From 217a27014bb9e88605f44de3f0bb119f372a8378 Mon Sep 17 00:00:00 2001 From: smix8 <52464204+smix8@users.noreply.github.com> Date: Tue, 7 Mar 2023 15:16:07 +0100 Subject: [PATCH] Fix NavigationServer internals still using float instead of real_t Fixes that some NavigationServer internals still used float instead of real_t in some parts. --- modules/navigation/nav_base.h | 12 +++++----- modules/navigation/nav_map.cpp | 38 +++++++++++++++---------------- modules/navigation/nav_map.h | 12 +++++----- modules/navigation/nav_region.cpp | 4 ++-- modules/navigation/nav_utils.h | 2 +- servers/navigation_server_2d.cpp | 4 ++-- servers/navigation_server_2d.h | 4 ++-- servers/navigation_server_3d.cpp | 4 ++-- servers/navigation_server_3d.h | 6 ++--- 9 files changed, 43 insertions(+), 43 deletions(-) diff --git a/modules/navigation/nav_base.h b/modules/navigation/nav_base.h index e729f7d4081..d4354f929d7 100644 --- a/modules/navigation/nav_base.h +++ b/modules/navigation/nav_base.h @@ -40,8 +40,8 @@ class NavMap; class NavBase : public NavRid { protected: uint32_t navigation_layers = 1; - float enter_cost = 0.0; - float travel_cost = 1.0; + real_t enter_cost = 0.0; + real_t travel_cost = 1.0; ObjectID owner_id; NavigationUtilities::PathSegmentType type; @@ -51,11 +51,11 @@ public: void set_navigation_layers(uint32_t p_navigation_layers) { navigation_layers = p_navigation_layers; } uint32_t get_navigation_layers() const { return navigation_layers; } - void set_enter_cost(float p_enter_cost) { enter_cost = MAX(p_enter_cost, 0.0); } - float get_enter_cost() const { return enter_cost; } + void set_enter_cost(real_t p_enter_cost) { enter_cost = MAX(p_enter_cost, 0.0); } + real_t get_enter_cost() const { return enter_cost; } - void set_travel_cost(float p_travel_cost) { travel_cost = MAX(p_travel_cost, 0.0); } - float get_travel_cost() const { return travel_cost; } + void set_travel_cost(real_t p_travel_cost) { travel_cost = MAX(p_travel_cost, 0.0); } + real_t get_travel_cost() const { return travel_cost; } void set_owner_id(ObjectID p_owner_id) { owner_id = p_owner_id; } ObjectID get_owner_id() const { return owner_id; } diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index b1674c8fc53..a97ce1f88e8 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -55,17 +55,17 @@ void NavMap::set_up(Vector3 p_up) { regenerate_polygons = true; } -void NavMap::set_cell_size(float p_cell_size) { +void NavMap::set_cell_size(real_t p_cell_size) { cell_size = p_cell_size; regenerate_polygons = true; } -void NavMap::set_edge_connection_margin(float p_edge_connection_margin) { +void NavMap::set_edge_connection_margin(real_t p_edge_connection_margin) { edge_connection_margin = p_edge_connection_margin; regenerate_links = true; } -void NavMap::set_link_connection_radius(float p_link_connection_radius) { +void NavMap::set_link_connection_radius(real_t p_link_connection_radius) { link_connection_radius = p_link_connection_radius; regenerate_links = true; } @@ -100,8 +100,8 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p const gd::Polygon *end_poly = nullptr; Vector3 begin_point; Vector3 end_point; - float begin_d = 1e20; - float end_d = 1e20; + real_t begin_d = FLT_MAX; + real_t end_d = FLT_MAX; // Find the initial poly and the end poly on this map. for (const gd::Polygon &p : polygons) { // Only consider the polygon if it in a region with compatible layers. @@ -114,7 +114,7 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p const Face3 face(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos); Vector3 point = face.get_closest_point_to(p_origin); - float distance_to_point = point.distance_to(p_origin); + real_t distance_to_point = point.distance_to(p_origin); if (distance_to_point < begin_d) { begin_d = distance_to_point; begin_poly = &p; @@ -183,7 +183,7 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p bool found_route = false; const gd::Polygon *reachable_end = nullptr; - float reachable_d = 1e30; + real_t reachable_d = FLT_MAX; bool is_reachable = true; while (true) { @@ -199,8 +199,8 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p } const gd::NavigationPoly &least_cost_poly = navigation_polys[least_cost_id]; - float poly_enter_cost = 0.0; - float poly_travel_cost = least_cost_poly.poly->owner->get_travel_cost(); + real_t poly_enter_cost = 0.0; + real_t poly_travel_cost = least_cost_poly.poly->owner->get_travel_cost(); if (prev_least_cost_id != -1 && (navigation_polys[prev_least_cost_id].poly->owner->get_self() != least_cost_poly.poly->owner->get_self())) { poly_enter_cost = least_cost_poly.poly->owner->get_enter_cost(); @@ -209,7 +209,7 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p Vector3 pathway[2] = { connection.pathway_start, connection.pathway_end }; const Vector3 new_entry = Geometry3D::get_closest_point_to_segment(least_cost_poly.entry, pathway); - const float new_distance = (least_cost_poly.entry.distance_to(new_entry) * poly_travel_cost) + poly_enter_cost + least_cost_poly.traveled_distance; + const real_t new_distance = (least_cost_poly.entry.distance_to(new_entry) * poly_travel_cost) + poly_enter_cost + least_cost_poly.traveled_distance; int64_t already_visited_polygon_index = navigation_polys.find(gd::NavigationPoly(connection.polygon)); @@ -257,11 +257,11 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // Set as end point the furthest reachable point. end_poly = reachable_end; - end_d = 1e20; + end_d = FLT_MAX; for (size_t point_id = 2; point_id < end_poly->points.size(); point_id++) { Face3 f(end_poly->points[0].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); + real_t dpoint = spoint.distance_to(p_destination); if (dpoint < end_d) { end_point = spoint; end_d = dpoint; @@ -284,10 +284,10 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // Find the polygon with the minimum cost from the list of polygons to visit. least_cost_id = -1; - float least_cost = 1e30; + real_t least_cost = FLT_MAX; for (List::Element *element = to_visit.front(); element != nullptr; element = element->next()) { gd::NavigationPoly *np = &navigation_polys[element->get()]; - float cost = np->traveled_distance; + real_t cost = np->traveled_distance; cost += (np->entry.distance_to(end_point) * np->poly->owner->get_travel_cost()); if (cost < least_cost) { least_cost_id = np->self_id; @@ -299,7 +299,7 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // 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) * navigation_polys[least_cost_id].poly->owner->get_travel_cost(); + real_t d = navigation_polys[least_cost_id].entry.distance_to(p_destination) * navigation_polys[least_cost_id].poly->owner->get_travel_cost(); if (reachable_d > d) { reachable_d = d; reachable_end = navigation_polys[least_cost_id].poly; @@ -459,7 +459,7 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p 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; + real_t closest_point_d = FLT_MAX; for (const gd::Polygon &p : polygons) { // For each face check the distance to the segment @@ -520,7 +520,7 @@ RID NavMap::get_closest_point_owner(const Vector3 &p_point) const { gd::ClosestPointQueryResult NavMap::get_closest_point_info(const Vector3 &p_point) const { gd::ClosestPointQueryResult result; - real_t closest_point_ds = 1e20; + real_t closest_point_ds = FLT_MAX; for (size_t i(0); i < polygons.size(); i++) { const gd::Polygon &p = polygons[i]; @@ -734,8 +734,8 @@ void NavMap::sync() { // Compute the projection of the opposite edge on the current one Vector3 edge_vector = edge_p2 - edge_p1; - float projected_p1_ratio = edge_vector.dot(other_edge_p1 - edge_p1) / (edge_vector.length_squared()); - float projected_p2_ratio = edge_vector.dot(other_edge_p2 - edge_p1) / (edge_vector.length_squared()); + real_t projected_p1_ratio = edge_vector.dot(other_edge_p1 - edge_p1) / (edge_vector.length_squared()); + real_t projected_p2_ratio = edge_vector.dot(other_edge_p2 - edge_p1) / (edge_vector.length_squared()); if ((projected_p1_ratio < 0.0 && projected_p2_ratio < 0.0) || (projected_p1_ratio > 1.0 && projected_p2_ratio > 1.0)) { continue; } diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h index ab6a48dd705..5ec2c2826c5 100644 --- a/modules/navigation/nav_map.h +++ b/modules/navigation/nav_map.h @@ -108,18 +108,18 @@ public: return up; } - void set_cell_size(float p_cell_size); - float get_cell_size() const { + void set_cell_size(real_t p_cell_size); + real_t get_cell_size() const { return cell_size; } - void set_edge_connection_margin(float p_edge_connection_margin); - float get_edge_connection_margin() const { + void set_edge_connection_margin(real_t p_edge_connection_margin); + real_t get_edge_connection_margin() const { return edge_connection_margin; } - void set_link_connection_radius(float p_link_connection_radius); - float get_link_connection_radius() const { + void set_link_connection_radius(real_t p_link_connection_radius); + real_t get_link_connection_radius() const { return link_connection_radius; } diff --git a/modules/navigation/nav_region.cpp b/modules/navigation/nav_region.cpp index 797c523627f..cad4678e5a7 100644 --- a/modules/navigation/nav_region.cpp +++ b/modules/navigation/nav_region.cpp @@ -114,7 +114,7 @@ void NavRegion::update_polygons() { p.edges.resize(mesh_poly.size()); Vector3 center; - float sum(0); + real_t sum(0); for (int j(0); j < mesh_poly.size(); j++) { int idx = indices[j]; @@ -143,7 +143,7 @@ void NavRegion::update_polygons() { p.clockwise = sum > 0; if (mesh_poly.size() != 0) { - p.center = center / float(mesh_poly.size()); + p.center = center / real_t(mesh_poly.size()); } } } diff --git a/modules/navigation/nav_utils.h b/modules/navigation/nav_utils.h index 06a1a1f4033..6ddd8b90780 100644 --- a/modules/navigation/nav_utils.h +++ b/modules/navigation/nav_utils.h @@ -128,7 +128,7 @@ struct NavigationPoly { /// The entry position of this poly. Vector3 entry; /// The distance to the destination. - float traveled_distance = 0.0; + real_t traveled_distance = 0.0; NavigationPoly() { poly = nullptr; } diff --git a/servers/navigation_server_2d.cpp b/servers/navigation_server_2d.cpp index 273bb9cedad..6de8459e3b7 100644 --- a/servers/navigation_server_2d.cpp +++ b/servers/navigation_server_2d.cpp @@ -257,11 +257,11 @@ bool NavigationServer2D::get_debug_navigation_enable_agent_paths() const { return NavigationServer3D::get_singleton()->get_debug_navigation_enable_agent_paths(); } -void NavigationServer2D::set_debug_navigation_agent_path_point_size(float p_point_size) { +void NavigationServer2D::set_debug_navigation_agent_path_point_size(real_t p_point_size) { NavigationServer3D::get_singleton()->set_debug_navigation_agent_path_point_size(p_point_size); } -float NavigationServer2D::get_debug_navigation_agent_path_point_size() const { +real_t NavigationServer2D::get_debug_navigation_agent_path_point_size() const { return NavigationServer3D::get_singleton()->get_debug_navigation_agent_path_point_size(); } #endif // DEBUG_ENABLED diff --git a/servers/navigation_server_2d.h b/servers/navigation_server_2d.h index ed2e39e53c2..43ef742bdb5 100644 --- a/servers/navigation_server_2d.h +++ b/servers/navigation_server_2d.h @@ -274,8 +274,8 @@ public: void set_debug_navigation_enable_agent_paths(const bool p_value); bool get_debug_navigation_enable_agent_paths() const; - void set_debug_navigation_agent_path_point_size(float p_point_size); - float get_debug_navigation_agent_path_point_size() const; + void set_debug_navigation_agent_path_point_size(real_t p_point_size); + real_t get_debug_navigation_agent_path_point_size() const; #endif // DEBUG_ENABLED #ifdef DEBUG_ENABLED diff --git a/servers/navigation_server_3d.cpp b/servers/navigation_server_3d.cpp index e5cc426708e..210dcf754e3 100644 --- a/servers/navigation_server_3d.cpp +++ b/servers/navigation_server_3d.cpp @@ -456,14 +456,14 @@ Color NavigationServer3D::get_debug_navigation_link_connection_disabled_color() return debug_navigation_link_connection_disabled_color; } -void NavigationServer3D::set_debug_navigation_agent_path_point_size(float p_point_size) { +void NavigationServer3D::set_debug_navigation_agent_path_point_size(real_t p_point_size) { debug_navigation_agent_path_point_size = MAX(0.1, p_point_size); if (debug_navigation_agent_path_point_material.is_valid()) { debug_navigation_agent_path_point_material->set_point_size(debug_navigation_agent_path_point_size); } } -float NavigationServer3D::get_debug_navigation_agent_path_point_size() const { +real_t NavigationServer3D::get_debug_navigation_agent_path_point_size() const { return debug_navigation_agent_path_point_size; } diff --git a/servers/navigation_server_3d.h b/servers/navigation_server_3d.h index 05df5ca0fe5..7348dab65a8 100644 --- a/servers/navigation_server_3d.h +++ b/servers/navigation_server_3d.h @@ -293,7 +293,7 @@ private: Color debug_navigation_link_connection_disabled_color = Color(0.5, 0.5, 0.5, 1.0); Color debug_navigation_agent_path_color = Color(1.0, 0.0, 0.0, 1.0); - float debug_navigation_agent_path_point_size = 4.0; + real_t debug_navigation_agent_path_point_size = 4.0; bool debug_navigation_enable_edge_connections = true; bool debug_navigation_enable_edge_connections_xray = true; @@ -368,8 +368,8 @@ public: void set_debug_navigation_enable_agent_paths_xray(const bool p_value); bool get_debug_navigation_enable_agent_paths_xray() const; - void set_debug_navigation_agent_path_point_size(float p_point_size); - float get_debug_navigation_agent_path_point_size() const; + void set_debug_navigation_agent_path_point_size(real_t p_point_size); + real_t get_debug_navigation_agent_path_point_size() const; Ref get_debug_navigation_geometry_face_material(); Ref get_debug_navigation_geometry_edge_material();