/*************************************************************************/ /* navigation_server_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 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_server_3d.h" #ifdef DEBUG_ENABLED #include "core/config/project_settings.h" #endif // DEBUG_ENABLED NavigationServer3D *NavigationServer3D::singleton = nullptr; void NavigationServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("get_maps"), &NavigationServer3D::get_maps); ClassDB::bind_method(D_METHOD("map_create"), &NavigationServer3D::map_create); ClassDB::bind_method(D_METHOD("map_set_active", "map", "active"), &NavigationServer3D::map_set_active); ClassDB::bind_method(D_METHOD("map_is_active", "map"), &NavigationServer3D::map_is_active); ClassDB::bind_method(D_METHOD("map_set_up", "map", "up"), &NavigationServer3D::map_set_up); ClassDB::bind_method(D_METHOD("map_get_up", "map"), &NavigationServer3D::map_get_up); ClassDB::bind_method(D_METHOD("map_set_cell_size", "map", "cell_size"), &NavigationServer3D::map_set_cell_size); ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer3D::map_get_cell_size); ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer3D::map_set_edge_connection_margin); ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer3D::map_get_edge_connection_margin); ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "navigation_layers"), &NavigationServer3D::map_get_path, DEFVAL(1)); ClassDB::bind_method(D_METHOD("map_get_closest_point_to_segment", "map", "start", "end", "use_collision"), &NavigationServer3D::map_get_closest_point_to_segment, DEFVAL(false)); ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer3D::map_get_closest_point); ClassDB::bind_method(D_METHOD("map_get_closest_point_normal", "map", "to_point"), &NavigationServer3D::map_get_closest_point_normal); ClassDB::bind_method(D_METHOD("map_get_closest_point_owner", "map", "to_point"), &NavigationServer3D::map_get_closest_point_owner); ClassDB::bind_method(D_METHOD("map_get_regions", "map"), &NavigationServer3D::map_get_regions); ClassDB::bind_method(D_METHOD("map_get_agents", "map"), &NavigationServer3D::map_get_agents); ClassDB::bind_method(D_METHOD("map_force_update", "map"), &NavigationServer3D::map_force_update); ClassDB::bind_method(D_METHOD("region_create"), &NavigationServer3D::region_create); ClassDB::bind_method(D_METHOD("region_set_enter_cost", "region", "enter_cost"), &NavigationServer3D::region_set_enter_cost); ClassDB::bind_method(D_METHOD("region_get_enter_cost", "region"), &NavigationServer3D::region_get_enter_cost); ClassDB::bind_method(D_METHOD("region_set_travel_cost", "region", "travel_cost"), &NavigationServer3D::region_set_travel_cost); ClassDB::bind_method(D_METHOD("region_get_travel_cost", "region"), &NavigationServer3D::region_get_travel_cost); ClassDB::bind_method(D_METHOD("region_owns_point", "region", "point"), &NavigationServer3D::region_owns_point); ClassDB::bind_method(D_METHOD("region_set_map", "region", "map"), &NavigationServer3D::region_set_map); ClassDB::bind_method(D_METHOD("region_get_map", "region"), &NavigationServer3D::region_get_map); ClassDB::bind_method(D_METHOD("region_set_navigation_layers", "region", "navigation_layers"), &NavigationServer3D::region_set_navigation_layers); ClassDB::bind_method(D_METHOD("region_get_navigation_layers", "region"), &NavigationServer3D::region_get_navigation_layers); ClassDB::bind_method(D_METHOD("region_set_transform", "region", "transform"), &NavigationServer3D::region_set_transform); ClassDB::bind_method(D_METHOD("region_set_navmesh", "region", "nav_mesh"), &NavigationServer3D::region_set_navmesh); ClassDB::bind_method(D_METHOD("region_bake_navmesh", "mesh", "node"), &NavigationServer3D::region_bake_navmesh); ClassDB::bind_method(D_METHOD("region_get_connections_count", "region"), &NavigationServer3D::region_get_connections_count); ClassDB::bind_method(D_METHOD("region_get_connection_pathway_start", "region", "connection"), &NavigationServer3D::region_get_connection_pathway_start); ClassDB::bind_method(D_METHOD("region_get_connection_pathway_end", "region", "connection"), &NavigationServer3D::region_get_connection_pathway_end); ClassDB::bind_method(D_METHOD("agent_create"), &NavigationServer3D::agent_create); ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &NavigationServer3D::agent_set_map); ClassDB::bind_method(D_METHOD("agent_get_map", "agent"), &NavigationServer3D::agent_get_map); ClassDB::bind_method(D_METHOD("agent_set_neighbor_distance", "agent", "distance"), &NavigationServer3D::agent_set_neighbor_distance); ClassDB::bind_method(D_METHOD("agent_set_max_neighbors", "agent", "count"), &NavigationServer3D::agent_set_max_neighbors); ClassDB::bind_method(D_METHOD("agent_set_time_horizon", "agent", "time"), &NavigationServer3D::agent_set_time_horizon); ClassDB::bind_method(D_METHOD("agent_set_radius", "agent", "radius"), &NavigationServer3D::agent_set_radius); ClassDB::bind_method(D_METHOD("agent_set_max_speed", "agent", "max_speed"), &NavigationServer3D::agent_set_max_speed); ClassDB::bind_method(D_METHOD("agent_set_velocity", "agent", "velocity"), &NavigationServer3D::agent_set_velocity); ClassDB::bind_method(D_METHOD("agent_set_target_velocity", "agent", "target_velocity"), &NavigationServer3D::agent_set_target_velocity); ClassDB::bind_method(D_METHOD("agent_set_position", "agent", "position"), &NavigationServer3D::agent_set_position); ClassDB::bind_method(D_METHOD("agent_is_map_changed", "agent"), &NavigationServer3D::agent_is_map_changed); ClassDB::bind_method(D_METHOD("agent_set_callback", "agent", "receiver", "method", "userdata"), &NavigationServer3D::agent_set_callback, DEFVAL(Variant())); ClassDB::bind_method(D_METHOD("free_rid", "rid"), &NavigationServer3D::free); ClassDB::bind_method(D_METHOD("set_active", "active"), &NavigationServer3D::set_active); ClassDB::bind_method(D_METHOD("process", "delta_time"), &NavigationServer3D::process); ADD_SIGNAL(MethodInfo("map_changed", PropertyInfo(Variant::RID, "map"))); ADD_SIGNAL(MethodInfo("navigation_debug_changed")); } const NavigationServer3D *NavigationServer3D::get_singleton() { return singleton; } NavigationServer3D *NavigationServer3D::get_singleton_mut() { return singleton; } NavigationServer3D::NavigationServer3D() { ERR_FAIL_COND(singleton != nullptr); singleton = this; #ifdef DEBUG_ENABLED debug_navigation_edge_connection_color = GLOBAL_DEF("debug/shapes/navigation/edge_connection_color", Color(1.0, 0.0, 1.0, 1.0)); debug_navigation_geometry_edge_color = GLOBAL_DEF("debug/shapes/navigation/geometry_edge_color", Color(0.5, 1.0, 1.0, 1.0)); debug_navigation_geometry_face_color = GLOBAL_DEF("debug/shapes/navigation/geometry_face_color", Color(0.5, 1.0, 1.0, 0.4)); debug_navigation_geometry_edge_disabled_color = GLOBAL_DEF("debug/shapes/navigation/geometry_edge_disabled_color", Color(0.5, 0.5, 0.5, 1.0)); debug_navigation_geometry_face_disabled_color = GLOBAL_DEF("debug/shapes/navigation/geometry_face_disabled_color", Color(0.5, 0.5, 0.5, 0.4)); debug_navigation_enable_edge_connections = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections", true); debug_navigation_enable_edge_connections_xray = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections_xray", true); debug_navigation_enable_edge_lines = GLOBAL_DEF("debug/shapes/navigation/enable_edge_lines", true); debug_navigation_enable_edge_lines_xray = GLOBAL_DEF("debug/shapes/navigation/enable_edge_lines_xray", true); debug_navigation_enable_geometry_face_random_color = GLOBAL_DEF("debug/shapes/navigation/enable_geometry_face_random_color", true); if (Engine::get_singleton()->is_editor_hint()) { // enable NavigationServer3D when in Editor or else navmesh edge connections are invisible // on runtime tests SceneTree has "Visible Navigation" set and main iteration takes care of this set_debug_enabled(true); } #endif // DEBUG_ENABLED } NavigationServer3D::~NavigationServer3D() { singleton = nullptr; } NavigationServer3DCallback NavigationServer3DManager::create_callback = nullptr; void NavigationServer3DManager::set_default_server(NavigationServer3DCallback p_callback) { create_callback = p_callback; } NavigationServer3D *NavigationServer3DManager::new_default_server() { ERR_FAIL_COND_V(create_callback == nullptr, nullptr); return create_callback(); } #ifdef DEBUG_ENABLED void NavigationServer3D::_emit_navigation_debug_changed_signal() { if (debug_dirty) { debug_dirty = false; emit_signal(SNAME("navigation_debug_changed")); } } #endif // DEBUG_ENABLED #ifdef DEBUG_ENABLED Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_face_material() { if (debug_navigation_geometry_face_material.is_valid()) { return debug_navigation_geometry_face_material; } bool