diff --git a/COPYRIGHT.txt b/COPYRIGHT.txt
index d9da69ef98b8..64036baf19fe 100644
--- a/COPYRIGHT.txt
+++ b/COPYRIGHT.txt
@@ -360,6 +360,11 @@ Comment: Recast
Copyright: 2009, Mikko Mononen
License: Zlib
+Files: ./thirdparty/rvo2/
+Comment: RVO2
+Copyright: 2016, University of North Carolina at Chapel Hill
+License: Apache-2.0
+
Files: ./thirdparty/squish/
Comment: libSquish
Copyright: 2006, Simon Brown
diff --git a/SConstruct b/SConstruct
index 9a8c5f13747c..11e7649ea1a1 100644
--- a/SConstruct
+++ b/SConstruct
@@ -178,6 +178,7 @@ opts.Add(BoolVariable("builtin_opus", "Use the built-in Opus library", True))
opts.Add(BoolVariable("builtin_pcre2", "Use the built-in PCRE2 library", True))
opts.Add(BoolVariable("builtin_pcre2_with_jit", "Use JIT compiler for the built-in PCRE2 library", True))
opts.Add(BoolVariable("builtin_recast", "Use the built-in Recast library", True))
+opts.Add(BoolVariable("builtin_rvo2", "Use the built-in RVO2 library", True))
opts.Add(BoolVariable("builtin_squish", "Use the built-in squish library", True))
opts.Add(BoolVariable("builtin_xatlas", "Use the built-in xatlas library", True))
opts.Add(BoolVariable("builtin_zlib", "Use the built-in zlib library", True))
diff --git a/doc/classes/@GlobalScope.xml b/doc/classes/@GlobalScope.xml
index 9cc4f6870854..d1b3e3882caf 100644
--- a/doc/classes/@GlobalScope.xml
+++ b/doc/classes/@GlobalScope.xml
@@ -53,8 +53,14 @@
The [Marshalls] singleton.
-
- The [EditorNavigationMeshGenerator] singleton.
+
+ The [Navigation2DServer] singleton.
+
+
+ The [NavigationMeshGenerator] singleton.
+
+
+ The [NavigationServer] singleton.
The [OS] singleton.
diff --git a/doc/classes/Navigation.xml b/doc/classes/Navigation.xml
index d1be2986f03a..b92e9a4d6976 100644
--- a/doc/classes/Navigation.xml
+++ b/doc/classes/Navigation.xml
@@ -4,35 +4,34 @@
Mesh-based navigation and pathfinding node.
- Provides navigation and pathfinding within a collection of [NavigationMesh]es. By default, these will be automatically collected from child [NavigationMeshInstance] nodes, but they can also be added on the fly with [method navmesh_add]. In addition to basic pathfinding, this class also assists with aligning navigation agents with the meshes they are navigating on.
- [b]Note:[/b] The current navigation system has many known issues and will not always return optimal paths as expected. These issues will be fixed in Godot 4.0.
+ Provides navigation and pathfinding within a collection of [NavigationMesh]es. By default, these will be automatically collected from child [NavigationMeshInstance] nodes. In addition to basic pathfinding, this class also assists with aligning navigation agents with the meshes they are navigating on.
https://godotengine.org/asset-library/asset/124
-
+
Returns the navigation point closest to the point given. Points are in local coordinate space.
-
+
Returns the surface normal at the navigation point closest to the point given. Useful for rotating a navigation agent according to the navigation mesh it moves on.
-
-
+
+
- Returns the owner of the [NavigationMesh] which contains the navigation point closest to the point given. This is usually a [NavigationMeshInstance]. For meshes added via [method navmesh_add], returns the owner that was given (or [code]null[/code] if the [code]owner[/code] parameter was omitted).
+ Returns the owner of the [NavigationMesh] which contains the navigation point closest to the point given. This is usually a [NavigationMeshInstance].
-
+
@@ -41,42 +40,29 @@
Returns the navigation point closest to the given line segment. When enabling [code]use_collision[/code], only considers intersection points between segment and navigation meshes. If multiple intersection points are found, the one closest to the segment start point is returned.
-
+
+
+
+ Returns the object's [RID].
+
+
+
Returns the path between two given points. Points are in local coordinate space. If [code]optimize[/code] is [code]true[/code] (the default), the agent properties associated with each [NavigationMesh] (radius, height, etc.) are considered in the path calculation, otherwise they are ignored.
- [b]Note:[/b] This method has known issues and will often return non-optimal paths. These issues will be fixed in Godot 4.0.
-
-
-
-
-
-
-
-
- Adds a [NavigationMesh]. Returns an ID for use with [method navmesh_remove] or [method navmesh_set_transform]. If given, a [Transform2D] is applied to the polygon. The optional [code]owner[/code] is used as return value for [method get_closest_point_owner].
-
-
-
-
-
-
- Removes the [NavigationMesh] with the given ID.
-
-
-
-
-
-
-
- Sets the transform applied to the [NavigationMesh] with the given ID.
+
+ The XZ plane cell size to use for fields.
+
+
+ This value is used to detect the near edges to connect compatible regions.
+
Defines which direction is up. By default, this is [code](0, 1, 0)[/code], which is the world's "up" direction.
diff --git a/doc/classes/Navigation2D.xml b/doc/classes/Navigation2D.xml
index 64c2bccb0bc6..ed00a277b3f2 100644
--- a/doc/classes/Navigation2D.xml
+++ b/doc/classes/Navigation2D.xml
@@ -4,62 +4,50 @@
2D navigation and pathfinding node.
- Navigation2D provides navigation and pathfinding within a 2D area, specified as a collection of [NavigationPolygon] resources. By default, these are automatically collected from child [NavigationPolygonInstance] nodes, but they can also be added on the fly with [method navpoly_add].
- [b]Note:[/b] The current navigation system has many known issues and will not always return optimal paths as expected. These issues will be fixed in Godot 4.0.
+ Navigation2D provides navigation and pathfinding within a 2D area, specified as a collection of [NavigationPolygon] resources. By default, these are automatically collected from child [NavigationPolygonInstance] nodes.
https://godotengine.org/asset-library/asset/117
-
+
Returns the navigation point closest to the point given. Points are in local coordinate space.
-
-
+
+
- Returns the owner of the [NavigationPolygon] which contains the navigation point closest to the point given. This is usually a [NavigationPolygonInstance]. For polygons added via [method navpoly_add], returns the owner that was given (or [code]null[/code] if the [code]owner[/code] parameter was omitted).
+ Returns the owner of the [NavigationPolygon] which contains the navigation point closest to the point given. This is usually a [NavigationPolygonInstance].
-
+
+
+
+ Returns the object's [RID].
+
+
+
Returns the path between two given points. Points are in local coordinate space. If [code]optimize[/code] is [code]true[/code] (the default), the path is smoothed by merging path segments where possible.
- [b]Note:[/b] This method has known issues and will often return non-optimal paths. These issues will be fixed in Godot 4.0.
-
-
-
-
-
-
-
-
- Adds a [NavigationPolygon]. Returns an ID for use with [method navpoly_remove] or [method navpoly_set_transform]. If given, a [Transform2D] is applied to the polygon. The optional [code]owner[/code] is used as return value for [method get_closest_point_owner].
-
-
-
-
-
-
- Removes the [NavigationPolygon] with the given ID.
-
-
-
-
-
-
-
- Sets the transform applied to the [NavigationPolygon] with the given ID.
+
+
+ The XY plane cell size to use for fields.
+
+
+ This value is used to detect the near edges to connect compatible regions.
+
+
diff --git a/doc/classes/Navigation2DServer.xml b/doc/classes/Navigation2DServer.xml
new file mode 100644
index 000000000000..334528751080
--- /dev/null
+++ b/doc/classes/Navigation2DServer.xml
@@ -0,0 +1,229 @@
+
+
+
+ Server interface for low-level 2D navigation access.
+
+
+ Navigation2DServer is the server responsible for all 2D navigation. It handles several objects, namely maps, regions and agents.
+ Maps are made up of regions, which are made of navigation polygons. Together, they define the navigable areas in the 2D world. For two regions to be connected to each other, they must share a similar edge. An edge is considered connected to another if both of its two vertices are at a distance less than [member Navigation.edge_connection_margin] to the respective other edge's vertex.
+ To use the collision avoidance system, you may use agents. You can set an agent's target velocity, then the servers will emit a callback with a modified velocity.
+ [b]Note:[/b] The collision avoidance system ignores regions. Using the modified velocity as-is might lead to pushing and agent outside of a navigable area. This is a limitation of the collision avoidance system, any more complex situation may require the use of the physics engine.
+ This server keeps tracks of any call and executes them during the sync phase. This means that you can request any change to the map, using any thread, without worrying.
+
+
+ https://godotengine.org/asset-library/asset/117
+
+
+
+
+
+ Creates the agent.
+
+
+
+
+
+
+ Returns [code]true[/code] if the map got changed the previous frame.
+
+
+
+
+
+
+
+
+
+ Callback called at the end of the RVO process.
+
+
+
+
+
+
+
+ Puts the agent in the map.
+
+
+
+
+
+
+
+ Sets the maximum number of other agents the agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.
+
+
+
+
+
+
+
+ Sets the maximum speed of the agent. Must be positive.
+
+
+
+
+
+
+
+ Sets the maximum distance to other agents this agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.
+
+
+
+
+
+
+
+ Sets the position of the agent in world space.
+
+
+
+
+
+
+
+ Sets the radius of the agent.
+
+
+
+
+
+
+
+ Sets the new target velocity.
+
+
+
+
+
+
+
+ The minimal amount of time for which the agent's velocities that are computed by the simulation are safe with respect to other agents. The larger this number, the sooner this agent will respond to the presence of other agents, but the less freedom this agent has in choosing its velocities. Must be positive.
+
+
+
+
+
+
+
+ Sets the current velocity of the agent.
+
+
+
+
+
+
+ Destroys the given RID.
+
+
+
+
+
+ Create a new map.
+
+
+
+
+
+
+ Returns the map cell size.
+
+
+
+
+
+
+
+ Returns the point closest to the provided [code]to_point[/code] on the navigation mesh surface.
+
+
+
+
+
+
+
+ Returns the owner region RID for the point returned by [method map_get_closest_point].
+
+
+
+
+
+
+ Returns the edge connection margin of the map. The edge connection margin is a distance used to connect two regions.
+
+
+
+
+
+
+
+
+
+ Returns the navigation path to reach the destination from the origin.
+
+
+
+
+
+
+ Returns [code]true[/code] if the map is active.
+
+
+
+
+
+
+
+ Sets the map active.
+
+
+
+
+
+
+
+ Set the map cell size used to weld the navigation mesh polygons.
+
+
+
+
+
+
+
+ Set the map edge connection margin used to weld the compatible region edges.
+
+
+
+
+
+ Creates a new region.
+
+
+
+
+
+
+
+ Sets the map for the region.
+
+
+
+
+
+
+
+ Sets the navigation mesh for the region.
+
+
+
+
+
+
+
+ Sets the global transformation for the region.
+
+
+
+
+
+
diff --git a/doc/classes/NavigationAgent.xml b/doc/classes/NavigationAgent.xml
new file mode 100644
index 000000000000..9f20025117d3
--- /dev/null
+++ b/doc/classes/NavigationAgent.xml
@@ -0,0 +1,148 @@
+
+
+
+ 3D agent used in navigation for collision avoidance.
+
+
+ 3D agent that is used in navigation to reach a location while avoiding static and dynamic obstacles. The dynamic obstacles are avoided using RVO (Reciprocal Velocity Obstacles) collision avoidance. The agent needs navigation data to work correctly. This can be done by having the agent as a child of a [Navigation] node, or using [method set_navigation]. [NavigationAgent] is physics safe.
+
+
+
+
+
+
+
+ Returns the distance to the target location, using the agent's global position. The user must set the target location with [method set_target_location] in order for this to be accurate.
+
+
+
+
+
+ Returns the reachable final location in global coordinates. This can change if the navigation path is altered in any way. Because of this, it would be best to check this each frame.
+
+
+
+
+
+ Returns the path from start to finish in global coordinates.
+
+
+
+
+
+ Returns which index the agent is currently on in the navigation path's [PoolVector3Array].
+
+
+
+
+
+ Returns the [Navigation] node that the agent is using for its navigation system.
+
+
+
+
+
+ Returns a [Vector3] in global coordinates, that can be moved to, making sure that there are no static objects in the way. If the agent does not have a navigation path, it will return the origin of the agent's parent.
+
+
+
+
+
+ Returns the user-defined target location (set with [method set_target_location]).
+
+
+
+
+
+ Returns [code]true[/code] if the navigation path's final location has been reached.
+
+
+
+
+
+ Returns [code]true[/code] if the target location is reachable. The target location is set using [method set_target_location].
+
+
+
+
+
+ Returns [code]true[/code] if the target location is reached. The target location is set using [method set_target_location]. It may not always be possible to reach the target location. It should always be possible to reach the final location though. See [method get_final_location].
+
+
+
+
+
+
+ Sets the [Navigation] node used by the agent. Useful when you don't want to make the agent a child of a [Navigation] node.
+
+
+
+
+
+
+ Sets the user desired final location. This will clear the current navigation path.
+
+
+
+
+
+
+ Sends the given velocity to the collision avoidance algorithm. It will adjust the velocity to avoid collisions. Once the adjustment to the velocity is complete, it will emit the [signal velocity_computed] signal.
+
+
+
+
+
+ The agent height offset to match the navigation mesh height.
+
+
+ Ignores collisions on the Y axis. Must be [code]true[/code] to move on a horizontal plane.
+
+
+ The maximum number of neighbors for the agent to consider.
+
+
+ The maximum speed that an agent can move.
+
+
+ The distance to search for other agents.
+
+
+ The maximum distance the agent is allowed away from the ideal path to the final location. This can happen due to trying to avoid collisions. When the maximum distance is exceeded, it recalculates the ideal path.
+
+
+ The radius of the agent.
+
+
+ The distance threshold before a target is considered to be reached. This will allow an agent to not have to hit a point on the path exactly, but in the area.
+
+
+ The minimal amount of time for which this agent's velocities, that are computed with the collision avoidance algorithim, are safe with respect to other agents. The larger the number, the sooner the agent will respond to other agents, but the less freedom in choosing its velocities. Must be positive.
+
+
+
+
+
+ Notifies when the final location is reached.
+
+
+
+
+ Notifies when the navigation path changes. This can be triggered by the navigation system or by the user changing the path.
+
+
+
+
+ Notifies when the player-defined target, set with [method set_target_location], is reached.
+
+
+
+
+
+ Notifies when the collision avoidance velocity is calculated after a call to [method set_velocity].
+
+
+
+
+
+
diff --git a/doc/classes/NavigationAgent2D.xml b/doc/classes/NavigationAgent2D.xml
new file mode 100644
index 000000000000..877c17eddc36
--- /dev/null
+++ b/doc/classes/NavigationAgent2D.xml
@@ -0,0 +1,142 @@
+
+
+
+ 2D agent used in navigation for collision avoidance.
+
+
+ 2D agent that is used in navigation to reach a location while avoiding static and dynamic obstacles. The dynamic obstacles are avoided using RVO (Reciprocal Velocity Obstacles) collision avoidance. The agent needs navigation data to work correctly. This can be done by having the agent as a child of a [Navigation2D] node, or using [method set_navigation]. [NavigationAgent2D] is physics safe.
+
+
+
+
+
+
+
+ Returns the distance to the target location, using the agent's global position. The user must set the target location with [method set_target_location] in order for this to be accurate.
+
+
+
+
+
+ Returns the reachable final location in global coordinates. This can change if the navigation path is altered in any way.
+
+
+
+
+
+ Returns the path from start to finish in global coordinates.
+
+
+
+
+
+ Returns which index the agent is currently on in the navigation path's [PoolVector2Array].
+
+
+
+
+
+ Returns the [Navigation2D] node that the agent is using for its navigation system.
+
+
+
+
+
+ Returns a [Vector2] in global coordinates, that can be moved to, making sure that there are no static objects in the way. If the agent does not have a navigation path, it will return the position of the agent's parent.
+
+
+
+
+
+ Returns the user-defined target location (set with [method set_target_location]).
+
+
+
+
+
+ Returns [code]true[/code] if the navigation path's final location has been reached.
+
+
+
+
+
+ Returns [code]true[/code] if the target location is reachable. The target location is set using [method set_target_location].
+
+
+
+
+
+ Returns [code]true[/code] if the target location is reached. The target location is set using [method set_target_location]. It may not always be possible to reach the target location. It should always be possible to reach the final location though. See [method get_final_location].
+
+
+
+
+
+
+ Sets the [Navigation2D] node used by the agent. Useful when you don't want to make the agent a child of a [Navigation2D] node.
+
+
+
+
+
+
+ Sets the user desired final location. This will clear the current navigation path.
+
+
+
+
+
+
+ Sends the passed in velocity to the collision avoidance algorithm. It will adjust the velocity to avoid collisions. Once the adjustment to the velocity is complete, it will emit the [signal velocity_computed] signal.
+
+
+
+
+
+ The maximum number of neighbors for the agent to consider.
+
+
+ The maximum speed that an agent can move.
+
+
+ The distance to search for other agents.
+
+
+ The maximum distance the agent is allowed away from the ideal path to the final location. This can happen due to trying to avoid collisions. When the maximum distance is exceded, it recalculates the ideal path.
+
+
+ The radius of the agent.
+
+
+ The distance threshold before a target is considered to be reached. This will allow an agent to not have to hit a point on the path exactly, but in the area.
+
+
+ The minimal amount of time for which this agent's velocities, that are computed with the collision avoidance algorithim, are safe with respect to other agents. The larger the number, the sooner the agent will respond to other agents, but the less freedom in choosing its velocities. Must be positive.
+
+
+
+
+
+ Notifies when the final location is reached.
+
+
+
+
+ Notifies when the navigation path changes. This can be triggered by the navigation system or by the user changing the path.
+
+
+
+
+ Notifies when the player-defined target, set with [method set_target_location], is reached.
+
+
+
+
+
+ Notifies when the collision avoidance velocity is calculated after a call to [method set_velocity].
+
+
+
+
+
+
diff --git a/doc/classes/EditorNavigationMeshGenerator.xml b/doc/classes/NavigationMeshGenerator.xml
similarity index 62%
rename from doc/classes/EditorNavigationMeshGenerator.xml
rename to doc/classes/NavigationMeshGenerator.xml
index d3597aa57af5..a4fafed6619b 100644
--- a/doc/classes/EditorNavigationMeshGenerator.xml
+++ b/doc/classes/NavigationMeshGenerator.xml
@@ -1,8 +1,10 @@
-
+
+ This class is responsible for creating and clearing navigation meshes.
+ This class is responsible for creating and clearing navigation meshes.
@@ -12,12 +14,14 @@
+ Bakes the navigation mesh. This will allow you to use pathfinding with the navigation system.
+ Clears the navigation mesh.
diff --git a/doc/classes/NavigationMeshInstance.xml b/doc/classes/NavigationMeshInstance.xml
index 9c46311f8a5f..df723ab3d119 100644
--- a/doc/classes/NavigationMeshInstance.xml
+++ b/doc/classes/NavigationMeshInstance.xml
@@ -1,23 +1,41 @@
- Node that instances navigation meshes into a scenario.
+ An instance of a [NavigationMesh].
- NavigationMeshInstance is a node that takes a [NavigationMesh] resource and adds it to the current scenario by creating an instance of it.
+ An instance of a [NavigationMesh]. It tells the [Navigation] node what can be navigated and what cannot, based on the [NavigationMesh] resource. This should be a child of a [Navigation] node.
+
+
+
+ Bakes the [NavigationMesh]. The baking is done in a seperate thread because navigation baking is not a cheap operation. This can be done at runtime. When it is completed, it automatically sets the new [NavigationMesh].
+
+
- If [code]true[/code], the navigation mesh will be used by [Navigation].
+ Determines if the [NavigationMeshInstance] is enabled or disabled.
- The [NavigationMesh] resource for the instance.
+ The [NavigationMesh] resource to use.
+
+
+
+ Notifies when the navigation mesh bake operation is completed.
+
+
+
+
+ Notifies when the [NavigationMesh] has changed.
+
+
+
diff --git a/doc/classes/NavigationObstacle.xml b/doc/classes/NavigationObstacle.xml
new file mode 100644
index 000000000000..5adfb0436c3e
--- /dev/null
+++ b/doc/classes/NavigationObstacle.xml
@@ -0,0 +1,36 @@
+
+
+
+ 3D obstacle used in navigation for collision avoidance.
+
+
+ 3D obstacle used in navigation for collision avoidance. The obstacle needs navigation data to work correctly. This can be done by having the obstacle as a child of a [Navigation] node, or using [method set_navigation]. [NavigationObstacle] is physics safe.
+
+
+
+
+
+
+
+ Returns the [Navigation] node that the obstacle is using for its navigation system.
+
+
+
+
+
+
+ Sets the [Navigation] node used by the obstacle. Useful when you don't want to make the obstacle a child of a [Navigation] node.
+
+
+
+
+
+ Enables radius estimation algorithm which uses parent's collision shapes to determine the obstacle radius.
+
+
+ The radius of the agent. Used only if [member estimate_radius] is set to [code]false[/code].
+
+
+
+
+
diff --git a/doc/classes/NavigationObstacle2D.xml b/doc/classes/NavigationObstacle2D.xml
new file mode 100644
index 000000000000..868f659bc230
--- /dev/null
+++ b/doc/classes/NavigationObstacle2D.xml
@@ -0,0 +1,36 @@
+
+
+
+ 2D obstacle used in navigation for collision avoidance.
+
+
+ 2D obstacle used in navigation for collision avoidance. The obstacle needs navigation data to work correctly. This can be done by having the obstacle as a child of a [Navigation2D] node, or using [method set_navigation]. [NavigationObstacle] is physics safe.
+
+
+
+
+
+
+
+ Returns the [Navigation2D] node that the obstacle is using for its navigation system.
+
+
+
+
+
+
+ Sets the [Navigation2D] node used by the obstacle. Useful when you don't want to make the obstacle a child of a [Navigation2D] node.
+
+
+
+
+
+ Enables radius estimation algorithm which uses parent's collision shapes to determine the obstacle radius.
+
+
+ The radius of the agent. Used only if [member estimate_radius] is set to [code]false[/code].
+
+
+
+
+
diff --git a/doc/classes/NavigationServer.xml b/doc/classes/NavigationServer.xml
new file mode 100644
index 000000000000..e90491d634a6
--- /dev/null
+++ b/doc/classes/NavigationServer.xml
@@ -0,0 +1,286 @@
+
+
+
+ Server interface for low-level 3D navigation access.
+
+
+ NavigationServer is the server responsible for all 3D navigation. It handles several objects, namely maps, regions and agents.
+ Maps are made up of regions, which are made of navigation meshes. Together, they define the navigable areas in the 3D world. For two regions to be connected to each other, they must share a similar edge. An edge is considered connected to another if both of its two vertices are at a distance less than [member Navigation.edge_connection_margin] to the respective other edge's vertex.
+ To use the collision avoidance system, you may use agents. You can set an agent's target velocity, then the servers will emit a callback with a modified velocity.
+ [b]Note:[/b] The collision avoidance system ignores regions. Using the modified velocity as-is might lead to pushing and agent outside of a navigable area. This is a limitation of the collision avoidance system, any more complex situation may require the use of the physics engine.
+ This server keeps tracks of any call and executes them during the sync phase. This means that you can request any change to the map, using any thread, without worrying.
+
+
+ https://godotengine.org/asset-library/asset/124
+
+
+
+
+
+ Creates the agent.
+
+
+
+
+
+
+ Returns [code]true[/code] if the map got changed the previous frame.
+
+
+
+
+
+
+
+
+
+ Callback called at the end of the RVO process.
+
+
+
+
+
+
+
+ Puts the agent in the map.
+
+
+
+
+
+
+
+ Sets the maximum number of other agents the agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.
+
+
+
+
+
+
+
+ Sets the maximum speed of the agent. Must be positive.
+
+
+
+
+
+
+
+ Sets the maximum distance to other agents this agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.
+
+
+
+
+
+
+
+ Sets the position of the agent in world space.
+
+
+
+
+
+
+
+ Sets the radius of the agent.
+
+
+
+
+
+
+
+ Sets the new target velocity.
+
+
+
+
+
+
+
+ The minimal amount of time for which the agent's velocities that are computed by the simulation are safe with respect to other agents. The larger this number, the sooner this agent will respond to the presence of other agents, but the less freedom this agent has in choosing its velocities. Must be positive.
+
+
+
+
+
+
+
+ Sets the current velocity of the agent.
+
+
+
+
+
+
+ Destroys the given RID.
+
+
+
+
+
+ Create a new map.
+
+
+
+
+
+
+ Returns the map cell size.
+
+
+
+
+
+
+
+ Returns the point closest to the provided [code]to_point[/code] on the navigation mesh surface.
+
+
+
+
+
+
+
+ Returns the normal for the point returned by [method map_get_closest_point].
+
+
+
+
+
+
+
+ Returns the owner region RID for the point returned by [method map_get_closest_point].
+
+
+
+
+
+
+
+
+
+ Returns the closest point between the navigation surface and the segment.
+
+
+
+
+
+
+ Returns the edge connection margin of the map. This distance is the minimum vertex distance needed to connect two edges from different regions.
