#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 b.key) { SWAP(a,b); } } }; struct NavMesh; struct Polygon { struct Edge { Point point; Polygon *C; //connection int C_edge; Edge() { C=NULL; C_edge=-1; } }; Vector edges; Vector3 center; float distance; int prev_edge; NavMesh *owner; }; struct Connection { Polygon *A; int A_edge; Polygon *B; int B_edge; Connection() { A=NULL; B=NULL; A_edge=-1; B_edge=-1;} }; Map connections; struct NavMesh { Object *owner; Transform xform; bool linked; Ref navmesh; List 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 navmesh_map; int last_id; Vector3 up; protected: static void _bind_methods(); public: void set_up_vector(const Vector3& p_up); Vector3 get_up_vector() const; //API should be as dynamic as possible int navmesh_create(const Ref& p_mesh,const Transform& p_xform,Object* p_owner=NULL); void navmesh_set_transform(int p_id, const Transform& p_xform); void navmesh_remove(int p_id); Vector get_simple_path(const Vector3& p_start, const Vector3& p_end,bool p_optimize=true); 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