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.
551 lines
17 KiB
C++
551 lines
17 KiB
C++
/*************************************************************************/
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/* navigation_polygon.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 "navigation_polygon.h"
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#include "core/core_string_names.h"
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#include "core/engine.h"
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#include "core/os/mutex.h"
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#include "navigation_2d.h"
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#include "servers/navigation_2d_server.h"
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#include "thirdparty/misc/triangulator.h"
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#ifdef TOOLS_ENABLED
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Rect2 NavigationPolygon::_edit_get_rect() const {
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if (rect_cache_dirty) {
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item_rect = Rect2();
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bool first = true;
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for (int i = 0; i < outlines.size(); i++) {
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const PoolVector<Vector2> &outline = outlines[i];
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const int outline_size = outline.size();
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if (outline_size < 3) {
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continue;
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}
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PoolVector<Vector2>::Read p = outline.read();
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for (int j = 0; j < outline_size; j++) {
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if (first) {
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item_rect = Rect2(p[j], Vector2(0, 0));
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first = false;
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} else {
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item_rect.expand_to(p[j]);
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}
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}
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}
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rect_cache_dirty = false;
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}
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return item_rect;
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}
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bool NavigationPolygon::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const {
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for (int i = 0; i < outlines.size(); i++) {
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const PoolVector<Vector2> &outline = outlines[i];
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const int outline_size = outline.size();
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if (outline_size < 3) {
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continue;
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}
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if (Geometry::is_point_in_polygon(p_point, Variant(outline))) {
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return true;
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}
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}
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return false;
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}
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#endif
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void NavigationPolygon::set_vertices(const PoolVector<Vector2> &p_vertices) {
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{
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MutexLock lock(navmesh_generation);
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navmesh.unref();
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}
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vertices = p_vertices;
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rect_cache_dirty = true;
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}
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PoolVector<Vector2> NavigationPolygon::get_vertices() const {
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return vertices;
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}
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void NavigationPolygon::_set_polygons(const Array &p_array) {
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{
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MutexLock lock(navmesh_generation);
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navmesh.unref();
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}
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polygons.resize(p_array.size());
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for (int i = 0; i < p_array.size(); i++) {
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polygons.write[i].indices = p_array[i];
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}
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}
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Array NavigationPolygon::_get_polygons() const {
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Array ret;
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ret.resize(polygons.size());
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for (int i = 0; i < ret.size(); i++) {
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ret[i] = polygons[i].indices;
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}
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return ret;
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}
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void NavigationPolygon::_set_outlines(const Array &p_array) {
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outlines.resize(p_array.size());
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for (int i = 0; i < p_array.size(); i++) {
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outlines.write[i] = p_array[i];
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}
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rect_cache_dirty = true;
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}
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Array NavigationPolygon::_get_outlines() const {
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Array ret;
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ret.resize(outlines.size());
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for (int i = 0; i < ret.size(); i++) {
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ret[i] = outlines[i];
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}
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return ret;
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}
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void NavigationPolygon::add_polygon(const Vector<int> &p_polygon) {
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Polygon polygon;
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polygon.indices = p_polygon;
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polygons.push_back(polygon);
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{
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MutexLock lock(navmesh_generation);
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navmesh.unref();
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}
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}
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void NavigationPolygon::add_outline_at_index(const PoolVector<Vector2> &p_outline, int p_index) {
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outlines.insert(p_index, p_outline);
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rect_cache_dirty = true;
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}
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int NavigationPolygon::get_polygon_count() const {
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return polygons.size();
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}
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Vector<int> NavigationPolygon::get_polygon(int p_idx) {
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ERR_FAIL_INDEX_V(p_idx, polygons.size(), Vector<int>());
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return polygons[p_idx].indices;
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}
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void NavigationPolygon::clear_polygons() {
