a7f49ac9a1
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498 lines
18 KiB
C++
498 lines
18 KiB
C++
/*************************************************************************/
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/* navigation_mesh_generator.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "navigation_mesh_generator.h"
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#include "core/math/quick_hull.h"
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#include "core/os/thread.h"
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#include "editor/editor_settings.h"
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#include "scene/3d/collision_shape.h"
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#include "scene/3d/mesh_instance.h"
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#include "scene/3d/physics_body.h"
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#include "scene/resources/box_shape.h"
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#include "scene/resources/capsule_shape.h"
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#include "scene/resources/concave_polygon_shape.h"
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#include "scene/resources/convex_polygon_shape.h"
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#include "scene/resources/cylinder_shape.h"
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#include "scene/resources/plane_shape.h"
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#include "scene/resources/primitive_meshes.h"
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#include "scene/resources/shape.h"
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#include "scene/resources/sphere_shape.h"
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#ifdef MODULE_CSG_ENABLED
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#include "modules/csg/csg_shape.h"
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#endif
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#ifdef MODULE_GRIDMAP_ENABLED
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#include "modules/gridmap/grid_map.h"
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#endif
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EditorNavigationMeshGenerator *EditorNavigationMeshGenerator::singleton = NULL;
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void EditorNavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector<float> &p_verticies) {
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p_verticies.push_back(p_vec3.x);
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p_verticies.push_back(p_vec3.y);
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p_verticies.push_back(p_vec3.z);
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}
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void EditorNavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform &p_xform, Vector<float> &p_verticies, Vector<int> &p_indices) {
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int current_vertex_count;
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for (int i = 0; i < p_mesh->get_surface_count(); i++) {
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current_vertex_count = p_verticies.size() / 3;
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if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES)
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continue;
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int index_count = 0;
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if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
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index_count = p_mesh->surface_get_array_index_len(i);
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} else {
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index_count = p_mesh->surface_get_array_len(i);
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}
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ERR_CONTINUE((index_count == 0 || (index_count % 3) != 0));
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int face_count = index_count / 3;
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Array a = p_mesh->surface_get_arrays(i);
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PoolVector<Vector3> mesh_vertices = a[Mesh::ARRAY_VERTEX];
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PoolVector<Vector3>::Read vr = mesh_vertices.read();
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if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
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PoolVector<int> mesh_indices = a[Mesh::ARRAY_INDEX];
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PoolVector<int>::Read ir = mesh_indices.read();
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for (int j = 0; j < mesh_vertices.size(); j++) {
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_add_vertex(p_xform.xform(vr[j]), p_verticies);
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}
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for (int j = 0; j < face_count; j++) {
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// CCW
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p_indices.push_back(current_vertex_count + (ir[j * 3 + 0]));
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p_indices.push_back(current_vertex_count + (ir[j * 3 + 2]));
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p_indices.push_back(current_vertex_count + (ir[j * 3 + 1]));
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}
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} else {
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face_count = mesh_vertices.size() / 3;
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for (int j = 0; j < face_count; j++) {
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_add_vertex(p_xform.xform(vr[j * 3 + 0]), p_verticies);
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_add_vertex(p_xform.xform(vr[j * 3 + 2]), p_verticies);
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_add_vertex(p_xform.xform(vr[j * 3 + 1]), p_verticies);
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p_indices.push_back(current_vertex_count + (j * 3 + 0));
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p_indices.push_back(current_vertex_count + (j * 3 + 1));