+
+
+
+
+
+
+
+
+
+ Returns the navigation path to reach the destination from the origin.
+
+
+
+
+
+
+ Returns the map's up direction.
+
+
+
+
+
+
+ Returns [code]true[/code] if the map is active.
+
+
+
+
+
+
+
+ Sets the map active.
+
+
+
+
+
+
+
+ Set the map cell size used to weld the navigation mesh polygons.
+
+
+
+
+
+
+
+ Set the map edge connection margin used to weld the compatible region edges.
+
+
+
+
+
+
+
+ Sets the map up direction.
+
+
+
+
+
+
+ Process the collision avoidance agents.
+ The result of this process is needed by the physics server, so this must be called in the main thread.
+ [b]Note:[/b] This function is not thread safe.
+
+
+
+
+
+
+
+ Bakes the navigation mesh.
+
+
+
+
+
+ Creates a new region.
+
+
+
+
+
+
+
+ Sets the map for the region.
+
+
+
+
+
+
+
+ Sets the navigation mesh for the region.
+
+
+
+
+
+
+
+ Sets the global transformation for the region.
+
+
+
+
+
+
+ Control activation of this server.
+
+
+
+
+
+
diff --git a/editor/editor_node.cpp b/editor/editor_node.cpp
index 6d2321aeb541..bd5c87c667f4 100644
--- a/editor/editor_node.cpp
+++ b/editor/editor_node.cpp
@@ -64,6 +64,8 @@
#include "scene/gui/texture_progress.h"
#include "scene/gui/tool_button.h"
#include "scene/resources/packed_scene.h"
+#include "servers/navigation_2d_server.h"
+#include "servers/navigation_server.h"
#include "servers/physics_2d_server.h"
#include "editor/audio_stream_preview.h"
@@ -5743,6 +5745,8 @@ EditorNode::EditorNode() {
VisualServer::get_singleton()->textures_keep_original(true);
VisualServer::get_singleton()->set_debug_generate_wireframes(true);
+ NavigationServer::get_singleton()->set_active(false); // no nav by default if editor
+
PhysicsServer::get_singleton()->set_active(false); // no physics by default if editor
Physics2DServer::get_singleton()->set_active(false); // no physics by default if editor
ScriptServer::set_scripting_enabled(false); // no scripting by default if editor
diff --git a/editor/plugins/mesh_instance_editor_plugin.cpp b/editor/plugins/mesh_instance_editor_plugin.cpp
index ead6fad6da62..7acfb55206fc 100644
--- a/editor/plugins/mesh_instance_editor_plugin.cpp
+++ b/editor/plugins/mesh_instance_editor_plugin.cpp
@@ -32,7 +32,7 @@
#include "editor/editor_scale.h"
#include "scene/3d/collision_shape.h"
-#include "scene/3d/navigation_mesh.h"
+#include "scene/3d/navigation_mesh_instance.h"
#include "scene/3d/physics_body.h"
#include "scene/gui/box_container.h"
#include "spatial_editor_plugin.h"
diff --git a/editor/plugins/mesh_library_editor_plugin.cpp b/editor/plugins/mesh_library_editor_plugin.cpp
index 661f13d3c905..d4ebe98ecdde 100644
--- a/editor/plugins/mesh_library_editor_plugin.cpp
+++ b/editor/plugins/mesh_library_editor_plugin.cpp
@@ -34,7 +34,7 @@
#include "editor/editor_settings.h"
#include "main/main.h"
#include "scene/3d/mesh_instance.h"
-#include "scene/3d/navigation_mesh.h"
+#include "scene/3d/navigation_mesh_instance.h"
#include "scene/3d/physics_body.h"
#include "scene/main/viewport.h"
#include "scene/resources/packed_scene.h"
diff --git a/editor/project_manager.cpp b/editor/project_manager.cpp
index acc21cb8d253..d0f97867ef82 100644
--- a/editor/project_manager.cpp
+++ b/editor/project_manager.cpp
@@ -51,6 +51,7 @@
#include "scene/gui/separator.h"
#include "scene/gui/texture_rect.h"
#include "scene/gui/tool_button.h"
+#include "servers/navigation_server.h"
// Used to test for GLES3 support.
#ifndef SERVER_ENABLED
@@ -2375,6 +2376,7 @@ ProjectManager::ProjectManager() {
}
// Turn off some servers we aren't going to be using in the Project Manager.
+ NavigationServer::get_singleton()->set_active(false);
PhysicsServer::get_singleton()->set_active(false);
Physics2DServer::get_singleton()->set_active(false);
diff --git a/editor/spatial_editor_gizmos.cpp b/editor/spatial_editor_gizmos.cpp
index 6d1a04eafd87..56af8d849d3f 100644
--- a/editor/spatial_editor_gizmos.cpp
+++ b/editor/spatial_editor_gizmos.cpp
@@ -41,7 +41,7 @@
#include "scene/3d/light.h"
#include "scene/3d/listener.h"
#include "scene/3d/mesh_instance.h"
-#include "scene/3d/navigation_mesh.h"
+#include "scene/3d/navigation_mesh_instance.h"
#include "scene/3d/occluder.h"
#include "scene/3d/particles.h"
#include "scene/3d/physics_joint.h"
diff --git a/main/main.cpp b/main/main.cpp
index c9a846155b9c..7542996b1531 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -66,6 +66,8 @@
#include "servers/arvr_server.h"
#include "servers/audio_server.h"
#include "servers/camera_server.h"
+#include "servers/navigation_2d_server.h"
+#include "servers/navigation_server.h"
#include "servers/physics_2d_server.h"
#include "servers/physics_server.h"
#include "servers/register_server_types.h"
@@ -110,6 +112,8 @@ static ARVRServer *arvr_server = nullptr;
static PhysicsServer *physics_server = nullptr;
static Physics2DServer *physics_2d_server = nullptr;
static VisualServerCallbacks *visual_server_callbacks = nullptr;
+static NavigationServer *navigation_server = nullptr;
+static Navigation2DServer *navigation_2d_server = nullptr;
// We error out if setup2() doesn't turn this true
static bool _start_success = false;
@@ -214,6 +218,19 @@ void finalize_physics() {
memdelete(physics_2d_server);
}
+void initialize_navigation_server() {
+ ERR_FAIL_COND(navigation_server != nullptr);
+ navigation_server = NavigationServerManager::new_default_server();
+ navigation_2d_server = memnew(Navigation2DServer);
+}
+
+void finalize_navigation_server() {
+ memdelete(navigation_server);
+ navigation_server = nullptr;
+ memdelete(navigation_2d_server);
+ navigation_2d_server = nullptr;
+}
+
//#define DEBUG_INIT
#ifdef DEBUG_INIT
#define MAIN_PRINT(m_txt) print_line(m_txt)
@@ -1523,6 +1540,7 @@ Error Main::setup2(Thread::ID p_main_tid_override) {
camera_server = CameraServer::create();
initialize_physics();
+ initialize_navigation_server();
register_server_singletons();
register_driver_types();
@@ -2230,6 +2248,7 @@ bool Main::iteration() {
break;
}
+ NavigationServer::get_singleton_mut()->process(frame_slice * time_scale);
message_queue->flush();
PhysicsServer::get_singleton()->step(frame_slice * time_scale);
@@ -2429,6 +2448,7 @@ void Main::cleanup(bool p_force) {
OS::get_singleton()->finalize();
finalize_physics();
+ finalize_navigation_server();
if (packed_data) {
memdelete(packed_data);
diff --git a/modules/gridmap/grid_map.cpp b/modules/gridmap/grid_map.cpp
index 235100bddafd..ccac5db6d7f7 100644
--- a/modules/gridmap/grid_map.cpp
+++ b/modules/gridmap/grid_map.cpp
@@ -36,6 +36,7 @@
#include "scene/resources/mesh_library.h"
#include "scene/resources/surface_tool.h"
#include "scene/scene_string_names.h"
+#include "servers/navigation_server.h"
#include "servers/visual_server.h"
bool GridMap::_set(const StringName &p_name, const Variant &p_value) {
@@ -406,12 +407,10 @@ bool GridMap::_octant_update(const OctantKey &p_key) {
}
//erase navigation
- if (navigation) {
- for (Map::Element *E = g.navmesh_ids.front(); E; E = E->next()) {
- navigation->navmesh_remove(E->get().id);
- }
- g.navmesh_ids.clear();
+ for (Map::Element *E = g.navmesh_ids.front(); E; E = E->next()) {
+ NavigationServer::get_singleton()->free(E->get().region);
}
+ g.navmesh_ids.clear();
//erase multimeshes
@@ -490,9 +489,11 @@ bool GridMap::_octant_update(const OctantKey &p_key) {
nm.xform = xform * mesh_library->get_item_navmesh_transform(c.item);
if (navigation) {
- nm.id = navigation->navmesh_add(navmesh, xform, this);
- } else {
- nm.id = -1;
+ RID region = NavigationServer::get_singleton()->region_create();
+ NavigationServer::get_singleton()->region_set_navmesh(region, navmesh);
+ NavigationServer::get_singleton()->region_set_transform(region, navigation->get_global_transform() * nm.xform);
+ NavigationServer::get_singleton()->region_set_map(region, navigation->get_rid());
+ nm.region = region;
}
g.navmesh_ids[E->get()] = nm;
}
@@ -579,10 +580,14 @@ void GridMap::_octant_enter_world(const OctantKey &p_key) {
if (navigation && mesh_library.is_valid()) {
for (Map::Element *F = g.navmesh_ids.front(); F; F = F->next()) {
- if (cell_map.has(F->key()) && F->get().id < 0) {
+ if (cell_map.has(F->key()) && F->get().region.is_valid() == false) {
Ref nm = mesh_library->get_item_navmesh(cell_map[F->key()].item);
if (nm.is_valid()) {
- F->get().id = navigation->navmesh_add(nm, F->get().xform, this);
+ RID region = NavigationServer::get_singleton()->region_create();
+ NavigationServer::get_singleton()->region_set_navmesh(region, nm);
+ NavigationServer::get_singleton()->region_set_transform(region, navigation->get_global_transform() * F->get().xform);
+ NavigationServer::get_singleton()->region_set_map(region, navigation->get_rid());
+ F->get().region = region;
}
}
}
@@ -605,9 +610,9 @@ void GridMap::_octant_exit_world(const OctantKey &p_key) {
if (navigation) {
for (Map::Element *F = g.navmesh_ids.front(); F; F = F->next()) {
- if (F->get().id >= 0) {
- navigation->navmesh_remove(F->get().id);
- F->get().id = -1;
+ if (F->get().region.is_valid()) {
+ NavigationServer::get_singleton()->free(F->get().region);
+ F->get().region = RID();
}
}
}
@@ -632,13 +637,11 @@ void GridMap::_octant_clean_up(const OctantKey &p_key) {
g.static_body = RID();
}
- //erase navigation
- if (navigation) {
- for (Map::Element *E = g.navmesh_ids.front(); E; E = E->next()) {
- navigation->navmesh_remove(E->get().id);
- }
- g.navmesh_ids.clear();
+ // Erase navigation
+ for (Map::Element *E = g.navmesh_ids.front(); E; E = E->next()) {
+ NavigationServer::get_singleton()->free(E->get().region);
}
+ g.navmesh_ids.clear();
//erase multimeshes
diff --git a/modules/gridmap/grid_map.h b/modules/gridmap/grid_map.h
index d7afc8c99cbe..a5c2e3b21437 100644
--- a/modules/gridmap/grid_map.h
+++ b/modules/gridmap/grid_map.h
@@ -86,7 +86,7 @@ class GridMap : public Spatial {
*/
struct Octant {
struct NavMesh {
- int id;
+ RID region;
Transform xform;
};
diff --git a/modules/recast/SCsub b/modules/navigation/SCsub
similarity index 60%
rename from modules/recast/SCsub
rename to modules/navigation/SCsub
index 050ca23082e2..28fd06d92e05 100644
--- a/modules/recast/SCsub
+++ b/modules/navigation/SCsub
@@ -3,12 +3,13 @@
Import("env")
Import("env_modules")
-env_recast = env_modules.Clone()
+env_navigation = env_modules.Clone()
# Thirdparty source files
thirdparty_obj = []
+# Recast
if env["builtin_recast"]:
thirdparty_dir = "#thirdparty/recastnavigation/Recast/"
thirdparty_sources = [
@@ -26,18 +27,36 @@ if env["builtin_recast"]:
]
thirdparty_sources = [thirdparty_dir + file for file in thirdparty_sources]
- env_recast.Prepend(CPPPATH=[thirdparty_dir + "/Include"])
+ env_navigation.Prepend(CPPPATH=[thirdparty_dir + "Include"])
- env_thirdparty = env_recast.Clone()
+ env_thirdparty = env_navigation.Clone()
env_thirdparty.disable_warnings()
env_thirdparty.add_source_files(thirdparty_obj, thirdparty_sources)
env.modules_sources += thirdparty_obj
+# RVO2
+if env["builtin_rvo2"]:
+ thirdparty_dir = "#thirdparty/rvo2/"
+ thirdparty_sources = [
+ "Agent.cpp",
+ "KdTree.cpp",
+ ]
+ thirdparty_sources = [thirdparty_dir + file for file in thirdparty_sources]
+
+ env_navigation.Prepend(CPPPATH=[thirdparty_dir])
+
+ env_thirdparty = env_navigation.Clone()
+ env_thirdparty.disable_warnings()
+ env_thirdparty.add_source_files(thirdparty_obj, thirdparty_sources)
+ env.modules_sources += thirdparty_obj
+
+
# Godot source files
module_obj = []
-env_recast.add_source_files(module_obj, "*.cpp")
+env_navigation.add_source_files(module_obj, "*.cpp")
+
env.modules_sources += module_obj
# Needed to force rebuilding the module files when the thirdparty library is updated.
diff --git a/modules/recast/config.py b/modules/navigation/config.py
similarity index 71%
rename from modules/recast/config.py
rename to modules/navigation/config.py
index 53b8f2f2e360..d22f9454ed25 100644
--- a/modules/recast/config.py
+++ b/modules/navigation/config.py
@@ -1,5 +1,5 @@
def can_build(env, platform):
- return env["tools"]
+ return True
def configure(env):
diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
new file mode 100644
index 000000000000..e220cb30f954
--- /dev/null
+++ b/modules/navigation/godot_navigation_server.cpp
@@ -0,0 +1,503 @@
+/*************************************************************************/
+/* godot_navigation_server.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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. */
+/*************************************************************************/
+
+#include "godot_navigation_server.h"
+
+#include "core/os/mutex.h"
+
+#ifndef _3D_DISABLED
+#include "navigation_mesh_generator.h"
+#endif
+
+/**
+ @author AndreaCatania
+*/
+
+/// Creates a struct for each function and a function that once called creates
+/// an instance of that struct with the submited parameters.
+/// Then, that struct is stored in an array; the `sync` function consume that array.
+
+#define COMMAND_1(F_NAME, T_0, D_0) \
+ struct MERGE(F_NAME, _command) : public SetCommand { \
+ T_0 d_0; \
+ MERGE(F_NAME, _command) \
+ (T_0 p_d_0) : \
+ d_0(p_d_0) {} \
+ virtual void exec(GodotNavigationServer *server) { \
+ server->MERGE(_cmd_, F_NAME)(d_0); \
+ } \
+ }; \
+ void GodotNavigationServer::F_NAME(T_0 D_0) const { \
+ auto cmd = memnew(MERGE(F_NAME, _command)( \
+ D_0)); \
+ add_command(cmd); \
+ } \
+ void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0)
+
+#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
+ struct MERGE(F_NAME, _command) : public SetCommand { \
+ T_0 d_0; \
+ T_1 d_1; \
+ MERGE(F_NAME, _command) \
+ ( \
+ T_0 p_d_0, \
+ T_1 p_d_1) : \
+ d_0(p_d_0), \
+ d_1(p_d_1) {} \
+ virtual void exec(GodotNavigationServer *server) { \
+ server->MERGE(_cmd_, F_NAME)(d_0, d_1); \
+ } \
+ }; \
+ void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \
+ auto cmd = memnew(MERGE(F_NAME, _command)( \
+ D_0, \
+ D_1)); \
+ add_command(cmd); \
+ } \
+ void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
+
+#define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \
+ struct MERGE(F_NAME, _command) : public SetCommand { \
+ T_0 d_0; \
+ T_1 d_1; \
+ T_2 d_2; \
+ T_3 d_3; \
+ MERGE(F_NAME, _command) \
+ ( \
+ T_0 p_d_0, \
+ T_1 p_d_1, \
+ T_2 p_d_2, \
+ T_3 p_d_3) : \
+ d_0(p_d_0), \
+ d_1(p_d_1), \
+ d_2(p_d_2), \
+ d_3(p_d_3) {} \
+ virtual void exec(GodotNavigationServer *server) { \
+ server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \
+ } \
+ }; \
+ void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) const { \
+ auto cmd = memnew(MERGE(F_NAME, _command)( \
+ D_0, \
+ D_1, \
+ D_2, \
+ D_3)); \
+ add_command(cmd); \
+ } \
+ void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
+
+GodotNavigationServer::GodotNavigationServer() :
+ NavigationServer(),
+ active(true) {
+}
+
+GodotNavigationServer::~GodotNavigationServer() {
+ flush_queries();
+}
+
+void GodotNavigationServer::add_command(SetCommand *command) const {
+ auto mut_this = const_cast(this);
+ {
+ MutexLock lock(commands_mutex);
+ mut_this->commands.push_back(command);
+ }
+}
+
+RID GodotNavigationServer::map_create() const {
+ auto mut_this = const_cast(this);
+ MutexLock lock(mut_this->operations_mutex);
+ NavMap *space = memnew(NavMap);
+ RID rid = map_owner.make_rid(space);
+ space->set_self(rid);
+ return rid;
+}
+
+COMMAND_2(map_set_active, RID, p_map, bool, p_active) {
+ NavMap *map = map_owner.get(p_map);
+ ERR_FAIL_COND(map == nullptr);
+
+ if (p_active) {
+ if (!map_is_active(p_map)) {
+ active_maps.push_back(map);
+ }
+ } else {
+ active_maps.erase(map);
+ }
+}
+
+bool GodotNavigationServer::map_is_active(RID p_map) const {
+ NavMap *map = map_owner.get(p_map);
+ ERR_FAIL_COND_V(map == nullptr, false);
+
+ return active_maps.find(map) >= 0;
+}
+
+COMMAND_2(map_set_up, RID, p_map, Vector3, p_up) {
+ NavMap *map = map_owner.get(p_map);
+ ERR_FAIL_COND(map == nullptr);
+
+ map->set_up(p_up);
+}
+
+Vector3 GodotNavigationServer::map_get_up(RID p_map) const {
+ const NavMap *map = map_owner.getornull(p_map);
+ ERR_FAIL_COND_V(map == nullptr, Vector3());
+
+ return map->get_up();
+}
+
+COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size) {
+ NavMap *map = map_owner.get(p_map);
+ ERR_FAIL_COND(map == nullptr);
+
+ map->set_cell_size(p_cell_size);
+}
+
+real_t GodotNavigationServer::map_get_cell_size(RID p_map) const {
+ const NavMap *map = map_owner.getornull(p_map);
+ ERR_FAIL_COND_V(map == nullptr, 0);
+
+ return map->get_cell_size();
+}
+
+COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin) {
+ NavMap *map = map_owner.get(p_map);
+ ERR_FAIL_COND(map == nullptr);
+
+ map->set_edge_connection_margin(p_connection_margin);
+}
+
+real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const {
+ const NavMap *map = map_owner.getornull(p_map);
+ ERR_FAIL_COND_V(map == nullptr, 0);
+
+ return map->get_edge_connection_margin();
+}
+
+Vector GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize) const {
+ NavMap *map = map_owner.get(p_map);
+ ERR_FAIL_COND_V(map == nullptr, Vector());
+
+ return map->get_path(p_origin, p_destination, p_optimize);
+}
+
+Vector3 GodotNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
+ const NavMap *map = map_owner.getornull(p_map);
+ ERR_FAIL_COND_V(map == nullptr, Vector3());
+
+ return map->get_closest_point_to_segment(p_from, p_to, p_use_collision);
+}
+
+Vector3 GodotNavigationServer::map_get_closest_point(RID p_map, const Vector3 &p_point) const {
+ const NavMap *map = map_owner.getornull(p_map);
+ ERR_FAIL_COND_V(map == nullptr, Vector3());
+
+ return map->get_closest_point(p_point);
+}
+
+Vector3 GodotNavigationServer::map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const {
+ const NavMap *map = map_owner.getornull(p_map);
+ ERR_FAIL_COND_V(map == nullptr, Vector3());
+
+ return map->get_closest_point_normal(p_point);
+}
+
+RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const {
+ const NavMap *map = map_owner.getornull(p_map);
+ ERR_FAIL_COND_V(map == nullptr, RID());
+
+ return map->get_closest_point_owner(p_point);
+}
+
+RID GodotNavigationServer::region_create() const {
+ auto mut_this = const_cast(this);
+ MutexLock lock(mut_this->operations_mutex);
+ NavRegion *reg = memnew(NavRegion);
+ RID rid = region_owner.make_rid(reg);
+ reg->set_self(rid);
+ return rid;
+}
+
+COMMAND_2(region_set_map, RID, p_region, RID, p_map) {
+ NavRegion *region = region_owner.get(p_region);
+ ERR_FAIL_COND(region == nullptr);
+
+ if (region->get_map() != nullptr) {
+ if (region->get_map()->get_self() == p_map) {
+ return; // Pointless
+ }
+
+ region->get_map()->remove_region(region);
+ region->set_map(nullptr);
+ }
+
+ if (p_map.is_valid()) {
+ NavMap *map = map_owner.get(p_map);
+ ERR_FAIL_COND(map == nullptr);
+
+ map->add_region(region);
+ region->set_map(map);
+ }
+}
+
+COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform) {
+ NavRegion *region = region_owner.get(p_region);
+ ERR_FAIL_COND(region == nullptr);
+
+ region->set_transform(p_transform);
+}
+
+COMMAND_2(region_set_navmesh, RID, p_region, Ref, p_nav_mesh) {
+ NavRegion *region = region_owner.get(p_region);
+ ERR_FAIL_COND(region == nullptr);
+
+ region->set_mesh(p_nav_mesh);
+}
+
+void GodotNavigationServer::region_bake_navmesh(Ref r_mesh, Node *p_node) const {
+ ERR_FAIL_COND(r_mesh.is_null());
+ ERR_FAIL_COND(p_node == nullptr);
+
+#ifndef _3D_DISABLED
+ NavigationMeshGenerator::get_singleton()->clear(r_mesh);
+ NavigationMeshGenerator::get_singleton()->bake(r_mesh, p_node);
+#endif
+}
+
+RID GodotNavigationServer::agent_create() const {
+ auto mut_this = const_cast(this);
+ MutexLock lock(mut_this->operations_mutex);
+ RvoAgent *agent = memnew(RvoAgent());
+ RID rid = agent_owner.make_rid(agent);
+ agent->set_self(rid);
+ return rid;
+}
+
+COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ if (agent->get_map()) {
+ if (agent->get_map()->get_self() == p_map) {
+ return; // Pointless
+ }
+
+ agent->get_map()->remove_agent(agent);
+ }
+
+ agent->set_map(nullptr);
+
+ if (p_map.is_valid()) {
+ NavMap *map = map_owner.get(p_map);
+ ERR_FAIL_COND(map == nullptr);
+
+ agent->set_map(map);
+ map->add_agent(agent);
+
+ if (agent->has_callback()) {
+ map->set_agent_as_controlled(agent);
+ }
+ }
+}
+
+COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ agent->get_agent()->neighborDist_ = p_dist;
+}
+
+COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ agent->get_agent()->maxNeighbors_ = p_count;
+}
+
+COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ agent->get_agent()->timeHorizon_ = p_time;
+}
+
+COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ agent->get_agent()->radius_ = p_radius;
+}
+
+COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ agent->get_agent()->maxSpeed_ = p_max_speed;
+}
+
+COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ agent->get_agent()->velocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
+}
+
+COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ agent->get_agent()->prefVelocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
+}
+
+COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ agent->get_agent()->position_ = RVO::Vector3(p_position.x, p_position.y, p_position.z);
+}
+
+COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ agent->get_agent()->ignore_y_ = p_ignore;
+}
+
+bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND_V(agent == nullptr, false);
+
+ return agent->is_map_changed();
+}
+
+COMMAND_4(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata) {
+ RvoAgent *agent = agent_owner.get(p_agent);
+ ERR_FAIL_COND(agent == nullptr);
+
+ agent->set_callback(p_receiver == nullptr ? 0 : p_receiver->get_instance_id(), p_method, p_udata);
+
+ if (agent->get_map()) {
+ if (p_receiver == nullptr) {
+ agent->get_map()->remove_agent_as_controlled(agent);
+ } else {
+ agent->get_map()->set_agent_as_controlled(agent);
+ }
+ }
+}
+
+COMMAND_1(free, RID, p_object) {
+ if (map_owner.owns(p_object)) {
+ NavMap *map = map_owner.get(p_object);
+
+ // Removes any assigned region
+ std::vector regions = map->get_regions();
+ for (size_t i(0); i < regions.size(); i++) {
+ map->remove_region(regions[i]);
+ regions[i]->set_map(nullptr);
+ }
+
+ // Remove any assigned agent
+ std::vector agents = map->get_agents();
+ for (size_t i(0); i < agents.size(); i++) {
+ map->remove_agent(agents[i]);
+ agents[i]->set_map(nullptr);
+ }
+
+ active_maps.erase(map);
+ map_owner.free(p_object);
+ memdelete(map);
+
+ } else if (region_owner.owns(p_object)) {
+ NavRegion *region = region_owner.get(p_object);
+
+ // Removes this region from the map if assigned
+ if (region->get_map() != nullptr) {
+ region->get_map()->remove_region(region);
+ region->set_map(nullptr);
+ }
+
+ region_owner.free(p_object);
+ memdelete(region);
+
+ } else if (agent_owner.owns(p_object)) {
+ RvoAgent *agent = agent_owner.get(p_object);
+
+ // Removes this agent from the map if assigned
+ if (agent->get_map() != nullptr) {
+ agent->get_map()->remove_agent(agent);
+ agent->set_map(nullptr);
+ }
+
+ agent_owner.free(p_object);
+ memdelete(agent);
+
+ } else {
+ ERR_FAIL_COND("Invalid ID.");
+ }
+}
+
+void GodotNavigationServer::set_active(bool p_active) const {
+ auto mut_this = const_cast(this);
+ MutexLock lock(mut_this->operations_mutex);
+ mut_this->active = p_active;
+}
+
+void GodotNavigationServer::flush_queries() {
+ // In C++ we can't be sure that this is performed in the main thread
+ // even with mutable functions.
