289 lines
15 KiB
C++
289 lines
15 KiB
C++
/**************************************************************************/
|
|
/* godot_navigation_server_3d.h */
|
|
/**************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/**************************************************************************/
|
|
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
|
|
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/**************************************************************************/
|
|
|
|
#ifndef GODOT_NAVIGATION_SERVER_3D_H
|
|
#define GODOT_NAVIGATION_SERVER_3D_H
|
|
|
|
#include "../nav_agent.h"
|
|
#include "../nav_link.h"
|
|
#include "../nav_map.h"
|
|
#include "../nav_obstacle.h"
|
|
#include "../nav_region.h"
|
|
|
|
#include "core/templates/local_vector.h"
|
|
#include "core/templates/rid.h"
|
|
#include "core/templates/rid_owner.h"
|
|
#include "servers/navigation_server_3d.h"
|
|
|
|
/// The commands are functions executed during the `sync` phase.
|
|
|
|
#define MERGE_INTERNAL(A, B) A##B
|
|
#define MERGE(A, B) MERGE_INTERNAL(A, B)
|
|
|
|
#define COMMAND_1(F_NAME, T_0, D_0) \
|
|
virtual void F_NAME(T_0 D_0) override; \
|
|
void MERGE(_cmd_, F_NAME)(T_0 D_0)
|
|
|
|
#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
|
|
virtual void F_NAME(T_0 D_0, T_1 D_1) override; \
|
|
void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
|
|
|
|
class GodotNavigationServer3D;
|
|
#ifndef _3D_DISABLED
|
|
class NavMeshGenerator3D;
|
|
#endif // _3D_DISABLED
|
|
|
|
struct SetCommand {
|
|
virtual ~SetCommand() {}
|
|
virtual void exec(GodotNavigationServer3D *server) = 0;
|
|
};
|
|
|
|
class GodotNavigationServer3D : public NavigationServer3D {
|
|
Mutex commands_mutex;
|
|
/// Mutex used to make any operation threadsafe.
|
|
Mutex operations_mutex;
|
|
|
|
LocalVector<SetCommand *> commands;
|
|
|
|
mutable RID_Owner<NavLink> link_owner;
|
|
mutable RID_Owner<NavMap> map_owner;
|
|
mutable RID_Owner<NavRegion> region_owner;
|
|
mutable RID_Owner<NavAgent> agent_owner;
|
|
mutable RID_Owner<NavObstacle> obstacle_owner;
|
|
|
|
bool active = true;
|
|
LocalVector<NavMap *> active_maps;
|
|
LocalVector<uint32_t> active_maps_iteration_id;
|
|
|
|
#ifndef _3D_DISABLED
|
|
NavMeshGenerator3D *navmesh_generator_3d = nullptr;
|
|
#endif // _3D_DISABLED
|
|
|
|
// Performance Monitor
|
|
int pm_region_count = 0;
|
|
int pm_agent_count = 0;
|
|
int pm_link_count = 0;
|
|
int pm_polygon_count = 0;
|
|
int pm_edge_count = 0;
|
|
int pm_edge_merge_count = 0;
|
|
int pm_edge_connection_count = 0;
|
|
int pm_edge_free_count = 0;
|
|
|
|
public:
|
|
GodotNavigationServer3D();
|
|
virtual ~GodotNavigationServer3D();
|
|
|
|
void add_command(SetCommand *command);
|
|
|
|
virtual TypedArray<RID> get_maps() const override;
|
|
|
|
virtual RID map_create() override;
|
|
COMMAND_2(map_set_active, RID, p_map, bool, p_active);
|
|
virtual bool map_is_active(RID p_map) const override;
|
|
|
|
COMMAND_2(map_set_up, RID, p_map, Vector3, p_up);
|
|
virtual Vector3 map_get_up(RID p_map) const override;
|
|
|
|
COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size);
|
|
virtual real_t map_get_cell_size(RID p_map) const override;
|
|
|
|
COMMAND_2(map_set_cell_height, RID, p_map, real_t, p_cell_height);
|
|
virtual real_t map_get_cell_height(RID p_map) const override;
|
|
|
|
COMMAND_2(map_set_merge_rasterizer_cell_scale, RID, p_map, float, p_value);
|
|
virtual float map_get_merge_rasterizer_cell_scale(RID p_map) const override;
|
|
|
|
COMMAND_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled);
|
|
virtual bool map_get_use_edge_connections(RID p_map) const override;
|
|
|
|
COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
|
|
virtual real_t map_get_edge_connection_margin(RID p_map) const override;
|
|
|
|
COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius);
|
|
virtual real_t map_get_link_connection_radius(RID p_map) const override;
|
|
|
|
virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const override;
|
|
|
|
virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const override;
|
|
virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const override;
|
|
virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const override;
|
|
virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const override;
|
|
|
