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/*************************************************************************/
/* navigation.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2018 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_H
#define NAVIGATION_H
#include "scene/3d/navigation_mesh.h"
#include "scene/3d/spatial.h"
class Navigation : public Spatial {
GDCLASS(Navigation, Spatial);
union Point {
struct {
int64_t x : 21;
int64_t y : 22;
int64_t z : 21;
};
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 ConnectionPending {
Polygon *polygon;
int edge;
};
struct Polygon {
struct Edge {
Point point;
Polygon *C; //connection
int C_edge;
List<ConnectionPending>::Element *P;
Edge() {
C = NULL;
C_edge = -1;
P = NULL;
}
};
Vector<Edge> edges;
Vector3 center;
Vector3 entry;
float distance;
int prev_edge;
bool clockwise;
NavMesh *owner;
};
struct Connection {
Polygon *A;
int A_edge;
Polygon *B;
int B_edge;
List<ConnectionPending> pending;
Connection() {
A = NULL;
B = NULL;
A_edge = -1;
B_edge = -1;
}
};
Map<EdgeKey, Connection> connections;
struct NavMesh {
Object *owner;
Transform xform;
bool linked;
Ref<NavigationMesh> navmesh;
List<Polygon> polygons;
};
_FORCE_INLINE_ Point _get_point(const Vector3 &p_pos) const {
int x = int(Math::floor(p_pos.x / cell_size));
int y = int(Math::floor(p_pos.y / cell_size));
int z = int(Math::floor(p_pos.z / cell_size));
Point p;
p.key = 0;
p.x = x;
p.y = y;
p.z = z;
return p;
}
_FORCE_INLINE_ Vector3 _get_vertex(const Point &p_point) const {
return Vector3(p_point.x, p_point.y, p_point.z) * cell_size;
}
void _navmesh_link(int p_id);
void _navmesh_unlink(int p_id);
float cell_size;
Map<int, NavMesh> navmesh_map;
int last_id;
Vector3 up;
void _clip_path(Vector<Vector3> &path, Polygon *from_poly, const Vector3 &p_to_point, Polygon *p_to_poly);
protected:
static void _bind_methods();
public:
void set_up_vector(const Vector3 &p_up);
Vector3 get_up_vector() const;
//API should be as dynamic as possible
int navmesh_add(const Ref<NavigationMesh> &p_mesh, const Transform &p_xform, Object *p_owner = NULL);
void navmesh_set_transform(int p_id, const Transform &p_xform);
void navmesh_remove(int p_id);
Vector<Vector3> get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize = true);
Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool &p_use_collision = false);
Vector3 get_closest_point(const Vector3 &p_point);
Vector3 get_closest_point_normal(const Vector3 &p_point);
Object *get_closest_point_owner(const Vector3 &p_point);
Navigation();
};
#endif // NAVIGATION_H
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