ Vector3 _get_vertex(const Point& p_point) const {
+
+ return Vector3(p_point.x,p_point.y,p_point.z)*cell_size;
+ }
+
+ void _navmesh_link(int p_id);
+ void _navmesh_unlink(int p_id);
+
+ float cell_size;
+ Map<int,NavMesh> navmesh_map;
+ int last_id;
+
+protected:
+
+ static void _bind_methods();
+
+public:
+
+ //API should be as dynamic as possible
+ int navmesh_create(const Ref<NavigationMesh>& p_mesh,const Transform& p_xform);
+ void navmesh_set_transform(int p_id, const Transform& p_xform);
+ void navmesh_remove(int p_id);
+
+ Vector<Vector3> get_simple_path(const Vector3& p_start, const Vector3& p_end);
+ Vector3 get_closest_point_to_segment(const Vector3& p_from,const Vector3& p_to);
+ Vector3 get_closest_point(const Vector3& p_point);
+ Vector3 get_closest_point_normal(const Vector3& p_point);
+
+ Navigation();
+};
+
+#endif // NAVIGATION_H