enabled_geometry_face_random_color = get_debug_navigation_enable_geometry_face_random_color(); Color debug_navigation_geometry_face_color = get_debug_navigation_geometry_face_color(); Ref<StandardMaterial3D> face_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D)); face_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); face_material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA); face_material->set_albedo(debug_navigation_geometry_face_color); if (enabled_geometry_face_random_color) { face_material->set_flag(StandardMaterial3D::FLAG_SRGB_VERTEX_COLOR, true); face_material->set_flag(StandardMaterial3D::FLAG_ALBEDO_FROM_VERTEX_COLOR, true); } debug_navigation_geometry_face_material = face_material; return debug_navigation_geometry_face_material; } Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_edge_material() { if (debug_navigation_geometry_edge_material.is_valid()) { return debug_navigation_geometry_edge_material; } bool enabled_edge_lines_xray = get_debug_navigation_enable_edge_lines_xray(); Color debug_navigation_geometry_edge_color = get_debug_navigation_geometry_edge_color(); Ref<StandardMaterial3D> line_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D)); line_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); line_material->set_albedo(debug_navigation_geometry_edge_color); if (enabled_edge_lines_xray) { line_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true); } debug_navigation_geometry_edge_material = line_material; return debug_navigation_geometry_edge_material; } Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_face_disabled_material() { if (debug_navigation_geometry_face_disabled_material.is_valid()) { return debug_navigation_geometry_face_disabled_material; } Color debug_navigation_geometry_face_disabled_color = get_debug_navigation_geometry_face_disabled_color(); Ref<StandardMaterial3D> face_disabled_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D)); face_disabled_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); face_disabled_material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA); face_disabled_material->set_albedo(debug_navigation_geometry_face_disabled_color); debug_navigation_geometry_face_disabled_material = face_disabled_material; return debug_navigation_geometry_face_disabled_material; } Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_geometry_edge_disabled_material() { if (debug_navigation_geometry_edge_disabled_material.is_valid()) { return debug_navigation_geometry_edge_disabled_material; } bool enabled_edge_lines_xray = get_debug_navigation_enable_edge_lines_xray(); Color debug_navigation_geometry_edge_disabled_color = get_debug_navigation_geometry_edge_disabled_color(); Ref<StandardMaterial3D> line_disabled_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D)); line_disabled_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); line_disabled_material->set_albedo(debug_navigation_geometry_edge_disabled_color); if (enabled_edge_lines_xray) { line_disabled_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true); } debug_navigation_geometry_edge_disabled_material = line_disabled_material; return debug_navigation_geometry_edge_disabled_material; } Ref<StandardMaterial3D> NavigationServer3D::get_debug_navigation_edge_connections_material() { if (debug_navigation_edge_connections_material.is_valid()) { return debug_navigation_edge_connections_material; } bool enabled_edge_connections_xray = get_debug_navigation_enable_edge_connections_xray(); Color debug_navigation_edge_connection_color = get_debug_navigation_edge_connection_color(); Ref<StandardMaterial3D> edge_connections_material = Ref<StandardMaterial3D>(memnew(StandardMaterial3D)); edge_connections_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); edge_connections_material->set_albedo(debug_navigation_edge_connection_color); if (enabled_edge_connections_xray) { edge_connections_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true); } edge_connections_material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2); debug_navigation_edge_connections_material = edge_connections_material; return debug_navigation_edge_connections_material; } void NavigationServer3D::set_debug_navigation_edge_connection_color(const Color &p_color) { debug_navigation_edge_connection_color = p_color; if (debug_navigation_edge_connections_material.is_valid()) { debug_navigation_edge_connections_material->set_albedo(debug_navigation_edge_connection_color); } } Color NavigationServer3D::get_debug_navigation_edge_connection_color() const { return debug_navigation_edge_connection_color; } void NavigationServer3D::set_debug_navigation_geometry_edge_color(const Color &p_color) { debug_navigation_geometry_edge_color = p_color; if (debug_navigation_geometry_edge_material.is_valid()) { debug_navigation_geometry_edge_material->set_albedo(debug_navigation_geometry_edge_color); } } Color NavigationServer3D::get_debug_navigation_geometry_edge_color() const { return debug_navigation_geometry_edge_color; } void NavigationServer3D::set_debug_navigation_geometry_face_color(const Color &p_color) { debug_navigation_geometry_face_color = p_color; if (debug_navigation_geometry_face_material.is_valid()) { debug_navigation_geometry_face_material->set_albedo(debug_navigation_geometry_face_color); } } Color NavigationServer3D::get_debug_navigation_geometry_face_color() const { return debug_navigation_geometry_face_color; } void NavigationServer3D::set_debug_navigation_geometry_edge_disabled_color(const Color &p_color) { debug_navigation_geometry_edge_disabled_color = p_color; if (debug_navigation_geometry_edge_disabled_material.is_valid()) { debug_navigation_geometry_edge_disabled_material->set_albedo(debug_navigation_geometry_edge_disabled_color); } } Color NavigationServer3D::get_debug_navigation_geometry_edge_disabled_color() const { return debug_navigation_geometry_edge_disabled_color; } void NavigationServer3D::set_debug_navigation_geometry_face_disabled_color(const Color &p_color) { debug_navigation_geometry_face_disabled_color = p_color; if (debug_navigation_geometry_face_disabled_material.is_valid()) { debug_navigation_geometry_face_disabled_material->set_albedo(debug_navigation_geometry_face_disabled_color); } } Color NavigationServer3D::get_debug_navigation_geometry_face_disabled_color() const { return debug_navigation_geometry_face_disabled_color; } void NavigationServer3D::set_debug_navigation_enable_edge_connections(const bool p_value) { debug_navigation_enable_edge_connections = p_value; debug_dirty = true; call_deferred("_emit_navigation_debug_changed_signal"); } bool NavigationServer3D::get_debug_navigation_enable_edge_connections() const { return debug_navigation_enable_edge_connections; } void NavigationServer3D::set_debug_navigation_enable_edge_connections_xray(const bool p_value) { debug_navigation_enable_edge_connections_xray = p_value; if (debug_navigation_edge_connections_material.is_valid()) { debug_navigation_edge_connections_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_edge_connections_xray); } } bool NavigationServer3D::get_debug_navigation_enable_edge_connections_xray() const { return debug_navigation_enable_edge_connections_xray; } void NavigationServer3D::set_debug_navigation_enable_edge_lines(const bool p_value) { debug_navigation_enable_edge_lines = p_value; debug_dirty = true; call_deferred("_emit_navigation_debug_changed_signal"); } bool NavigationServer3D::get_debug_navigation_enable_edge_lines() const { return debug_navigation_enable_edge_lines; } void NavigationServer3D::set_debug_navigation_enable_edge_lines_xray(const bool p_value) { debug_navigation_enable_edge_lines_xray = p_value; if (debug_navigation_geometry_edge_material.is_valid()) { debug_navigation_geometry_edge_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_edge_lines_xray); } } bool NavigationServer3D::get_debug_navigation_enable_edge_lines_xray() const { return debug_navigation_enable_edge_lines_xray; } void NavigationServer3D::set_debug_navigation_enable_geometry_face_random_color(const bool p_value) { debug_navigation_enable_geometry_face_random_color = p_value; debug_dirty = true; call_deferred("_emit_navigation_debug_changed_signal"); } bool NavigationServer3D::get_debug_navigation_enable_geometry_face_random_color() const { return debug_navigation_enable_geometry_face_random_color; } void NavigationServer3D::set_debug_enabled(bool p_enabled) { if (debug_enabled != p_enabled) { debug_dirty = true; } debug_enabled = p_enabled; if (debug_dirty) { call_deferred("_emit_navigation_debug_changed_signal"); } } bool NavigationServer3D::get_debug_enabled() const { return debug_enabled; } #endif // DEBUG_ENABLED