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polygons.clear();
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{
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MutexLock lock(navmesh_generation);
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navmesh.unref();
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}
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}
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Ref<NavigationMesh> NavigationPolygon::get_mesh() {
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MutexLock lock(navmesh_generation);
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if (navmesh.is_null()) {
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navmesh.instance();
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PoolVector<Vector3> verts;
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{
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verts.resize(get_vertices().size());
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PoolVector<Vector3>::Write w = verts.write();
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PoolVector<Vector2>::Read r = get_vertices().read();
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for (int i(0); i < get_vertices().size(); i++) {
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w[i] = Vector3(r[i].x, 0.0, r[i].y);
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}
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}
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navmesh->set_vertices(verts);
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for (int i(0); i < get_polygon_count(); i++) {
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navmesh->add_polygon(get_polygon(i));
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}
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}
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return navmesh;
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}
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void NavigationPolygon::add_outline(const PoolVector<Vector2> &p_outline) {
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outlines.push_back(p_outline);
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rect_cache_dirty = true;
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}
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int NavigationPolygon::get_outline_count() const {
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return outlines.size();
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}
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void NavigationPolygon::set_outline(int p_idx, const PoolVector<Vector2> &p_outline) {
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ERR_FAIL_INDEX(p_idx, outlines.size());
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outlines.write[p_idx] = p_outline;
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rect_cache_dirty = true;
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}
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void NavigationPolygon::remove_outline(int p_idx) {
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ERR_FAIL_INDEX(p_idx, outlines.size());
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outlines.remove(p_idx);
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rect_cache_dirty = true;
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}
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PoolVector<Vector2> NavigationPolygon::get_outline(int p_idx) const {
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ERR_FAIL_INDEX_V(p_idx, outlines.size(), PoolVector<Vector2>());
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return outlines[p_idx];
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}
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void NavigationPolygon::clear_outlines() {
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outlines.clear();
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rect_cache_dirty = true;
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}
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void NavigationPolygon::make_polygons_from_outlines() {
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{
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MutexLock lock(navmesh_generation);
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navmesh.unref();
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}
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List<TriangulatorPoly> in_poly, out_poly;
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Vector2 outside_point(-1e10, -1e10);
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for (int i = 0; i < outlines.size(); i++) {
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PoolVector<Vector2> ol = outlines[i];
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int olsize = ol.size();
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if (olsize < 3) {
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continue;
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}
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PoolVector<Vector2>::Read r = ol.read();
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for (int j = 0; j < olsize; j++) {
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outside_point.x = MAX(r[j].x, outside_point.x);
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outside_point.y = MAX(r[j].y, outside_point.y);
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}
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}
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outside_point += Vector2(0.7239784, 0.819238); //avoid precision issues
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for (int i = 0; i < outlines.size(); i++) {
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PoolVector<Vector2> ol = outlines[i];
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int olsize = ol.size();
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if (olsize < 3) {
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continue;
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}
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PoolVector<Vector2>::Read r = ol.read();
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int interscount = 0;
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//test if this is an outer outline
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for (int k = 0; k < outlines.size(); k++) {
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if (i == k) {
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continue; //no self intersect
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}
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PoolVector<Vector2> ol2 = outlines[k];
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int olsize2 = ol2.size();
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if (olsize2 < 3) {
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continue;
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}
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PoolVector<Vector2>::Read r2 = ol2.read();
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for (int l = 0; l < olsize2; l++) {
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if (Geometry::segment_intersects_segment_2d(r[0], outside_point, r2[l], r2[(l + 1) % olsize2], nullptr)) {
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interscount++;
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}
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}
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}
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bool outer = (interscount % 2) == 0;
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TriangulatorPoly tp;
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tp.Init(olsize);
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for (int j = 0; j < olsize; j++) {
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tp[j] = r[j];
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}
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if (outer) {
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tp.SetOrientation(TRIANGULATOR_CCW);
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} else {
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tp.SetOrientation(TRIANGULATOR_CW);
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tp.SetHole(true);
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}
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in_poly.push_back(tp);
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}
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TriangulatorPartition tpart;
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if (tpart.ConvexPartition_HM(&in_poly, &out_poly) == 0) { //failed!
