virtualx-engine/scene/2d/navigation_region_2d.cpp
reduz 746dddc067 Replace most uses of Map by HashMap
* Map is unnecessary and inefficient in almost every case.
* Replaced by the new HashMap.
* Renamed Map to RBMap and Set to RBSet for cases that still make sense
  (order matters) but use is discouraged.

There were very few cases where replacing by HashMap was undesired because
keeping the key order was intended.
I tried to keep those (as RBMap) as much as possible, but might have missed
some. Review appreciated!
2022-05-16 10:37:48 +02:00

557 lines
18 KiB
C++

/*************************************************************************/
/* navigation_region_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* 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. */
/*************************************************************************/
#include "navigation_region_2d.h"
#include "core/core_string_names.h"
#include "core/math/geometry_2d.h"
#include "core/os/mutex.h"
#include "scene/resources/world_2d.h"
#include "servers/navigation_server_2d.h"
#include "thirdparty/misc/polypartition.h"
#ifdef TOOLS_ENABLED
Rect2 NavigationPolygon::_edit_get_rect() const {
if (rect_cache_dirty) {
item_rect = Rect2();
bool first = true;
for (int i = 0; i < outlines.size(); i++) {
const Vector<Vector2> &outline = outlines[i];
const int outline_size = outline.size();
if (outline_size < 3) {
continue;
}
const Vector2 *p = outline.ptr();
for (int j = 0; j < outline_size; j++) {
if (first) {
item_rect = Rect2(p[j], Vector2(0, 0));
first = false;
} else {
item_rect.expand_to(p[j]);
}
}
}
rect_cache_dirty = false;
}
return item_rect;
}
bool NavigationPolygon::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const {
for (int i = 0; i < outlines.size(); i++) {
const Vector<Vector2> &outline = outlines[i];
const int outline_size = outline.size();
if (outline_size < 3) {
continue;
}
if (Geometry2D::is_point_in_polygon(p_point, Variant(outline))) {
return true;
}
}
return false;
}
#endif
void NavigationPolygon::set_vertices(const Vector<Vector2> &p_vertices) {
{
MutexLock lock(navmesh_generation);
navmesh.unref();
}
vertices = p_vertices;
rect_cache_dirty = true;
}
Vector<Vector2> NavigationPolygon::get_vertices() const {
return vertices;
}
void NavigationPolygon::_set_polygons(const TypedArray<Vector<int32_t>> &p_array) {
{
MutexLock lock(navmesh_generation);
navmesh.unref();
}
polygons.resize(p_array.size());
for (int i = 0; i < p_array.size(); i++) {
polygons.write[i].indices = p_array[i];
}
}
TypedArray<Vector<int32_t>> NavigationPolygon::_get_polygons() const {
TypedArray<Vector<int32_t>> ret;
ret.resize(polygons.size());
for (int i = 0; i < ret.size(); i++) {
ret[i] = polygons[i].indices;
}
return ret;
}
void NavigationPolygon::_set_outlines(const TypedArray<Vector<Vector2>> &p_array) {
outlines.resize(p_array.size());
for (int i = 0; i < p_array.size(); i++) {
outlines.write[i] = p_array[i];
}
rect_cache_dirty = true;
}
TypedArray<Vector<Vector2>> NavigationPolygon::_get_outlines() const {
TypedArray<Vector<Vector2>> ret;
ret.resize(outlines.size());
for (int i = 0; i < ret.size(); i++) {
ret[i] = outlines[i];
}
return ret;
}
void NavigationPolygon::add_polygon(const Vector<int> &p_polygon) {
Polygon polygon;
polygon.indices = p_polygon;
polygons.push_back(polygon);
{
MutexLock lock(navmesh_generation);
navmesh.unref();
}
}
void NavigationPolygon::add_outline_at_index(const Vector<Vector2> &p_outline, int p_index) {
outlines.insert(p_index, p_outline);
rect_cache_dirty = true;
}
int NavigationPolygon::get_polygon_count() const {
return polygons.size();
}
Vector<int> NavigationPolygon::get_polygon(int p_idx) {
ERR_FAIL_INDEX_V(p_idx, polygons.size(), Vector<int>());
return polygons[p_idx].indices;
}
void NavigationPolygon::clear_polygons() {
polygons.clear();
{
MutexLock lock(navmesh_generation);
navmesh.unref();
}
}
Ref<NavigationMesh> NavigationPolygon::get_mesh() {
MutexLock lock(navmesh_generation);
if (navmesh.is_null()) {
navmesh.instantiate();
Vector<Vector3> verts;
{
verts.resize(get_vertices().size());
Vector3 *w = verts.ptrw();
const Vector2 *r = get_vertices().ptr();
for (int i(0); i < get_vertices().size(); i++) {
w[i] = Vector3(r[i].x, 0.0, r[i].y);
}
}
navmesh->set_vertices(verts);
for (int i(0); i < get_polygon_count(); i++) {
navmesh->add_polygon(get_polygon(i));
}
}
return navmesh;
}
void NavigationPolygon::add_outline(const Vector<Vector2> &p_outline) {
outlines.push_back(p_outline);
