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
141
142
143
|
/*************************************************************************/
/* nav_utils.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_UTILS_H
#define NAV_UTILS_H
#include "core/math/vector3.h"
#include "core/templates/vector.h"
#include <vector>
class NavRegion;
namespace gd {
struct Polygon;
union PointKey {
struct {
int64_t x : 21;
int64_t y : 22;
int64_t z : 21;
};
uint64_t key = 0;
bool operator<(const PointKey &p_key) const { return key < p_key.key; }
};
struct EdgeKey {
PointKey a;
PointKey b;
bool operator<(const EdgeKey &p_key) const {
return (a.key == p_key.a.key) ? (b.key < p_key.b.key) : (a.key < p_key.a.key);
}
EdgeKey(const PointKey &p_a = PointKey(), const PointKey &p_b = PointKey()) :
a(p_a),
b(p_b) {
if (a.key > b.key) {
SWAP(a, b);
}
}
};
struct Point {
Vector3 pos;
PointKey key;
};
struct Edge {
/// This edge ID
int this_edge = -1;
/// The gateway in the edge, as, in some case, the whole edge might not be navigable.
struct Connection {
Polygon *polygon = nullptr;
int edge = -1;
Vector3 pathway_start;
Vector3 pathway_end;
};
Vector<Connection> connections;
};
struct Polygon {
NavRegion *owner;
/// The points of this `Polygon`
std::vector<Point> points;
/// Are the points clockwise ?
bool clockwise;
/// The edges of this `Polygon`
std::vector<Edge> edges;
/// The center of this `Polygon`
Vector3 center;
};
struct NavigationPoly {
uint32_t self_id = 0;
/// This poly.
const Polygon *poly;
/// Those 4 variables are used to travel the path backwards.
int back_navigation_poly_id = -1;
uint32_t back_navigation_edge = UINT32_MAX;
Vector3 back_navigation_edge_pathway_start;
Vector3 back_navigation_edge_pathway_end;
/// The entry location of this poly.
Vector3 entry;
/// The distance to the destination.
float traveled_distance = 0.0;
NavigationPoly(const Polygon *p_poly) :
poly(p_poly) {}
bool operator==(const NavigationPoly &other) const {
return this->poly == other.poly;
}
bool operator!=(const NavigationPoly &other) const {
return !operator==(other);
}
};
struct ClosestPointQueryResult {
Vector3 point;
Vector3 normal;
RID owner;
};
} // namespace gd
#endif // NAV_UTILS_H
|