1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
|
/*************************************************************************/
/* nav_map.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 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 RVO_SPACE_H
#define RVO_SPACE_H
#include "nav_rid.h"
#include "core/math/math_defs.h"
#include "nav_utils.h"
#include <KdTree.h>
/**
@author AndreaCatania
*/
class NavRegion;
class RvoAgent;
class NavRegion;
class NavMap : public NavRid {
/// Map Up
Vector3 up = Vector3(0, 1, 0);
/// To find the polygons edges the vertices are displaced in a grid where
/// each cell has the following cell_size.
real_t cell_size = 0.3;
/// This value is used to detect the near edges to connect.
real_t edge_connection_margin = 5.0;
bool regenerate_polygons = true;
bool regenerate_links = true;
std::vector<NavRegion *> regions;
/// Map polygons
std::vector<gd::Polygon> polygons;
/// Rvo world
RVO::KdTree rvo;
/// Is agent array modified?
bool agents_dirty = false;
/// All the Agents (even the controlled one)
std::vector<RvoAgent *> agents;
/// Controlled agents
std::vector<RvoAgent *> controlled_agents;
/// Physics delta time
real_t deltatime = 0.0;
/// Change the id each time the map is updated.
uint32_t map_update_id = 0;
public:
NavMap() {}
void set_up(Vector3 p_up);
Vector3 get_up() const {
return up;
}
void set_cell_size(float p_cell_size);
float get_cell_size() const {
return cell_size;
}
void set_edge_connection_margin(float p_edge_connection_margin);
float get_edge_connection_margin() const {
return edge_connection_margin;
}
gd::PointKey get_point_key(const Vector3 &p_pos) const;
Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize) const;
Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const;
Vector3 get_closest_point(const Vector3 &p_point) const;
Vector3 get_closest_point_normal(const Vector3 &p_point) const;
RID get_closest_point_owner(const Vector3 &p_point) const;
void add_region(NavRegion *p_region);
void remove_region(NavRegion *p_region);
const std::vector<NavRegion *> &get_regions() const {
return regions;
}
bool has_agent(RvoAgent *agent) const;
void add_agent(RvoAgent *agent);
void remove_agent(RvoAgent *agent);
const std::vector<RvoAgent *> &get_agents() const {
return agents;
}
void set_agent_as_controlled(RvoAgent *agent);
void remove_agent_as_controlled(RvoAgent *agent);
uint32_t get_map_update_id() const {
return map_update_id;
}
void sync();
void step(real_t p_deltatime);
void dispatch_callbacks();
private:
void compute_single_step(uint32_t index, RvoAgent **agent);
void clip_path(const std::vector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly) const;
};
#endif // RVO_SPACE_H
|