+ MutexLock lock(commands_mutex);
+ MutexLock lock2(operations_mutex);
+ for (size_t i(0); i < commands.size(); i++) {
+ commands[i]->exec(this);
+ memdelete(commands[i]);
+ }
+ commands.clear();
+}
+
+void GodotNavigationServer::process(real_t p_delta_time) {
+ flush_queries();
+
+ if (!active) {
+ return;
+ }
+
+ // In c++ we can't be sure that this is performed in the main thread
+ // even with mutable functions.
+ MutexLock lock(operations_mutex);
+ for (int i(0); i < active_maps.size(); i++) {
+ active_maps[i]->sync();
+ active_maps[i]->step(p_delta_time);
+ active_maps[i]->dispatch_callbacks();
+ }
+}
+
+#undef COMMAND_1
+#undef COMMAND_2
+#undef COMMAND_4
diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h
new file mode 100644
index 000000000000..77d9d9c06755
--- /dev/null
+++ b/modules/navigation/godot_navigation_server.h
@@ -0,0 +1,139 @@
+/*************************************************************************/
+/* godot_navigation_server.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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 GODOT_NAVIGATION_SERVER_H
+#define GODOT_NAVIGATION_SERVER_H
+
+#include "servers/navigation_server.h"
+
+#include "nav_map.h"
+#include "nav_region.h"
+#include "rvo_agent.h"
+
+/**
+ @author AndreaCatania
+*/
+
+/// The commands are functions executed during the `sync` phase.
+
+#define MERGE_INTERNAL(A, B) A##B
+#define MERGE(A, B) MERGE_INTERNAL(A, B)
+
+#define COMMAND_1(F_NAME, T_0, D_0) \
+ virtual void F_NAME(T_0 D_0) const; \
+ void MERGE(_cmd_, F_NAME)(T_0 D_0)
+
+#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
+ virtual void F_NAME(T_0 D_0, T_1 D_1) const; \
+ void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
+
+#define COMMAND_4_DEF(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, D_3_DEF) \
+ virtual void F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3 = D_3_DEF) const; \
+ void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
+
+class GodotNavigationServer;
+
+struct SetCommand {
+ virtual ~SetCommand() {}
+ virtual void exec(GodotNavigationServer *server) = 0;
+};
+
+class GodotNavigationServer : public NavigationServer {
+ Mutex commands_mutex;
+ /// Mutex used to make any operation threadsafe.
+ Mutex operations_mutex;
+
+ std::vector commands;
+
+ mutable RID_Owner map_owner;
+ mutable RID_Owner region_owner;
+ mutable RID_Owner agent_owner;
+
+ bool active;
+ Vector active_maps;
+
+public:
+ GodotNavigationServer();
+ virtual ~GodotNavigationServer();
+
+ void add_command(SetCommand *command) const;
+
+ virtual RID map_create() const;
+ COMMAND_2(map_set_active, RID, p_map, bool, p_active);
+ virtual bool map_is_active(RID p_map) const;
+
+ COMMAND_2(map_set_up, RID, p_map, Vector3, p_up);
+ virtual Vector3 map_get_up(RID p_map) const;
+
+ COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size);
+ virtual real_t map_get_cell_size(RID p_map) const;
+
+ COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
+ virtual real_t map_get_edge_connection_margin(RID p_map) const;
+
+ virtual Vector map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize) const;
+
+ virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const;
+ virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const;
+ virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const;
+ virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const;
+
+ virtual RID region_create() const;
+ COMMAND_2(region_set_map, RID, p_region, RID, p_map);
+ COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform);
+ COMMAND_2(region_set_navmesh, RID, p_region, Ref, p_nav_mesh);
+ virtual void region_bake_navmesh(Ref r_mesh, Node *p_node) const;
+
+ virtual RID agent_create() const;
+ COMMAND_2(agent_set_map, RID, p_agent, RID, p_map);
+ COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist);
+ COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count);
+ COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time);
+ COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius);
+ COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed);
+ COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity);
+ COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity);
+ COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position);
+ COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore);
+ virtual bool agent_is_map_changed(RID p_agent) const;
+ COMMAND_4_DEF(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata, Variant());
+
+ COMMAND_1(free, RID, p_object);
+
+ virtual void set_active(bool p_active) const;
+ void flush_queries();
+ virtual void process(real_t p_delta_time);
+};
+
+#undef COMMAND_1
+#undef COMMAND_2
+#undef COMMAND_4_DEF
+
+#endif // GODOT_NAVIGATION_SERVER_H
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
new file mode 100644
index 000000000000..22fdd13e651c
--- /dev/null
+++ b/modules/navigation/nav_map.cpp
@@ -0,0 +1,784 @@
+/*************************************************************************/
+/* nav_map.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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. */
+/*************************************************************************/
+
+#include "nav_map.h"
+
+#include "core/os/threaded_array_processor.h"
+#include "nav_region.h"
+#include "rvo_agent.h"
+#include
+
+/**
+ @author AndreaCatania
+*/
+
+#define USE_ENTRY_POINT
+
+NavMap::NavMap() :
+ up(0, 1, 0),
+ cell_size(0.3),
+ edge_connection_margin(5.0),
+ regenerate_polygons(true),
+ regenerate_links(true),
+ agents_dirty(false),
+ deltatime(0.0),
+ map_update_id(0) {}
+
+void NavMap::set_up(Vector3 p_up) {
+ up = p_up;
+ regenerate_polygons = true;
+}
+
+void NavMap::set_cell_size(float p_cell_size) {
+ cell_size = p_cell_size;
+ regenerate_polygons = true;
+}
+
+void NavMap::set_edge_connection_margin(float p_edge_connection_margin) {
+ edge_connection_margin = p_edge_connection_margin;
+ regenerate_links = true;
+}
+
+gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
+ const int x = int(Math::floor(p_pos.x / cell_size));
+ const int y = int(Math::floor(p_pos.y / cell_size));
+ const int z = int(Math::floor(p_pos.z / cell_size));
+
+ gd::PointKey p;
+ p.key = 0;
+ p.x = x;
+ p.y = y;
+ p.z = z;
+ return p;
+}
+
+Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize) const {
+ const gd::Polygon *begin_poly = NULL;
+ const gd::Polygon *end_poly = NULL;
+ Vector3 begin_point;
+ Vector3 end_point;
+ float begin_d = 1e20;
+ float end_d = 1e20;
+
+ // Find the initial poly and the end poly on this map.
+ for (size_t i(0); i < polygons.size(); i++) {
+ const gd::Polygon &p = polygons[i];
+
+ // For each point cast a face and check the distance between the origin/destination
+ for (size_t point_id = 2; point_id < p.points.size(); point_id++) {
+ Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
+ Vector3 spoint = f.get_closest_point_to(p_origin);
+ float dpoint = spoint.distance_to(p_origin);
+ if (dpoint < begin_d) {
+ begin_d = dpoint;
+ begin_poly = &p;
+ begin_point = spoint;
+ }
+
+ spoint = f.get_closest_point_to(p_destination);
+ dpoint = spoint.distance_to(p_destination);
+ if (dpoint < end_d) {
+ end_d = dpoint;
+ end_poly = &p;
+ end_point = spoint;
+ }
+ }
+ }
+
+ if (!begin_poly || !end_poly) {
+ // No path
+ return Vector();
+ }
+
+ if (begin_poly == end_poly) {
+ Vector path;
+ path.resize(2);
+ path.write[0] = begin_point;
+ path.write[1] = end_point;
+ return path;
+ }
+
+ std::vector navigation_polys;
+ navigation_polys.reserve(polygons.size() * 0.75);
+
+ // The elements indices in the `navigation_polys`.
+ int least_cost_id(-1);
+ List open_list;
+ bool found_route = false;
+
+ navigation_polys.push_back(gd::NavigationPoly(begin_poly));
+ {
+ least_cost_id = 0;
+ gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id];
+ least_cost_poly->self_id = least_cost_id;
+ least_cost_poly->entry = begin_point;
+ }
+
+ open_list.push_back(0);
+
+ const gd::Polygon *reachable_end = NULL;
+ float reachable_d = 1e30;
+ bool is_reachable = true;
+
+ while (found_route == false) {
+ {
+ // Takes the current least_cost_poly neighbors and compute the traveled_distance of each
+ for (size_t i = 0; i < navigation_polys[least_cost_id].poly->edges.size(); i++) {
+ gd::NavigationPoly *least_cost_poly = &navigation_polys[least_cost_id];
+
+ const gd::Edge &edge = least_cost_poly->poly->edges[i];
+ if (!edge.other_polygon)
+ continue;
+
+#ifdef USE_ENTRY_POINT
+ Vector3 edge_line[2] = {
+ least_cost_poly->poly->points[i].pos,
+ least_cost_poly->poly->points[(i + 1) % least_cost_poly->poly->points.size()].pos
+ };
+
+ const Vector3 new_entry = Geometry::get_closest_point_to_segment(least_cost_poly->entry, edge_line);
+ const float new_distance = least_cost_poly->entry.distance_to(new_entry) + least_cost_poly->traveled_distance;
+#else
+ const float new_distance = least_cost_poly->poly->center.distance_to(edge.other_polygon->center) + least_cost_poly->traveled_distance;
+#endif
+
+ auto it = std::find(
+ navigation_polys.begin(),
+ navigation_polys.end(),
+ gd::NavigationPoly(edge.other_polygon));
+
+ if (it != navigation_polys.end()) {
+ // Oh this was visited already, can we win the cost?
+ if (it->traveled_distance > new_distance) {
+ it->prev_navigation_poly_id = least_cost_id;
+ it->back_navigation_edge = edge.other_edge;
+ it->traveled_distance = new_distance;
+#ifdef USE_ENTRY_POINT
+ it->entry = new_entry;
+#endif
+ }
+ } else {
+ // Add to open neighbours
+
+ navigation_polys.push_back(gd::NavigationPoly(edge.other_polygon));
+ gd::NavigationPoly *np = &navigation_polys[navigation_polys.size() - 1];
+
+ np->self_id = navigation_polys.size() - 1;
+ np->prev_navigation_poly_id = least_cost_id;
+ np->back_navigation_edge = edge.other_edge;
+ np->traveled_distance = new_distance;
+#ifdef USE_ENTRY_POINT
+ np->entry = new_entry;
+#endif
+ open_list.push_back(navigation_polys.size() - 1);
+ }
+ }
+ }
+
+ // Removes the least cost polygon from the open list so we can advance.
+ open_list.erase(least_cost_id);
+
+ if (open_list.size() == 0) {
+ // When the open list is empty at this point the End Polygon is not reachable
+ // so use the further reachable polygon
+ ERR_BREAK_MSG(is_reachable == false, "It's not expect to not find the most reachable polygons");
+ is_reachable = false;
+ if (reachable_end == NULL) {
+ // The path is not found and there is not a way out.
+ break;
+ }
+
+ // Set as end point the furthest reachable point.
+ end_poly = reachable_end;
+ end_d = 1e20;
+ for (size_t point_id = 2; point_id < end_poly->points.size(); point_id++) {
+ Face3 f(end_poly->points[point_id - 2].pos, end_poly->points[point_id - 1].pos, end_poly->points[point_id].pos);
+ Vector3 spoint = f.get_closest_point_to(p_destination);
+ float dpoint = spoint.distance_to(p_destination);
+ if (dpoint < end_d) {
+ end_point = spoint;
+ end_d = dpoint;
+ }
+ }
+
+ // Reset open and navigation_polys
+ gd::NavigationPoly np = navigation_polys[0];
+ navigation_polys.clear();
+ navigation_polys.push_back(np);
+ open_list.clear();
+ open_list.push_back(0);
+
+ reachable_end = NULL;
+
+ continue;
+ }
+
+ // Now take the new least_cost_poly from the open list.
+ least_cost_id = -1;
+ float least_cost = 1e30;
+
+ for (auto element = open_list.front(); element != NULL; element = element->next()) {
+ gd::NavigationPoly *np = &navigation_polys[element->get()];
+ float cost = np->traveled_distance;
+#ifdef USE_ENTRY_POINT
+ cost += np->entry.distance_to(end_point);
+#else
+ cost += np->poly->center.distance_to(end_point);
+#endif
+ if (cost < least_cost) {
+ least_cost_id = np->self_id;
+ least_cost = cost;
+ }
+ }
+
+ // Stores the further reachable end polygon, in case our goal is not reachable.
+ if (is_reachable) {
+ float d = navigation_polys[least_cost_id].entry.distance_to(p_destination);
+ if (reachable_d > d) {
+ reachable_d = d;
+ reachable_end = navigation_polys[least_cost_id].poly;
+ }
+ }
+
+ ERR_BREAK(least_cost_id == -1);
+
+ // Check if we reached the end
+ if (navigation_polys[least_cost_id].poly == end_poly) {
+ // Yep, done!!
+ found_route = true;
+ break;
+ }
+ }
+
+ if (found_route) {
+ Vector path;
+ if (p_optimize) {
+ // String pulling
+
+ gd::NavigationPoly *apex_poly = &navigation_polys[least_cost_id];
+ Vector3 apex_point = end_point;
+ Vector3 portal_left = apex_point;
+ Vector3 portal_right = apex_point;
+ gd::NavigationPoly *left_poly = apex_poly;
+ gd::NavigationPoly *right_poly = apex_poly;
+ gd::NavigationPoly *p = apex_poly;
+
+ path.push_back(end_point);
+
+ while (p) {
+ Vector3 left;
+ Vector3 right;
+
+#define CLOCK_TANGENT(m_a, m_b, m_c) (((m_a) - (m_c)).cross((m_a) - (m_b)))
+
+ if (p->poly == begin_poly) {
+ left = begin_point;
+ right = begin_point;
+ } else {
+ int prev = p->back_navigation_edge;
+ int prev_n = (p->back_navigation_edge + 1) % p->poly->points.size();
+ left = p->poly->points[prev].pos;
+ right = p->poly->points[prev_n].pos;
+
+ //if (CLOCK_TANGENT(apex_point,left,(left+right)*0.5).dot(up) < 0){
+ if (p->poly->clockwise) {
+ SWAP(left, right);
+ }
+ }
+
+ bool skip = false;
+
+ if (CLOCK_TANGENT(apex_point, portal_left, left).dot(up) >= 0) {
+ //process
+ if (portal_left == apex_point || CLOCK_TANGENT(apex_point, left, portal_right).dot(up) > 0) {
+ left_poly = p;
+ portal_left = left;
+ } else {
+ clip_path(navigation_polys, path, apex_poly, portal_right, right_poly);
+
+ apex_point = portal_right;
+ p = right_poly;
+ left_poly = p;
+ apex_poly = p;
+ portal_left = apex_point;
+ portal_right = apex_point;
+ path.push_back(apex_point);
+ skip = true;
+ }
+ }
+
+ if (!skip && CLOCK_TANGENT(apex_point, portal_right, right).dot(up) <= 0) {
+ //process
+ if (portal_right == apex_point || CLOCK_TANGENT(apex_point, right, portal_left).dot(up) < 0) {
+ right_poly = p;
+ portal_right = right;
+ } else {
+ clip_path(navigation_polys, path, apex_poly, portal_left, left_poly);
+
+ apex_point = portal_left;
+ p = left_poly;
+ right_poly = p;
+ apex_poly = p;
+ portal_right = apex_point;
+ portal_left = apex_point;
+ path.push_back(apex_point);
+ }
+ }
+
+ if (p->prev_navigation_poly_id != -1)
+ p = &navigation_polys[p->prev_navigation_poly_id];
+ else
+ // The end
+ p = NULL;
+ }
+
+ if (path[path.size() - 1] != begin_point)
+ path.push_back(begin_point);
+
+ path.invert();
+
+ } else {
+ path.push_back(end_point);
+
+ // Add mid points
+ int np_id = least_cost_id;
+ while (np_id != -1) {
+#ifdef USE_ENTRY_POINT
+ Vector3 point = navigation_polys[np_id].entry;
+#else
+ int prev = navigation_polys[np_id].back_navigation_edge;
+ int prev_n = (navigation_polys[np_id].back_navigation_edge + 1) % navigation_polys[np_id].poly->points.size();
+ Vector3 point = (navigation_polys[np_id].poly->points[prev].pos + navigation_polys[np_id].poly->points[prev_n].pos) * 0.5;
+#endif
+
+ path.push_back(point);
+ np_id = navigation_polys[np_id].prev_navigation_poly_id;
+ }
+
+ path.invert();
+ }
+
+ return path;
+ }
+ return Vector();
+}
+
+Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
+ bool use_collision = p_use_collision;
+ Vector3 closest_point;
+ real_t closest_point_d = 1e20;
+
+ // Find the initial poly and the end poly on this map.
+ for (size_t i(0); i < polygons.size(); i++) {
+ const gd::Polygon &p = polygons[i];
+
+ // For each point cast a face and check the distance to the segment
+ for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
+ const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
+ Vector3 inters;
+ if (f.intersects_segment(p_from, p_to, &inters)) {
+ const real_t d = closest_point_d = p_from.distance_to(inters);
+ if (use_collision == false) {
+ closest_point = inters;
+ use_collision = true;
+ closest_point_d = d;
+ } else if (closest_point_d > d) {
+ closest_point = inters;
+ closest_point_d = d;
+ }
+ }
+ }
+
+ if (use_collision == false) {
+ for (size_t point_id = 0; point_id < p.points.size(); point_id += 1) {
+ Vector3 a, b;
+
+ Geometry::get_closest_points_between_segments(
+ p_from,
+ p_to,
+ p.points[point_id].pos,
+ p.points[(point_id + 1) % p.points.size()].pos,
+ a,
+ b);
+
+ const real_t d = a.distance_to(b);
+ if (d < closest_point_d) {
+ closest_point_d = d;
+ closest_point = b;
+ }
+ }
+ }
+ }
+
+ return closest_point;
+}
+
+Vector3 NavMap::get_closest_point(const Vector3 &p_point) const {
+ // TODO this is really not optimal, please redesign the API to directly return all this data
+
+ Vector3 closest_point;
+ real_t closest_point_d = 1e20;
+
+ // Find the initial poly and the end poly on this map.
+ for (size_t i(0); i < polygons.size(); i++) {
+ const gd::Polygon &p = polygons[i];
+
+ // For each point cast a face and check the distance to the point
+ for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
+ const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
+ const Vector3 inters = f.get_closest_point_to(p_point);
+ const real_t d = inters.distance_to(p_point);
+ if (d < closest_point_d) {
+ closest_point = inters;
+ closest_point_d = d;
+ }
+ }
+ }
+
+ return closest_point;
+}
+
+Vector3 NavMap::get_closest_point_normal(const Vector3 &p_point) const {
+ // TODO this is really not optimal, please redesign the API to directly return all this data
+
+ Vector3 closest_point;
+ Vector3 closest_point_normal;
+ real_t closest_point_d = 1e20;
+
+ // Find the initial poly and the end poly on this map.
+ for (size_t i(0); i < polygons.size(); i++) {
+ const gd::Polygon &p = polygons[i];
+
+ // For each point cast a face and check the distance to the point
+ for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
+ const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
+ const Vector3 inters = f.get_closest_point_to(p_point);
+ const real_t d = inters.distance_to(p_point);
+ if (d < closest_point_d) {
+ closest_point = inters;
+ closest_point_normal = f.get_plane().normal;
+ closest_point_d = d;
+ }
+ }
+ }
+
+ return closest_point_normal;
+}
+
+RID NavMap::get_closest_point_owner(const Vector3 &p_point) const {
+ // TODO this is really not optimal, please redesign the API to directly return all this data
+
+ Vector3 closest_point;
+ RID closest_point_owner;
+ real_t closest_point_d = 1e20;
+
+ // Find the initial poly and the end poly on this map.
+ for (size_t i(0); i < polygons.size(); i++) {
+ const gd::Polygon &p = polygons[i];
+
+ // For each point cast a face and check the distance to the point
+ for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
+ const Face3 f(p.points[point_id - 2].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
+ const Vector3 inters = f.get_closest_point_to(p_point);
+ const real_t d = inters.distance_to(p_point);
+ if (d < closest_point_d) {
+ closest_point = inters;
+ closest_point_owner = p.owner->get_self();
+ closest_point_d = d;
+ }
+ }
+ }
+
+ return closest_point_owner;
+}
+
+void NavMap::add_region(NavRegion *p_region) {
+ regions.push_back(p_region);
+ regenerate_links = true;
+}
+
+void NavMap::remove_region(NavRegion *p_region) {
+ std::vector::iterator it = std::find(regions.begin(), regions.end(), p_region);
+ if (it != regions.end()) {
+ regions.erase(it);
+ regenerate_links = true;
+ }
+}
+
+bool NavMap::has_agent(RvoAgent *agent) const {
+ return std::find(agents.begin(), agents.end(), agent) != agents.end();
+}
+
+void NavMap::add_agent(RvoAgent *agent) {
+ if (!has_agent(agent)) {
+ agents.push_back(agent);
+ agents_dirty = true;
+ }
+}
+
+void NavMap::remove_agent(RvoAgent *agent) {
+ remove_agent_as_controlled(agent);
+ auto it = std::find(agents.begin(), agents.end(), agent);
+ if (it != agents.end()) {
+ agents.erase(it);
+ agents_dirty = true;
+ }
+}
+
+void NavMap::set_agent_as_controlled(RvoAgent *agent) {
+ const bool exist = std::find(controlled_agents.begin(), controlled_agents.end(), agent) != controlled_agents.end();
+ if (!exist) {
+ ERR_FAIL_COND(!has_agent(agent));
+ controlled_agents.push_back(agent);
+ }
+}
+
+void NavMap::remove_agent_as_controlled(RvoAgent *agent) {
+ auto it = std::find(controlled_agents.begin(), controlled_agents.end(), agent);
+ if (it != controlled_agents.end()) {
+ controlled_agents.erase(it);
+ }
+}
+
+void NavMap::sync() {
+ if (regenerate_polygons) {
+ for (size_t r(0); r < regions.size(); r++) {
+ regions[r]->scratch_polygons();
+ }
+ regenerate_links = true;
+ }
+
+ for (size_t r(0); r < regions.size(); r++) {
+ if (regions[r]->sync()) {
+ regenerate_links = true;
+ }
+ }
+
+ if (regenerate_links) {
+ // Copy all region polygons in the map.
+ int count = 0;
+ for (size_t r(0); r < regions.size(); r++) {
+ count += regions[r]->get_polygons().size();
+ }
+
+ polygons.resize(count);
+ count = 0;
+
+ for (size_t r(0); r < regions.size(); r++) {
+ std::copy(
+ regions[r]->get_polygons().data(),
+ regions[r]->get_polygons().data() + regions[r]->get_polygons().size(),
+ polygons.begin() + count);
+
+ count += regions[r]->get_polygons().size();
+ }
+
+ // Connects the `Edges` of all the `Polygons` of all `Regions` each other.
+ Map connections;
+
+ for (size_t poly_id(0); poly_id < polygons.size(); poly_id++) {
+ gd::Polygon &poly(polygons[poly_id]);
+
+ for (size_t p(0); p < poly.points.size(); p++) {
+ int next_point = (p + 1) % poly.points.size();
+ gd::EdgeKey ek(poly.points[p].key, poly.points[next_point].key);
+
+ Map::Element *connection = connections.find(ek);
+ if (!connection) {
+ // Nothing yet
+ gd::Connection c;
+ c.A = &poly;
+ c.A_edge = p;
+ c.B = NULL;
+ c.B_edge = -1;
+ connections[ek] = c;
+
+ } else if (connection->get().B == NULL) {
+ CRASH_COND(connection->get().A == NULL); // Unreachable
+
+ // Connect the two Polygons by this edge
+ connection->get().B = &poly;
+ connection->get().B_edge = p;
+
+ connection->get().A->edges[connection->get().A_edge].this_edge = connection->get().A_edge;
+ connection->get().A->edges[connection->get().A_edge].other_polygon = connection->get().B;
+ connection->get().A->edges[connection->get().A_edge].other_edge = connection->get().B_edge;
+
+ connection->get().B->edges[connection->get().B_edge].this_edge = connection->get().B_edge;
+ connection->get().B->edges[connection->get().B_edge].other_polygon = connection->get().A;
+ connection->get().B->edges[connection->get().B_edge].other_edge = connection->get().A_edge;
+ } else {
+ // The edge is already connected with another edge, skip.
