/*************************************************************************/ /* navigation_server_3d.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 NAVIGATION_SERVER_3D_H #define NAVIGATION_SERVER_3D_H #include "core/object/class_db.h" #include "core/templates/rid.h" #include "scene/3d/navigation_region_3d.h" /// This server uses the concept of internal mutability. /// All the constant functions can be called in multithread because internally /// the server takes care to schedule the functions access. /// /// Note: All the `set` functions are commands executed during the `sync` phase, /// don't expect that a change is immediately propagated. class NavigationServer3D : public Object { GDCLASS(NavigationServer3D, Object); static NavigationServer3D *singleton; protected: static void _bind_methods(); public: /// Thread safe, can be used across many threads. static const NavigationServer3D *get_singleton(); /// MUST be used in single thread! static NavigationServer3D *get_singleton_mut(); virtual Array get_maps() const = 0; /// Create a new map. virtual RID map_create() const = 0; /// Set map active. virtual void map_set_active(RID p_map, bool p_active) const = 0; /// Returns true if the map is active. virtual bool map_is_active(RID p_map) const = 0; /// Set the map UP direction. virtual void map_set_up(RID p_map, Vector3 p_up) const = 0; /// Returns the map UP direction. virtual Vector3 map_get_up(RID p_map) const = 0; /// Set the map cell size used to weld the navigation mesh polygons. virtual void map_set_cell_size(RID p_map, real_t p_cell_size) const = 0; /// Returns the map cell size. virtual real_t map_get_cell_size(RID p_map) const = 0; /// Set the map edge connection margin used to weld the compatible region edges. virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) const = 0; /// Returns the edge connection margin of this map. virtual real_t map_get_edge_connection_margin(RID p_map) const = 0; /// Returns the navigation path to reach the destination from the origin. virtual Vector map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const = 0; 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 = 0; virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const = 0; virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const = 0; virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const = 0; virtual Array map_get_regions(RID p_map) const = 0; virtual Array map_get_agents(RID p_map) const = 0; virtual void map_force_update(RID p_map) = 0; /// Creates a new region. virtual RID region_create() const = 0; /// Set the enter_cost of a region virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) const = 0; virtual real_t region_get_enter_cost(RID p_region) const = 0; /// Set the travel_cost of a region virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) const = 0; virtual real_t region_get_travel_cost(RID p_region) const = 0; virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const = 0; /// Set the map of this region. virtual void region_set_map(RID p_region, RID p_map) const = 0; virtual RID region_get_map(RID p_region) const = 0; /// Set the region's layers virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) const = 0; virtual uint32_t region_get_navigation_layers(RID p_region) const = 0; /// Set the global transformation of this region. virtual void region_set_transform(RID p_region, Transform3D p_transform) const = 0; /// Set the navigation mesh of this region. virtual void region_set_navmesh(RID p_region, Ref p_nav_mesh) const = 0; /// Bake the navigation mesh. virtual void region_bake_navmesh(Ref r_mesh, Node *p_node) const = 0; /// Get a list of a region's connection to other regions. virtual int region_get_connections_count(RID p_region) const = 0; virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const = 0; virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0; /// Creates the agent. virtual RID agent_create() const = 0; /// Put the agent in the map. virtual void agent_set_map(RID p_agent, RID p_map) const = 0; virtual RID agent_get_map(RID p_agent) const = 0; /// The maximum distance (center point to /// center point) to other agents this agent /// takes into account in the navigation. The /// larger this number, the longer the running /// time of the simulation. If the number is too /// low, the simulation will not be safe. /// Must be non-negative. virtual void agent_set_neighbor_dist(RID p_agent, real_t p_dist) const = 0; /// The maximum number of other agents this /// agent takes into account in the navigation. /// The larger this number, the longer the /// running time of the simulation. If the /// number is too low, the simulation will not /// be safe. virtual void agent_set_max_neighbors(RID p_agent, int p_count) const = 0; /// The minimal amount of time for which this /// agent's velocities that are computed by the /// simulation are safe