157 lines
4.7 KiB
C++
157 lines
4.7 KiB
C++
/**************************************************************************/
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/* nav_utils.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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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 NAV_UTILS_H
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#define NAV_UTILS_H
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#include "core/math/vector3.h"
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#include "core/templates/hash_map.h"
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#include "core/templates/hashfuncs.h"
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#include "core/templates/local_vector.h"
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class NavBase;
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namespace gd {
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struct Polygon;
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union PointKey {
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struct {
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int64_t x : 21;
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int64_t y : 22;
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int64_t z : 21;
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};
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uint64_t key = 0;
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};
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struct EdgeKey {
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PointKey a;
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PointKey b;
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static uint32_t hash(const EdgeKey &p_val) {
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return hash_one_uint64(p_val.a.key) ^ hash_one_uint64(p_val.b.key);
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}
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bool operator==(const EdgeKey &p_key) const {
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return (a.key == p_key.a.key) && (b.key == p_key.b.key);
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}
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EdgeKey(const PointKey &p_a = PointKey(), const PointKey &p_b = PointKey()) :
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a(p_a),
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b(p_b) {
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if (a.key > b.key) {
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SWAP(a, b);
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}
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}
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};
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struct Point {
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Vector3 pos;
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PointKey key;
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};
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struct Edge {
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/// The gateway in the edge, as, in some case, the whole edge might not be navigable.
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struct Connection {
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/// Polygon that this connection leads to.
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Polygon *polygon = nullptr;
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/// Edge of the source polygon where this connection starts from.
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int edge = -1;
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/// Point on the edge where the gateway leading to the poly starts.
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Vector3 pathway_start;
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/// Point on the edge where the gateway leading to the poly ends.
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Vector3 pathway_end;
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};
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/// Connections from this edge to other polygons.
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Vector<Connection> connections;
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};
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struct Polygon {
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/// Navigation region or link that contains this polygon.
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const NavBase *owner = nullptr;
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/// The points of this `Polygon`
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LocalVector<Point> points;
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/// Are the points clockwise?
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bool clockwise;
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/// The edges of this `Polygon`
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LocalVector<Edge> edges;
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/// The center of this `Polygon`
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Vector3 center;
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real_t surface_area = 0.0;
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};
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struct NavigationPoly {
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uint32_t self_id = 0;
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/// This poly.
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const Polygon *poly;
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/// Those 4 variables are used to travel the path backwards.
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int back_navigation_poly_id = -1;
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int back_navigation_edge = -1;
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Vector3 back_navigation_edge_pathway_start;
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Vector3 back_navigation_edge_pathway_end;
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/// The entry position of this poly.
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Vector3 entry;
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/// The distance to the destination.
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real_t traveled_distance = 0.0;
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NavigationPoly() { poly = nullptr; }
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NavigationPoly(const Polygon *p_poly) :
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poly(p_poly) {}
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bool operator==(const NavigationPoly &other) const {
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return this->poly == other.poly;
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}
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bool operator!=(const NavigationPoly &other) const {
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return !operator==(other);
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}
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};
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struct ClosestPointQueryResult {
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Vector3 point;
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Vector3 normal;
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RID owner;
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};
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} // namespace gd
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#endif // NAV_UTILS_H
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