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p_indices.push_back(current_vertex_count + (j * 3 + 2));
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}
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}
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}
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}
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void EditorNavigationMeshGenerator::_add_faces(const PoolVector3Array &p_faces, const Transform &p_xform, Vector<float> &p_verticies, Vector<int> &p_indices) {
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int face_count = p_faces.size() / 3;
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int current_vertex_count = p_verticies.size() / 3;
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for (int j = 0; j < face_count; j++) {
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_add_vertex(p_xform.xform(p_faces[j * 3 + 0]), p_verticies);
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_add_vertex(p_xform.xform(p_faces[j * 3 + 1]), p_verticies);
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_add_vertex(p_xform.xform(p_faces[j * 3 + 2]), p_verticies);
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p_indices.push_back(current_vertex_count + (j * 3 + 0));
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p_indices.push_back(current_vertex_count + (j * 3 + 2));
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p_indices.push_back(current_vertex_count + (j * 3 + 1));
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}
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}
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void EditorNavigationMeshGenerator::_parse_geometry(Transform p_accumulated_transform, Node *p_node, Vector<float> &p_verticies, Vector<int> &p_indices, int p_generate_from, uint32_t p_collision_mask, bool p_recurse_children) {
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if (Object::cast_to<MeshInstance>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
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MeshInstance *mesh_instance = Object::cast_to<MeshInstance>(p_node);
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Ref<Mesh> mesh = mesh_instance->get_mesh();
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if (mesh.is_valid()) {
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_add_mesh(mesh, p_accumulated_transform * mesh_instance->get_transform(), p_verticies, p_indices);
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}
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}
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#ifdef MODULE_CSG_ENABLED
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if (Object::cast_to<CSGShape>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
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CSGShape *csg_shape = Object::cast_to<CSGShape>(p_node);
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Array meshes = csg_shape->get_meshes();
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if (!meshes.empty()) {
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Ref<Mesh> mesh = meshes[1];
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if (mesh.is_valid()) {
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_add_mesh(mesh, p_accumulated_transform * csg_shape->get_transform(), p_verticies, p_indices);
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}
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}
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}
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#endif
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if (Object::cast_to<StaticBody>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES) {
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StaticBody *static_body = Object::cast_to<StaticBody>(p_node);
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if (static_body->get_collision_layer() & p_collision_mask) {
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for (int i = 0; i < p_node->get_child_count(); ++i) {
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Node *child = p_node->get_child(i);
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if (Object::cast_to<CollisionShape>(child)) {
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CollisionShape *col_shape = Object::cast_to<CollisionShape>(child);
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Transform transform = p_accumulated_transform * static_body->get_transform() * col_shape->get_transform();
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Ref<Mesh> mesh;
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Ref<Shape> s = col_shape->get_shape();
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BoxShape *box = Object::cast_to<BoxShape>(*s);
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if (box) {
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Ref<CubeMesh> cube_mesh;
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cube_mesh.instance();
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cube_mesh->set_size(box->get_extents() * 2.0);
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mesh = cube_mesh;
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}
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CapsuleShape *capsule = Object::cast_to<CapsuleShape>(*s);
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if (capsule) {
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Ref<CapsuleMesh> capsule_mesh;
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capsule_mesh.instance();
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capsule_mesh->set_radius(capsule->get_radius());
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capsule_mesh->set_mid_height(capsule->get_height() / 2.0);
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mesh = capsule_mesh;
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}
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CylinderShape *cylinder = Object::cast_to<CylinderShape>(*s);
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if (cylinder) {
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Ref<CylinderMesh> cylinder_mesh;
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cylinder_mesh.instance();
