virtualx-engine/modules/navigation/godot_navigation_server.h

/*************************************************************************/
/*  godot_navigation_server.h                                            */
/*************************************************************************/
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/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
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#ifndef GODOT_NAVIGATION_SERVER_H
#define GODOT_NAVIGATION_SERVER_H

#include "core/templates/local_vector.h"
#include "core/templates/rid.h"
#include "core/templates/rid_owner.h"
#include "servers/navigation_server_3d.h"

#include "nav_link.h"
#include "nav_map.h"
#include "nav_region.h"
#include "rvo_agent.h"

/// 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 override; \
	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 override; \
	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 override; \
	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 NavigationServer3D {
	Mutex commands_mutex;
	/// Mutex used to make any operation threadsafe.
	Mutex operations_mutex;

	LocalVector<SetCommand *> commands;

	mutable RID_Owner<NavLink> link_owner;
	mutable RID_Owner<NavMap> map_owner;
	mutable RID_Owner<NavRegion> region_owner;
	mutable RID_Owner<RvoAgent> agent_owner;

	bool active = true;
	LocalVector<NavMap *> active_maps;
	LocalVector<uint32_t> active_maps_update_id;

public:
	GodotNavigationServer();
	virtual ~GodotNavigationServer();

	void add_command(SetCommand *command) const;

	virtual TypedArray<RID> get_maps() const override;

	virtual RID map_create() const override;
	COMMAND_2(map_set_active, RID, p_map, bool, p_active);
	virtual bool map_is_active(RID p_map) const override;

	COMMAND_2(map_set_up, RID, p_map, Vector3, p_up);
	virtual Vector3 map_get_up(RID p_map) const override;

	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 override;

	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 override;

	COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius);
	virtual real_t map_get_link_connection_radius(RID p_map) const override;

	virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const override;

	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 override;
	virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const override;
	virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const override;
	virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const override;

	virtual TypedArray<RID> map_get_links(RID p_map) const override;
	virtual TypedArray<RID> map_get_regions(RID p_map) const override;
	virtual TypedArray<RID> map_get_agents(RID p_map) const override;

	virtual void map_force_update(RID p_map) override;

	virtual RID region_create() const override;

	COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost);
	virtual real_t region_get_enter_cost(RID p_region) const override;
	COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost);
	virtual real_t region_get_travel_cost(RID p_region) const override;

	COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id);
	virtual ObjectID region_get_owner_id(RID p_region) const override;

	virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const override;

	COMMAND_2(region_set_map, RID, p_region, RID, p_map);
	virtual RID region_get_map(RID p_region) const override;
	COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers);
	virtual uint32_t region_get_navigation_layers(RID p_region) const override;
	COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform);
	COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navigation_mesh);
	virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) const override;
	virtual int region_get_connections_count(RID p_region) const override;
	virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override;
	virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override;

	virtual RID link_create() const override;
	COMMAND_2(link_set_map, RID, p_link, RID, p_map);
	virtual RID link_get_map(RID p_link) const override;
	COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional);
	virtual bool link_is_bidirectional(RID p_link) const override;
	COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers);
	virtual uint32_t link_get_navigation_layers(RID p_link) const override;
	COMMAND_2(link_set_start_location, RID, p_link, Vector3, p_location);
	virtual Vector3 link_get_start_location(RID p_link) const override;
	COMMAND_2(link_set_end_location, RID, p_link, Vector3, p_location);
	virtual Vector3 link_get_end_location(RID p_link) const override;
	COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost);
	virtual real_t link_get_enter_cost(RID p_link) const override;
	COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost);
	virtual real_t link_get_travel_cost(RID p_link) const override;
	COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id);
	virtual ObjectID link_get_owner_id(RID p_link) const override;

	virtual RID agent_create() const override;
	COMMAND_2(agent_set_map, RID, p_agent, RID, p_map);
	virtual RID agent_get_map(RID p_agent) const override;
	COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance);
	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 override;
	COMMAND_4_DEF(agent_set_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata, Variant());

	COMMAND_1(free, RID, p_object);

	virtual void set_active(bool p_active) const override;

	void flush_queries();
	virtual void process(real_t p_delta_time) override;

	virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const override;
};

#undef COMMAND_1
#undef COMMAND_2
#undef COMMAND_4_DEF

#endif // GODOT_NAVIGATION_SERVER_H