+ ERR_PRINT("Attempted to merge a navigation mesh triangle edge with another already-merged edge. This happens when the Navigation's `cell_size` is different from the one used to generate the navigation mesh. This will cause navigation problem.");
+ }
+ }
+ }
+
+ // Takes all the free edges.
+ std::vector free_edges;
+ free_edges.reserve(connections.size());
+
+ for (auto connection_element = connections.front(); connection_element; connection_element = connection_element->next()) {
+ if (connection_element->get().B == NULL) {
+ CRASH_COND(connection_element->get().A == NULL); // Unreachable
+ CRASH_COND(connection_element->get().A_edge < 0); // Unreachable
+
+ // This is a free edge
+ uint32_t id(free_edges.size());
+ free_edges.push_back(gd::FreeEdge());
+ free_edges[id].is_free = true;
+ free_edges[id].poly = connection_element->get().A;
+ free_edges[id].edge_id = connection_element->get().A_edge;
+ uint32_t point_0(free_edges[id].edge_id);
+ uint32_t point_1((free_edges[id].edge_id + 1) % free_edges[id].poly->points.size());
+ Vector3 pos_0 = free_edges[id].poly->points[point_0].pos;
+ Vector3 pos_1 = free_edges[id].poly->points[point_1].pos;
+ Vector3 relative = pos_1 - pos_0;
+ free_edges[id].edge_center = (pos_0 + pos_1) / 2.0;
+ free_edges[id].edge_dir = relative.normalized();
+ free_edges[id].edge_len_squared = relative.length_squared();
+ }
+ }
+
+ const float ecm_squared(edge_connection_margin * edge_connection_margin);
+#define LEN_TOLLERANCE 0.1
+#define DIR_TOLLERANCE 0.9
+ // In front of tollerance
+#define IFO_TOLLERANCE 0.5
+
+ // Find the compatible near edges.
+ //
+ // Note:
+ // Considering that the edges must be compatible (for obvious reasons)
+ // to be connected, create new polygons to remove that small gap is
+ // not really useful and would result in wasteful computation during
+ // connection, integration and path finding.
+ for (size_t i(0); i < free_edges.size(); i++) {
+ if (!free_edges[i].is_free) {
+ continue;
+ }
+ gd::FreeEdge &edge = free_edges[i];
+ for (size_t y(0); y < free_edges.size(); y++) {
+ gd::FreeEdge &other_edge = free_edges[y];
+ if (i == y || !other_edge.is_free || edge.poly->owner == other_edge.poly->owner) {
+ continue;
+ }
+
+ Vector3 rel_centers = other_edge.edge_center - edge.edge_center;
+ if (ecm_squared > rel_centers.length_squared() // Are enough closer?
+ && ABS(edge.edge_len_squared - other_edge.edge_len_squared) < LEN_TOLLERANCE // Are the same length?
+ && ABS(edge.edge_dir.dot(other_edge.edge_dir)) > DIR_TOLLERANCE // Are alligned?
+ && ABS(rel_centers.normalized().dot(edge.edge_dir)) < IFO_TOLLERANCE // Are one in front the other?
+ ) {
+ // The edges can be connected
+ edge.is_free = false;
+ other_edge.is_free = false;
+
+ edge.poly->edges[edge.edge_id].this_edge = edge.edge_id;
+ edge.poly->edges[edge.edge_id].other_edge = other_edge.edge_id;
+ edge.poly->edges[edge.edge_id].other_polygon = other_edge.poly;
+
+ other_edge.poly->edges[other_edge.edge_id].this_edge = other_edge.edge_id;
+ other_edge.poly->edges[other_edge.edge_id].other_edge = edge.edge_id;
+ other_edge.poly->edges[other_edge.edge_id].other_polygon = edge.poly;
+ }
+ }
+ }
+ }
+
+ if (regenerate_links) {
+ map_update_id = map_update_id + 1 % 9999999;
+ }
+
+ if (agents_dirty) {
+ std::vector raw_agents;
+ raw_agents.reserve(agents.size());
+ for (size_t i(0); i < agents.size(); i++)
+ raw_agents.push_back(agents[i]->get_agent());
+ rvo.buildAgentTree(raw_agents);
+ }
+
+ regenerate_polygons = false;
+ regenerate_links = false;
+ agents_dirty = false;
+}
+
+void NavMap::compute_single_step(uint32_t index, RvoAgent **agent) {
+ (*(agent + index))->get_agent()->computeNeighbors(&rvo);
+ (*(agent + index))->get_agent()->computeNewVelocity(deltatime);
+}
+
+void NavMap::step(real_t p_deltatime) {
+ deltatime = p_deltatime;
+ if (controlled_agents.size() > 0) {
+ thread_process_array(
+ controlled_agents.size(),
+ this,
+ &NavMap::compute_single_step,
+ controlled_agents.data());
+ }
+}
+
+void NavMap::dispatch_callbacks() {
+ for (int i(0); i < static_cast(controlled_agents.size()); i++) {
+ controlled_agents[i]->dispatch_callback();
+ }
+}
+
+void NavMap::clip_path(const std::vector &p_navigation_polys, Vector &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly) const {
+ Vector3 from = path[path.size() - 1];
+
+ if (from.distance_to(p_to_point) < CMP_EPSILON)
+ return;
+ Plane cut_plane;
+ cut_plane.normal = (from - p_to_point).cross(up);
+ if (cut_plane.normal == Vector3())
+ return;
+ cut_plane.normal.normalize();
+ cut_plane.d = cut_plane.normal.dot(from);
+
+ while (from_poly != p_to_poly) {
+ int back_nav_edge = from_poly->back_navigation_edge;
+ Vector3 a = from_poly->poly->points[back_nav_edge].pos;
+ Vector3 b = from_poly->poly->points[(back_nav_edge + 1) % from_poly->poly->points.size()].pos;
+
+ ERR_FAIL_COND(from_poly->prev_navigation_poly_id == -1);
+ from_poly = &p_navigation_polys[from_poly->prev_navigation_poly_id];
+
+ if (a.distance_to(b) > CMP_EPSILON) {
+ Vector3 inters;
+ if (cut_plane.intersects_segment(a, b, &inters)) {
+ if (inters.distance_to(p_to_point) > CMP_EPSILON && inters.distance_to(path[path.size() - 1]) > CMP_EPSILON) {
+ path.push_back(inters);
+ }
+ }
+ }
+ }
+}
diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
new file mode 100644
index 000000000000..86ce46f30a83
--- /dev/null
+++ b/modules/navigation/nav_map.h
@@ -0,0 +1,140 @@
+/*************************************************************************/
+/* nav_map.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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
+
+/**
+ @author AndreaCatania
+*/
+
+class NavRegion;
+class RvoAgent;
+class NavRegion;
+
+class NavMap : public NavRid {
+ /// Map Up
+ Vector3 up;
+
+ /// To find the polygons edges the vertices are displaced in a grid where
+ /// each cell has the following cell_size.
+ real_t cell_size;
+
+ /// This value is used to detect the near edges to connect.
+ real_t edge_connection_margin;
+
+ bool regenerate_polygons;
+ bool regenerate_links;
+
+ std::vector regions;
+
+ /// Map polygons
+ std::vector polygons;
+
+ /// Rvo world
+ RVO::KdTree rvo;
+
+ /// Is agent array modified?
+ bool agents_dirty;
+
+ /// All the Agents (even the controlled one)
+ std::vector agents;
+
+ /// Controlled agents
+ std::vector controlled_agents;
+
+ /// Physics delta time
+ real_t deltatime;
+
+ /// Change the id each time the map is updated.
+ uint32_t map_update_id;
+
+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 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 &get_regions() const {
+ return regions;
+ }
+
+ bool has_agent(RvoAgent *agent) const;
+ void add_agent(RvoAgent *agent);
+ void remove_agent(RvoAgent *agent);
+ const std::vector &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 &p_navigation_polys, Vector &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly) const;
+};
+
+#endif // RVO_SPACE_H
diff --git a/modules/navigation/nav_region.cpp b/modules/navigation/nav_region.cpp
new file mode 100644
index 000000000000..0c6d2f681451
--- /dev/null
+++ b/modules/navigation/nav_region.cpp
@@ -0,0 +1,134 @@
+/*************************************************************************/
+/* nav_region.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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. */
+/*************************************************************************/
+
+#include "nav_region.h"
+
+#include "nav_map.h"
+
+/**
+ @author AndreaCatania
+*/
+
+NavRegion::NavRegion() :
+ map(NULL),
+ polygons_dirty(true) {
+}
+
+void NavRegion::set_map(NavMap *p_map) {
+ map = p_map;
+ polygons_dirty = true;
+}
+
+void NavRegion::set_transform(Transform p_transform) {
+ transform = p_transform;
+ polygons_dirty = true;
+}
+
+void NavRegion::set_mesh(Ref p_mesh) {
+ mesh = p_mesh;
+ polygons_dirty = true;
+}
+
+bool NavRegion::sync() {
+ bool something_changed = polygons_dirty /* || something_dirty? */;
+
+ update_polygons();
+
+ return something_changed;
+}
+
+void NavRegion::update_polygons() {
+ if (!polygons_dirty) {
+ return;
+ }
+ polygons.clear();
+ polygons_dirty = false;
+
+ if (map == NULL) {
+ return;
+ }
+
+ if (mesh.is_null())
+ return;
+
+ PoolVector vertices = mesh->get_vertices();
+ int len = vertices.size();
+ if (len == 0)
+ return;
+
+ PoolVector::Read vertices_r = vertices.read();
+
+ polygons.resize(mesh->get_polygon_count());
+
+ // Build
+ for (size_t i(0); i < polygons.size(); i++) {
+ gd::Polygon &p = polygons[i];
+ p.owner = this;
+
+ Vector mesh_poly = mesh->get_polygon(i);
+ const int *indices = mesh_poly.ptr();
+ bool valid(true);
+ p.points.resize(mesh_poly.size());
+ p.edges.resize(mesh_poly.size());
+
+ Vector3 center;
+ float sum(0);
+
+ for (int j(0); j < mesh_poly.size(); j++) {
+ int idx = indices[j];
+ if (idx < 0 || idx >= len) {
+ valid = false;
+ break;
+ }
+
+ Vector3 point_position = transform.xform(vertices_r[idx]);
+ p.points[j].pos = point_position;
+ p.points[j].key = map->get_point_key(point_position);
+
+ center += point_position; // Composing the center of the polygon
+
+ if (j >= 2) {
+ Vector3 epa = transform.xform(vertices_r[indices[j - 2]]);
+ Vector3 epb = transform.xform(vertices_r[indices[j - 1]]);
+
+ sum += map->get_up().dot((epb - epa).cross(point_position - epa));
+ }
+ }
+
+ if (!valid) {
+ ERR_BREAK_MSG(!valid, "The navigation mesh set in this region is not valid!");
+ }
+
+ p.clockwise = sum > 0;
+ if (mesh_poly.size() != 0) {
+ p.center = center / float(mesh_poly.size());
+ }
+ }
+}
diff --git a/modules/navigation/nav_region.h b/modules/navigation/nav_region.h
new file mode 100644
index 000000000000..67215f4817cf
--- /dev/null
+++ b/modules/navigation/nav_region.h
@@ -0,0 +1,89 @@
+/*************************************************************************/
+/* nav_region.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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_REGION_H
+#define NAV_REGION_H
+
+#include "nav_rid.h"
+
+#include "nav_utils.h"
+#include "scene/3d/navigation.h"
+#include
+
+/**
+ @author AndreaCatania
+*/
+
+class NavMap;
+class NavRegion;
+
+class NavRegion : public NavRid {
+ NavMap *map;
+ Transform transform;
+ Ref mesh;
+
+ bool polygons_dirty;
+
+ /// Cache
+ std::vector polygons;
+
+public:
+ NavRegion();
+
+ void scratch_polygons() {
+ polygons_dirty = true;
+ }
+
+ void set_map(NavMap *p_map);
+ NavMap *get_map() const {
+ return map;
+ }
+
+ void set_transform(Transform transform);
+ const Transform &get_transform() const {
+ return transform;
+ }
+
+ void set_mesh(Ref p_mesh);
+ const Ref get_mesh() const {
+ return mesh;
+ }
+
+ std::vector const &get_polygons() const {
+ return polygons;
+ }
+
+ bool sync();
+
+private:
+ void update_polygons();
+};
+
+#endif // NAV_REGION_H
diff --git a/modules/navigation/nav_rid.h b/modules/navigation/nav_rid.h
new file mode 100644
index 000000000000..c5e5026aff40
--- /dev/null
+++ b/modules/navigation/nav_rid.h
@@ -0,0 +1,48 @@
+/*************************************************************************/
+/* nav_rid.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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_RID_H
+#define NAV_RID_H
+
+#include "core/rid.h"
+
+/**
+ @author AndreaCatania
+*/
+
+class NavRid : public RID_Data {
+ RID self;
+
+public:
+ _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
+ _FORCE_INLINE_ RID get_self() const { return self; }
+};
+
+#endif // NAV_RID_H
diff --git a/modules/navigation/nav_utils.h b/modules/navigation/nav_utils.h
new file mode 100644
index 000000000000..2845d6c385fa
--- /dev/null
+++ b/modules/navigation/nav_utils.h
@@ -0,0 +1,166 @@
+/*************************************************************************/
+/* nav_utils.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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
+
+/**
+ @author AndreaCatania
+*/
+
+class NavRegion;
+
+namespace gd {
+struct Polygon;
+
+union PointKey {
+ struct {
+ int64_t x : 21;
+ int64_t y : 22;
+ int64_t z : 21;
+ };
+
+ uint64_t key;
+ 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;
+
+ /// Other Polygon
+ Polygon *other_polygon;
+
+ /// The other `Polygon` at this edge id has this `Polygon`.
+ int other_edge;
+
+ Edge() {
+ this_edge = -1;
+ other_polygon = NULL;
+ other_edge = -1;
+ }
+};
+
+struct Polygon {
+ NavRegion *owner;
+
+ /// The points of this `Polygon`
+ std::vector points;
+
+ /// Are the points clockwise ?
+ bool clockwise;
+
+ /// The edges of this `Polygon`
+ std::vector edges;
+
+ /// The center of this `Polygon`
+ Vector3 center;
+};
+
+struct Connection {
+ Polygon *A;
+ int A_edge;
+ Polygon *B;
+ int B_edge;
+
+ Connection() {
+ A = NULL;
+ B = NULL;
+ A_edge = -1;
+ B_edge = -1;
+ }
+};
+
+struct NavigationPoly {
+ uint32_t self_id;
+ /// This poly.
+ const Polygon *poly;
+ /// The previous navigation poly (id in the `navigation_poly` array).
+ int prev_navigation_poly_id;
+ /// The edge id in this `Poly` to reach the `prev_navigation_poly_id`.
+ uint32_t back_navigation_edge;
+ /// The entry location of this poly.
+ Vector3 entry;
+ /// The distance to the destination.
+ float traveled_distance;
+
+ NavigationPoly(const Polygon *p_poly) :
+ self_id(0),
+ poly(p_poly),
+ prev_navigation_poly_id(-1),
+ back_navigation_edge(0),
+ traveled_distance(0.0) {
+ }
+
+ bool operator==(const NavigationPoly &other) const {
+ return this->poly == other.poly;
+ }
+
+ bool operator!=(const NavigationPoly &other) const {
+ return !operator==(other);
+ }
+};
+
+struct FreeEdge {
+ bool is_free;
+ Polygon *poly;
+ uint32_t edge_id;
+ Vector3 edge_center;
+ Vector3 edge_dir;
+ float edge_len_squared;
+};
+} // namespace gd
+
+#endif // NAV_UTILS_H
diff --git a/modules/recast/navigation_mesh_editor_plugin.cpp b/modules/navigation/navigation_mesh_editor_plugin.cpp
similarity index 91%
rename from modules/recast/navigation_mesh_editor_plugin.cpp
rename to modules/navigation/navigation_mesh_editor_plugin.cpp
index 3396bd15f779..1623358cc394 100644
--- a/modules/recast/navigation_mesh_editor_plugin.cpp
+++ b/modules/navigation/navigation_mesh_editor_plugin.cpp
@@ -28,10 +28,12 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
+#ifdef TOOLS_ENABLED
#include "navigation_mesh_editor_plugin.h"
#include "core/io/marshalls.h"
#include "core/io/resource_saver.h"
+#include "navigation_mesh_generator.h"
#include "scene/3d/mesh_instance.h"
#include "scene/gui/box_container.h"
@@ -54,22 +56,21 @@ void NavigationMeshEditor::_bake_pressed() {
button_bake->set_pressed(false);
ERR_FAIL_COND(!node);
- const String conf_warning = node->get_configuration_warning();
- if (!conf_warning.empty()) {
- err_dialog->set_text(conf_warning);
+ if (!node->get_navigation_mesh().is_valid()) {
+ err_dialog->set_text(TTR("A NavigationMesh resource must be set or created for this node to work."));
err_dialog->popup_centered_minsize();
return;
}
- EditorNavigationMeshGenerator::get_singleton()->clear(node->get_navigation_mesh());
- EditorNavigationMeshGenerator::get_singleton()->bake(node->get_navigation_mesh(), node);
+ NavigationMeshGenerator::get_singleton()->clear(node->get_navigation_mesh());
+ NavigationMeshGenerator::get_singleton()->bake(node->get_navigation_mesh(), node);
node->update_gizmo();
}
void NavigationMeshEditor::_clear_pressed() {
if (node) {
- EditorNavigationMeshGenerator::get_singleton()->clear(node->get_navigation_mesh());
+ NavigationMeshGenerator::get_singleton()->clear(node->get_navigation_mesh());
}
button_bake->set_pressed(false);
@@ -149,3 +150,5 @@ NavigationMeshEditorPlugin::NavigationMeshEditorPlugin(EditorNode *p_node) {
NavigationMeshEditorPlugin::~NavigationMeshEditorPlugin() {
}
+
+#endif
diff --git a/modules/recast/navigation_mesh_editor_plugin.h b/modules/navigation/navigation_mesh_editor_plugin.h
similarity index 95%
rename from modules/recast/navigation_mesh_editor_plugin.h
rename to modules/navigation/navigation_mesh_editor_plugin.h
index 14df9fa98834..208ca987a937 100644
--- a/modules/recast/navigation_mesh_editor_plugin.h
+++ b/modules/navigation/navigation_mesh_editor_plugin.h
@@ -28,12 +28,15 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
-#ifndef NAVIGATION_MESH_GENERATOR_PLUGIN_H
-#define NAVIGATION_MESH_GENERATOR_PLUGIN_H
+#ifndef NAVIGATION_MESH_EDITOR_PLUGIN_H
+#define NAVIGATION_MESH_EDITOR_PLUGIN_H
+
+#ifdef TOOLS_ENABLED
#include "editor/editor_node.h"
#include "editor/editor_plugin.h"
-#include "navigation_mesh_generator.h"
+
+class NavigationMeshInstance;
class NavigationMeshEditor : public Control {
friend class NavigationMeshEditorPlugin;
@@ -80,4 +83,6 @@ class NavigationMeshEditorPlugin : public EditorPlugin {
~NavigationMeshEditorPlugin();
};
-#endif // NAVIGATION_MESH_GENERATOR_PLUGIN_H
+#endif
+
+#endif
diff --git a/modules/recast/navigation_mesh_generator.cpp b/modules/navigation/navigation_mesh_generator.cpp
similarity index 75%
rename from modules/recast/navigation_mesh_generator.cpp
rename to modules/navigation/navigation_mesh_generator.cpp
index 4ec88229de69..a72140d39ec7 100644
--- a/modules/recast/navigation_mesh_generator.cpp
+++ b/modules/navigation/navigation_mesh_generator.cpp
@@ -28,13 +28,16 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
-#include "navigation_mesh_generator.h"
-
#include "core/math/convex_hull.h"
+#ifndef _3D_DISABLED
+
+#include "navigation_mesh_generator.h"
+//#include "core/math/quick_hull.h"
+//#include "core/math/convex_hull.h"
#include "core/os/thread.h"
-#include "editor/editor_settings.h"
#include "scene/3d/collision_shape.h"
#include "scene/3d/mesh_instance.h"
+#include "scene/3d/multimesh_instance.h"
#include "scene/3d/physics_body.h"
#include "scene/resources/box_shape.h"
#include "scene/resources/capsule_shape.h"
@@ -47,6 +50,12 @@
#include "scene/resources/sphere_shape.h"
#include "modules/modules_enabled.gen.h" // For csg, gridmap.