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cylinder_mesh->set_height(cylinder->get_height());
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cylinder_mesh->set_bottom_radius(cylinder->get_radius());
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cylinder_mesh->set_top_radius(cylinder->get_radius());
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mesh = cylinder_mesh;
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}
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SphereShape *sphere = Object::cast_to<SphereShape>(*s);
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if (sphere) {
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Ref<SphereMesh> sphere_mesh;
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sphere_mesh.instance();
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sphere_mesh->set_radius(sphere->get_radius());
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sphere_mesh->set_height(sphere->get_radius() * 2.0);
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mesh = sphere_mesh;
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}
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ConcavePolygonShape *concave_polygon = Object::cast_to<ConcavePolygonShape>(*s);
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if (concave_polygon) {
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_add_faces(concave_polygon->get_faces(), transform, p_verticies, p_indices);
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}
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ConvexPolygonShape *convex_polygon = Object::cast_to<ConvexPolygonShape>(*s);
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if (convex_polygon) {
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Vector<Vector3> varr = Variant(convex_polygon->get_points());
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Geometry::MeshData md;
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Error err = QuickHull::build(varr, md);
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if (err == OK) {
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PoolVector3Array faces;
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for (int j = 0; j < md.faces.size(); ++j) {
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Geometry::MeshData::Face face = md.faces[j];
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for (int k = 2; k < face.indices.size(); ++k) {
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faces.push_back(md.vertices[face.indices[0]]);
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faces.push_back(md.vertices[face.indices[k - 1]]);
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faces.push_back(md.vertices[face.indices[k]]);
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}
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}
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_add_faces(faces, transform, p_verticies, p_indices);
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}
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}
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if (mesh.is_valid()) {
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_add_mesh(mesh, transform, p_verticies, p_indices);
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}
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}
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}
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}
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}
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#ifdef MODULE_GRIDMAP_ENABLED
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if (Object::cast_to<GridMap>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
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GridMap *gridmap_instance = Object::cast_to<GridMap>(p_node);
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Array meshes = gridmap_instance->get_meshes();
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Transform xform = gridmap_instance->get_transform();
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for (int i = 0; i < meshes.size(); i += 2) {
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Ref<Mesh> mesh = meshes[i + 1];
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if (mesh.is_valid()) {
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_add_mesh(mesh, p_accumulated_transform * xform * meshes[i], p_verticies, p_indices);
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}
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}
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}
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#endif
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if (Object::cast_to<Spatial>(p_node)) {
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Spatial *spatial = Object::cast_to<Spatial>(p_node);
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p_accumulated_transform = p_accumulated_transform * spatial->get_transform();
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}
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if (p_recurse_children) {
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for (int i = 0; i < p_node->get_child_count(); i++) {
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_parse_geometry(p_accumulated_transform, p_node->get_child(i), p_verticies, p_indices, p_generate_from, p_collision_mask, p_recurse_children);
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}
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}
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}
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void EditorNavigationMeshGenerator::_convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref<NavigationMesh> p_nav_mesh) {
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PoolVector<Vector3> nav_vertices;
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for (int i = 0; i < p_detail_mesh->nverts; i++) {
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const float *v = &p_detail_mesh->verts[i * 3];
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nav_vertices.append(Vector3(v[0], v[1], v[2]));
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}
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p_nav_mesh->set_vertices(nav_vertices);
