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/*************************************************************************/
/* nav_map.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 NAV_MAP_H
#define NAV_MAP_H
#include "nav_rid.h"
#include "core/math/math_defs.h"
#include "core/templates/rb_map.h"
#include "core/templates/thread_work_pool.h"
#include "nav_utils.h"
#include <KdTree.h>
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 = 0.25;
/// This value is used to detect the near edges to connect.
real_t edge_connection_margin = 0.25;
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;
/// Pooled threads for computing steps
ThreadWorkPool step_work_pool;
public:
NavMap();
~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, uint32_t p_layers = 1) 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;
gd::ClosestPointQueryResult get_closest_point_info(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 // NAV_MAP_H
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