|
virtual TypedArray<RID> map_get_links(RID p_map) const override;
|
|
virtual TypedArray<RID> map_get_regions(RID p_map) const override;
|
|
virtual TypedArray<RID> map_get_agents(RID p_map) const override;
|
|
virtual TypedArray<RID> map_get_obstacles(RID p_map) const override;
|
|
|
|
virtual void map_force_update(RID p_map) override;
|
|
virtual uint32_t map_get_iteration_id(RID p_map) const override;
|
|
|
|
virtual Vector3 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const override;
|
|
|
|
virtual RID region_create() override;
|
|
|
|
COMMAND_2(region_set_enabled, RID, p_region, bool, p_enabled);
|
|
virtual bool region_get_enabled(RID p_region) const override;
|
|
|
|
COMMAND_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled);
|
|
virtual bool region_get_use_edge_connections(RID p_region) const override;
|
|
|
|
COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost);
|
|
virtual real_t region_get_enter_cost(RID p_region) const override;
|
|
COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost);
|
|
virtual real_t region_get_travel_cost(RID p_region) const override;
|
|
|
|
COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id);
|
|
virtual ObjectID region_get_owner_id(RID p_region) const override;
|
|
|
|
virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const override;
|
|
|
|
COMMAND_2(region_set_map, RID, p_region, RID, p_map);
|
|
virtual RID region_get_map(RID p_region) const override;
|
|
COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers);
|
|
virtual uint32_t region_get_navigation_layers(RID p_region) const override;
|
|
COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform);
|
|
virtual Transform3D region_get_transform(RID p_region) const override;
|
|
COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navigation_mesh);
|
|
#ifndef DISABLE_DEPRECATED
|
|
virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) override;
|
|
#endif // DISABLE_DEPRECATED
|
|
virtual int region_get_connections_count(RID p_region) const override;
|
|
virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override;
|
|
virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override;
|
|
virtual Vector3 region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const override;
|
|
|
|
virtual RID link_create() override;
|
|
COMMAND_2(link_set_map, RID, p_link, RID, p_map);
|
|
virtual RID link_get_map(RID p_link) const override;
|
|
COMMAND_2(link_set_enabled, RID, p_link, bool, p_enabled);
|
|
virtual bool link_get_enabled(RID p_link) const override;
|
|
COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional);
|
|
virtual bool link_is_bidirectional(RID p_link) const override;
|
|
COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers);
|
|
virtual uint32_t link_get_navigation_layers(RID p_link) const override;
|
|
COMMAND_2(link_set_start_position, RID, p_link, Vector3, p_position);
|
|
virtual Vector3 link_get_start_position(RID p_link) const override;
|
|
COMMAND_2(link_set_end_position, RID, p_link, Vector3, p_position);
|
|
virtual Vector3 link_get_end_position(RID p_link) const override;
|
|
COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost);
|
|
virtual real_t link_get_enter_cost(RID p_link) const override;
|
|
COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost);
|
|
virtual real_t link_get_travel_cost(RID p_link) const override;
|
|
COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id);
|
|
virtual ObjectID link_get_owner_id(RID p_link) const override;
|
|
|
|
virtual RID agent_create() override;
|
|
COMMAND_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled);
|
|
virtual bool agent_get_avoidance_enabled(RID p_agent) const override;
|
|
COMMAND_2(agent_set_use_3d_avoidance, RID, p_agent, bool, p_enabled);
|
|
virtual bool agent_get_use_3d_avoidance(RID p_agent) const override;
|
|
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map);
|
|
virtual RID agent_get_map(RID p_agent) const override;
|
|
COMMAND_2(agent_set_paused, RID, p_agent, bool, p_paused);
|
|
virtual bool agent_get_paused(RID p_agent) const override;
|
|
COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance);
|
|
virtual real_t agent_get_neighbor_distance(RID p_agent) const override;
|
|
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count);
|
|