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for (int i = 0; i < p_detail_mesh->nmeshes; i++) {
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const unsigned int *m = &p_detail_mesh->meshes[i * 4];
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const unsigned int bverts = m[0];
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const unsigned int btris = m[2];
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const unsigned int ntris = m[3];
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const unsigned char *tris = &p_detail_mesh->tris[btris * 4];
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for (unsigned int j = 0; j < ntris; j++) {
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Vector<int> nav_indices;
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nav_indices.resize(3);
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// Polygon order in recast is opposite than godot's
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nav_indices.write[0] = ((int)(bverts + tris[j * 4 + 0]));
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nav_indices.write[1] = ((int)(bverts + tris[j * 4 + 2]));
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nav_indices.write[2] = ((int)(bverts + tris[j * 4 + 1]));
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p_nav_mesh->add_polygon(nav_indices);
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}
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}
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}
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void EditorNavigationMeshGenerator::_build_recast_navigation_mesh(Ref<NavigationMesh> p_nav_mesh, EditorProgress *ep,
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rcHeightfield *hf, rcCompactHeightfield *chf, rcContourSet *cset, rcPolyMesh *poly_mesh, rcPolyMeshDetail *detail_mesh,
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Vector<float> &vertices, Vector<int> &indices) {
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rcContext ctx;
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ep->step(TTR("Setting up Configuration..."), 1);
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const float *verts = vertices.ptr();
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const int nverts = vertices.size() / 3;
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const int *tris = indices.ptr();
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const int ntris = indices.size() / 3;
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float bmin[3], bmax[3];
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rcCalcBounds(verts, nverts, bmin, bmax);
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rcConfig cfg;
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memset(&cfg, 0, sizeof(cfg));
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cfg.cs = p_nav_mesh->get_cell_size();
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cfg.ch = p_nav_mesh->get_cell_height();
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cfg.walkableSlopeAngle = p_nav_mesh->get_agent_max_slope();
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cfg.walkableHeight = (int)Math::ceil(p_nav_mesh->get_agent_height() / cfg.ch);
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cfg.walkableClimb = (int)Math::floor(p_nav_mesh->get_agent_max_climb() / cfg.ch);
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cfg.walkableRadius = (int)Math::ceil(p_nav_mesh->get_agent_radius() / cfg.cs);
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cfg.maxEdgeLen = (int)(p_nav_mesh->get_edge_max_length() / p_nav_mesh->get_cell_size());
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cfg.maxSimplificationError = p_nav_mesh->get_edge_max_error();
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cfg.minRegionArea = (int)(p_nav_mesh->get_region_min_size() * p_nav_mesh->get_region_min_size());
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cfg.mergeRegionArea = (int)(p_nav_mesh->get_region_merge_size() * p_nav_mesh->get_region_merge_size());
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cfg.maxVertsPerPoly = (int)p_nav_mesh->get_verts_per_poly();
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cfg.detailSampleDist = p_nav_mesh->get_detail_sample_distance() < 0.9f ? 0 : p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance();
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cfg.detailSampleMaxError = p_nav_mesh->get_cell_height() * p_nav_mesh->get_detail_sample_max_error();
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cfg.bmin[0] = bmin[0];
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cfg.bmin[1] = bmin[1];
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cfg.bmin[2] = bmin[2];
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cfg.bmax[0] = bmax[0];
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cfg.bmax[1] = bmax[1];
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cfg.bmax[2] = bmax[2];
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ep->step(TTR("Calculating grid size..."), 2);
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rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
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ep->step(TTR("Creating heightfield..."), 3);
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hf = rcAllocHeightfield();
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ERR_FAIL_COND(!hf);
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ERR_FAIL_COND(!rcCreateHeightfield(&ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch));
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ep->step(TTR("Marking walkable triangles..."), 4);
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{
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Vector<unsigned char> tri_areas;
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tri_areas.resize(ntris);
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ERR_FAIL_COND(tri_areas.size() == 0);
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memset(tri_areas.ptrw(), 0, ntris * sizeof(unsigned char));
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rcMarkWalkableTriangles(&ctx, cfg.walkableSlopeAngle, verts, nverts, tris, ntris, tri_areas.ptrw());
