09bc9eb101
Change the entire navigation system. Remove editor prefix from nav mesh generator class. It is now used for baking at runtime as well. Navigation supports obstacle avoidance now with the RVO2 library. Nav system will also automatically link all nav meshes together to form one overall complete nav map.
503 lines
17 KiB
C++
503 lines
17 KiB
C++
/*************************************************************************/
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/* godot_navigation_server.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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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 "godot_navigation_server.h"
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#include "core/os/mutex.h"
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#ifndef _3D_DISABLED
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#include "navigation_mesh_generator.h"
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#endif
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/**
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@author AndreaCatania
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*/
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/// Creates a struct for each function and a function that once called creates
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/// an instance of that struct with the submited parameters.
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/// Then, that struct is stored in an array; the `sync` function consume that array.
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#define COMMAND_1(F_NAME, T_0, D_0) \
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struct MERGE(F_NAME, _command) : public SetCommand { \
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T_0 d_0; \
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MERGE(F_NAME, _command) \
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(T_0 p_d_0) : \
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d_0(p_d_0) {} \
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virtual void exec(GodotNavigationServer *server) { \
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server->MERGE(_cmd_, F_NAME)(d_0); \
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} \
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}; \
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void GodotNavigationServer::F_NAME(T_0 D_0) const { \
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auto cmd = memnew(MERGE(F_NAME, _command)( \
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D_0)); \
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add_command(cmd); \
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} \
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void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0)
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#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
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struct MERGE(F_NAME, _command) : public SetCommand { \
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T_0 d_0; \
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T_1 d_1; \
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MERGE(F_NAME, _command) \
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( \
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T_0 p_d_0, \
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T_1 p_d_1) : \
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d_0(p_d_0), \
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d_1(p_d_1) {} \
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virtual void exec(GodotNavigationServer *server) { \
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server->MERGE(_cmd_, F_NAME)(d_0, d_1); \
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} \
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}; \
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void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \
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auto cmd = memnew(MERGE(F_NAME, _command)( \
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D_0, \
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D_1)); \
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add_command(cmd); \
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} \
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void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
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#define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \
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struct MERGE(F_NAME, _command) : public SetCommand { \
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T_0 d_0; \
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T_1 d_1; \
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T_2 d_2; \
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T_3 d_3; \
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MERGE(F_NAME, _command) \
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( \
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T_0 p_d_0, \
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T_1 p_d_1, \
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T_2 p_d_2, \
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T_3 p_d_3) : \
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d_0(p_d_0), \
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d_1(p_d_1), \
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d_2(p_d_2), \
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d_3(p_d_3) {} \
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virtual void exec(GodotNavigationServer *server) { \
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server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \
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} \
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}; \
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void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) const { \
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auto cmd = memnew(MERGE(F_NAME, _command)( \
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D_0, \
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D_1, \
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D_2, \
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D_3)); \
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add_command(cmd); \
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} \
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void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
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GodotNavigationServer::GodotNavigationServer() :
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NavigationServer(),
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active(true) {
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}
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GodotNavigationServer::~GodotNavigationServer() {
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flush_queries();
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}
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void GodotNavigationServer::add_command(SetCommand *command) const {
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auto mut_this = const_cast<GodotNavigationServer *>(this);
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{
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MutexLock lock(commands_mutex);
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mut_this->commands.push_back(command);
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}
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}
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RID GodotNavigationServer::map_create() const {
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auto mut_this = const_cast<GodotNavigationServer *>(this);
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MutexLock lock(mut_this->operations_mutex);
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NavMap *space = memnew(NavMap);
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RID rid = map_owner.make_rid(space);
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space->set_self(rid);
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return rid;
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}
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COMMAND_2(map_set_active, RID, p_map, bool, p_active) {
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NavMap *map = map_owner.get(p_map);
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ERR_FAIL_COND(map == nullptr);