virtual int agent_get_max_neighbors(RID p_agent) const override;
|
|
COMMAND_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon);
|
|
virtual real_t agent_get_time_horizon_agents(RID p_agent) const override;
|
|
COMMAND_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon);
|
|
virtual real_t agent_get_time_horizon_obstacles(RID p_agent) const override;
|
|
COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius);
|
|
virtual real_t agent_get_radius(RID p_agent) const override;
|
|
COMMAND_2(agent_set_height, RID, p_agent, real_t, p_height);
|
|
virtual real_t agent_get_height(RID p_agent) const override;
|
|
COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed);
|
|
virtual real_t agent_get_max_speed(RID p_agent) const override;
|
|
COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity);
|
|
virtual Vector3 agent_get_velocity(RID p_agent) const override;
|
|
COMMAND_2(agent_set_velocity_forced, RID, p_agent, Vector3, p_velocity);
|
|
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position);
|
|
virtual Vector3 agent_get_position(RID p_agent) const override;
|
|
virtual bool agent_is_map_changed(RID p_agent) const override;
|
|
COMMAND_2(agent_set_avoidance_callback, RID, p_agent, Callable, p_callback);
|
|
virtual bool agent_has_avoidance_callback(RID p_agent) const override;
|
|
COMMAND_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers);
|
|
virtual uint32_t agent_get_avoidance_layers(RID p_agent) const override;
|
|
COMMAND_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask);
|
|
virtual uint32_t agent_get_avoidance_mask(RID p_agent) const override;
|
|
COMMAND_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority);
|
|
virtual real_t agent_get_avoidance_priority(RID p_agent) const override;
|
|
|
|
virtual RID obstacle_create() override;
|
|
COMMAND_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled);
|
|
virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const override;
|
|
COMMAND_2(obstacle_set_use_3d_avoidance, RID, p_obstacle, bool, p_enabled);
|
|
virtual bool obstacle_get_use_3d_avoidance(RID p_obstacle) const override;
|
|
COMMAND_2(obstacle_set_map, RID, p_obstacle, RID, p_map);
|
|
virtual RID obstacle_get_map(RID p_obstacle) const override;
|
|
COMMAND_2(obstacle_set_paused, RID, p_obstacle, bool, p_paused);
|
|
virtual bool obstacle_get_paused(RID p_obstacle) const override;
|
|
COMMAND_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius);
|
|
virtual real_t obstacle_get_radius(RID p_obstacle) const override;
|
|
COMMAND_2(obstacle_set_velocity, RID, p_obstacle, Vector3, p_velocity);
|
|
virtual Vector3 obstacle_get_velocity(RID p_obstacle) const override;
|
|
COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector3, p_position);
|
|
virtual Vector3 obstacle_get_position(RID p_obstacle) const override;
|
|
COMMAND_2(obstacle_set_height, RID, p_obstacle, real_t, p_height);
|
|
virtual real_t obstacle_get_height(RID p_obstacle) const override;
|
|
virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector3> &p_vertices) override;
|
|
virtual Vector<Vector3> obstacle_get_vertices(RID p_obstacle) const override;
|
|
COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers);
|
|
virtual uint32_t obstacle_get_avoidance_layers(RID p_obstacle) const override;
|
|
|
|
virtual void parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) override;
|
|
virtual void bake_from_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
|
|
virtual void bake_from_source_geometry_data_async(const Ref<NavigationMesh> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
|
|
virtual bool is_baking_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh) const override;
|
|
|
|
COMMAND_1(free, RID, p_object);
|
|
|
|
virtual void set_active(bool p_active) override;
|
|
|
|
void flush_queries();
|
|
virtual void process(real_t p_delta_time) override;
|
|
virtual void init() override;
|
|
virtual void sync() override;
|
|
virtual void finish() override;
|
|
|
|
virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const override;
|
|
|
|
int get_process_info(ProcessInfo p_info) const override;
|
|
|
|
private:
|
|
void internal_free_agent(RID p_object);
|
|
void internal_free_obstacle(RID p_object);
|
|
};
|
|
|
|
#undef COMMAND_1
|
|
#undef COMMAND_2
|
|
|
|
#endif // GODOT_NAVIGATION_SERVER_3D_H
|