/**************************************************************************/ /* nav_utils.h */ /**************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /**************************************************************************/ /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ /* */ /* 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 "core/templates/hash_map.h" #include "core/templates/hashfuncs.h" #include "core/templates/local_vector.h" class NavBase; namespace gd { struct Polygon; union PointKey { struct { int64_t x : 21; int64_t y : 22; int64_t z : 21; }; uint64_t key = 0; }; struct EdgeKey { PointKey a; PointKey b; static uint32_t hash(const EdgeKey &p_val) { return hash_one_uint64(p_val.a.key) ^ hash_one_uint64(p_val.b.key); } bool operator==(const EdgeKey &p_key) const { return (a.key == p_key.a.key) && (b.key == p_key.b.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 { /// The gateway in the edge, as, in some case, the whole edge might not be navigable. struct Connection { /// Polygon that this connection leads to. Polygon *polygon = nullptr; /// Edge of the source polygon where this connection starts from. int edge = -1; /// Point on the edge where the gateway leading to the poly starts. Vector3 pathway_start; /// Point on the edge where the gateway leading to the poly ends. Vector3 pathway_end; }; /// Connections from this edge to other polygons. Vector<Connection> connections; }; struct Polygon { /// Navigation region or link that contains this polygon. const NavBase *owner = nullptr; /// The points of this `Polygon` LocalVector<Point> points; /// Are the points clockwise? bool clockwise; /// The edges of this `Polygon` LocalVector<Edge> edges; /// The center of this `Polygon` Vector3 center; }; struct NavigationPoly { uint32_t self_id = 0; /// This poly. const Polygon *poly; /// Those 4 variables are used to travel the path backwards. int back_navigation_poly_id = -1; int back_navigation_edge = -1; Vector3 back_navigation_edge_pathway_start; Vector3 back_navigation_edge_pathway_end; /// The entry position of this poly. Vector3 entry; /// The distance to the destination. real_t traveled_distance = 0.0; NavigationPoly() { poly = nullptr; } NavigationPoly(const Polygon *p_poly) : poly(p_poly) {} bool operator==(const NavigationPoly &other) const { return this->poly == other.poly; } bool operator!=(const NavigationPoly &other) const { return !operator==(other); } }; struct ClosestPointQueryResult { Vector3 point; Vector3 normal; RID owner; }; } // namespace gd #endif // NAV_UTILS_H