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if (p_active) {
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if (!map_is_active(p_map)) {
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active_maps.push_back(map);
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}
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} else {
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active_maps.erase(map);
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}
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}
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bool GodotNavigationServer::map_is_active(RID p_map) const {
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NavMap *map = map_owner.get(p_map);
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ERR_FAIL_COND_V(map == nullptr, false);
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return active_maps.find(map) >= 0;
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}
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COMMAND_2(map_set_up, RID, p_map, Vector3, p_up) {
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NavMap *map = map_owner.get(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_up(p_up);
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}
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Vector3 GodotNavigationServer::map_get_up(RID p_map) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_up();
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}
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COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size) {
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NavMap *map = map_owner.get(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_cell_size(p_cell_size);
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}
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real_t GodotNavigationServer::map_get_cell_size(RID p_map) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, 0);
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return map->get_cell_size();
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}
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COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin) {
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NavMap *map = map_owner.get(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_edge_connection_margin(p_connection_margin);
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}
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real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, 0);
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return map->get_edge_connection_margin();
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}
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Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize) const {
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NavMap *map = map_owner.get(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());
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return map->get_path(p_origin, p_destination, p_optimize);
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}
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Vector3 GodotNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_closest_point_to_segment(p_from, p_to, p_use_collision);
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}
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Vector3 GodotNavigationServer::map_get_closest_point(RID p_map, const Vector3 &p_point) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_closest_point(p_point);
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}
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Vector3 GodotNavigationServer::map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_closest_point_normal(p_point);
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}
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RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, RID());
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return map->get_closest_point_owner(p_point);
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}
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RID GodotNavigationServer::region_create() const {
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auto mut_this = const_cast<GodotNavigationServer *>(this);
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MutexLock lock(mut_this->operations_mutex);
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NavRegion *reg = memnew(NavRegion);
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RID rid = region_owner.make_rid(reg);
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reg->set_self(rid);
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return rid;
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}
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COMMAND_2(region_set_map, RID, p_region, RID, p_map) {
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NavRegion *region = region_owner.get(p_region);
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ERR_FAIL_COND(region == nullptr);
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if (region->get_map() != nullptr) {
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if (region->get_map()->get_self() == p_map) {
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return; // Pointless
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}
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region->get_map()->remove_region(region);
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region->set_map(nullptr);
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}
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if (p_map.is_valid()) {
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NavMap *map = map_owner.get(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->add_region(region);
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region->set_map(map);
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}
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}
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COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform) {
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NavRegion *region = region_owner.get(p_region);
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ERR_FAIL_COND(region == nullptr);
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region->set_transform(p_transform);
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}
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COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) {
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NavRegion *region = region_owner.get(p_region);
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ERR_FAIL_COND(region == nullptr);
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region->set_mesh(p_nav_mesh);
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}
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void GodotNavigationServer::region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const {
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ERR_FAIL_COND(r_mesh.is_null());
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ERR_FAIL_COND(p_node == nullptr);
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#ifndef _3D_DISABLED
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NavigationMeshGenerator::get_singleton()->clear(r_mesh);
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NavigationMeshGenerator::get_singleton()->bake(r_mesh, p_node);
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#endif
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}
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RID GodotNavigationServer::agent_create() const {
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auto mut_this = const_cast<GodotNavigationServer *>(this);
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MutexLock lock(mut_this->operations_mutex);
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RvoAgent *agent = memnew(RvoAgent());
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RID rid = agent_owner.make_rid(agent);
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agent->set_self(rid);
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return rid;
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}
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COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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if (agent->get_map()) {
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if (agent->get_map()->get_self() == p_map) {
