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virtualx-engine/modules/navigation/godot_navigation_server.h
Rémi Verschelde 25b2f1780a
Style: Harmonize header includes in modules 
This applies our existing style guide, and adds a new rule to that style
guide for modular components such as platform ports and modules:

Includes from the platform port or module ("local" includes) should be listed
first in their own block using relative paths, before Godot's "core" includes
which use "absolute" (project folder relative) paths, and finally thirdparty
includes.

Includes in `#ifdef`s come after their relevant section, i.e. the overall
structure is:

- Local includes
  * Conditional local includes
- Core includes
  * Conditional core includes
- Thirdparty includes
  * Conditional thirdparty includes
2023-06-15 14:35:45 +02:00

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/**************************************************************************/
/* godot_navigation_server.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_H
#define GODOT_NAVIGATION_SERVER_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 GodotNavigationServer;
struct SetCommand {
virtual ~SetCommand() {}
virtual void exec(GodotNavigationServer *server) = 0;
};
class GodotNavigationServer : 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_update_id;
// 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:
GodotNavigationServer();
virtual ~GodotNavigationServer();
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_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 RID region_create() 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);
COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navigation_mesh);
virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) override;
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 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_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_neighbor_distance, RID, p_agent, real_t, p_distance);
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count);
COMMAND_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon);
COMMAND_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon);
COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius);
COMMAND_2(agent_set_height, RID, p_agent, real_t, p_height);
COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed);
COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity);
COMMAND_2(agent_set_velocity_forced, RID, p_agent, Vector3, p_velocity);
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position);
virtual bool agent_is_map_changed(RID p_agent) const override;
COMMAND_2(agent_set_avoidance_callback, RID, p_agent, Callable, p_callback);
COMMAND_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers);
COMMAND_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask);
COMMAND_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority);
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_radius, RID, p_obstacle, real_t, p_radius);
COMMAND_2(obstacle_set_velocity, RID, p_obstacle, Vector3, p_velocity);
COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector3, p_position);
COMMAND_2(obstacle_set_height, RID, p_obstacle, real_t, p_height);
virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector3> &p_vertices) override;
COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers);
virtual void parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) override;
virtual void bake_from_source_geometry_data(Ref<NavigationMesh> p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData3D> &p_source_geometry_data, const Callable &p_callback = Callable()) 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 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_H
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