/*************************************************************************/ /* navigation_region_2d.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 "navigation_region_2d.h" #include "core/core_string_names.h" #include "core/math/geometry_2d.h" #include "core/os/mutex.h" #include "scene/resources/world_2d.h" #include "servers/navigation_server_2d.h" #include "servers/navigation_server_3d.h" #include "thirdparty/misc/polypartition.h" #ifdef TOOLS_ENABLED Rect2 NavigationPolygon::_edit_get_rect() const { if (rect_cache_dirty) { item_rect = Rect2(); bool first = true; for (int i = 0; i < outlines.size(); i++) { const Vector<Vector2> &outline = outlines[i]; const int outline_size = outline.size(); if (outline_size < 3) { continue; } const Vector2 *p = outline.ptr(); for (int j = 0; j < outline_size; j++) { if (first) { item_rect = Rect2(p[j], Vector2(0, 0)); first = false; } else { item_rect.expand_to(p[j]); } } } rect_cache_dirty = false; } return item_rect; } bool NavigationPolygon::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const { for (int i = 0; i < outlines.size(); i++) { const Vector<Vector2> &outline = outlines[i]; const int outline_size = outline.size(); if (outline_size < 3) { continue; } if (Geometry2D::is_point_in_polygon(p_point, Variant(outline))) { return true; } } return false; } #endif void NavigationPolygon::set_vertices(const Vector<Vector2> &p_vertices) { { MutexLock lock(navmesh_generation); navmesh.unref(); } vertices = p_vertices; rect_cache_dirty = true; } Vector<Vector2> NavigationPolygon::get_vertices() const { return vertices; } void NavigationPolygon::_set_polygons(const TypedArray<Vector<int32_t>> &p_array) { { MutexLock lock(navmesh_generation); navmesh.unref(); } polygons.resize(p_array.size()); for (int i = 0; i < p_array.size(); i++) { polygons.write[i].indices = p_array[i]; } } TypedArray<Vector<int32_t>> NavigationPolygon::_get_polygons() const { TypedArray<Vector<int32_t>> ret; ret.resize(polygons.size()); for (int i = 0; i < ret.size(); i++) { ret[i] = polygons[i].indices; } return ret; } void NavigationPolygon::_set_outlines(const TypedArray<Vector<Vector2>> &p_array) { outlines.resize(p_array.size()); for (int i = 0; i < p_array.size(); i++) { outlines.write[i] = p_array[i]; } rect_cache_dirty = true; } TypedArray<Vector<Vector2>> NavigationPolygon::_get_outlines() const { TypedArray<Vector<Vector2>> ret; ret.resize(outlines.size()); for (int i = 0; i < ret.size(); i++) { ret[i] = outlines[i]; } return ret; } void NavigationPolygon::add_polygon(const Vector<int> &p_polygon) { Polygon polygon; polygon.indices = p_polygon; polygons.push_back(polygon); { MutexLock lock(navmesh_generation); navmesh.unref(); } } void NavigationPolygon::add_outline_at_index(const Vector<Vector2> &p_outline, int p_index) { outlines.insert(p_index, p_outline); rect_cache_dirty = true; } int NavigationPolygon::get_polygon_count() const { return polygons.size(); } Vector<int> NavigationPolygon::get_polygon(int p_idx) { ERR_FAIL_INDEX_V(p_idx, polygons.size(), Vector<int>()); return polygons[p_idx].indices; } void NavigationPolygon::clear_polygons() { polygons.clear(); { MutexLock lock(navmesh_generation); navmesh.unref(); } } Ref<NavigationMesh> NavigationPolygon::get_mesh() { MutexLock lock(navmesh_generation); if (navmesh.is_null()) { navmesh.instantiate(); Vector<Vector3> verts; { verts.resize(get_vertices().size()); Vector3 *w = verts.ptrw(); const Vector2 *r = get_vertices().ptr(); for (int i(0); i < get_vertices().size(); i++) { w[i] = Vector3(r[i].x, 0.0, r[i].y); } } navmesh->set_vertices(verts); for (int i(0); i < get_polygon_count(); i++) { navmesh->add_polygon(get_polygon(i)); } } return navmesh; } void NavigationPolygon::add_outline(const