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ERR_FAIL_COND(!rcRasterizeTriangles(&ctx, verts, nverts, tris, tri_areas.ptr(), ntris, *hf, cfg.walkableClimb));
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}
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if (p_nav_mesh->get_filter_low_hanging_obstacles())
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rcFilterLowHangingWalkableObstacles(&ctx, cfg.walkableClimb, *hf);
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if (p_nav_mesh->get_filter_ledge_spans())
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rcFilterLedgeSpans(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf);
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if (p_nav_mesh->get_filter_walkable_low_height_spans())
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rcFilterWalkableLowHeightSpans(&ctx, cfg.walkableHeight, *hf);
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ep->step(TTR("Constructing compact heightfield..."), 5);
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chf = rcAllocCompactHeightfield();
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ERR_FAIL_COND(!chf);
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ERR_FAIL_COND(!rcBuildCompactHeightfield(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf, *chf));
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rcFreeHeightField(hf);
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hf = 0;
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ep->step(TTR("Eroding walkable area..."), 6);
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ERR_FAIL_COND(!rcErodeWalkableArea(&ctx, cfg.walkableRadius, *chf));
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ep->step(TTR("Partitioning..."), 7);
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if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) {
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ERR_FAIL_COND(!rcBuildDistanceField(&ctx, *chf));
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ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
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} else if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_MONOTONE) {
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ERR_FAIL_COND(!rcBuildRegionsMonotone(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
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} else {
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ERR_FAIL_COND(!rcBuildLayerRegions(&ctx, *chf, 0, cfg.minRegionArea));
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}
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ep->step(TTR("Creating contours..."), 8);
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cset = rcAllocContourSet();
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ERR_FAIL_COND(!cset);
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ERR_FAIL_COND(!rcBuildContours(&ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset));
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ep->step(TTR("Creating polymesh..."), 9);
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poly_mesh = rcAllocPolyMesh();
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ERR_FAIL_COND(!poly_mesh);
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|
ERR_FAIL_COND(!rcBuildPolyMesh(&ctx, *cset, cfg.maxVertsPerPoly, *poly_mesh));
|
|
|
|
detail_mesh = rcAllocPolyMeshDetail();
|
|
ERR_FAIL_COND(!detail_mesh);
|
|
ERR_FAIL_COND(!rcBuildPolyMeshDetail(&ctx, *poly_mesh, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *detail_mesh));
|
|
|
|
rcFreeCompactHeightfield(chf);
|
|
chf = 0;
|
|
rcFreeContourSet(cset);
|
|
cset = 0;
|
|
|
|
ep->step(TTR("Converting to native navigation mesh..."), 10);
|
|
|
|
_convert_detail_mesh_to_native_navigation_mesh(detail_mesh, p_nav_mesh);
|
|
|
|
rcFreePolyMesh(poly_mesh);
|
|
poly_mesh = 0;
|
|
rcFreePolyMeshDetail(detail_mesh);
|
|
detail_mesh = 0;
|
|
}
|
|
|
|
EditorNavigationMeshGenerator *EditorNavigationMeshGenerator::get_singleton() {
|
|
return singleton;
|
|
}
|
|
|
|
EditorNavigationMeshGenerator::EditorNavigationMeshGenerator() {
|
|
singleton = this;
|
|
}
|
|
|
|
EditorNavigationMeshGenerator::~EditorNavigationMeshGenerator() {
|
|
}
|
|
|
|
void EditorNavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) {
|
|
|
|
ERR_FAIL_COND(!p_nav_mesh.is_valid());
|
|
|
|
EditorProgress ep("bake", TTR("Navigation Mesh Generator Setup:"), 11);
|
|
ep.step(TTR("Parsing Geometry..."), 0);
|
|
|
|
Vector<float> vertices;
|
|
Vector<int> indices;
|
|
|
|
List<Node *> parse_nodes;
|
|
|
|
if (p_nav_mesh->get_source_geometry_mode() == NavigationMesh::SOURCE_GEOMETRY_NAVMESH_CHILDREN) {
|
|
parse_nodes.push_back(p_node);
|
|
} else {
|
|
p_node->get_tree()->get_nodes_in_group(p_nav_mesh->get_source_group_name(), &parse_nodes);
|
|
}
|
|
|
|
Transform navmesh_xform = Object::cast_to<Spatial>(p_node)->get_transform().affine_inverse();
|
|
for (const List<Node *>::Element *E = parse_nodes.front(); E; E = E->next()) {
|
|
int geometry_type = p_nav_mesh->get_parsed_geometry_type();
|
|
uint32_t collision_mask = p_nav_mesh->get_collision_mask();
|
|
bool recurse_children = p_nav_mesh->get_source_geometry_mode() != NavigationMesh::SOURCE_GEOMETRY_GROUPS_EXPLICIT;
|
|
_parse_geometry(navmesh_xform, E->get(), vertices, indices, geometry_type, collision_mask, recurse_children);
|
|
}
|
|
|
|
if (vertices.size() > 0 && indices.size() > 0) {
|
|
|
|
rcHeightfield *hf = NULL;
|
|
rcCompactHeightfield *chf = NULL;
|
|
rcContourSet *cset = NULL;
|
|
rcPolyMesh *poly_mesh = NULL;
|
|
rcPolyMeshDetail *detail_mesh = NULL;
|
|
|
|
_build_recast_navigation_mesh(p_nav_mesh, &ep, hf, chf, cset, poly_mesh, detail_mesh, vertices, indices);
|
|
|
|
rcFreeHeightField(hf);
|
|
hf = 0;
|
|
|
|
rcFreeCompactHeightfield(chf);
|
|
chf = 0;
|
|
|
|
rcFreeContourSet(cset);
|
|
cset = 0;
|
|
|
|
rcFreePolyMesh(poly_mesh);
|
|
poly_mesh = 0;
|
|
|
|
rcFreePolyMeshDetail(detail_mesh);
|
|
detail_mesh = 0;
|
|
}
|
|
ep.step(TTR("Done!"), 11);
|
|
}
|
|
|
|
void EditorNavigationMeshGenerator::clear(Ref<NavigationMesh> p_nav_mesh) {
|
|
if (p_nav_mesh.is_valid()) {
|
|
p_nav_mesh->clear_polygons();
|
|
p_nav_mesh->set_vertices(PoolVector<Vector3>());
|
|
}
|
|
}
|
|
|
|
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);
|
|
}
|