+
+#ifdef TOOLS_ENABLED
+#include "editor/editor_node.h"
+#include "editor/editor_settings.h"
+#endif
+
#ifdef MODULE_CSG_ENABLED
#include "modules/csg/csg_shape.h"
#endif
@@ -54,19 +63,19 @@
#include "modules/gridmap/grid_map.h"
#endif
-EditorNavigationMeshGenerator *EditorNavigationMeshGenerator::singleton = nullptr;
+NavigationMeshGenerator *NavigationMeshGenerator::singleton = NULL;
-void EditorNavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector &p_verticies) {
- p_verticies.push_back(p_vec3.x);
- p_verticies.push_back(p_vec3.y);
- p_verticies.push_back(p_vec3.z);
+void NavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector &p_vertices) {
+ p_vertices.push_back(p_vec3.x);
+ p_vertices.push_back(p_vec3.y);
+ p_vertices.push_back(p_vec3.z);
}
-void EditorNavigationMeshGenerator::_add_mesh(const Ref &p_mesh, const Transform &p_xform, Vector &p_verticies, Vector &p_indices) {
+void NavigationMeshGenerator::_add_mesh(const Ref &p_mesh, const Transform &p_xform, Vector &p_vertices, Vector &p_indices) {
int current_vertex_count;
for (int i = 0; i < p_mesh->get_surface_count(); i++) {
- current_vertex_count = p_verticies.size() / 3;
+ current_vertex_count = p_vertices.size() / 3;
if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) {
continue;
@@ -93,7 +102,7 @@ void EditorNavigationMeshGenerator::_add_mesh(const Ref &p_mesh, const Tra
PoolVector::Read ir = mesh_indices.read();
for (int j = 0; j < mesh_vertices.size(); j++) {
- _add_vertex(p_xform.xform(vr[j]), p_verticies);
+ _add_vertex(p_xform.xform(vr[j]), p_vertices);
}
for (int j = 0; j < face_count; j++) {
@@ -105,9 +114,9 @@ void EditorNavigationMeshGenerator::_add_mesh(const Ref &p_mesh, const Tra
} else {
face_count = mesh_vertices.size() / 3;
for (int j = 0; j < face_count; j++) {
- _add_vertex(p_xform.xform(vr[j * 3 + 0]), p_verticies);
- _add_vertex(p_xform.xform(vr[j * 3 + 2]), p_verticies);
- _add_vertex(p_xform.xform(vr[j * 3 + 1]), p_verticies);
+ _add_vertex(p_xform.xform(vr[j * 3 + 0]), p_vertices);
+ _add_vertex(p_xform.xform(vr[j * 3 + 2]), p_vertices);
+ _add_vertex(p_xform.xform(vr[j * 3 + 1]), p_vertices);
p_indices.push_back(current_vertex_count + (j * 3 + 0));
p_indices.push_back(current_vertex_count + (j * 3 + 1));
@@ -117,14 +126,14 @@ void EditorNavigationMeshGenerator::_add_mesh(const Ref &p_mesh, const Tra
}
}
-void EditorNavigationMeshGenerator::_add_faces(const PoolVector3Array &p_faces, const Transform &p_xform, Vector &p_verticies, Vector &p_indices) {
+void NavigationMeshGenerator::_add_faces(const PoolVector3Array &p_faces, const Transform &p_xform, Vector &p_vertices, Vector &p_indices) {
int face_count = p_faces.size() / 3;
- int current_vertex_count = p_verticies.size() / 3;
+ int current_vertex_count = p_vertices.size() / 3;
for (int j = 0; j < face_count; j++) {
- _add_vertex(p_xform.xform(p_faces[j * 3 + 0]), p_verticies);
- _add_vertex(p_xform.xform(p_faces[j * 3 + 1]), p_verticies);
- _add_vertex(p_xform.xform(p_faces[j * 3 + 2]), p_verticies);
+ _add_vertex(p_xform.xform(p_faces[j * 3 + 0]), p_vertices);
+ _add_vertex(p_xform.xform(p_faces[j * 3 + 1]), p_vertices);
+ _add_vertex(p_xform.xform(p_faces[j * 3 + 2]), p_vertices);
p_indices.push_back(current_vertex_count + (j * 3 + 0));
p_indices.push_back(current_vertex_count + (j * 3 + 2));
@@ -132,12 +141,27 @@ void EditorNavigationMeshGenerator::_add_faces(const PoolVector3Array &p_faces,
}
}
-void EditorNavigationMeshGenerator::_parse_geometry(Transform p_accumulated_transform, Node *p_node, Vector &p_verticies, Vector &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children) {
+void NavigationMeshGenerator::_parse_geometry(Transform p_accumulated_transform, Node *p_node, Vector &p_vertices, Vector &p_indices, int p_generate_from, uint32_t p_collision_mask, bool p_recurse_children) {
if (Object::cast_to(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
MeshInstance *mesh_instance = Object::cast_to(p_node);
Ref mesh = mesh_instance->get_mesh();
if (mesh.is_valid()) {
- _add_mesh(mesh, p_accumulated_transform * mesh_instance->get_transform(), p_verticies, p_indices);
+ _add_mesh(mesh, p_accumulated_transform * mesh_instance->get_transform(), p_vertices, p_indices);
+ }
+ }
+
+ if (Object::cast_to(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
+ MultiMeshInstance *multimesh_instance = Object::cast_to(p_node);
+ Ref multimesh = multimesh_instance->get_multimesh();
+ Ref mesh = multimesh->get_mesh();
+ if (mesh.is_valid()) {
+ int n = multimesh->get_visible_instance_count();
+ if (n == -1) {
+ n = multimesh->get_instance_count();
+ }
+ for (int i = 0; i < n; i++) {
+ _add_mesh(mesh, p_accumulated_transform * multimesh->get_instance_transform(i), p_vertices, p_indices);
+ }
}
}
@@ -148,7 +172,7 @@ void EditorNavigationMeshGenerator::_parse_geometry(Transform p_accumulated_tran
if (!meshes.empty()) {
Ref mesh = meshes[1];
if (mesh.is_valid()) {
- _add_mesh(mesh, p_accumulated_transform * csg_shape->get_transform(), p_verticies, p_indices);
+ _add_mesh(mesh, p_accumulated_transform * csg_shape->get_transform(), p_vertices, p_indices);
}
}
}
@@ -206,7 +230,7 @@ void EditorNavigationMeshGenerator::_parse_geometry(Transform p_accumulated_tran
ConcavePolygonShape *concave_polygon = Object::cast_to(*s);
if (concave_polygon) {
- _add_faces(concave_polygon->get_faces(), transform, p_verticies, p_indices);
+ _add_faces(concave_polygon->get_faces(), transform, p_vertices, p_indices);
}
ConvexPolygonShape *convex_polygon = Object::cast_to(*s);
@@ -229,12 +253,12 @@ void EditorNavigationMeshGenerator::_parse_geometry(Transform p_accumulated_tran
}
}
- _add_faces(faces, transform, p_verticies, p_indices);
+ _add_faces(faces, transform, p_vertices, p_indices);
}
}
if (mesh.is_valid()) {
- _add_mesh(mesh, transform, p_verticies, p_indices);
+ _add_mesh(mesh, transform, p_vertices, p_indices);
}
}
}
@@ -249,7 +273,7 @@ void EditorNavigationMeshGenerator::_parse_geometry(Transform p_accumulated_tran
for (int i = 0; i < meshes.size(); i += 2) {
Ref mesh = meshes[i + 1];
if (mesh.is_valid()) {
- _add_mesh(mesh, p_accumulated_transform * xform * meshes[i], p_verticies, p_indices);
+ _add_mesh(mesh, p_accumulated_transform * xform * meshes[i], p_vertices, p_indices);
}
}
}
@@ -262,12 +286,12 @@ void EditorNavigationMeshGenerator::_parse_geometry(Transform p_accumulated_tran
if (p_recurse_children) {
for (int i = 0; i < p_node->get_child_count(); i++) {
- _parse_geometry(p_accumulated_transform, p_node->get_child(i), p_verticies, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
+ _parse_geometry(p_accumulated_transform, p_node->get_child(i), p_vertices, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
}
}
}
-void EditorNavigationMeshGenerator::_convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref p_nav_mesh) {
+void NavigationMeshGenerator::_convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref p_nav_mesh) {
PoolVector nav_vertices;
for (int i = 0; i < p_detail_mesh->nverts; i++) {
@@ -294,11 +318,24 @@ void EditorNavigationMeshGenerator::_convert_detail_mesh_to_native_navigation_me
}
}
-void EditorNavigationMeshGenerator::_build_recast_navigation_mesh(Ref p_nav_mesh, EditorProgress *ep,
- rcHeightfield *hf, rcCompactHeightfield *chf, rcContourSet *cset, rcPolyMesh *poly_mesh, rcPolyMeshDetail *detail_mesh,
- Vector &vertices, Vector &indices) {
+void NavigationMeshGenerator::_build_recast_navigation_mesh(
+ Ref p_nav_mesh,
+#ifdef TOOLS_ENABLED
+ EditorProgress *ep,
+#endif
+ rcHeightfield *hf,
+ rcCompactHeightfield *chf,
+ rcContourSet *cset,
+ rcPolyMesh *poly_mesh,
+ rcPolyMeshDetail *detail_mesh,
+ Vector &vertices,
+ Vector &indices) {
rcContext ctx;
- ep->step(TTR("Setting up Configuration..."), 1);
+
+#ifdef TOOLS_ENABLED
+ if (ep)
+ ep->step(TTR("Setting up Configuration..."), 1);
+#endif
const float *verts = vertices.ptr();
const int nverts = vertices.size() / 3;
@@ -332,16 +369,25 @@ void EditorNavigationMeshGenerator::_build_recast_navigation_mesh(Refstep(TTR("Calculating grid size..."), 2);
+#ifdef TOOLS_ENABLED
+ if (ep)
+ ep->step(TTR("Calculating grid size..."), 2);
+#endif
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
- ep->step(TTR("Creating heightfield..."), 3);
+#ifdef TOOLS_ENABLED
+ if (ep)
+ ep->step(TTR("Creating heightfield..."), 3);
+#endif
hf = rcAllocHeightfield();
ERR_FAIL_COND(!hf);
ERR_FAIL_COND(!rcCreateHeightfield(&ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch));
- ep->step(TTR("Marking walkable triangles..."), 4);
+#ifdef TOOLS_ENABLED
+ if (ep)
+ ep->step(TTR("Marking walkable triangles..."), 4);
+#endif
{
Vector tri_areas;
tri_areas.resize(ntris);
@@ -364,7 +410,10 @@ void EditorNavigationMeshGenerator::_build_recast_navigation_mesh(Refstep(TTR("Constructing compact heightfield..."), 5);
+#ifdef TOOLS_ENABLED
+ if (ep)
+ ep->step(TTR("Constructing compact heightfield..."), 5);
+#endif
chf = rcAllocCompactHeightfield();
@@ -372,12 +421,20 @@ void EditorNavigationMeshGenerator::_build_recast_navigation_mesh(Refstep(TTR("Eroding walkable area..."), 6);
+#endif
- ep->step(TTR("Eroding walkable area..."), 6);
ERR_FAIL_COND(!rcErodeWalkableArea(&ctx, cfg.walkableRadius, *chf));
- ep->step(TTR("Partitioning..."), 7);
+#ifdef TOOLS_ENABLED
+ if (ep)
+ ep->step(TTR("Partitioning..."), 7);
+#endif
+
if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) {
ERR_FAIL_COND(!rcBuildDistanceField(&ctx, *chf));
ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
@@ -387,14 +444,20 @@ void EditorNavigationMeshGenerator::_build_recast_navigation_mesh(Refstep(TTR("Creating contours..."), 8);
+#ifdef TOOLS_ENABLED
+ if (ep)
+ ep->step(TTR("Creating contours..."), 8);
+#endif
cset = rcAllocContourSet();
ERR_FAIL_COND(!cset);
ERR_FAIL_COND(!rcBuildContours(&ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset));
- ep->step(TTR("Creating polymesh..."), 9);
+#ifdef TOOLS_ENABLED
+ if (ep)
+ ep->step(TTR("Creating polymesh..."), 9);
+#endif
poly_mesh = rcAllocPolyMesh();
ERR_FAIL_COND(!poly_mesh);
@@ -405,41 +468,46 @@ void EditorNavigationMeshGenerator::_build_recast_navigation_mesh(Refstep(TTR("Converting to native navigation mesh..."), 10);
+#ifdef TOOLS_ENABLED
+ if (ep)
+ ep->step(TTR("Converting to native navigation mesh..."), 10);
+#endif
_convert_detail_mesh_to_native_navigation_mesh(detail_mesh, p_nav_mesh);
rcFreePolyMesh(poly_mesh);
- poly_mesh = nullptr;
+ poly_mesh = 0;
rcFreePolyMeshDetail(detail_mesh);
- detail_mesh = nullptr;
+ detail_mesh = 0;
}
-EditorNavigationMeshGenerator *EditorNavigationMeshGenerator::get_singleton() {
+NavigationMeshGenerator *NavigationMeshGenerator::get_singleton() {
return singleton;
}
-EditorNavigationMeshGenerator::EditorNavigationMeshGenerator() {
+NavigationMeshGenerator::NavigationMeshGenerator() {
singleton = this;
}
-EditorNavigationMeshGenerator::~EditorNavigationMeshGenerator() {
+NavigationMeshGenerator::~NavigationMeshGenerator() {
}
-void EditorNavigationMeshGenerator::bake(Ref p_nav_mesh, Node *p_node) {
- if (!Engine::get_singleton()->is_editor_hint()) {
- ERR_PRINT("Invoking EditorNavigationMeshGenerator::bake(...) in-game is not supported in Godot 3.2 or below. Aborting bake...");
- return;
- }
+void NavigationMeshGenerator::bake(Ref p_nav_mesh, Node *p_node) {
+ ERR_FAIL_COND_MSG(!p_nav_mesh.is_valid(), "Invalid Navigation Mesh");
- ERR_FAIL_COND(!p_nav_mesh.is_valid());
+#ifdef TOOLS_ENABLED
+ EditorProgress *ep(NULL);
+ if (Engine::get_singleton()->is_editor_hint()) {
+ ep = memnew(EditorProgress("bake", TTR("Navigation Mesh Generator Setup:"), 11));
+ }
- EditorProgress ep("bake", TTR("Navigation Mesh Generator Setup:"), 11);
- ep.step(TTR("Parsing Geometry..."), 0);
+ if (ep)
+ ep->step(TTR("Parsing Geometry..."), 0);
+#endif
Vector vertices;
Vector indices;
@@ -467,34 +535,54 @@ void EditorNavigationMeshGenerator::bake(Ref p_nav_mesh, Node *p
rcPolyMesh *poly_mesh = nullptr;
rcPolyMeshDetail *detail_mesh = nullptr;
- _build_recast_navigation_mesh(p_nav_mesh, &ep, hf, chf, cset, poly_mesh, detail_mesh, vertices, indices);
+ _build_recast_navigation_mesh(
+ p_nav_mesh,
+#ifdef TOOLS_ENABLED
+ ep,
+#endif
+ hf,
+ chf,
+ cset,
+ poly_mesh,
+ detail_mesh,
+ vertices,
+ indices);
rcFreeHeightField(hf);
- hf = nullptr;
+ hf = 0;
rcFreeCompactHeightfield(chf);
- chf = nullptr;
+ chf = 0;
rcFreeContourSet(cset);
- cset = nullptr;
+ cset = 0;
rcFreePolyMesh(poly_mesh);
- poly_mesh = nullptr;
+ poly_mesh = 0;
rcFreePolyMeshDetail(detail_mesh);
- detail_mesh = nullptr;
+ detail_mesh = 0;
}
- ep.step(TTR("Done!"), 11);
+
+#ifdef TOOLS_ENABLED
+ if (ep)
+ ep->step(TTR("Done!"), 11);
+
+ if (ep)
+ memdelete(ep);
+#endif
}
-void EditorNavigationMeshGenerator::clear(Ref p_nav_mesh) {
+void NavigationMeshGenerator::clear(Ref p_nav_mesh) {
if (p_nav_mesh.is_valid()) {
p_nav_mesh->clear_polygons();
p_nav_mesh->set_vertices(PoolVector());
}
}
-void EditorNavigationMeshGenerator::_bind_methods() {
- ClassDB::bind_method(D_METHOD("bake", "nav_mesh", "root_node"), &EditorNavigationMeshGenerator::bake);
- ClassDB::bind_method(D_METHOD("clear", "nav_mesh"), &EditorNavigationMeshGenerator::clear);
+void NavigationMeshGenerator::_bind_methods() {
+ ClassDB::bind_method(D_METHOD("bake", "nav_mesh", "root_node"), &NavigationMeshGenerator::bake);
+ ClassDB::bind_method(D_METHOD("clear", "nav_mesh"), &NavigationMeshGenerator::clear);
}
+
+#endif
diff --git a/modules/recast/navigation_mesh_generator.h b/modules/navigation/navigation_mesh_generator.h
similarity index 74%
rename from modules/recast/navigation_mesh_generator.h
rename to modules/navigation/navigation_mesh_generator.h
index afddb9fd89ea..995c45a66342 100644
--- a/modules/recast/navigation_mesh_generator.h
+++ b/modules/navigation/navigation_mesh_generator.h
@@ -31,37 +31,53 @@
#ifndef NAVIGATION_MESH_GENERATOR_H
#define NAVIGATION_MESH_GENERATOR_H
-#include "editor/editor_node.h"
-#include "scene/3d/navigation_mesh.h"
+#ifndef _3D_DISABLED
+
+#include "scene/3d/navigation_mesh_instance.h"
#include
-class EditorNavigationMeshGenerator : public Object {
- GDCLASS(EditorNavigationMeshGenerator, Object);
+#ifdef TOOLS_ENABLED
+struct EditorProgress;
+#endif
+
+class NavigationMeshGenerator : public Object {
+ GDCLASS(NavigationMeshGenerator, Object);
- static EditorNavigationMeshGenerator *singleton;
+ static NavigationMeshGenerator *singleton;
protected:
static void _bind_methods();
- static void _add_vertex(const Vector3 &p_vec3, Vector &p_verticies);
- static void _add_mesh(const Ref &p_mesh, const Transform &p_xform, Vector &p_verticies, Vector &p_indices);
- static void _add_faces(const PoolVector3Array &p_faces, const Transform &p_xform, Vector &p_verticies, Vector &p_indices);
- static void _parse_geometry(Transform p_accumulated_transform, Node *p_node, Vector &p_verticies, Vector &p_indices, NavigationMesh::ParsedGeometryType p_generate_from, uint32_t p_collision_mask, bool p_recurse_children);
+ static void _add_vertex(const Vector3 &p_vec3, Vector &p_vertices);
+ static void _add_mesh(const Ref &p_mesh, const Transform &p_xform, Vector &p_vertices, Vector &p_indices);
+ static void _add_faces(const PoolVector3Array &p_faces, const Transform &p_xform, Vector &p_vertices, Vector &p_indices);
+ static void _parse_geometry(Transform p_accumulated_transform, Node *p_node, Vector &p_vertices, Vector &p_indices, int p_generate_from, uint32_t p_collision_mask, bool p_recurse_children);
static void _convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref p_nav_mesh);
- static void _build_recast_navigation_mesh(Ref p_nav_mesh, EditorProgress *ep,
- rcHeightfield *hf, rcCompactHeightfield *chf, rcContourSet *cset, rcPolyMesh *poly_mesh,
- rcPolyMeshDetail *detail_mesh, Vector &vertices, Vector &indices);
+ static void _build_recast_navigation_mesh(
+ Ref p_nav_mesh,
+#ifdef TOOLS_ENABLED
+ EditorProgress *ep,
+#endif
+ rcHeightfield *hf,
+ rcCompactHeightfield *chf,
+ rcContourSet *cset,
+ rcPolyMesh *poly_mesh,
+ rcPolyMeshDetail *detail_mesh,
+ Vector &vertices,
+ Vector &indices);
public:
- static EditorNavigationMeshGenerator *get_singleton();
+ static NavigationMeshGenerator *get_singleton();
- EditorNavigationMeshGenerator();
- ~EditorNavigationMeshGenerator();
+ NavigationMeshGenerator();
+ ~NavigationMeshGenerator();
void bake(Ref p_nav_mesh, Node *p_node);
void clear(Ref p_nav_mesh);
};
+#endif
+
#endif // NAVIGATION_MESH_GENERATOR_H
diff --git a/modules/recast/register_types.cpp b/modules/navigation/register_types.cpp
similarity index 78%
rename from modules/recast/register_types.cpp
rename to modules/navigation/register_types.cpp
index 1f441d48665c..8b604642392e 100644
--- a/modules/recast/register_types.cpp
+++ b/modules/navigation/register_types.cpp
@@ -30,30 +30,46 @@
#include "register_types.h"
-#include "navigation_mesh_editor_plugin.h"
+#include "core/engine.h"
+#include "godot_navigation_server.h"
+#include "servers/navigation_server.h"
-#ifdef TOOLS_ENABLED
-EditorNavigationMeshGenerator *_nav_mesh_generator = nullptr;
+#ifndef _3D_DISABLED
+#include "navigation_mesh_generator.h"
#endif
-void register_recast_types() {
#ifdef TOOLS_ENABLED
- ClassDB::APIType prev_api = ClassDB::get_current_api();
- ClassDB::set_current_api(ClassDB::API_EDITOR);
+#include "navigation_mesh_editor_plugin.h"
+#endif
- EditorPlugins::add_by_type();
- _nav_mesh_generator = memnew(EditorNavigationMeshGenerator);
+/**
+ @author AndreaCatania
+*/
- ClassDB::register_class();
+#ifndef _3D_DISABLED
+NavigationMeshGenerator *_nav_mesh_generator = nullptr;
+#endif
- Engine::get_singleton()->add_singleton(Engine::Singleton("NavigationMeshGenerator", EditorNavigationMeshGenerator::get_singleton()));
+NavigationServer *new_server() {
+ return memnew(GodotNavigationServer);
+}
- ClassDB::set_current_api(prev_api);
+void register_navigation_types() {
+ NavigationServerManager::set_default_server(new_server);
+
+#ifndef _3D_DISABLED
+ _nav_mesh_generator = memnew(NavigationMeshGenerator);
+ ClassDB::register_class();
+ Engine::get_singleton()->add_singleton(Engine::Singleton("NavigationMeshGenerator", NavigationMeshGenerator::get_singleton()));
#endif
-}
-void unregister_recast_types() {
#ifdef TOOLS_ENABLED
+ EditorPlugins::add_by_type();
+#endif
+}
+
+void unregister_navigation_types() {
+#ifndef _3D_DISABLED
if (_nav_mesh_generator) {
memdelete(_nav_mesh_generator);
}
diff --git a/modules/recast/register_types.h b/modules/navigation/register_types.h
similarity index 93%
rename from modules/recast/register_types.h
rename to modules/navigation/register_types.h
index 2bff0412f50b..4f3559005100 100644
--- a/modules/recast/register_types.h
+++ b/modules/navigation/register_types.h
@@ -28,10 +28,9 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
-#ifndef RECAST_REGISTER_TYPES_H
-#define RECAST_REGISTER_TYPES_H
+/**
+ @author AndreaCatania
+*/
-void register_recast_types();
-void unregister_recast_types();
-
-#endif // RECAST_REGISTER_TYPES_H
+void register_navigation_types();
+void unregister_navigation_types();
diff --git a/modules/navigation/rvo_agent.cpp b/modules/navigation/rvo_agent.cpp
new file mode 100644
index 000000000000..c22141d3bfc1
--- /dev/null
+++ b/modules/navigation/rvo_agent.cpp
@@ -0,0 +1,84 @@
+/*************************************************************************/
+/* rvo_agent.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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. */
+/*************************************************************************/
+
+#include "rvo_agent.h"
+
+#include "nav_map.h"
+
+/**
+ @author AndreaCatania
+*/
+
+RvoAgent::RvoAgent() :
+ map(NULL) {
+ callback.id = ObjectID(0);
+}
+
+void RvoAgent::set_map(NavMap *p_map) {
+ map = p_map;
+}
+
+bool RvoAgent::is_map_changed() {
+ if (map) {
+ bool is_changed = map->get_map_update_id() != map_update_id;
+ map_update_id = map->get_map_update_id();
+ return is_changed;
+ } else {
+ return false;
+ }
+}
+
+void RvoAgent::set_callback(ObjectID p_id, const StringName p_method, const Variant p_udata) {
+ callback.id = p_id;
+ callback.method = p_method;
+ callback.udata = p_udata;
+}
+
+bool RvoAgent::has_callback() const {
+ return callback.id != 0;
+}
+
+void RvoAgent::dispatch_callback() {
+ if (callback.id == 0) {
+ return;
+ }
+ Object *obj = ObjectDB::get_instance(callback.id);
+ if (obj == NULL) {
+ callback.id = ObjectID(0);
+ }
+
+ Variant::CallError responseCallError;
+
+ callback.new_velocity = Vector3(agent.newVelocity_.x(), agent.newVelocity_.y(), agent.newVelocity_.z());
+
+ const Variant *vp[2] = { &callback.new_velocity, &callback.udata };
+ int argc = (callback.udata.get_type() == Variant::NIL) ? 1 : 2;
+ obj->call(callback.method, vp, argc, responseCallError);
+}
diff --git a/modules/navigation/rvo_agent.h b/modules/navigation/rvo_agent.h
new file mode 100644
index 000000000000..f532112fccae
--- /dev/null
+++ b/modules/navigation/rvo_agent.h
@@ -0,0 +1,77 @@
+/*************************************************************************/
+/* rvo_agent.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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_AGENT_H
+#define RVO_AGENT_H
+
+#include "core/object.h"
+#include "nav_rid.h"
+#include
+
+/**
+ @author AndreaCatania
+*/
+
+class NavMap;
+
+class RvoAgent : public NavRid {
+ struct AvoidanceComputedCallback {
+ ObjectID id;
+ StringName method;
+ Variant udata;
+ Variant new_velocity;
+ };
+
+ NavMap *map;
+ RVO::Agent agent;
+ AvoidanceComputedCallback callback;
+ uint32_t map_update_id;
+
+public:
+ RvoAgent();
+
+ void set_map(NavMap *p_map);
+ NavMap *get_map() {
+ return map;
+ }
+
+ RVO::Agent *get_agent() {
+ return &agent;
+ }
+
+ bool is_map_changed();
+
+ void set_callback(ObjectID p_id, const StringName p_method, const Variant p_udata = Variant());
+ bool has_callback() const;
+
+ void dispatch_callback();
+};
+
+#endif // RVO_AGENT_H
diff --git a/scene/2d/navigation_2d.cpp b/scene/2d/navigation_2d.cpp
index 0222bead8997..47c685827d66 100644
--- a/scene/2d/navigation_2d.cpp
+++ b/scene/2d/navigation_2d.cpp
@@ -30,674 +30,64 @@
#include "navigation_2d.h"
-#define USE_ENTRY_POINT
+#include "servers/navigation_2d_server.h"
-void Navigation2D::_navpoly_link(int p_id) {
- ERR_FAIL_COND(!navpoly_map.has(p_id));
- NavMesh &nm = navpoly_map[p_id];
- ERR_FAIL_COND(nm.linked);
-
- PoolVector vertices = nm.navpoly->get_vertices();
- int len = vertices.size();
- if (len == 0) {
- return;
- }
-
- PoolVector::Read r = vertices.read();
-
- for (int i = 0; i < nm.navpoly->get_polygon_count(); i++) {
- //build
-
- List::Element *P = nm.polygons.push_back(Polygon());
- Polygon &p = P->get();
- p.owner = &nm;
-
- Vector poly = nm.navpoly->get_polygon(i);
- int plen = poly.size();
- const int *indices = poly.ptr();
- bool valid = true;
- p.edges.resize(plen);
-
- Vector2 center;
- float sum = 0;
-
- for (int j = 0; j < plen; j++) {
- int idx = indices[j];
- if (idx < 0 || idx >= len) {
- valid = false;
- break;
- }
-
- Polygon::Edge e;
- Vector2 ep = nm.xform.xform(r[idx]);
- center += ep;
- e.point = _get_point(ep);
- p.edges.write[j] = e;
-
- int idxn = indices[(j + 1) % plen];
- if (idxn < 0 || idxn >= len) {
- valid = false;
- break;
- }
-
- Vector2 epn = nm.xform.xform(r[idxn]);
-
- sum += (epn.x - ep.x) * (epn.y + ep.y);
- }
-
- p.clockwise = sum > 0;
-
- if (!valid) {
- nm.polygons.pop_back();
- ERR_CONTINUE(!valid);
- }
-
- p.center = center / plen;
-
- //connect
+void Navigation2D::_bind_methods() {
+ ClassDB::bind_method(D_METHOD("get_rid"), &Navigation2D::get_rid);
- for (int j = 0; j < plen; j++) {
- int next = (j + 1) % plen;
- EdgeKey ek(p.edges[j].point, p.edges[next].point);
+ ClassDB::bind_method(D_METHOD("get_simple_path", "start", "end", "optimize"), &Navigation2D::get_simple_path, DEFVAL(true));
+ ClassDB::bind_method(D_METHOD("get_closest_point", "to_point"), &Navigation2D::get_closest_point);
+ ClassDB::bind_method(D_METHOD("get_closest_point_owner", "to_point"), &Navigation2D::get_closest_point_owner);
- Map::Element *C = connections.find(ek);
- if (!C) {
- Connection c;
- c.A = &p;
- c.A_edge = j;
- c.B = nullptr;
- c.B_edge = -1;
- connections[ek] = c;
- } else {
- if (C->get().B != nullptr) {
- ConnectionPending pending;
- pending.polygon = &p;
- pending.edge = j;
- p.edges.write[j].P = C->get().pending.push_back(pending);
- continue;
- }
+ ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &Navigation2D::set_cell_size);
+ ClassDB::bind_method(D_METHOD("get_cell_size"), &Navigation2D::get_cell_size);
- C->get().B = &p;
- C->get().B_edge = j;
- C->get().A->edges.write[C->get().A_edge].C = &p;
- C->get().A->edges.write[C->get().A_edge].C_edge = j;
- p.edges.write[j].C = C->get().A;
- p.edges.write[j].C_edge = C->get().A_edge;
- //connection successful.