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ERR_PRINT("NavigationPolygon: Convex partition failed!");
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return;
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}
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polygons.clear();
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vertices.resize(0);
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Map<Vector2, int> points;
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for (List<TriangulatorPoly>::Element *I = out_poly.front(); I; I = I->next()) {
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TriangulatorPoly &tp = I->get();
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struct Polygon p;
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for (int64_t i = 0; i < tp.GetNumPoints(); i++) {
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Map<Vector2, int>::Element *E = points.find(tp[i]);
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if (!E) {
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E = points.insert(tp[i], vertices.size());
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vertices.push_back(tp[i]);
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}
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p.indices.push_back(E->get());
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}
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polygons.push_back(p);
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}
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emit_signal(CoreStringNames::get_singleton()->changed);
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}
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void NavigationPolygon::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationPolygon::set_vertices);
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ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationPolygon::get_vertices);
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ClassDB::bind_method(D_METHOD("add_polygon", "polygon"), &NavigationPolygon::add_polygon);
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ClassDB::bind_method(D_METHOD("get_polygon_count"), &NavigationPolygon::get_polygon_count);
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ClassDB::bind_method(D_METHOD("get_polygon", "idx"), &NavigationPolygon::get_polygon);
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ClassDB::bind_method(D_METHOD("clear_polygons"), &NavigationPolygon::clear_polygons);
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ClassDB::bind_method(D_METHOD("add_outline", "outline"), &NavigationPolygon::add_outline);
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ClassDB::bind_method(D_METHOD("add_outline_at_index", "outline", "index"), &NavigationPolygon::add_outline_at_index);
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ClassDB::bind_method(D_METHOD("get_outline_count"), &NavigationPolygon::get_outline_count);
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ClassDB::bind_method(D_METHOD("set_outline", "idx", "outline"), &NavigationPolygon::set_outline);
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ClassDB::bind_method(D_METHOD("get_outline", "idx"), &NavigationPolygon::get_outline);
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ClassDB::bind_method(D_METHOD("remove_outline", "idx"), &NavigationPolygon::remove_outline);
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ClassDB::bind_method(D_METHOD("clear_outlines"), &NavigationPolygon::clear_outlines);
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ClassDB::bind_method(D_METHOD("make_polygons_from_outlines"), &NavigationPolygon::make_polygons_from_outlines);
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ClassDB::bind_method(D_METHOD("_set_polygons", "polygons"), &NavigationPolygon::_set_polygons);
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ClassDB::bind_method(D_METHOD("_get_polygons"), &NavigationPolygon::_get_polygons);
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ClassDB::bind_method(D_METHOD("_set_outlines", "outlines"), &NavigationPolygon::_set_outlines);
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ClassDB::bind_method(D_METHOD("_get_outlines"), &NavigationPolygon::_get_outlines);
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ADD_PROPERTY(PropertyInfo(Variant::POOL_VECTOR2_ARRAY, "vertices", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL), "set_vertices", "get_vertices");
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ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "polygons", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL), "_set_polygons", "_get_polygons");
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ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "outlines", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL), "_set_outlines", "_get_outlines");
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}
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NavigationPolygon::NavigationPolygon() :
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rect_cache_dirty(true) {
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}
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NavigationPolygon::~NavigationPolygon() {
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}
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void NavigationPolygonInstance::set_enabled(bool p_enabled) {
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if (enabled == p_enabled) {
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return;
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}
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enabled = p_enabled;
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if (!is_inside_tree()) {
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return;
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}
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if (!enabled) {
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Navigation2DServer::get_singleton()->region_set_map(region, RID());
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} else {
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if (navigation) {
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Navigation2DServer::get_singleton()->region_set_map(region, navigation->get_rid());
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}
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}
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if (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint()) {
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update();
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}
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}
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bool NavigationPolygonInstance::is_enabled() const {
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return enabled;
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}
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/////////////////////////////
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#ifdef TOOLS_ENABLED
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Rect2 NavigationPolygonInstance::_edit_get_rect() const {
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return navpoly.is_valid() ? navpoly->_edit_get_rect() : Rect2();
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}
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bool NavigationPolygonInstance::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const {
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return navpoly.is_valid() ? navpoly->_edit_is_selected_on_click(p_point, p_tolerance) : false;
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}
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#endif
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void NavigationPolygonInstance::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_ENTER_TREE: {
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Node2D *c = this;
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while (c) {
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navigation = Object::cast_to<Navigation2D>(c);
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if (navigation) {
