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#ifndef NAVIGATION_2D_H
#define NAVIGATION_2D_H
#include "scene/2d/node_2d.h"
#include "scene/2d/navigation_polygon.h"
class Navigation2D : public Node2D {
OBJ_TYPE( Navigation2D, Node2D);
union Point {
struct {
int64_t x:32;
int64_t y:32;
};
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<p_key.b.key):(a.key<p_key.a.key);
};
EdgeKey(const Point& p_a=Point(),const Point& p_b=Point()) {
a=p_a;
b=p_b;
if (a.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<Edge> edges;
Vector2 center;
Vector2 entry;
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<EdgeKey,Connection> connections;
struct NavMesh {
Object *owner;
Matrix32 xform;
bool linked;
Ref<NavigationPolygon> navpoly;
List<Polygon> polygons;
};
_FORCE_INLINE_ Point _get_point(const Vector2& p_pos) const {
int x = int(Math::floor(p_pos.x/cell_size));
int y = int(Math::floor(p_pos.y/cell_size));
Point p;
p.key=0;
p.x=x;
p.y=y;
return p;
}
_FORCE_INLINE_ Vector2 _get_vertex(const Point& p_point) const {
return Vector2(p_point.x,p_point.y)*cell_size;
}
void _navpoly_link(int p_id);
void _navpoly_unlink(int p_id);
float cell_size;
Map<int,NavMesh> navpoly_map;
int last_id;
#if 0
void _clip_path(Vector<Vector2>& path,Polygon *from_poly, const Vector2& p_to_point, Polygon* p_to_poly);
#endif
protected:
static void _bind_methods();
public:
//API should be as dynamic as possible
int navpoly_create(const Ref<NavigationPolygon>& p_mesh,const Matrix32& p_xform,Object* p_owner=NULL);
void navpoly_set_transform(int p_id, const Matrix32& p_xform);
void navpoly_remove(int p_id);
Vector<Vector2> get_simple_path(const Vector2& p_start, const Vector2& p_end,bool p_optimize=true);
Vector2 get_closest_point(const Vector2& p_point);
Navigation2D();
};
#endif // Navigation2D2D_H
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