181 lines
5 KiB
C++
181 lines
5 KiB
C++
/*************************************************************************/
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/* navigation.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 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 NAVIGATION_H
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#define NAVIGATION_H
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#include "scene/3d/navigation_mesh.h"
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#include "scene/3d/spatial.h"
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class Navigation : public Spatial {
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OBJ_TYPE(Navigation, Spatial);
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union Point {
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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;
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bool operator<(const Point &p_key) const { return key < p_key.key; }
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};
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struct EdgeKey {
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Point a;
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Point b;
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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) : (a.key < p_key.a.key);
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};
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EdgeKey(const Point &p_a = Point(), const Point &p_b = Point()) {
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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 NavMesh;
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struct Polygon;
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struct ConnectionPending {
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Polygon *polygon;
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int edge;
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};
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struct Polygon {
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struct Edge {
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Point point;
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Polygon *C; //connection
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int C_edge;
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List<ConnectionPending>::Element *P;
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Edge() {
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C = NULL;
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C_edge = -1;
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P = NULL;
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}
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};
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Vector<Edge> edges;
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Vector3 center;
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float distance;
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int prev_edge;
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bool clockwise;
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NavMesh *owner;
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};
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struct Connection {
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Polygon *A;
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int A_edge;
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Polygon *B;
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int B_edge;
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List<ConnectionPending> pending;
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Connection() {
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A = NULL;
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B = NULL;
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A_edge = -1;
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B_edge = -1;
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}
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};
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Map<EdgeKey, Connection> connections;
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struct NavMesh {
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Object *owner;
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Transform xform;
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bool linked;
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Ref<NavigationMesh> navmesh;
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List<Polygon> polygons;
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};
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_FORCE_INLINE_ Point _get_point(const Vector3 &p_pos) const {
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int x = int(Math::floor(p_pos.x / cell_size));
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int y = int(Math::floor(p_pos.y / cell_size));
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int z = int(Math::floor(p_pos.z / cell_size));
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Point p;
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p.key = 0;
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p.x = x;
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p.y = y;
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p.z = z;
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return p;
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}
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_FORCE_INLINE_ Vector3 _get_vertex(const Point &p_point) const {
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return Vector3(p_point.x, p_point.y, p_point.z) * cell_size;
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}
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void _navmesh_link(int p_id);
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void _navmesh_unlink(int p_id);
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float cell_size;
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Map<int, NavMesh> navmesh_map;
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int last_id;
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Vector3 up;
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void _clip_path(Vector<Vector3> &path, Polygon *from_poly, const Vector3 &p_to_point, Polygon *p_to_poly);
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protected:
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static void _bind_methods();
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public:
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void set_up_vector(const Vector3 &p_up);
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Vector3 get_up_vector() const;
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//API should be as dynamic as possible
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int navmesh_create(const Ref<NavigationMesh> &p_mesh, const Transform &p_xform, Object *p_owner = NULL);
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void navmesh_set_transform(int p_id, const Transform &p_xform);
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void navmesh_remove(int p_id);
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Vector<Vector3> get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize = true);
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Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool &p_use_collision = false);
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Vector3 get_closest_point(const Vector3 &p_point);
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Vector3 get_closest_point_normal(const Vector3 &p_point);
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Object *get_closest_point_owner(const Vector3 &p_point);
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Navigation();
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};
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#endif // NAVIGATION_H
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