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return; // Pointless
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}
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agent->get_map()->remove_agent(agent);
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}
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agent->set_map(nullptr);
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if (p_map.is_valid()) {
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NavMap *map = map_owner.get(p_map);
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ERR_FAIL_COND(map == nullptr);
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agent->set_map(map);
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map->add_agent(agent);
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if (agent->has_callback()) {
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map->set_agent_as_controlled(agent);
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}
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}
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}
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COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->neighborDist_ = p_dist;
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}
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COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->maxNeighbors_ = p_count;
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}
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COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->timeHorizon_ = p_time;
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}
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COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->radius_ = p_radius;
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}
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COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->maxSpeed_ = p_max_speed;
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}
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COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->velocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
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}
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COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->prefVelocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
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}
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COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->position_ = RVO::Vector3(p_position.x, p_position.y, p_position.z);
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}
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COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->ignore_y_ = p_ignore;
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}
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bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND_V(agent == nullptr, false);
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return agent->is_map_changed();
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}
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COMMAND_4(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata) {
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RvoAgent *agent = agent_owner.get(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->set_callback(p_receiver == nullptr ? 0 : p_receiver->get_instance_id(), p_method, p_udata);
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if (agent->get_map()) {
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if (p_receiver == nullptr) {
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agent->get_map()->remove_agent_as_controlled(agent);
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} else {
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agent->get_map()->set_agent_as_controlled(agent);
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}
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}
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}
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COMMAND_1(free, RID, p_object) {
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if (map_owner.owns(p_object)) {
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NavMap *map = map_owner.get(p_object);
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// Removes any assigned region
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std::vector<NavRegion *> regions = map->get_regions();
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for (size_t i(0); i < regions.size(); i++) {
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map->remove_region(regions[i]);
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regions[i]->set_map(nullptr);
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}
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// Remove any assigned agent
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std::vector<RvoAgent *> agents = map->get_agents();
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for (size_t i(0); i < agents.size(); i++) {
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map->remove_agent(agents[i]);
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agents[i]->set_map(nullptr);
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}
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active_maps.erase(map);
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map_owner.free(p_object);
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memdelete(map);
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} else if (region_owner.owns(p_object)) {
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NavRegion *region = region_owner.get(p_object);
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// Removes this region from the map if assigned
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if (region->get_map() != nullptr) {
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region->get_map()->remove_region(region);
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region->set_map(nullptr);
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}
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region_owner.free(p_object);
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memdelete(region);
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} else if (agent_owner.owns(p_object)) {
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RvoAgent *agent = agent_owner.get(p_object);
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// Removes this agent from the map if assigned
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if (agent->get_map() != nullptr) {
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agent->get_map()->remove_agent(agent);
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agent->set_map(nullptr);
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}
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agent_owner.free(p_object);
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memdelete(agent);
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} else {
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ERR_FAIL_COND("Invalid ID.");
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}
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}
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void GodotNavigationServer::set_active(bool p_active) const {
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auto mut_this = const_cast<GodotNavigationServer *>(this);
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MutexLock lock(mut_this->operations_mutex);
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|
mut_this->active = p_active;
|
|
}
|
|
|
|
void GodotNavigationServer::flush_queries() {
|
|
// In C++ we can't be sure that this is performed in the main thread
|
|
// even with mutable functions.
|
|
MutexLock lock(commands_mutex);
|
|
MutexLock lock2(operations_mutex);
|
|
for (size_t i(0); i < commands.size(); i++) {
|
|
commands[i]->exec(this);
|
|
memdelete(commands[i]);
|
|
}
|
|
commands.clear();
|
|
}
|
|
|
|
void GodotNavigationServer::process(real_t p_delta_time) {
|
|
flush_queries();
|
|
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
// In c++ we can't be sure that this is performed in the main thread
|
|
// even with mutable functions.
|
|
MutexLock lock(operations_mutex);
|
|
for (int i(0); i < active_maps.size(); i++) {
|
|
active_maps[i]->sync();
|
|
active_maps[i]->step(p_delta_time);
|
|
active_maps[i]->dispatch_callbacks();
|
|
}
|
|
}
|
|
|
|
#undef COMMAND_1
|
|
#undef COMMAND_2
|
|
#undef COMMAND_4
|