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if (enabled) {
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Navigation2DServer::get_singleton()->region_set_map(region, navigation->get_rid());
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}
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break;
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}
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c = Object::cast_to<Node2D>(c->get_parent());
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}
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} break;
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case NOTIFICATION_TRANSFORM_CHANGED: {
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Navigation2DServer::get_singleton()->region_set_transform(region, get_global_transform());
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} break;
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case NOTIFICATION_EXIT_TREE: {
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if (navigation) {
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Navigation2DServer::get_singleton()->region_set_map(region, RID());
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}
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navigation = nullptr;
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} break;
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case NOTIFICATION_DRAW: {
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if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint()) && navpoly.is_valid()) {
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PoolVector<Vector2> verts = navpoly->get_vertices();
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int vsize = verts.size();
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if (vsize < 3) {
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return;
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}
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Color color;
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if (enabled) {
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color = get_tree()->get_debug_navigation_color();
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} else {
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color = get_tree()->get_debug_navigation_disabled_color();
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}
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Vector<Color> colors;
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Vector<Vector2> vertices;
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vertices.resize(vsize);
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colors.resize(vsize);
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{
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PoolVector<Vector2>::Read vr = verts.read();
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for (int i = 0; i < vsize; i++) {
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vertices.write[i] = vr[i];
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colors.write[i] = color;
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}
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}
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Vector<int> indices;
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for (int i = 0; i < navpoly->get_polygon_count(); i++) {
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Vector<int> polygon = navpoly->get_polygon(i);
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for (int j = 2; j < polygon.size(); j++) {
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int kofs[3] = { 0, j - 1, j };
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for (int k = 0; k < 3; k++) {
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int idx = polygon[kofs[k]];
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ERR_FAIL_INDEX(idx, vsize);
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indices.push_back(idx);
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}
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}
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}
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VS::get_singleton()->canvas_item_add_triangle_array(get_canvas_item(), indices, vertices, colors);
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}
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} break;
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}
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}
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void NavigationPolygonInstance::set_navigation_polygon(const Ref<NavigationPolygon> &p_navpoly) {
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if (p_navpoly == navpoly) {
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return;
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}
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if (navpoly.is_valid()) {
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navpoly->disconnect(CoreStringNames::get_singleton()->changed, this, "_navpoly_changed");
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}
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navpoly = p_navpoly;
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Navigation2DServer::get_singleton()->region_set_navpoly(region, p_navpoly);
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if (navpoly.is_valid()) {
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navpoly->connect(CoreStringNames::get_singleton()->changed, this, "_navpoly_changed");
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}
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_navpoly_changed();
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_change_notify("navpoly");
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update_configuration_warning();
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}
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Ref<NavigationPolygon> NavigationPolygonInstance::get_navigation_polygon() const {
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return navpoly;
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|
}
|
|
|
|
void NavigationPolygonInstance::_navpoly_changed() {
|
|
if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint())) {
|
|
update();
|
|
}
|
|
}
|
|
|
|
String NavigationPolygonInstance::get_configuration_warning() const {
|
|
if (!is_visible_in_tree() || !is_inside_tree()) {
|
|
return String();
|
|
}
|
|
|
|
String warning = Node2D::get_configuration_warning();
|
|
if (!navpoly.is_valid()) {
|
|
if (warning != String()) {
|
|
warning += "\n\n";
|
|
}
|
|
warning += TTR("A NavigationPolygon resource must be set or created for this node to work. Please set a property or draw a polygon.");
|
|
}
|
|
const Node2D *c = this;
|
|
while (c) {
|
|
if (Object::cast_to<Navigation2D>(c)) {
|
|
return warning;
|
|
}
|
|
|
|
c = Object::cast_to<Node2D>(c->get_parent());
|
|
}
|
|
|
|
if (warning != String()) {
|
|
warning += "\n\n";
|
|
}
|
|
warning += TTR("NavigationPolygonInstance must be a child or grandchild to a Navigation2D node. It only provides navigation data.");
|
|
|
|
return warning;
|
|
}
|
|
|
|
void NavigationPolygonInstance::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("set_navigation_polygon", "navpoly"), &NavigationPolygonInstance::set_navigation_polygon);
|
|
ClassDB::bind_method(D_METHOD("get_navigation_polygon"), &NavigationPolygonInstance::get_navigation_polygon);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationPolygonInstance::set_enabled);
|
|
ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationPolygonInstance::is_enabled);
|
|
|
|
ClassDB::bind_method(D_METHOD("_navpoly_changed"), &NavigationPolygonInstance::_navpoly_changed);
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "navpoly", PROPERTY_HINT_RESOURCE_TYPE, "NavigationPolygon"), "set_navigation_polygon", "get_navigation_polygon");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
|
|
}
|
|
|
|
NavigationPolygonInstance::NavigationPolygonInstance() {
|
|
enabled = true;
|
|
set_notify_transform(true);
|
|
region = Navigation2DServer::get_singleton()->region_create();
|
|
|
|
navigation = nullptr;
|
|
}
|
|
|
|
NavigationPolygonInstance::~NavigationPolygonInstance() {
|
|
Navigation2DServer::get_singleton()->free(region);
|
|
}
|