- }
- }
- }
+ ClassDB::bind_method(D_METHOD("set_edge_connection_margin", "margin"), &Navigation2D::set_edge_connection_margin);
+ ClassDB::bind_method(D_METHOD("get_edge_connection_margin"), &Navigation2D::get_edge_connection_margin);
- nm.linked = true;
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "cell_size"), "set_cell_size", "get_cell_size");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "edge_connection_margin"), "set_edge_connection_margin", "get_edge_connection_margin");
}
-void Navigation2D::_navpoly_unlink(int p_id) {
- ERR_FAIL_COND(!navpoly_map.has(p_id));
- NavMesh &nm = navpoly_map[p_id];
- ERR_FAIL_COND(!nm.linked);
-
- for (List::Element *E = nm.polygons.front(); E; E = E->next()) {
- Polygon &p = E->get();
-
- int ec = p.edges.size();
- Polygon::Edge *edges = p.edges.ptrw();
-
- for (int i = 0; i < ec; i++) {
- int next = (i + 1) % ec;
-
- EdgeKey ek(edges[i].point, edges[next].point);
- Map::Element *C = connections.find(ek);
- ERR_CONTINUE(!C);
-
- if (edges[i].P) {
- C->get().pending.erase(edges[i].P);
- edges[i].P = nullptr;
-
- } else if (C->get().B) {
- //disconnect
-
- C->get().B->edges.write[C->get().B_edge].C = nullptr;
- C->get().B->edges.write[C->get().B_edge].C_edge = -1;
- C->get().A->edges.write[C->get().A_edge].C = nullptr;
- C->get().A->edges.write[C->get().A_edge].C_edge = -1;
-
- if (C->get().A == &E->get()) {
- C->get().A = C->get().B;
- C->get().A_edge = C->get().B_edge;
- }
- C->get().B = nullptr;
- C->get().B_edge = -1;
-
- if (C->get().pending.size()) {
- //reconnect if something is pending
- ConnectionPending cp = C->get().pending.front()->get();
- C->get().pending.pop_front();
-
- C->get().B = cp.polygon;
- C->get().B_edge = cp.edge;
- C->get().A->edges.write[C->get().A_edge].C = cp.polygon;
- C->get().A->edges.write[C->get().A_edge].C_edge = cp.edge;
- cp.polygon->edges.write[cp.edge].C = C->get().A;
- cp.polygon->edges.write[cp.edge].C_edge = C->get().A_edge;
- cp.polygon->edges.write[cp.edge].P = nullptr;
- }
-
- } else {
- connections.erase(C);
- //erase
- }
- }
+void Navigation2D::_notification(int p_what) {
+ switch (p_what) {
+ case NOTIFICATION_READY: {
+ Navigation2DServer::get_singleton()->map_set_active(map, true);
+ } break;
+ case NOTIFICATION_EXIT_TREE: {
+ Navigation2DServer::get_singleton()->map_set_active(map, false);
+ } break;
}
-
- nm.polygons.clear();
-
- nm.linked = false;
}
-int Navigation2D::navpoly_add(const Ref &p_mesh, const Transform2D &p_xform, Object *p_owner) {
- ERR_FAIL_COND_V(p_mesh.is_null(), -1);
-
- int id = last_id++;
- NavMesh nm;
- nm.linked = false;
- nm.navpoly = p_mesh;
- nm.xform = p_xform;
- nm.owner = p_owner;
- navpoly_map[id] = nm;
-
- _navpoly_link(id);
-
- return id;
+void Navigation2D::set_cell_size(float p_cell_size) {
+ cell_size = p_cell_size;
+ Navigation2DServer::get_singleton()->map_set_cell_size(map, cell_size);
}
-void Navigation2D::navpoly_set_transform(int p_id, const Transform2D &p_xform) {
- ERR_FAIL_COND(!navpoly_map.has(p_id));
- NavMesh &nm = navpoly_map[p_id];
- if (nm.xform == p_xform) {
- return; //bleh
- }
- _navpoly_unlink(p_id);
- nm.xform = p_xform;
- _navpoly_link(p_id);
+void Navigation2D::set_edge_connection_margin(float p_edge_connection_margin) {
+ edge_connection_margin = p_edge_connection_margin;
+ Navigation2DServer::get_singleton()->map_set_edge_connection_margin(map, edge_connection_margin);
}
-void Navigation2D::navpoly_remove(int p_id) {
- ERR_FAIL_COND(!navpoly_map.has(p_id));
- _navpoly_unlink(p_id);
- navpoly_map.erase(p_id);
-}
-
-Vector Navigation2D::get_simple_path(const Vector2 &p_start, const Vector2 &p_end, bool p_optimize) {
- Polygon *begin_poly = nullptr;
- Polygon *end_poly = nullptr;
- Vector2 begin_point;
- Vector2 end_point;
- float begin_d = 1e20;
- float end_d = 1e20;
-
- //look for point inside triangle
-
- for (Map::Element *E = navpoly_map.front(); E; E = E->next()) {
- if (!E->get().linked) {
- continue;
- }
- for (List::Element *F = E->get().polygons.front(); F; F = F->next()) {
- Polygon &p = F->get();
- if (begin_d || end_d) {
- for (int i = 2; i < p.edges.size(); i++) {
- if (begin_d > 0) {
- if (Geometry::is_point_in_triangle(p_start, _get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point))) {
- begin_poly = &p;
- begin_point = p_start;
- begin_d = 0;
- if (end_d == 0) {
- break;
- }
- }
- }
-
- if (end_d > 0) {
- if (Geometry::is_point_in_triangle(p_end, _get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point))) {
- end_poly = &p;
- end_point = p_end;
- end_d = 0;
- if (begin_d == 0) {
- break;
- }
- }
- }
- }
- }
-
- p.prev_edge = -1;
- }
- }
-
- //start or end not inside triangle.. look for closest segment :|
- if (begin_d || end_d) {
- for (Map::Element *E = navpoly_map.front(); E; E = E->next()) {
- if (!E->get().linked) {
- continue;
- }
- for (List::Element *F = E->get().polygons.front(); F; F = F->next()) {
- Polygon &p = F->get();
- int es = p.edges.size();
- for (int i = 0; i < es; i++) {
- Vector2 edge[2] = {
- _get_vertex(p.edges[i].point),
- _get_vertex(p.edges[(i + 1) % es].point)
- };
-
- if (begin_d > 0) {
- Vector2 spoint = Geometry::get_closest_point_to_segment_2d(p_start, edge);
- float d = spoint.distance_to(p_start);
- if (d < begin_d) {
- begin_poly = &p;
- begin_point = spoint;
- begin_d = d;
- }
- }
-
- if (end_d > 0) {
- Vector2 spoint = Geometry::get_closest_point_to_segment_2d(p_end, edge);
- float d = spoint.distance_to(p_end);
- if (d < end_d) {
- end_poly = &p;
- end_point = spoint;
- end_d = d;
- }
- }
- }
- }
- }
- }
-
- if (!begin_poly || !end_poly) {
- return Vector(); //no path
- }
-
- if (begin_poly == end_poly) {
- Vector path;
- path.resize(2);
- path.write[0] = begin_point;
- path.write[1] = end_point;
- return path;
- }
-
- bool found_route = false;
-
- List open_list;
-
- begin_poly->entry = p_start;
-
- for (int i = 0; i < begin_poly->edges.size(); i++) {
- if (begin_poly->edges[i].C) {
- begin_poly->edges[i].C->prev_edge = begin_poly->edges[i].C_edge;
-#ifdef USE_ENTRY_POINT
- Vector2 edge[2] = {
- _get_vertex(begin_poly->edges[i].point),
- _get_vertex(begin_poly->edges[(i + 1) % begin_poly->edges.size()].point)
- };
-
- Vector2 entry = Geometry::get_closest_point_to_segment_2d(begin_poly->entry, edge);
- begin_poly->edges[i].C->distance = begin_poly->entry.distance_to(entry);
- begin_poly->edges[i].C->entry = entry;
-#else
- begin_poly->edges[i].C->distance = begin_poly->center.distance_to(begin_poly->edges[i].C->center);
-#endif
- open_list.push_back(begin_poly->edges[i].C);
-
- if (begin_poly->edges[i].C == end_poly) {
- found_route = true;
- }
- }
- }
-
- while (!found_route) {
- if (open_list.size() == 0) {
- break;
- }
- //check open list
-
- List::Element *least_cost_poly = nullptr;
- float least_cost = 1e30;
-
- //this could be faster (cache previous results)
- for (List::Element *E = open_list.front(); E; E = E->next()) {
- Polygon *p = E->get();
- float cost = p->distance;
-
-#ifdef USE_ENTRY_POINT
- int es = p->edges.size();
-
- float shortest_distance = 1e30;
-
- for (int i = 0; i < es; i++) {
- Polygon::Edge &e = p->edges.write[i];
-
- if (!e.C) {
- continue;
- }
-
- Vector2 edge[2] = {
- _get_vertex(p->edges[i].point),
- _get_vertex(p->edges[(i + 1) % es].point)
- };
-
- Vector2 edge_point = Geometry::get_closest_point_to_segment_2d(p->entry, edge);
- float dist = p->entry.distance_to(edge_point);
- if (dist < shortest_distance) {
- shortest_distance = dist;
- }
- }
-
- cost += shortest_distance;
-#else
- cost += p->center.distance_to(end_point);
-#endif
- if (cost < least_cost) {
- least_cost_poly = E;
- least_cost = cost;
- }
- }
-
- Polygon *p = least_cost_poly->get();
- //open the neighbours for search
- int es = p->edges.size();
-
- for (int i = 0; i < es; i++) {
- Polygon::Edge &e = p->edges.write[i];
-
- if (!e.C) {
- continue;
- }
-
-#ifdef USE_ENTRY_POINT
- Vector2 edge[2] = {
- _get_vertex(p->edges[i].point),
- _get_vertex(p->edges[(i + 1) % es].point)
- };
-
- Vector2 edge_entry = Geometry::get_closest_point_to_segment_2d(p->entry, edge);
- float distance = p->entry.distance_to(edge_entry) + p->distance;
-
-#else
-
- float distance = p->center.distance_to(e.C->center) + p->distance;
-
-#endif
-
- if (e.C->prev_edge != -1) {
- //oh this was visited already, can we win the cost?
-
- if (e.C->distance > distance) {
- e.C->prev_edge = e.C_edge;
- e.C->distance = distance;
-#ifdef USE_ENTRY_POINT
- e.C->entry = edge_entry;
-#endif
- }
- } else {
- //add to open neighbours
-
- e.C->prev_edge = e.C_edge;
- e.C->distance = distance;
-#ifdef USE_ENTRY_POINT
- e.C->entry = edge_entry;
-#endif
-
- open_list.push_back(e.C);
-
- if (e.C == end_poly) {
- //oh my reached end! stop algorithm
- found_route = true;
- break;
- }
- }
- }
-
- if (found_route) {
- break;
- }
-
- open_list.erase(least_cost_poly);
- }
-
- if (found_route) {
- Vector path;
-
- if (p_optimize) {
- //string pulling
-
- Vector2 apex_point = end_point;
- Vector2 portal_left = apex_point;
- Vector2 portal_right = apex_point;
- Polygon *left_poly = end_poly;
- Polygon *right_poly = end_poly;
- Polygon *p = end_poly;
-
- while (p) {
- Vector2 left;
- Vector2 right;
-
-//#define CLOCK_TANGENT(m_a,m_b,m_c) ( ((m_a)-(m_c)).cross((m_a)-(m_b)) )
-#define CLOCK_TANGENT(m_a, m_b, m_c) ((((m_a).x - (m_c).x) * ((m_b).y - (m_c).y) - ((m_b).x - (m_c).x) * ((m_a).y - (m_c).y)))
-
- if (p == begin_poly) {
- left = begin_point;
- right = begin_point;
- } else {
- int prev = p->prev_edge;
- int prev_n = (p->prev_edge + 1) % p->edges.size();
- left = _get_vertex(p->edges[prev].point);
- right = _get_vertex(p->edges[prev_n].point);
-
- if (p->clockwise) {
- SWAP(left, right);
- }
- /*if (CLOCK_TANGENT(apex_point,left,(left+right)*0.5) < 0){
- SWAP(left,right);
- }*/
- }
-
- bool skip = false;
-
- /*
- print_line("-----\nAPEX: "+(apex_point-end_point));
- print_line("LEFT:");
- print_line("\tPortal: "+(portal_left-end_point));
- print_line("\tPoint: "+(left-end_point));
- print_line("\tLeft Tangent: "+rtos(CLOCK_TANGENT(apex_point,portal_left,left)));
- print_line("\tLeft Distance: "+rtos(portal_left.distance_squared_to(apex_point)));
- print_line("\tLeft Test: "+rtos(CLOCK_TANGENT(apex_point,left,portal_right)));
- print_line("RIGHT:");
- print_line("\tPortal: "+(portal_right-end_point));
- print_line("\tPoint: "+(right-end_point));
- print_line("\tRight Tangent: "+rtos(CLOCK_TANGENT(apex_point,portal_right,right)));
- print_line("\tRight Distance: "+rtos(portal_right.distance_squared_to(apex_point)));
- print_line("\tRight Test: "+rtos(CLOCK_TANGENT(apex_point,right,portal_left)));
- */
-
- if (CLOCK_TANGENT(apex_point, portal_left, left) >= 0) {
- //process
- if (portal_left.is_equal_approx(apex_point) || CLOCK_TANGENT(apex_point, left, portal_right) > 0) {
- left_poly = p;
- portal_left = left;
- } else {
- apex_point = portal_right;
- p = right_poly;
- left_poly = p;
- portal_left = apex_point;
- portal_right = apex_point;
- if (!path.size() || !path[path.size() - 1].is_equal_approx(apex_point)) {
- path.push_back(apex_point);
- }
- skip = true;
- }
- }
-
- if (!skip && CLOCK_TANGENT(apex_point, portal_right, right) <= 0) {
- //process
- if (portal_right.is_equal_approx(apex_point) || CLOCK_TANGENT(apex_point, right, portal_left) < 0) {
- right_poly = p;
- portal_right = right;
- } else {
- apex_point = portal_left;
- p = left_poly;
- right_poly = p;
- portal_right = apex_point;
- portal_left = apex_point;
- if (!path.size() || !path[path.size() - 1].is_equal_approx(apex_point)) {
- path.push_back(apex_point);
- }
- }
- }
-
- if (p != begin_poly) {
- p = p->edges[p->prev_edge].C;
- } else {
- p = nullptr;
- }
- }
-
- } else {
- //midpoints
- Polygon *p = end_poly;
-
- while (true) {
- int prev = p->prev_edge;
- int prev_n = (p->prev_edge + 1) % p->edges.size();
- Vector2 point = (_get_vertex(p->edges[prev].point) + _get_vertex(p->edges[prev_n].point)) * 0.5;
- path.push_back(point);
- p = p->edges[prev].C;
- if (p == begin_poly) {
- break;
- }
- }
- }
-
- if (!path.size() || !path[path.size() - 1].is_equal_approx(begin_point)) {
- path.push_back(begin_point); // Add the begin point
- } else {
- path.write[path.size() - 1] = begin_point; // Replace first midpoint by the exact begin point
- }
-
- path.invert();
-
- if (path.size() <= 1 || !path[path.size() - 1].is_equal_approx(end_point)) {
- path.push_back(end_point); // Add the end point
- } else {
- path.write[path.size() - 1] = end_point; // Replace last midpoint by the exact end point
- }
-
- return path;
- }
-
- return Vector();
+Vector Navigation2D::get_simple_path(const Vector2 &p_start, const Vector2 &p_end, bool p_optimize) const {
+ return Navigation2DServer::get_singleton()->map_get_path(map, p_start, p_end, p_optimize);
}
-Vector2 Navigation2D::get_closest_point(const Vector2 &p_point) {
- Vector2 closest_point = Vector2();
- float closest_point_d = 1e20;
-
- for (Map::Element *E = navpoly_map.front(); E; E = E->next()) {
- if (!E->get().linked) {
- continue;
- }
- for (List::Element *F = E->get().polygons.front(); F; F = F->next()) {
- Polygon &p = F->get();
- for (int i = 2; i < p.edges.size(); i++) {
- if (Geometry::is_point_in_triangle(p_point, _get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point))) {
- return p_point; //inside triangle, nothing else to discuss
- }
- }
- }
- }
-
- for (Map::Element *E = navpoly_map.front(); E; E = E->next()) {
- if (!E->get().linked) {
- continue;
- }
- for (List::Element *F = E->get().polygons.front(); F; F = F->next()) {
- Polygon &p = F->get();
- int es = p.edges.size();
- for (int i = 0; i < es; i++) {
- Vector2 edge[2] = {
- _get_vertex(p.edges[i].point),
- _get_vertex(p.edges[(i + 1) % es].point)
- };
-
- Vector2 spoint = Geometry::get_closest_point_to_segment_2d(p_point, edge);
- float d = spoint.distance_squared_to(p_point);
- if (d < closest_point_d) {
- closest_point = spoint;
- closest_point_d = d;
- }
- }
- }
- }
-
- return closest_point;
+Vector2 Navigation2D::get_closest_point(const Vector2 &p_point) const {
+ return Navigation2DServer::get_singleton()->map_get_closest_point(map, p_point);
}
-Object *Navigation2D::get_closest_point_owner(const Vector2 &p_point) {
- Object *owner = nullptr;
- Vector2 closest_point = Vector2();
- float closest_point_d = 1e20;
-
- for (Map::Element *E = navpoly_map.front(); E; E = E->next()) {
- if (!E->get().linked) {
- continue;
- }
- for (List::Element *F = E->get().polygons.front(); F; F = F->next()) {
- Polygon &p = F->get();
- for (int i = 2; i < p.edges.size(); i++) {
- if (Geometry::is_point_in_triangle(p_point, _get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point))) {
- return E->get().owner;
- }
- }
- }
- }
-
- for (Map::Element *E = navpoly_map.front(); E; E = E->next()) {
- if (!E->get().linked) {
- continue;
- }
- for (List::Element *F = E->get().polygons.front(); F; F = F->next()) {
- Polygon &p = F->get();
- int es = p.edges.size();
- for (int i = 0; i < es; i++) {
- Vector2 edge[2] = {
- _get_vertex(p.edges[i].point),
- _get_vertex(p.edges[(i + 1) % es].point)
- };
-
- Vector2 spoint = Geometry::get_closest_point_to_segment_2d(p_point, edge);
- float d = spoint.distance_squared_to(p_point);
- if (d < closest_point_d) {
- closest_point = spoint;
- closest_point_d = d;
- owner = E->get().owner;
- }
- }
- }
- }
-
- return owner;
+RID Navigation2D::get_closest_point_owner(const Vector2 &p_point) const {
+ return Navigation2DServer::get_singleton()->map_get_closest_point_owner(map, p_point);
}
-void Navigation2D::_bind_methods() {
- ClassDB::bind_method(D_METHOD("navpoly_add", "mesh", "xform", "owner"), &Navigation2D::navpoly_add, DEFVAL(Variant()));
- ClassDB::bind_method(D_METHOD("navpoly_set_transform", "id", "xform"), &Navigation2D::navpoly_set_transform);
- ClassDB::bind_method(D_METHOD("navpoly_remove", "id"), &Navigation2D::navpoly_remove);
-
- ClassDB::bind_method(D_METHOD("get_simple_path", "start", "end", "optimize"), &Navigation2D::get_simple_path, DEFVAL(true));
- ClassDB::bind_method(D_METHOD("get_closest_point", "to_point"), &Navigation2D::get_closest_point);
- ClassDB::bind_method(D_METHOD("get_closest_point_owner", "to_point"), &Navigation2D::get_closest_point_owner);
+Navigation2D::Navigation2D() {
+ map = Navigation2DServer::get_singleton()->map_create();
+ set_cell_size(10); // Ten pixels
+ set_edge_connection_margin(100);
}
-Navigation2D::Navigation2D() {
- ERR_FAIL_COND(sizeof(Point) != 8);
- cell_size = 1; // one pixel
- last_id = 1;
+Navigation2D::~Navigation2D() {
+ Navigation2DServer::get_singleton()->free(map);
}
diff --git a/scene/2d/navigation_2d.h b/scene/2d/navigation_2d.h
index 347052ae8db7..5a14b7fafebb 100644
--- a/scene/2d/navigation_2d.h
+++ b/scene/2d/navigation_2d.h
@@ -37,129 +37,35 @@
class Navigation2D : public Node2D {
GDCLASS(Navigation2D, Node2D);
- union Point {
- struct {
- int64_t x : 32;
- int64_t y : 32;
- };
+ RID map;
+ real_t cell_size;
+ real_t edge_connection_margin;
- 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::Element *P;
- Edge() {
- C = nullptr;
- C_edge = -1;
- P = nullptr;
- }
- };
-
- Vector edges;
-
- Vector2 center;
- Vector2 entry;
-
- float distance;
- int prev_edge;
-
- bool clockwise;
-
- NavMesh *owner;
- };
-
- struct Connection {
- Polygon *A;
- int A_edge;
- Polygon *B;
- int B_edge;
-
- List pending;
-
- Connection() {
- A = nullptr;
- B = nullptr;
- A_edge = -1;
- B_edge = -1;
- }
- };
-
- Map connections;
-
- struct NavMesh {
- Object *owner;
- Transform2D xform;
- bool linked;
- Ref navpoly;
- List 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));
+protected:
+ static void _bind_methods();
+ void _notification(int p_what);
- Point p;
- p.key = 0;
- p.x = x;
- p.y = y;
- return p;
+public:
+ RID get_rid() const {
+ return map;
}
- _FORCE_INLINE_ Vector2 _get_vertex(const Point &p_point) const {
- return Vector2(p_point.x, p_point.y) * cell_size;
+ void set_cell_size(float p_cell_size);
+ float get_cell_size() const {
+ return cell_size;
}
- void _navpoly_link(int p_id);
- void _navpoly_unlink(int p_id);
-
- float cell_size;
- Map navpoly_map;
- int last_id;
-
-protected:
- static void _bind_methods();
-
-public:
- //API should be as dynamic as possible
- int navpoly_add(const Ref &p_mesh, const Transform2D &p_xform, Object *p_owner = nullptr);
- void navpoly_set_transform(int p_id, const Transform2D &p_xform);
- void navpoly_remove(int p_id);
+ void set_edge_connection_margin(float p_edge_connection_margin);
+ float get_edge_connection_margin() const {
+ return edge_connection_margin;
+ }
- Vector get_simple_path(const Vector2 &p_start, const Vector2 &p_end, bool p_optimize = true);
- Vector2 get_closest_point(const Vector2 &p_point);
- Object *get_closest_point_owner(const Vector2 &p_point);
+ Vector get_simple_path(const Vector2 &p_start, const Vector2 &p_end, bool p_optimize = true) const;
+ Vector2 get_closest_point(const Vector2 &p_point) const;
+ RID get_closest_point_owner(const Vector2 &p_point) const;
Navigation2D();
+ ~Navigation2D();
};
#endif // NAVIGATION_2D_H
diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp
new file mode 100644
index 000000000000..a9de474324a8
--- /dev/null
+++ b/scene/2d/navigation_agent_2d.cpp
@@ -0,0 +1,355 @@
+/*************************************************************************/
+/* navigation_agent_2d.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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. */
+/*************************************************************************/
+
+#include "navigation_agent_2d.h"
+
+#include "core/engine.h"
+#include "scene/2d/navigation_2d.h"
+#include "servers/navigation_2d_server.h"
+
+void NavigationAgent2D::_bind_methods() {
+ ClassDB::bind_method(D_METHOD("set_target_desired_distance", "desired_distance"), &NavigationAgent2D::set_target_desired_distance);
+ ClassDB::bind_method(D_METHOD("get_target_desired_distance"), &NavigationAgent2D::get_target_desired_distance);
+
+ ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationAgent2D::set_radius);
+ ClassDB::bind_method(D_METHOD("get_radius"), &NavigationAgent2D::get_radius);
+
+ ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationAgent2D::set_navigation_node);
+ ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationAgent2D::get_navigation_node);
+
+ ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent2D::set_neighbor_dist);
+ ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent2D::get_neighbor_dist);
+
+ ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent2D::set_max_neighbors);
+ ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent2D::get_max_neighbors);
+
+ ClassDB::bind_method(D_METHOD("set_time_horizon", "time_horizon"), &NavigationAgent2D::set_time_horizon);
+ ClassDB::bind_method(D_METHOD("get_time_horizon"), &NavigationAgent2D::get_time_horizon);
+
+ ClassDB::bind_method(D_METHOD("set_max_speed", "max_speed"), &NavigationAgent2D::set_max_speed);
+ ClassDB::bind_method(D_METHOD("get_max_speed"), &NavigationAgent2D::get_max_speed);
+
+ ClassDB::bind_method(D_METHOD("set_path_max_distance", "max_speed"), &NavigationAgent2D::set_path_max_distance);
+ ClassDB::bind_method(D_METHOD("get_path_max_distance"), &NavigationAgent2D::get_path_max_distance);
+
+ ClassDB::bind_method(D_METHOD("set_target_location", "location"), &NavigationAgent2D::set_target_location);
+ ClassDB::bind_method(D_METHOD("get_target_location"), &NavigationAgent2D::get_target_location);
+ ClassDB::bind_method(D_METHOD("get_next_location"), &NavigationAgent2D::get_next_location);
+ ClassDB::bind_method(D_METHOD("distance_to_target"), &NavigationAgent2D::distance_to_target);
+ ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationAgent2D::set_velocity);
+ ClassDB::bind_method(D_METHOD("get_nav_path"), &NavigationAgent2D::get_nav_path);
+ ClassDB::bind_method(D_METHOD("get_nav_path_index"), &NavigationAgent2D::get_nav_path_index);
+ ClassDB::bind_method(D_METHOD("is_target_reached"), &NavigationAgent2D::is_target_reached);
+ ClassDB::bind_method(D_METHOD("is_target_reachable"), &NavigationAgent2D::is_target_reachable);
+ ClassDB::bind_method(D_METHOD("is_navigation_finished"), &NavigationAgent2D::is_navigation_finished);
+ ClassDB::bind_method(D_METHOD("get_final_location"), &NavigationAgent2D::get_final_location);
+
+ ClassDB::bind_method(D_METHOD("_avoidance_done", "new_velocity"), &NavigationAgent2D::_avoidance_done);
+
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "target_desired_distance", PROPERTY_HINT_RANGE, "0.1,100,0.01"), "set_target_desired_distance", "get_target_desired_distance");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.1,500,0.01"), "set_radius", "get_radius");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_neighbor_dist", "get_neighbor_dist");
+ ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1"), "set_max_neighbors", "get_max_neighbors");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "time_horizon", PROPERTY_HINT_RANGE, "0.1,10000,0.01"), "set_time_horizon", "get_time_horizon");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "max_speed", PROPERTY_HINT_RANGE, "0.1,100000,0.01"), "set_max_speed", "get_max_speed");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_max_distance", PROPERTY_HINT_RANGE, "10,100,1"), "set_path_max_distance", "get_path_max_distance");
+
+ ADD_SIGNAL(MethodInfo("path_changed"));
+ ADD_SIGNAL(MethodInfo("target_reached"));
+ ADD_SIGNAL(MethodInfo("navigation_finished"));
+ ADD_SIGNAL(MethodInfo("velocity_computed", PropertyInfo(Variant::VECTOR2, "safe_velocity")));
+}
+
+void NavigationAgent2D::_notification(int p_what) {
+ switch (p_what) {
+ case NOTIFICATION_READY: {
+ agent_parent = Object::cast_to(get_parent());
+
+ Navigation2DServer::get_singleton()->agent_set_callback(agent, this, "_avoidance_done");
+
+ // Search the navigation node and set it
+ {
+ Navigation2D *nav = nullptr;
+ Node *p = get_parent();
+ while (p != nullptr) {
+ nav = Object::cast_to(p);
+ if (nav != nullptr) {
+ p = nullptr;
+ } else {
+ p = p->get_parent();
+ }
+ }
+
+ set_navigation(nav);
+ }
+
+ set_physics_process_internal(true);
+ } break;
+ case NOTIFICATION_EXIT_TREE: {
+ agent_parent = nullptr;
+ set_navigation(nullptr);
+ set_physics_process_internal(false);
+ // Want to call ready again when the node enters the tree again. We're not using enter_tree notification because
+ // the navigation map may not be ready at that time. This fixes issues with taking the agent out of the scene tree.
