152 lines
5.1 KiB
C++
152 lines
5.1 KiB
C++
/*************************************************************************/
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/* nav_map.h */
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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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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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#ifndef RVO_SPACE_H
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#define RVO_SPACE_H
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#include "nav_rid.h"
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#include "core/math/math_defs.h"
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#include "core/os/thread_work_pool.h"
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#include "nav_utils.h"
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#include <KdTree.h>
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/**
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@author AndreaCatania
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*/
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class NavRegion;
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class RvoAgent;
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class NavRegion;
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class NavMap : public NavRid {
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/// Map Up
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Vector3 up;
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/// To find the polygons edges the vertices are displaced in a grid where
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/// each cell has the following cell_size and cell_height.
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real_t cell_size;
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real_t cell_height;
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/// This value is used to detect the near edges to connect.
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real_t edge_connection_margin;
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bool regenerate_polygons;
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bool regenerate_links;
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std::vector<NavRegion *> regions;
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/// Map polygons
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std::vector<gd::Polygon> polygons;
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/// Rvo world
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RVO::KdTree rvo;
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/// Is agent array modified?
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bool agents_dirty;
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/// All the Agents (even the controlled one)
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std::vector<RvoAgent *> agents;
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/// Controlled agents
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std::vector<RvoAgent *> controlled_agents;
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/// Physics delta time
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real_t deltatime;
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/// Change the id each time the map is updated.
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uint32_t map_update_id;
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/// Pooled threads for computing steps
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ThreadWorkPool step_work_pool;
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public:
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NavMap();
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~NavMap();
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void set_up(Vector3 p_up);
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Vector3 get_up() const {
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return up;
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}
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void set_cell_size(float p_cell_size);
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float get_cell_size() const {
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return cell_size;
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}
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void set_cell_height(float p_cell_height);
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float get_cell_height() const {
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return cell_height;
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}
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void set_edge_connection_margin(float p_edge_connection_margin);
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float get_edge_connection_margin() const {
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return edge_connection_margin;
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}
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gd::PointKey get_point_key(const Vector3 &p_pos) const;
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Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize) const;
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Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const;
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Vector3 get_closest_point(const Vector3 &p_point) const;
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Vector3 get_closest_point_normal(const Vector3 &p_point) const;
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gd::ClosestPointQueryResult get_closest_point_info(const Vector3 &p_point) const;
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RID get_closest_point_owner(const Vector3 &p_point) const;
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void add_region(NavRegion *p_region);
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void remove_region(NavRegion *p_region);
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const std::vector<NavRegion *> &get_regions() const {
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return regions;
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}
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bool has_agent(RvoAgent *agent) const;
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void add_agent(RvoAgent *agent);
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void remove_agent(RvoAgent *agent);
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const std::vector<RvoAgent *> &get_agents() const {
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return agents;
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}
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void set_agent_as_controlled(RvoAgent *agent);
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void remove_agent_as_controlled(RvoAgent *agent);
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uint32_t get_map_update_id() const {
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return map_update_id;
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}
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void sync();
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void step(real_t p_deltatime);
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void dispatch_callbacks();
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private:
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void compute_single_step(uint32_t index, RvoAgent **agent);
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void clip_path(const std::vector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly) const;
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};
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#endif // RVO_SPACE_H
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