with respect to other /// agents. The larger this number, the sooner /// this agent will respond to the presence of /// other agents, but the less freedom this /// agent has in choosing its velocities. /// Must be positive. virtual void agent_set_time_horizon(RID p_agent, real_t p_time) const = 0; /// The radius of this agent. /// Must be non-negative. virtual void agent_set_radius(RID p_agent, real_t p_radius) const = 0; /// The maximum speed of this agent. /// Must be non-negative. virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) const = 0; /// Current velocity of the agent virtual void agent_set_velocity(RID p_agent, Vector3 p_velocity) const = 0; /// The new target velocity. virtual void agent_set_target_velocity(RID p_agent, Vector3 p_velocity) const = 0; /// Position of the agent in world space. virtual void agent_set_position(RID p_agent, Vector3 p_position) const = 0; /// Agent ignore the Y axis and avoid collisions by moving only on the horizontal plane virtual void agent_set_ignore_y(RID p_agent, bool p_ignore) const = 0; /// Returns true if the map got changed the previous frame. virtual bool agent_is_map_changed(RID p_agent) const = 0; /// Callback called at the end of the RVO process virtual void agent_set_callback(RID p_agent, Object *p_receiver, StringName p_method, Variant p_udata = Variant()) const = 0; /// Destroy the `RID` virtual void free(RID p_object) const = 0; /// Control activation of this server. virtual void set_active(bool p_active) const = 0; /// Process the collision avoidance agents. /// The result of this process is needed by the physics server, /// so this must be called in the main thread. /// Note: This function is not thread safe. virtual void process(real_t delta_time) = 0; NavigationServer3D(); virtual ~NavigationServer3D(); #ifdef DEBUG_ENABLED bool debug_enabled = true; bool debug_dirty = true; void _emit_navigation_debug_changed_signal(); void set_debug_enabled(bool p_enabled); bool get_debug_enabled() const; Color debug_navigation_edge_connection_color = Color(1.0, 0.0, 1.0, 1.0); Color debug_navigation_geometry_edge_color = Color(0.5, 1.0, 1.0, 1.0); Color debug_navigation_geometry_face_color = Color(0.5, 1.0, 1.0, 0.4); Color debug_navigation_geometry_edge_disabled_color = Color(0.5, 0.5, 0.5, 1.0); Color debug_navigation_geometry_face_disabled_color = Color(0.5, 0.5, 0.5, 0.4); bool debug_navigation_enable_edge_connections = true; bool debug_navigation_enable_edge_connections_xray = true; bool debug_navigation_enable_edge_lines = true; bool debug_navigation_enable_edge_lines_xray = true; bool debug_navigation_enable_geometry_face_random_color = true; Ref debug_navigation_geometry_edge_material; Ref debug_navigation_geometry_face_material; Ref debug_navigation_geometry_edge_disabled_material; Ref debug_navigation_geometry_face_disabled_material; Ref debug_navigation_edge_connections_material; void set_debug_navigation_edge_connection_color(const Color &p_color); Color get_debug_navigation_edge_connection_color() const; void set_debug_navigation_geometry_edge_color(const Color &p_color); Color get_debug_navigation_geometry_edge_color() const; void set_debug_navigation_geometry_face_color(const Color &p_color); Color get_debug_navigation_geometry_face_color() const; void set_debug_navigation_geometry_edge_disabled_color(const Color &p_color); Color get_debug_navigation_geometry_edge_disabled_color() const; void set_debug_navigation_geometry_face_disabled_color(const Color &p_color); Color get_debug_navigation_geometry_face_disabled_color() const; void set_debug_navigation_enable_edge_connections(const bool p_value); bool get_debug_navigation_enable_edge_connections() const; void set_debug_navigation_enable_edge_connections_xray(const bool p_value); bool get_debug_navigation_enable_edge_connections_xray() const; void set_debug_navigation_enable_edge_lines(const bool p_value); bool get_debug_navigation_enable_edge_lines() const; void set_debug_navigation_enable_edge_lines_xray(const bool p_value); bool get_debug_navigation_enable_edge_lines_xray() const; void set_debug_navigation_enable_geometry_face_random_color(const bool p_value); bool get_debug_navigation_enable_geometry_face_random_color() const; Ref get_debug_navigation_geometry_face_material(); Ref get_debug_navigation_geometry_edge_material(); Ref get_debug_navigation_geometry_face_disabled_material(); Ref get_debug_navigation_geometry_edge_disabled_material(); Ref get_debug_navigation_edge_connections_material(); #endif // DEBUG_ENABLED }; typedef NavigationServer3D *(*NavigationServer3DCallback)(); /// Manager used for the server singleton registration class NavigationServer3DManager { static NavigationServer3DCallback create_callback; public: static void set_default_server(NavigationServer3DCallback p_callback); static NavigationServer3D *new_default_server(); }; #endif // NAVIGATION_SERVER_3D_H