+ request_ready();
+ } break;
+ case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
+ if (agent_parent) {
+ Navigation2DServer::get_singleton()->agent_set_position(agent, agent_parent->get_global_transform().get_origin());
+ _check_distance_to_target();
+ }
+ } break;
+ }
+}
+
+NavigationAgent2D::NavigationAgent2D() :
+ agent_parent(nullptr),
+ navigation(nullptr),
+ agent(RID()),
+ target_desired_distance(1.0),
+ path_max_distance(3.0),
+ velocity_submitted(false),
+ target_reached(false),
+ navigation_finished(true) {
+ agent = Navigation2DServer::get_singleton()->agent_create();
+ set_neighbor_dist(500.0);
+ set_max_neighbors(10);
+ set_time_horizon(20.0);
+ set_radius(10.0);
+ set_max_speed(200.0);
+}
+
+NavigationAgent2D::~NavigationAgent2D() {
+ Navigation2DServer::get_singleton()->free(agent);
+ agent = RID(); // Pointless
+}
+
+void NavigationAgent2D::set_navigation(Navigation2D *p_nav) {
+ if (navigation == p_nav) {
+ return; // Pointless
+ }
+
+ navigation = p_nav;
+ Navigation2DServer::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
+}
+
+void NavigationAgent2D::set_navigation_node(Node *p_nav) {
+ Navigation2D *nav = Object::cast_to(p_nav);
+ ERR_FAIL_NULL(nav);
+ set_navigation(nav);
+}
+
+Node *NavigationAgent2D::get_navigation_node() const {
+ return Object::cast_to(navigation);
+}
+
+void NavigationAgent2D::set_target_desired_distance(real_t p_dd) {
+ target_desired_distance = p_dd;
+}
+
+void NavigationAgent2D::set_radius(real_t p_radius) {
+ radius = p_radius;
+ Navigation2DServer::get_singleton()->agent_set_radius(agent, radius);
+}
+
+void NavigationAgent2D::set_neighbor_dist(real_t p_dist) {
+ neighbor_dist = p_dist;
+ Navigation2DServer::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist);
+}
+
+void NavigationAgent2D::set_max_neighbors(int p_count) {
+ max_neighbors = p_count;
+ Navigation2DServer::get_singleton()->agent_set_max_neighbors(agent, max_neighbors);
+}
+
+void NavigationAgent2D::set_time_horizon(real_t p_time) {
+ time_horizon = p_time;
+ Navigation2DServer::get_singleton()->agent_set_time_horizon(agent, time_horizon);
+}
+
+void NavigationAgent2D::set_max_speed(real_t p_max_speed) {
+ max_speed = p_max_speed;
+ Navigation2DServer::get_singleton()->agent_set_max_speed(agent, max_speed);
+}
+
+void NavigationAgent2D::set_path_max_distance(real_t p_pmd) {
+ path_max_distance = p_pmd;
+}
+
+real_t NavigationAgent2D::get_path_max_distance() {
+ return path_max_distance;
+}
+
+void NavigationAgent2D::set_target_location(Vector2 p_location) {
+ target_location = p_location;
+ navigation_path.clear();
+ target_reached = false;
+ navigation_finished = false;
+ update_frame_id = 0;
+}
+
+Vector2 NavigationAgent2D::get_target_location() const {
+ return target_location;
+}
+
+Vector2 NavigationAgent2D::get_next_location() {
+ update_navigation();
+ if (navigation_path.size() == 0) {
+ ERR_FAIL_COND_V(agent_parent == nullptr, Vector2());
+ return agent_parent->get_global_transform().get_origin();
+ } else {
+ return navigation_path[nav_path_index];
+ }
+}
+
+real_t NavigationAgent2D::distance_to_target() const {
+ ERR_FAIL_COND_V(agent_parent == nullptr, 0.0);
+ return agent_parent->get_global_transform().get_origin().distance_to(target_location);
+}
+
+bool NavigationAgent2D::is_target_reached() const {
+ return target_reached;
+}
+
+bool NavigationAgent2D::is_target_reachable() {
+ return target_desired_distance >= get_final_location().distance_to(target_location);
+}
+
+bool NavigationAgent2D::is_navigation_finished() {
+ update_navigation();
+ return navigation_finished;
+}
+
+Vector2 NavigationAgent2D::get_final_location() {
+ update_navigation();
+ if (navigation_path.size() == 0) {
+ return Vector2();
+ }
+ return navigation_path[navigation_path.size() - 1];
+}
+
+void NavigationAgent2D::set_velocity(Vector2 p_velocity) {
+ target_velocity = p_velocity;
+ Navigation2DServer::get_singleton()->agent_set_target_velocity(agent, target_velocity);
+ Navigation2DServer::get_singleton()->agent_set_velocity(agent, prev_safe_velocity);
+ velocity_submitted = true;
+}
+
+void NavigationAgent2D::_avoidance_done(Vector3 p_new_velocity) {
+ const Vector2 velocity = Vector2(p_new_velocity.x, p_new_velocity.z);
+ prev_safe_velocity = velocity;
+
+ if (!velocity_submitted) {
+ target_velocity = Vector2();
+ return;
+ }
+ velocity_submitted = false;
+
+ emit_signal("velocity_computed", velocity);
+}
+
+String NavigationAgent2D::get_configuration_warning() const {
+ if (!Object::cast_to(get_parent())) {
+ return TTR("The NavigationAgent2D can be used only under a Node2D node");
+ }
+
+ return String();
+}
+
+void NavigationAgent2D::update_navigation() {
+ if (agent_parent == nullptr) {
+ return;
+ }
+ if (navigation == nullptr) {
+ return;
+ }
+ if (update_frame_id == Engine::get_singleton()->get_physics_frames()) {
+ return;
+ }
+
+ update_frame_id = Engine::get_singleton()->get_physics_frames();
+
+ Vector2 o = agent_parent->get_global_transform().get_origin();
+
+ bool reload_path = false;
+
+ if (Navigation2DServer::get_singleton()->agent_is_map_changed(agent)) {
+ reload_path = true;
+ } else if (navigation_path.size() == 0) {
+ reload_path = true;
+ } else {
+ // Check if too far from the navigation path
+ if (nav_path_index > 0) {
+ Vector2 segment[2];
+ segment[0] = navigation_path[nav_path_index - 1];
+ segment[1] = navigation_path[nav_path_index];
+ Vector2 p = Geometry::get_closest_point_to_segment_2d(o, segment);
+ if (o.distance_to(p) >= path_max_distance) {
+ // To faraway, reload path
+ reload_path = true;
+ }
+ }
+ }
+
+ if (reload_path) {
+ navigation_path = Navigation2DServer::get_singleton()->map_get_path(navigation->get_rid(), o, target_location, true);
+ navigation_finished = false;
+ nav_path_index = 0;
+ emit_signal("path_changed");
+ }
+
+ if (navigation_path.size() == 0) {
+ return;
+ }
+
+ // Check if we can advance the navigation path
+ if (navigation_finished == false) {
+ // Advances to the next far away location.
+ while (o.distance_to(navigation_path[nav_path_index]) < target_desired_distance) {
+ nav_path_index += 1;
+ if (nav_path_index == navigation_path.size()) {
+ _check_distance_to_target();
+ nav_path_index -= 1;
+ navigation_finished = true;
+ emit_signal("navigation_finished");
+ break;
+ }
+ }
+ }
+}
+
+void NavigationAgent2D::_check_distance_to_target() {
+ if (!target_reached) {
+ if (distance_to_target() < target_desired_distance) {
+ emit_signal("target_reached");
+ target_reached = true;
+ }
+ }
+}
diff --git a/scene/2d/navigation_agent_2d.h b/scene/2d/navigation_agent_2d.h
new file mode 100644
index 000000000000..1e773ea1e827
--- /dev/null
+++ b/scene/2d/navigation_agent_2d.h
@@ -0,0 +1,151 @@
+/*************************************************************************/
+/* navigation_agent_2d.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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_AGENT_2D_H
+#define NAVIGATION_AGENT_2D_H
+
+#include "core/vector.h"
+#include "scene/main/node.h"
+
+class Node2D;
+class Navigation2D;
+
+class NavigationAgent2D : public Node {
+ GDCLASS(NavigationAgent2D, Node);
+
+ Node2D *agent_parent;
+ Navigation2D *navigation;
+
+ RID agent;
+
+ real_t target_desired_distance;
+ real_t radius;
+ real_t neighbor_dist;
+ int max_neighbors;
+ real_t time_horizon;
+ real_t max_speed;
+
+ real_t path_max_distance;
+
+ Vector2 target_location;
+ Vector navigation_path;
+ int nav_path_index;
+ bool velocity_submitted;
+ Vector2 prev_safe_velocity;
+ /// The submitted target velocity
+ Vector2 target_velocity;
+ bool target_reached;
+ bool navigation_finished;
+ // No initialized on purpose
+ uint32_t update_frame_id;
+
+protected:
+ static void _bind_methods();
+ void _notification(int p_what);
+
+public:
+ NavigationAgent2D();
+ virtual ~NavigationAgent2D();
+
+ void set_navigation(Navigation2D *p_nav);
+ const Navigation2D *get_navigation() const {
+ return navigation;
+ }
+
+ void set_navigation_node(Node *p_nav);
+ Node *get_navigation_node() const;
+
+ RID get_rid() const {
+ return agent;
+ }
+
+ void set_target_desired_distance(real_t p_dd);
+ real_t get_target_desired_distance() const {
+ return target_desired_distance;
+ }
+
+ void set_radius(real_t p_radius);
+ real_t get_radius() const {
+ return radius;
+ }
+
+ void set_neighbor_dist(real_t p_dist);
+ real_t get_neighbor_dist() const {
+ return neighbor_dist;
+ }
+
+ void set_max_neighbors(int p_count);
+ int get_max_neighbors() const {
+ return max_neighbors;
+ }
+
+ void set_time_horizon(real_t p_time);
+ real_t get_time_horizon() const {
+ return time_horizon;
+ }
+
+ void set_max_speed(real_t p_max_speed);
+ real_t get_max_speed() const {
+ return max_speed;
+ }
+
+ void set_path_max_distance(real_t p_pmd);
+ real_t get_path_max_distance();
+
+ void set_target_location(Vector2 p_location);
+ Vector2 get_target_location() const;
+
+ Vector2 get_next_location();
+
+ Vector get_nav_path() const {
+ return navigation_path;
+ }
+
+ int get_nav_path_index() const {
+ return nav_path_index;
+ }
+
+ real_t distance_to_target() const;
+ bool is_target_reached() const;
+ bool is_target_reachable();
+ bool is_navigation_finished();
+ Vector2 get_final_location();
+
+ void set_velocity(Vector2 p_velocity);
+ void _avoidance_done(Vector3 p_new_velocity);
+
+ virtual String get_configuration_warning() const;
+
+private:
+ void update_navigation();
+ void _check_distance_to_target();
+};
+
+#endif
diff --git a/scene/2d/navigation_obstacle_2d.cpp b/scene/2d/navigation_obstacle_2d.cpp
new file mode 100644
index 000000000000..1df00f719b7c
--- /dev/null
+++ b/scene/2d/navigation_obstacle_2d.cpp
@@ -0,0 +1,196 @@
+/*************************************************************************/
+/* navigation_obstacle_2d.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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. */
+/*************************************************************************/
+
+#include "navigation_obstacle_2d.h"
+
+#include "scene/2d/collision_shape_2d.h"
+#include "scene/2d/navigation_2d.h"
+#include "scene/2d/physics_body_2d.h"
+#include "servers/navigation_2d_server.h"
+
+void NavigationObstacle2D::_bind_methods() {
+ ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle2D::set_navigation_node);
+ ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle2D::get_navigation_node);
+ ClassDB::bind_method(D_METHOD("set_estimate_radius", "estimate_radius"), &NavigationObstacle2D::set_estimate_radius);
+ ClassDB::bind_method(D_METHOD("is_radius_estimated"), &NavigationObstacle2D::is_radius_estimated);
+ ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle2D::set_radius);
+ ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle2D::get_radius);
+
+ ADD_PROPERTY(PropertyInfo(Variant::BOOL, "estimate_radius"), "set_estimate_radius", "is_radius_estimated");
+ ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.01,500,0.01"), "set_radius", "get_radius");
+}
+
+void NavigationObstacle2D::_validate_property(PropertyInfo &p_property) const {
+ if (p_property.name == "radius") {
+ if (estimate_radius) {
+ p_property.usage = PROPERTY_USAGE_NOEDITOR;
+ }
+ }
+}
+
+void NavigationObstacle2D::_notification(int p_what) {
+ switch (p_what) {
+ case NOTIFICATION_READY: {
+ initialize_agent();
+ parent_node2d = Object::cast_to(get_parent());
+
+ // Search the navigation node and set it
+ {
+ Navigation2D *nav = nullptr;
+ Node *p = get_parent();
+ while (p != nullptr) {
+ nav = Object::cast_to(p);
+ if (nav != nullptr) {
+ p = nullptr;
+ } else {
+ p = p->get_parent();
+ }
+ }
+
+ set_navigation(nav);
+ }
+
+ set_physics_process_internal(true);
+ } break;
+ case NOTIFICATION_EXIT_TREE: {
+ set_navigation(nullptr);
+ set_physics_process_internal(false);
+ request_ready(); // required to solve an issue with losing the navigation
+ } break;
+ case NOTIFICATION_PARENTED: {
+ parent_node2d = Object::cast_to(get_parent());
+ reevaluate_agent_radius();
+ }
+ case NOTIFICATION_UNPARENTED: {
+ parent_node2d = nullptr;
+ }
+ case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
+ if (parent_node2d) {
+ Navigation2DServer::get_singleton()->agent_set_position(agent, parent_node2d->get_global_transform().get_origin());
+ }
+
+ } break;
+ }
+}
+
+NavigationObstacle2D::NavigationObstacle2D() :
+ navigation(nullptr),
+ agent(RID()) {
+ agent = Navigation2DServer::get_singleton()->agent_create();
+}
+
+NavigationObstacle2D::~NavigationObstacle2D() {
+ Navigation2DServer::get_singleton()->free(agent);
+ agent = RID(); // Pointless
+}
+
+void NavigationObstacle2D::set_navigation(Navigation2D *p_nav) {
+ if (navigation == p_nav) {
+ return; // Pointless
+ }
+
+ navigation = p_nav;
+ Navigation2DServer::get_singleton()->agent_set_map(agent, navigation == nullptr ? RID() : navigation->get_rid());
+}
+
+void NavigationObstacle2D::set_navigation_node(Node *p_nav) {
+ Navigation2D *nav = Object::cast_to(p_nav);
+ ERR_FAIL_COND(nav == nullptr);
+ set_navigation(nav);
+}
+
+Node *NavigationObstacle2D::get_navigation_node() const {
+ return Object::cast_to(navigation);
+}
+
+String NavigationObstacle2D::get_configuration_warning() const {
+ if (!Object::cast_to(get_parent())) {
+ return TTR("The NavigationObstacle2D only serves to provide collision avoidance to a Node2D object.");
+ }
+
+ return String();
+}
+
+void NavigationObstacle2D::initialize_agent() {
+ Navigation2DServer::get_singleton()->agent_set_neighbor_dist(agent, 0.0);
+ Navigation2DServer::get_singleton()->agent_set_max_neighbors(agent, 0);
+ Navigation2DServer::get_singleton()->agent_set_time_horizon(agent, 0.0);
+ Navigation2DServer::get_singleton()->agent_set_max_speed(agent, 0.0);
+}
+
+void NavigationObstacle2D::reevaluate_agent_radius() {
+ if (!estimate_agent_radius()) {
+ Navigation2DServer::get_singleton()->agent_set_radius(agent, radius);
+ } else if (parent_node2d) {
+ Navigation2DServer::get_singleton()->agent_set_radius(agent, estimate_agent_radius());
+ }
+}
+
+real_t NavigationObstacle2D::estimate_agent_radius() const {
+ if (parent_node2d) {
+ // Estimate the radius of this physics body
+ real_t radius = 0.0;
+ for (int i(0); i < parent_node2d->get_child_count(); i++) {
+ // For each collision shape
+ CollisionShape2D *cs = Object::cast_to(parent_node2d->get_child(i));
+ if (cs) {
+ // Take the distance between the Body center to the shape center
+ real_t r = cs->get_transform().get_origin().length();
+ if (cs->get_shape().is_valid()) {
+ // and add the enclosing shape radius
+ r += cs->get_shape()->get_enclosing_radius();
+ }
+ Size2 s = cs->get_global_transform().get_scale();
+ r *= MAX(s.x, s.y);
+ // Takes the biggest radius
+ radius = MAX(radius, r);
+ }
+ }
+ Vector2 s = parent_node2d->get_global_transform().get_scale();
+ radius *= MAX(s.x, s.y);
+
+ if (radius > 0.0) {
+ return radius;
+ }
+ }
+ return 1.0; // Never a 0 radius
+}
+
+void NavigationObstacle2D::set_estimate_radius(bool p_estimate_radius) {
+ estimate_radius = p_estimate_radius;
+ _change_notify();
+ reevaluate_agent_radius();
+}
+
+void NavigationObstacle2D::set_radius(real_t p_radius) {
+ ERR_FAIL_COND_MSG(p_radius <= 0.0, "Radius must be greater than 0.");
+ radius = p_radius;
+ reevaluate_agent_radius();
+}
diff --git a/scene/2d/navigation_obstacle_2d.h b/scene/2d/navigation_obstacle_2d.h
new file mode 100644
index 000000000000..25f1280754ed
--- /dev/null
+++ b/scene/2d/navigation_obstacle_2d.h
@@ -0,0 +1,86 @@
+/*************************************************************************/
+/* navigation_obstacle_2d.h */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* https://godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 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_OBSTACLE_2D_H
+#define NAVIGATION_OBSTACLE_2D_H
+
+#include "scene/2d/node_2d.h"
+#include "scene/main/node.h"
+
+class Navigation2D;
+
+class NavigationObstacle2D : public Node {
+ GDCLASS(NavigationObstacle2D, Node);
+
+ Navigation2D *navigation;
+ Node2D *parent_node2d = nullptr;
+
+ RID agent;
+ bool estimate_radius = true;
+ real_t radius = 1.0;
+
+protected:
+ static void _bind_methods();
+ void _validate_property(PropertyInfo &property) const;
+ void _notification(int p_what);
+
+public:
+ NavigationObstacle2D();
+ virtual ~NavigationObstacle2D();
+
+ void set_navigation(Navigation2D *p_nav);
+ const Navigation2D *get_navigation() const {
+ return navigation;
+ }
+
+ void set_navigation_node(Node *p_nav);
+ Node *get_navigation_node() const;
+
+ RID get_rid() const {
+ return agent;
+ }
+
+ void set_estimate_radius(bool p_estimate_radius);
+ bool is_radius_estimated() const {
+ return estimate_radius;
+ }
+ void set_radius(real_t p_radius);
+ real_t get_radius() const {
+ return radius;
+ }
+ virtual String get_configuration_warning() const;
+
+private:
+ void initialize_agent();
+ void reevaluate_agent_radius();
+ real_t estimate_agent_radius() const;
+};
+
+#endif
diff --git a/scene/2d/navigation_polygon.cpp b/scene/2d/navigation_polygon.cpp
index 547c068e6c06..0fbd9beec3bb 100644
--- a/scene/2d/navigation_polygon.cpp
+++ b/scene/2d/navigation_polygon.cpp
@@ -32,7 +32,9 @@
#include "core/core_string_names.h"
#include "core/engine.h"
+#include "core/os/mutex.h"
#include "navigation_2d.h"
+#include "servers/navigation_2d_server.h"
#include "thirdparty/misc/triangulator.h"
@@ -80,6 +82,10 @@ bool NavigationPolygon::_edit_is_selected_on_click(const Point2 &p_point, double
#endif
void NavigationPolygon::set_vertices(const PoolVector &p_vertices) {
+ {
+ MutexLock lock(navmesh_generation);
+ navmesh.unref();
+ }
vertices = p_vertices;
rect_cache_dirty = true;
}
@@ -89,6 +95,10 @@ PoolVector NavigationPolygon::get_vertices() const {
}
void NavigationPolygon::_set_polygons(const Array &p_array) {
+ {
+ MutexLock lock(navmesh_generation);
+ navmesh.unref();
+ }
polygons.resize(p_array.size());
for (int i = 0; i < p_array.size(); i++) {
polygons.write[i].indices = p_array[i];
@@ -127,6 +137,10 @@ void NavigationPolygon::add_polygon(const Vector &p_polygon) {
Polygon polygon;
polygon.indices = p_polygon;
polygons.push_back(polygon);
+ {
+ MutexLock lock(navmesh_generation);
+ navmesh.unref();
+ }
}
void NavigationPolygon::add_outline_at_index(const PoolVector &p_outline, int p_index) {
@@ -143,6 +157,34 @@ Vector NavigationPolygon::get_polygon(int p_idx) {
}
void NavigationPolygon::clear_polygons() {
polygons.clear();
+ {
+ MutexLock lock(navmesh_generation);
+ navmesh.unref();
+ }
+}
+
+Ref NavigationPolygon::get_mesh() {
+ MutexLock lock(navmesh_generation);
+ if (navmesh.is_null()) {
+ navmesh.instance();
+ PoolVector verts;
+ {
+ verts.resize(get_vertices().size());
+ PoolVector::Write w = verts.write();
+
+ PoolVector::Read r = get_vertices().read();
+
+ for (int i(0); i < get_vertices().size(); i++) {
+ w[i] = Vector3(r[i].x, 0.0, r[i].y);
+ }
+ }
+ navmesh->set_vertices(verts);
+
+ for (int i(0); i < get_polygon_count(); i++) {
+ navmesh->add_polygon(get_polygon(i));
+ }
+ }
+ return navmesh;
}
void NavigationPolygon::add_outline(const PoolVector &p_outline) {
@@ -176,6 +218,10 @@ void NavigationPolygon::clear_outlines() {
rect_cache_dirty = true;
}
void NavigationPolygon::make_polygons_from_outlines() {
+ {
+ MutexLock lock(navmesh_generation);
+ navmesh.unref();
+ }
List in_poly, out_poly;
Vector2 outside_point(-1e10, -1e10);
@@ -305,6 +351,9 @@ NavigationPolygon::NavigationPolygon() :
rect_cache_dirty(true) {
}
+NavigationPolygon::~NavigationPolygon() {
+}
+
void NavigationPolygonInstance::set_enabled(bool p_enabled) {
if (enabled == p_enabled) {
return;