Vector<Vector2> &p_outline) { outlines.push_back(p_outline); rect_cache_dirty = true; } int NavigationPolygon::get_outline_count() const { return outlines.size(); } void NavigationPolygon::set_outline(int p_idx, const Vector<Vector2> &p_outline) { ERR_FAIL_INDEX(p_idx, outlines.size()); outlines.write[p_idx] = p_outline; rect_cache_dirty = true; } void NavigationPolygon::remove_outline(int p_idx) { ERR_FAIL_INDEX(p_idx, outlines.size()); outlines.remove_at(p_idx); rect_cache_dirty = true; } Vector<Vector2> NavigationPolygon::get_outline(int p_idx) const { ERR_FAIL_INDEX_V(p_idx, outlines.size(), Vector<Vector2>()); return outlines[p_idx]; } void NavigationPolygon::clear_outlines() { outlines.clear(); rect_cache_dirty = true; } void NavigationPolygon::make_polygons_from_outlines() { { MutexLock lock(navmesh_generation); navmesh.unref(); } List<TPPLPoly> in_poly, out_poly; Vector2 outside_point(-1e10, -1e10); for (int i = 0; i < outlines.size(); i++) { Vector<Vector2> ol = outlines[i]; int olsize = ol.size(); if (olsize < 3) { continue; } const Vector2 *r = ol.ptr(); for (int j = 0; j < olsize; j++) { outside_point.x = MAX(r[j].x, outside_point.x); outside_point.y = MAX(r[j].y, outside_point.y); } } outside_point += Vector2(0.7239784, 0.819238); //avoid precision issues for (int i = 0; i < outlines.size(); i++) { Vector<Vector2> ol = outlines[i]; int olsize = ol.size(); if (olsize < 3) { continue; } const Vector2 *r = ol.ptr(); int interscount = 0; //test if this is an outer outline for (int k = 0; k < outlines.size(); k++) { if (i == k) { continue; //no self intersect } Vector<Vector2> ol2 = outlines[k]; int olsize2 = ol2.size(); if (olsize2 < 3) { continue; } const Vector2 *r2 = ol2.ptr(); for (int l = 0; l < olsize2; l++) { if (Geometry2D::segment_intersects_segment(r[0], outside_point, r2[l], r2[(l + 1) % olsize2], nullptr)) { interscount++; } } } bool outer = (interscount % 2) == 0; TPPLPoly tp; tp.Init(olsize); for (int j = 0; j < olsize; j++) { tp[j] = r[j]; } if (outer) { tp.SetOrientation(TPPL_ORIENTATION_CCW); } else { tp.SetOrientation(TPPL_ORIENTATION_CW); tp.SetHole(true); } in_poly.push_back(tp); } TPPLPartition tpart; if (tpart.ConvexPartition_HM(&in_poly, &out_poly) == 0) { //failed! ERR_PRINT("NavigationPolygon: Convex partition failed!"); return; } polygons.clear(); vertices.clear(); HashMap<Vector2, int> points; for (List<TPPLPoly>::Element *I = out_poly.front(); I; I = I->next()) { TPPLPoly &tp = I->get(); struct Polygon p; for (int64_t i = 0; i < tp.GetNumPoints(); i++) { HashMap<Vector2, int>::Iterator E = points.find(tp[i]); if (!E) { E = points.insert(tp[i], vertices.size()); vertices.push_back(tp[i]); } p.indices.push_back(E->value); } polygons.push_back(p); } emit_signal(CoreStringNames::get_singleton()->changed); } void NavigationPolygon::_bind_methods() { ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationPolygon::set_vertices); ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationPolygon::get_vertices); ClassDB::bind_method(D_METHOD("add_polygon", "polygon"), &NavigationPolygon::add_polygon); ClassDB::bind_method(D_METHOD("get_polygon_count"), &NavigationPolygon::get_polygon_count); ClassDB::bind_method(D_METHOD("get_polygon", "idx"), &NavigationPolygon::get_polygon); ClassDB::bind_method(D_METHOD("clear_polygons"), &NavigationPolygon::clear_polygons); ClassDB::bind_method(D_METHOD("get_mesh"), &NavigationPolygon::get_mesh); ClassDB::bind_method(D_METHOD("add_outline", "outline"), &NavigationPolygon::add_outline); ClassDB::bind_method(D_METHOD("add_outline_at_index", "outline", "index"), &NavigationPolygon::add_outline_at_index); ClassDB::bind_method(D_METHOD("get_outline_count"), &NavigationPolygon::get_outline_count); ClassDB::bind_method(D_METHOD("set_outline", "idx", "outline"), &NavigationPolygon::set_outline); ClassDB::bind_method(D_METHOD("get_outline", "idx"), &NavigationPolygon::get_outline); ClassDB::bind_method(D_METHOD("remove_outline", "idx"), &NavigationPolygon::remove_outline); ClassDB::bind_method(D_METHOD("clear_outlines"), &NavigationPolygon::clear_outlines); ClassDB::bind_method(D_METHOD("make_polygons_from_outlines"), &NavigationPolygon::make_polygons_from_outlines); ClassDB::bind_method(D_METHOD("_set_polygons", "polygons"), &NavigationPolygon::_set_polygons); ClassDB::bind_method(D_METHOD("_get_polygons"), &NavigationPolygon::_get_polygons); ClassDB::bind_method(D_METHOD("_set_outlines", "outlines"), &NavigationPolygon::_set_outlines); ClassDB::bind_method(D_METHOD("_get_outlines"), &NavigationPolygon::_get_outlines); ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR2_ARRAY, "vertices", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "set_vertices", "get_vertices"); ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "polygons", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_polygons", "_get_polygons"); ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "outlines", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_outlines", "_get_outlines"); } void NavigationRegion2D::set_enabled(bool p_enabled) { if (enabled == p_enabled) { return; } enabled = p_enabled; if (!is_inside_tree()) { return; } if (!enabled) { NavigationServer2D::get_singleton()->region_set_map(region, RID()); NavigationServer2D::get_singleton_mut()->disconnect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed)); } else { NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map()); NavigationServer2D::get_singleton_mut()->connect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed)); } #ifdef DEBUG_ENABLED if (Engine::get_singleton()->is_editor_hint() || NavigationServer3D::get_singleton()->get_debug_enabled()) { queue_redraw(); } #endif // DEBUG_ENABLED } bool NavigationRegion2D::is_enabled() const { return enabled; } void NavigationRegion2D::set_navigation_layers(uint32_t p_navigation_layers) { NavigationServer2D::get_singleton()->region_set_navigation_layers(region, p_navigation_layers); } uint32_t NavigationRegion2D::get_navigation_layers() const { return NavigationServer2D::get_singleton()->region_get_navigation_layers(region); } void NavigationRegion2D::set_navigation_layer_value(int p_layer_number, bool p_value) { ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive."); ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive."); uint32_t _navigation_layers = get_navigation_layers(); if (p_value) { _navigation_layers |= 1 << (p_layer_number - 1); } else { _navigation_layers &= ~(1 << (p_layer_number - 1)); } set_navigation_layers(_navigation_layers); } bool NavigationRegion2D::get_navigation_layer_value(int p_layer_number) const { ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive."); ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive."); return get_navigation_layers() & (1 << (p_layer_number - 1)); } void NavigationRegion2D::set_enter_cost(real_t p_enter_cost) { ERR_FAIL_COND_MSG(p_enter_cost < 0.0, "The enter_cost must be positive."); enter_cost = MAX(p_enter_cost, 0.0); NavigationServer2D::get_singleton()->region_set_enter_cost(region, p_enter_cost); } real_t NavigationRegion2D::get_enter_cost() const { return enter_cost; } void NavigationRegion2D::set_travel_cost(real_t p_travel_cost) { ERR_FAIL_COND_MSG(p_travel_cost < 0.0, "The travel_cost must be positive."); travel_cost = MAX(p_travel_cost, 0.0); NavigationServer2D::get_singleton()->region_set_travel_cost(region, travel_cost); } real_t NavigationRegion2D::get_travel_cost() const { return travel_cost; } RID NavigationRegion2D::get_region_rid() const { return region; } ///////////////////////////// #ifdef TOOLS_ENABLED Rect2 NavigationRegion2D::_edit_get_rect() const { return navpoly.is_valid() ? navpoly->_edit_get_rect() : Rect2(); } bool NavigationRegion2D::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const { return navpoly.is_valid() ? navpoly->_edit_is_selected_on_click(p_point, p_tolerance) : false; } #endif void NavigationRegion2D::_notification(int p_what) { switch (p_what) { case NOTIFICATION_ENTER_TREE: { if (enabled) { NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map()); NavigationServer2D::get_singleton_mut()->connect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed)); } } break; case NOTIFICATION_TRANSFORM_CHANGED: { NavigationServer2D::get_singleton()->region_set_transform(region, get_global_transform()); } break; case NOTIFICATION_EXIT_TREE: { NavigationServer2D::get_singleton()->region_set_map(region, RID()); if (enabled) { NavigationServer2D::get_singleton_mut()->disconnect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed)); } } break; case NOTIFICATION_DRAW: { #ifdef DEBUG_ENABLED if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || NavigationServer3D::get_singleton()->get_debug_enabled()) && navpoly.is_valid()) { Vector<Vector2> verts = navpoly->get_vertices(); if (verts.size() < 3) { return; } Color color; if (enabled) { color = NavigationServer3D::get_singleton()->get_debug_navigation_geometry_face_color(); } else { color = NavigationServer3D::get_singleton()->get_debug_navigation_geometry_face_disabled_color(); } Color doors_color = NavigationServer3D::get_singleton()->get_debug_navigation_edge_connection_color(); RandomPCG rand; for (int i = 0; i < navpoly->get_polygon_count(); i++) { // An array of vertices for this polygon. Vector<int> polygon = navpoly->get_polygon(i); Vector<Vector2> vertices; vertices.resize(polygon.size()); for (int j = 0; j < polygon.size(); j++) { ERR_FAIL_INDEX(polygon[j], verts.size()); vertices.write[j] = verts[polygon[j]]; } // Generate the polygon color, slightly randomly modified from the settings one. Color random_variation_color; random_variation_color.set_hsv(color.get_h() + rand.random(-1.0, 1.0) * 0.1, color.get_s(), color.get_v() + rand.random(-1.0, 1.0) * 0.2); random_variation_color.a = color.a; Vector<Color> colors; colors.push_back(random_variation_color); RS::get_singleton()->canvas_item_add_polygon(get_canvas_item(), vertices, colors); } // Draw the region Transform2D xform = get_global_transform(); const NavigationServer2D *ns = NavigationServer2D::get_singleton(); real_t radius = ns->map_get_edge_connection_margin(get_world_2d()->get_navigation_map()) / 2.0; for (int i = 0; i < ns->region_get_connections_count(region); i++) { // Two main points Vector2 a = ns->region_get_connection_pathway_start(region, i); a = xform.affine_inverse().xform(a); Vector2 b = ns->region_get_connection_pathway_end(region, i); b = xform.affine_inverse().xform(b); draw_line(a, b, doors_color); // Draw a circle to illustrate the margins. real_t angle = a.angle_to_point(b); draw_arc(a, radius, angle + Math_PI / 2.0, angle - Math_PI / 2.0 + Math_TAU, 10, doors_color); draw_arc(b, radius, angle - Math_PI / 2.0, angle + Math_PI / 2.0, 10, doors_color); } } #endif // DEBUG_ENABLED } break; } } void NavigationRegion2D::set_navigation_polygon(const Ref<NavigationPolygon> &p_navpoly) { if (p_navpoly == navpoly) { return; } if (navpoly.is_valid()) { navpoly->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &NavigationRegion2D::_navpoly_changed)); } navpoly = p_navpoly; NavigationServer2D::get_singleton()->region_set_navpoly(region, p_navpoly); if (navpoly.is_valid()) { navpoly->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &NavigationRegion2D::_navpoly_changed)); } _navpoly_changed(); update_configuration_warnings(); } Ref<NavigationPolygon> NavigationRegion2D::get_navigation_polygon() const { return navpoly; } void NavigationRegion2D::_navpoly_changed() { if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint())) { queue_redraw(); } if (navpoly.is_valid()) { NavigationServer2D::get_singleton()->region_set_navpoly(region, navpoly); } } void NavigationRegion2D::_map_changed(RID p_map) { #ifdef DEBUG_ENABLED if (is_inside_tree() && get_world_2d()->get_navigation_map() == p_map) { queue_redraw(); } #endif // DEBUG_ENABLED } TypedArray<String> NavigationRegion2D::get_configuration_warnings() const { TypedArray<String> warnings = Node2D::get_configuration_warnings(); if (is_visible_in_tree() && is_inside_tree()) { if (!navpoly.is_valid()) { warnings.push_back(RTR("A NavigationMesh resource must be set or created for this node to work. Please set a property or draw a polygon.")); } } return warnings; } void NavigationRegion2D::_bind_methods() { ClassDB::bind_method(D_METHOD("set_navigation_polygon", "navpoly"), &NavigationRegion2D::set_navigation_polygon); ClassDB::bind_method(D_METHOD("get_navigation_polygon"), &NavigationRegion2D::get_navigation_polygon); ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationRegion2D::set_enabled); ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationRegion2D::is_enabled); ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationRegion2D::set_navigation_layers); ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationRegion2D::get_navigation_layers); ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationRegion2D::set_navigation_layer_value); ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationRegion2D::get_navigation_layer_value); ClassDB::bind_method(D_METHOD("get_region_rid"), &NavigationRegion2D::get_region_rid); ClassDB::bind_method(D_METHOD("set_enter_cost", "enter_cost"), &NavigationRegion2D::set_enter_cost); ClassDB::bind_method(D_METHOD("get_enter_cost"), &NavigationRegion2D::get_enter_cost); ClassDB::bind_method(D_METHOD("set_travel_cost", "travel_cost"), &NavigationRegion2D::set_travel_cost); ClassDB::bind_method(D_METHOD("get_travel_cost"), &NavigationRegion2D::get_travel_cost); ClassDB::bind_method(D_METHOD("_navpoly_changed"), &NavigationRegion2D::_navpoly_changed); ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "navpoly", PROPERTY_HINT_RESOURCE_TYPE, "NavigationPolygon"), "set_navigation_polygon", "get_navigation_polygon"); ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled"); ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "enter_cost"), "set_enter_cost", "get_enter_cost"); ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "travel_cost"), "set_travel_cost", "get_travel_cost"); } NavigationRegion2D::NavigationRegion2D() { set_notify_transform(true); region = NavigationServer2D::get_singleton()->region_create(); NavigationServer2D::get_singleton()->region_set_enter_cost(region, get_enter_cost()); NavigationServer2D::get_singleton()->region_set_travel_cost(region, get_travel_cost()); #ifdef DEBUG_ENABLED NavigationServer3D::get_singleton_mut()->connect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed)); NavigationServer3D::get_singleton_mut()->connect("navigation_debug_changed", callable_mp(this, &NavigationRegion2D::_map_changed)); #endif // DEBUG_ENABLED } NavigationRegion2D::~NavigationRegion2D() { NavigationServer2D::get_singleton()->free(region); #ifdef DEBUG_ENABLED NavigationServer3D::get_singleton_mut()->disconnect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed)); NavigationServer3D::get_singleton_mut()->disconnect("navigation_debug_changed", callable_mp(this, &NavigationRegion2D::_map_changed)); #endif // DEBUG_ENABLED }