@@ -316,15 +365,10 @@ void NavigationPolygonInstance::set_enabled(bool p_enabled) {
}
if (!enabled) {
- if (nav_id != -1) {
- navigation->navpoly_remove(nav_id);
- nav_id = -1;
- }
+ Navigation2DServer::get_singleton()->region_set_map(region, RID());
} else {
if (navigation) {
- if (navpoly.is_valid()) {
- nav_id = navigation->navpoly_add(navpoly, get_relative_transform_to_parent(navigation), this);
- }
+ Navigation2DServer::get_singleton()->region_set_map(region, navigation->get_rid());
}
}
@@ -355,8 +399,8 @@ void NavigationPolygonInstance::_notification(int p_what) {
while (c) {
navigation = Object::cast_to(c);
if (navigation) {
- if (enabled && navpoly.is_valid()) {
- nav_id = navigation->navpoly_add(navpoly, get_relative_transform_to_parent(navigation), this);
+ if (enabled) {
+ Navigation2DServer::get_singleton()->region_set_map(region, navigation->get_rid());
}
break;
}
@@ -366,17 +410,12 @@ void NavigationPolygonInstance::_notification(int p_what) {
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
- if (navigation && nav_id != -1) {
- navigation->navpoly_set_transform(nav_id, get_relative_transform_to_parent(navigation));
- }
+ Navigation2DServer::get_singleton()->region_set_transform(region, get_global_transform());
} break;
case NOTIFICATION_EXIT_TREE: {
if (navigation) {
- if (nav_id != -1) {
- navigation->navpoly_remove(nav_id);
- nav_id = -1;
- }
+ Navigation2DServer::get_singleton()->region_set_map(region, RID());
}
navigation = nullptr;
} break;
@@ -431,24 +470,18 @@ void NavigationPolygonInstance::set_navigation_polygon(const Refnavpoly_remove(nav_id);
- nav_id = -1;
- }
-
if (navpoly.is_valid()) {
navpoly->disconnect(CoreStringNames::get_singleton()->changed, this, "_navpoly_changed");
}
+
navpoly = p_navpoly;
+ Navigation2DServer::get_singleton()->region_set_navpoly(region, p_navpoly);
+
if (navpoly.is_valid()) {
navpoly->connect(CoreStringNames::get_singleton()->changed, this, "_navpoly_changed");
}
_navpoly_changed();
- if (navigation && navpoly.is_valid() && enabled) {
- nav_id = navigation->navpoly_add(navpoly, get_relative_transform_to_parent(navigation), this);
- }
-
_change_notify("navpoly");
update_configuration_warning();
}
@@ -506,8 +539,13 @@ void NavigationPolygonInstance::_bind_methods() {
}
NavigationPolygonInstance::NavigationPolygonInstance() {
- navigation = nullptr;
- nav_id = -1;
enabled = true;
set_notify_transform(true);
+ region = Navigation2DServer::get_singleton()->region_create();
+
+ navigation = nullptr;
+}
+
+NavigationPolygonInstance::~NavigationPolygonInstance() {
+ Navigation2DServer::get_singleton()->free(region);
}
diff --git a/scene/2d/navigation_polygon.h b/scene/2d/navigation_polygon.h
index 7521d187e6ca..452e55e61fb5 100644
--- a/scene/2d/navigation_polygon.h
+++ b/scene/2d/navigation_polygon.h
@@ -32,6 +32,7 @@
#define NAVIGATION_POLYGON_H
#include "scene/2d/node_2d.h"
+#include "scene/resources/navigation_mesh.h"
class NavigationPolygon : public Resource {
GDCLASS(NavigationPolygon, Resource);
@@ -46,6 +47,10 @@ class NavigationPolygon : public Resource {
mutable Rect2 item_rect;
mutable bool rect_cache_dirty;
+ Mutex navmesh_generation;
+ // Navigation mesh
+ Ref navmesh;
+
protected:
static void _bind_methods();
@@ -80,7 +85,10 @@ class NavigationPolygon : public Resource {
Vector get_polygon(int p_idx);
void clear_polygons();
+ Ref get_mesh();
+
NavigationPolygon();
+ ~NavigationPolygon();
};
class Navigation2D;
@@ -89,7 +97,7 @@ class NavigationPolygonInstance : public Node2D {
GDCLASS(NavigationPolygonInstance, Node2D);
bool enabled;
- int nav_id;
+ RID region;
Navigation2D *navigation;
Ref navpoly;
@@ -114,6 +122,7 @@ class NavigationPolygonInstance : public Node2D {
String get_configuration_warning() const;
NavigationPolygonInstance();
+ ~NavigationPolygonInstance();
};
#endif // NAVIGATIONPOLYGON_H
diff --git a/scene/2d/tile_map.cpp b/scene/2d/tile_map.cpp
index 3d294b36add6..f2890d3b0ebd 100644
--- a/scene/2d/tile_map.cpp
+++ b/scene/2d/tile_map.cpp
@@ -35,6 +35,7 @@
#include "core/method_bind_ext.gen.inc"
#include "core/os/os.h"
#include "scene/2d/area_2d.h"
+#include "servers/navigation_2d_server.h"
#include "servers/physics_2d_server.h"
int TileMap::_get_quadrant_size() const {
@@ -79,7 +80,7 @@ void TileMap::_notification(int p_what) {
Quadrant &q = E->get();
if (navigation) {
for (Map::Element *F = q.navpoly_ids.front(); F; F = F->next()) {
- navigation->navpoly_remove(F->get().id);
+ Navigation2DServer::get_singleton()->region_set_map(F->get().region, RID());
}
q.navpoly_ids.clear();
}
@@ -163,7 +164,7 @@ void TileMap::_update_quadrant_transform() {
if (navigation) {
for (Map::Element *F = q.navpoly_ids.front(); F; F = F->next()) {
- navigation->navpoly_set_transform(F->get().id, nav_rel * F->get().xform);
+ Navigation2DServer::get_singleton()->region_set_transform(F->get().region, nav_rel * F->get().xform);
}
}
@@ -376,7 +377,7 @@ void TileMap::update_dirty_quadrants() {
if (navigation) {
for (Map::Element *E = q.navpoly_ids.front(); E; E = E->next()) {
- navigation->navpoly_remove(E->get().id);
+ Navigation2DServer::get_singleton()->region_set_map(E->get().region, RID());
}
q.navpoly_ids.clear();
}
@@ -616,10 +617,13 @@ void TileMap::update_dirty_quadrants() {
xform.set_origin(offset.floor() + q.pos);
_fix_cell_transform(xform, c, npoly_ofs, s);
- int pid = navigation->navpoly_add(navpoly, nav_rel * xform);
+ RID region = Navigation2DServer::get_singleton()->region_create();
+ Navigation2DServer::get_singleton()->region_set_map(region, navigation->get_rid());
+ Navigation2DServer::get_singleton()->region_set_transform(region, nav_rel * xform);
+ Navigation2DServer::get_singleton()->region_set_navpoly(region, navpoly);
Quadrant::NavPoly np;
- np.id = pid;
+ np.region = region;
np.xform = xform;
q.navpoly_ids[E->key()] = np;
@@ -813,7 +817,7 @@ void TileMap::_erase_quadrant(Map::Element *Q) {
if (navigation) {
for (Map::Element *E = q.navpoly_ids.front(); E; E = E->next()) {
- navigation->navpoly_remove(E->get().id);
+ Navigation2DServer::get_singleton()->region_set_map(E->get().region, RID());
}
q.navpoly_ids.clear();
}
diff --git a/scene/2d/tile_map.h b/scene/2d/tile_map.h
index 8edb432774e5..81560bae80e8 100644
--- a/scene/2d/tile_map.h
+++ b/scene/2d/tile_map.h
@@ -136,7 +136,7 @@ class TileMap : public Node2D {
SelfList dirty_list;
struct NavPoly {
- int id;
+ RID region;
Transform2D xform;
};
diff --git a/scene/3d/navigation.cpp b/scene/3d/navigation.cpp
index 8b981ceaae18..181fa789b9fb 100644
--- a/scene/3d/navigation.cpp
+++ b/scene/3d/navigation.cpp
@@ -30,650 +30,49 @@
#include "navigation.h"
-#define USE_ENTRY_POINT
+#include "servers/navigation_server.h"
-void Navigation::_navmesh_link(int p_id) {
- ERR_FAIL_COND(!navmesh_map.has(p_id));
- NavMesh &nm = navmesh_map[p_id];
- ERR_FAIL_COND(nm.linked);
- ERR_FAIL_COND(nm.navmesh.is_null());
-
- PoolVector vertices = nm.navmesh->get_vertices();
- int len = vertices.size();
- if (len == 0) {
- return;
- }
-
- PoolVector::Read r = vertices.read();
-
- for (int i = 0; i < nm.navmesh->get_polygon_count(); i++) {
- //build
-
- List::Element *P = nm.polygons.push_back(Polygon());
- Polygon &p = P->get();
- p.owner = &nm;
-
- Vector poly = nm.navmesh->get_polygon(i);
- int plen = poly.size();
- const int *indices = poly.ptr();
- bool valid = true;
- p.edges.resize(plen);
-
- Vector3 center;
- float sum = 0;
-
- for (int j = 0; j < plen; j++) {
- int idx = indices[j];
- if (idx < 0 || idx >= len) {
- valid = false;
- break;
- }
-
- Polygon::Edge e;
- Vector3 ep = nm.xform.xform(r[idx]);
- center += ep;
- e.point = _get_point(ep);
- p.edges.write[j] = e;
-
- if (j >= 2) {
- Vector3 epa = nm.xform.xform(r[indices[j - 2]]);
- Vector3 epb = nm.xform.xform(r[indices[j - 1]]);
-
- sum += up.dot((epb - epa).cross(ep - epa));
- }
- }
-
- p.clockwise = sum > 0;
-
- if (!valid) {
- nm.polygons.pop_back();
- ERR_CONTINUE(!valid);
- }
-
- p.center = center;
- if (plen != 0) {
- p.center /= plen;
- }
-
- //connect
-
- for (int j = 0; j < plen; j++) {
- int next = (j + 1) % plen;
- EdgeKey ek(p.edges[j].point, p.edges[next].point);
-
- Map::Element *C = connections.find(ek);
- if (!C) {
- Connection c;
- c.A = &p;
- c.A_edge = j;
- c.B = nullptr;
- c.B_edge = -1;
- connections[ek] = c;
- } else {
- if (C->get().B != nullptr) {
- ConnectionPending pending;
- pending.polygon = &p;
- pending.edge = j;
- p.edges.write[j].P = C->get().pending.push_back(pending);
- continue;
- }
-
- C->get().B = &p;
- C->get().B_edge = j;
- C->get().A->edges.write[C->get().A_edge].C = &p;
- C->get().A->edges.write[C->get().A_edge].C_edge = j;
- p.edges.write[j].C = C->get().A;
- p.edges.write[j].C_edge = C->get().A_edge;
- //connection successful.
- }
- }
- }
-
- nm.linked = true;
+Vector Navigation::get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize) const {
+ return NavigationServer::get_singleton()->map_get_path(map, p_start, p_end, p_optimize);
}
-void Navigation::_navmesh_unlink(int p_id) {
- ERR_FAIL_COND(!navmesh_map.has(p_id));
- NavMesh &nm = navmesh_map[p_id];
- ERR_FAIL_COND(!nm.linked);
-
- for (List::Element *E = nm.polygons.front(); E; E = E->next()) {
- Polygon &p = E->get();
-
- int edge_count = p.edges.size();
- Polygon::Edge *edges = p.edges.ptrw();
-
- for (int i = 0; i < edge_count; i++) {
- int next = (i + 1) % edge_count;
- EdgeKey ek(edges[i].point, edges[next].point);
- Map::Element *C = connections.find(ek);
-
- ERR_CONTINUE(!C);
-
- if (edges[i].P) {
- C->get().pending.erase(edges[i].P);
- edges[i].P = nullptr;
- } else if (C->get().B) {
- //disconnect
-
- C->get().B->edges.write[C->get().B_edge].C = nullptr;
- C->get().B->edges.write[C->get().B_edge].C_edge = -1;
- C->get().A->edges.write[C->get().A_edge].C = nullptr;
- C->get().A->edges.write[C->get().A_edge].C_edge = -1;
-
- if (C->get().A == &E->get()) {
- C->get().A = C->get().B;
- C->get().A_edge = C->get().B_edge;
- }
- C->get().B = nullptr;
- C->get().B_edge = -1;
-
- if (C->get().pending.size()) {
- //reconnect if something is pending
- ConnectionPending cp = C->get().pending.front()->get();
- C->get().pending.pop_front();
-
- C->get().B = cp.polygon;
- C->get().B_edge = cp.edge;
- C->get().A->edges.write[C->get().A_edge].C = cp.polygon;
- C->get().A->edges.write[C->get().A_edge].C_edge = cp.edge;
- cp.polygon->edges.write[cp.edge].C = C->get().A;
- cp.polygon->edges.write[cp.edge].C_edge = C->get().A_edge;
- cp.polygon->edges.write[cp.edge].P = nullptr;
- }
-
- } else {
- connections.erase(C);
- //erase
- }
- }
- }
-
- nm.polygons.clear();
-
- nm.linked = false;
+Vector3 Navigation::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, bool p_use_collision) const {
+ return NavigationServer::get_singleton()->map_get_closest_point_to_segment(map, p_from, p_to, p_use_collision);
}
-int Navigation::navmesh_add(const Ref &p_mesh, const Transform &p_xform, Object *p_owner) {
- int id = last_id++;
- NavMesh nm;
- nm.linked = false;
- nm.navmesh = p_mesh;
- nm.xform = p_xform;
- nm.owner = p_owner;
- navmesh_map[id] = nm;
-
- _navmesh_link(id);
-
- return id;
+Vector3 Navigation::get_closest_point(const Vector3 &p_point) const {
+ return NavigationServer::get_singleton()->map_get_closest_point(map, p_point);
}
-void Navigation::navmesh_set_transform(int p_id, const Transform &p_xform) {
- ERR_FAIL_COND(!navmesh_map.has(p_id));
- NavMesh &nm = navmesh_map[p_id];
- if (nm.xform == p_xform) {
- return; //bleh
- }
- _navmesh_unlink(p_id);
- nm.xform = p_xform;
- _navmesh_link(p_id);
+Vector3 Navigation::get_closest_point_normal(const Vector3 &p_point) const {
+ return NavigationServer::get_singleton()->map_get_closest_point_normal(map, p_point);
}
-void Navigation::navmesh_remove(int p_id) {
- ERR_FAIL_COND_MSG(!navmesh_map.has(p_id), "Trying to remove nonexisting navmesh with id: " + itos(p_id));
- _navmesh_unlink(p_id);
- navmesh_map.erase(p_id);
-}
-
-void Navigation::_clip_path(Vector &path, Polygon *from_poly, const Vector3 &p_to_point, Polygon *p_to_poly) {
- Vector3 from = path[path.size() - 1];
-
- if (from.distance_to(p_to_point) < CMP_EPSILON) {
- return;
- }
- Plane cut_plane;
- cut_plane.normal = (from - p_to_point).cross(up);
- if (cut_plane.normal == Vector3()) {
- return;
- }
- cut_plane.normal.normalize();
- cut_plane.d = cut_plane.normal.dot(from);
-
- while (from_poly != p_to_poly) {
- int edge_count = from_poly->edges.size();
- ERR_FAIL_COND_MSG(edge_count == 0, "Polygon has no edges.");
- int pe = from_poly->prev_edge;
- int next = (pe + 1) % edge_count;
- Vector3 a = _get_vertex(from_poly->edges[pe].point);
- Vector3 b = _get_vertex(from_poly->edges[next].point);
- from_poly = from_poly->edges[pe].C;
- ERR_FAIL_COND(!from_poly);
-
- if (a.distance_to(b) > CMP_EPSILON) {
- Vector3 inters;
- if (cut_plane.intersects_segment(a, b, &inters)) {
- if (inters.distance_to(p_to_point) > CMP_EPSILON && inters.distance_to(path[path.size() - 1]) > CMP_EPSILON) {
- path.push_back(inters);
- }
- }
- }
- }
-}
-
-Vector Navigation::get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize) {
- Polygon *begin_poly = nullptr;
- Polygon *end_poly = nullptr;
- Vector3 begin_point;
- Vector3 end_point;
- float begin_d = 1e20;
- float end_d = 1e20;
-
- for (Map::Element *E = navmesh_map.front(); E; E = E->next()) {
- if (!E->get().linked) {
- continue;
- }
- for (List::Element *F = E->get().polygons.front(); F; F = F->next()) {
- Polygon &p = F->get();
- for (int i = 2; i < p.edges.size(); i++) {
- Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
- Vector3 spoint = f.get_closest_point_to(p_start);
- float dpoint = spoint.distance_to(p_start);
- if (dpoint < begin_d) {
- begin_d = dpoint;
- begin_poly = &p;
- begin_point = spoint;
- }
-
- spoint = f.get_closest_point_to(p_end);
- dpoint = spoint.distance_to(p_end);
- if (dpoint < end_d) {
- end_d = dpoint;
- end_poly = &p;
- end_point = spoint;
- }
- }
-
- p.prev_edge = -1;
- }
- }
-
- if (!begin_poly || !end_poly) {
- return Vector(); //no path
- }
-
- if (begin_poly == end_poly) {
- Vector path;
- path.resize(2);
- path.write[0] = begin_point;
- path.write[1] = end_point;
- return path;
- }
-
- bool found_route = false;
-
- List open_list;
- int begin_edge_count = begin_poly->edges.size();
-
- for (int i = 0; i < begin_edge_count; i++) {
- if (begin_poly->edges[i].C) {
- begin_poly->edges[i].C->prev_edge = begin_poly->edges[i].C_edge;
-#ifdef USE_ENTRY_POINT
- int next = (i + 1) % begin_edge_count;
- Vector3 edge[2] = {
- _get_vertex(begin_poly->edges[i].point),
- _get_vertex(begin_poly->edges[next].point)
- };
-
- Vector3 entry = Geometry::get_closest_point_to_segment(begin_poly->entry, edge);
- begin_poly->edges[i].C->distance = begin_point.distance_to(entry);
- begin_poly->edges[i].C->entry = entry;
-#else
- begin_poly->edges[i].C->distance = begin_poly->center.distance_to(begin_poly->edges[i].C->center);
-#endif
- open_list.push_back(begin_poly->edges[i].C);
- }
- }
-
- while (!found_route) {
- if (open_list.size() == 0) {
- break;
- }
- //check open list
-
- List::Element *least_cost_poly = nullptr;
- float least_cost = 1e30;
-
- //this could be faster (cache previous results)
- for (List::Element *E = open_list.front(); E; E = E->next()) {
- Polygon *p = E->get();
-
- float cost = p->distance;
-#ifdef USE_ENTRY_POINT
- cost += p->entry.distance_to(end_point);
-#else
- cost += p->center.distance_to(end_point);
-#endif
- if (cost < least_cost) {
- least_cost_poly = E;
- least_cost = cost;
- }
- }
-
- Polygon *p = least_cost_poly->get();
- //open the neighbours for search
-
- if (p == end_poly) {
- //oh my reached end! stop algorithm
- found_route = true;
- break;
- }
-
- int edge_count = p->edges.size();
- for (int i = 0; i < edge_count; i++) {
- Polygon::Edge &e = p->edges.write[i];
-
- if (!e.C) {
- continue;
- }
-
-#ifdef USE_ENTRY_POINT
- int next = (i + 1) % edge_count;
- Vector3 edge[2] = {
- _get_vertex(p->edges[i].point),
- _get_vertex(p->edges[next].point)
- };
-
- Vector3 entry = Geometry::get_closest_point_to_segment(p->entry, edge);
- float distance = p->entry.distance_to(entry) + p->distance;
-#else
- float distance = p->center.distance_to(e.C->center) + p->distance;
-#endif
-
- if (e.C->prev_edge != -1) {
- //oh this was visited already, can we win the cost?
-
- if (e.C->distance > distance) {
- e.C->prev_edge = e.C_edge;
- e.C->distance = distance;
-#ifdef USE_ENTRY_POINT
- e.C->entry = entry;
-#endif
- }
- } else {
- //add to open neighbours
-
- e.C->prev_edge = e.C_edge;
- e.C->distance = distance;
-#ifdef USE_ENTRY_POINT
- e.C->entry = entry;
-#endif
- open_list.push_back(e.C);
- }
- }
-
- open_list.erase(least_cost_poly);
- }
-
- if (found_route) {
- Vector path;
-
- if (p_optimize) {
- //string pulling
-
- Polygon *apex_poly = end_poly;
- Vector3 apex_point = end_point;
- Vector3 portal_left = apex_point;
- Vector3 portal_right = apex_point;
- Polygon *left_poly = end_poly;
- Polygon *right_poly = end_poly;
- Polygon *p = end_poly;
- path.push_back(end_point);
-
- while (p) {
- Vector3 left;
- Vector3 right;
-
-#define CLOCK_TANGENT(m_a, m_b, m_c) (((m_a) - (m_c)).cross((m_a) - (m_b)))
-
- if (p == begin_poly) {
- left = begin_point;
- right = begin_point;
- } else {
- int edge_count = p->edges.size();
- ERR_FAIL_COND_V_MSG(edge_count == 0, Vector(), "Polygon has no edges.");
- int prev = p->prev_edge;
- int prev_n = (p->prev_edge + 1) % edge_count;
- left = _get_vertex(p->edges[prev].point);
- right = _get_vertex(p->edges[prev_n].point);
-
- //if (CLOCK_TANGENT(apex_point,left,(left+right)*0.5).dot(up) < 0){
- if (p->clockwise) {
- SWAP(left, right);
- }
- }
-
- bool skip = false;
-
- if (CLOCK_TANGENT(apex_point, portal_left, left).dot(up) >= 0) {
- //process
- if (portal_left == apex_point || CLOCK_TANGENT(apex_point, left, portal_right).dot(up) > 0) {
- left_poly = p;
- portal_left = left;
- } else {
- _clip_path(path, apex_poly, portal_right, right_poly);
-
- apex_point = portal_right;
- p = right_poly;
- left_poly = p;
- apex_poly = p;
- portal_left = apex_point;
- portal_right = apex_point;
- path.push_back(apex_point);
- skip = true;
- }
- }
-
- if (!skip && CLOCK_TANGENT(apex_point, portal_right, right).dot(up) <= 0) {
- //process
- if (portal_right == apex_point || CLOCK_TANGENT(apex_point, right, portal_left).dot(up) < 0) {
- right_poly = p;
- portal_right = right;
- } else {
- _clip_path(path, apex_poly, portal_left, left_poly);
-
- apex_point = portal_left;
- p = left_poly;
- right_poly = p;
- apex_poly = p;
- portal_right = apex_point;
- portal_left = apex_point;
- path.push_back(apex_point);
- }
- }
-
- if (p != begin_poly) {
- p = p->edges[p->prev_edge].C;
- } else {
- p = nullptr;
- }
- }
-
- if (path[path.size() - 1] != begin_point) {
- path.push_back(begin_point);
- }
-
- path.invert();
-
- } else {
- //midpoints
- Polygon *p = end_poly;
-
- path.push_back(end_point);
- while (true) {
- int prev = p->prev_edge;
-#ifdef USE_ENTRY_POINT
- Vector3 point = p->entry;
-#else
- int edge_count = p->edges.size();
- ERR_FAIL_COND_V_MSG(edge_count == 0, Vector(), "Polygon has no edges.");
- int prev_n = (p->prev_edge + 1) % edge_count;
- Vector3 point = (_get_vertex(p->edges[prev].point) + _get_vertex(p->edges[prev_n].point)) * 0.5;
-#endif
- path.push_back(point);
- p = p->edges[prev].C;
- if (p == begin_poly) {
- break;
- }
- }
-
- path.push_back(begin_point);
-
- path.invert();
- }
-
- return path;
- }
-
- return Vector();
-}
-
-Vector3 Navigation::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool &p_use_collision) {
- bool use_collision = p_use_collision;
- Vector3 closest_point;
- float closest_point_d = 1e20;
-
- for (Map