rect_cache_dirty = true;
}
int NavigationPolygon::get_outline_count() const {
return outlines.size();
}
void NavigationPolygon::set_outline(int p_idx, const Vector<Vector2> &p_outline) {
ERR_FAIL_INDEX(p_idx, outlines.size());
outlines.write[p_idx] = p_outline;
rect_cache_dirty = true;
}
void NavigationPolygon::remove_outline(int p_idx) {
ERR_FAIL_INDEX(p_idx, outlines.size());
outlines.remove_at(p_idx);
rect_cache_dirty = true;
}
Vector<Vector2> NavigationPolygon::get_outline(int p_idx) const {
ERR_FAIL_INDEX_V(p_idx, outlines.size(), Vector<Vector2>());
return outlines[p_idx];
}
void NavigationPolygon::clear_outlines() {
outlines.clear();
rect_cache_dirty = true;
}
void NavigationPolygon::make_polygons_from_outlines() {
{
MutexLock lock(navmesh_generation);
navmesh.unref();
}
List<TPPLPoly> in_poly, out_poly;
Vector2 outside_point(-1e10, -1e10);
for (int i = 0; i < outlines.size(); i++) {
Vector<Vector2> ol = outlines[i];
int olsize = ol.size();
if (olsize < 3) {
continue;
}
const Vector2 *r = ol.ptr();
for (int j = 0; j < olsize; j++) {
outside_point.x = MAX(r[j].x, outside_point.x);
outside_point.y = MAX(r[j].y, outside_point.y);
}
}
outside_point += Vector2(0.7239784, 0.819238); //avoid precision issues
for (int i = 0; i < outlines.size(); i++) {
Vector<Vector2> ol = outlines[i];
int olsize = ol.size();
if (olsize < 3) {
continue;
}
const Vector2 *r = ol.ptr();
int interscount = 0;
//test if this is an outer outline
for (int k = 0; k < outlines.size(); k++) {
if (i == k) {
continue; //no self intersect
}
Vector<Vector2> ol2 = outlines[k];
int olsize2 = ol2.size();
if (olsize2 < 3) {
continue;
}
const Vector2 *r2 = ol2.ptr();
for (int l = 0; l < olsize2; l++) {
if (Geometry2D::segment_intersects_segment(r[0], outside_point, r2[l], r2[(l + 1) % olsize2], nullptr)) {
interscount++;
}
}
}
bool outer = (interscount % 2) == 0;
TPPLPoly tp;
tp.Init(olsize);
for (int j = 0; j < olsize; j++) {
tp[j] = r[j];
}
if (outer) {
tp.SetOrientation(TPPL_ORIENTATION_CCW);
} else {
tp.SetOrientation(TPPL_ORIENTATION_CW);
tp.SetHole(true);
}
in_poly.push_back(tp);
}
TPPLPartition tpart;
if (tpart.ConvexPartition_HM(&in_poly, &out_poly) == 0) { //failed!
ERR_PRINT("NavigationPolygon: Convex partition failed!");
return;
}
polygons.clear();
vertices.clear();
HashMap<Vector2, int> points;
for (List<TPPLPoly>::Element *I = out_poly.front(); I; I = I->next()) {
TPPLPoly &tp = I->get();
struct Polygon p;
for (int64_t i = 0; i < tp.GetNumPoints(); i++) {
HashMap<Vector2, int>::Iterator E = points.find(tp[i]);
if (!E) {
E = points.insert(tp[i], vertices.size());
vertices.push_back(tp[i]);
}
p.indices.push_back(E->value);
}
polygons.push_back(p);
}
emit_signal(CoreStringNames::get_singleton()->changed);
}
void NavigationPolygon::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationPolygon::set_vertices);
ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationPolygon::get_vertices);
ClassDB::bind_method(D_METHOD("add_polygon", "polygon"), &NavigationPolygon::add_polygon);
ClassDB::bind_method(D_METHOD("get_polygon_count"), &NavigationPolygon::get_polygon_count);
ClassDB::bind_method(D_METHOD("get_polygon", "idx"), &NavigationPolygon::get_polygon);
ClassDB::bind_method(D_METHOD("clear_polygons"), &NavigationPolygon::clear_polygons);
ClassDB::bind_method(D_METHOD("add_outline", "outline"), &NavigationPolygon::add_outline);
ClassDB::bind_method(D_METHOD("add_outline_at_index", "outline", "index"), &NavigationPolygon::add_outline_at_index);
ClassDB::bind_method(D_METHOD("get_outline_count"), &NavigationPolygon::get_outline_count);
ClassDB::bind_method(D_METHOD("set_outline", "idx", "outline"), &NavigationPolygon::set_outline);
ClassDB::bind_method(D_METHOD("get_outline", "idx"), &NavigationPolygon::get_outline);
ClassDB::bind_method(D_METHOD("remove_outline", "idx"), &NavigationPolygon::remove_outline);
ClassDB::bind_method(D_METHOD("clear_outlines"), &NavigationPolygon::clear_outlines);
ClassDB::bind_method(D_METHOD("make_polygons_from_outlines"), &NavigationPolygon::make_polygons_from_outlines);
ClassDB::bind_method(D_METHOD("_set_polygons", "polygons"), &NavigationPolygon::_set_polygons);
ClassDB::bind_method(D_METHOD("_get_polygons"), &NavigationPolygon::_get_polygons);
ClassDB::bind_method(D_METHOD("_set_outlines", "outlines"), &NavigationPolygon::_set_outlines);
ClassDB::bind_method(D_METHOD("_get_outlines"), &NavigationPolygon::_get_outlines);
ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR2_ARRAY, "vertices", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "set_vertices", "get_vertices");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "polygons", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_polygons", "_get_polygons");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "outlines", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_outlines", "_get_outlines");
}
void NavigationRegion2D::set_enabled(bool p_enabled) {
if (enabled == p_enabled) {
return;
}
enabled = p_enabled;
if (!is_inside_tree()) {
return;
}
if (!enabled) {
NavigationServer2D::get_singleton()->region_set_map(region, RID());
NavigationServer2D::get_singleton_mut()->disconnect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
} else {
NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map());
NavigationServer2D::get_singleton_mut()->connect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
}
if (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint()) {
update();
}
}
bool NavigationRegion2D::is_enabled() const {
return enabled;
}
void NavigationRegion2D::set_layers(uint32_t p_layers) {
NavigationServer2D::get_singleton()->region_set_layers(region, p_layers);
}
uint32_t NavigationRegion2D::get_layers() const {
return NavigationServer2D::get_singleton()->region_get_layers(region);
}
RID NavigationRegion2D::get_region_rid() const {
return region;
}
/////////////////////////////
#ifdef TOOLS_ENABLED
Rect2 NavigationRegion2D::_edit_get_rect() const {
return navpoly.is_valid() ? navpoly->_edit_get_rect() : Rect2();
}
bool NavigationRegion2D::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const {
return navpoly.is_valid() ? navpoly->_edit_is_selected_on_click(p_point, p_tolerance) : false;
}
#endif
void NavigationRegion2D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_ENTER_TREE: {
if (enabled) {
NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map());
NavigationServer2D::get_singleton_mut()->connect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
}
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
NavigationServer2D::get_singleton()->region_set_transform(region, get_global_transform());
} break;
case NOTIFICATION_EXIT_TREE: {
NavigationServer2D::get_singleton()->region_set_map(region, RID());
if (enabled) {
NavigationServer2D::get_singleton_mut()->disconnect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
}
} break;
case NOTIFICATION_DRAW: {
if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint()) && navpoly.is_valid()) {
Vector<Vector2> verts = navpoly->get_vertices();
if (verts.size() < 3) {
return;
}
Color color;
if (enabled) {
color = get_tree()->get_debug_navigation_color();
} else {
color = get_tree()->get_debug_navigation_disabled_color();
}
Color doors_color = color.lightened(0.2);
RandomPCG rand;
for (int i = 0; i < navpoly->get_polygon_count(); i++) {
// An array of vertices for this polygon.
Vector<int> polygon = navpoly->get_polygon(i);
Vector<Vector2> vertices;
vertices.resize(polygon.size());
for (int j = 0; j < polygon.size(); j++) {
ERR_FAIL_INDEX(polygon[j], verts.size());
vertices.write[j] = verts[polygon[j]];
}
// Generate the polygon color, slightly randomly modified from the settings one.
Color random_variation_color;
random_variation_color.set_hsv(color.get_h() + rand.random(-1.0, 1.0) * 0.05, color.get_s(), color.get_v() + rand.random(-1.0, 1.0) * 0.1);
random_variation_color.a = color.a;
Vector<Color> colors;
colors.push_back(random_variation_color);
RS::get_singleton()->canvas_item_add_polygon(get_canvas_item(), vertices, colors);
}
// Draw the region
Transform2D xform = get_global_transform();
const NavigationServer2D *ns = NavigationServer2D::get_singleton();
real_t radius = ns->map_get_edge_connection_margin(get_world_2d()->get_navigation_map()) / 2.0;
for (int i = 0; i < ns->region_get_connections_count(region); i++) {
// Two main points
Vector2 a = ns->region_get_connection_pathway_start(region, i);
a = xform.affine_inverse().xform(a);
Vector2 b = ns->region_get_connection_pathway_end(region, i);
b = xform.affine_inverse().xform(b);
draw_line(a, b, doors_color);
// Draw a circle to illustrate the margins.
real_t angle = a.angle_to_point(b);
draw_arc(a, radius, angle + Math_PI / 2.0, angle - Math_PI / 2.0 + Math_TAU, 10, doors_color);
draw_arc(b, radius, angle - Math_PI / 2.0, angle + Math_PI / 2.0, 10, doors_color);
}
}
} break;
}
}
void NavigationRegion2D::set_navigation_polygon(const Ref<NavigationPolygon> &p_navpoly) {
if (p_navpoly == navpoly) {
return;
}
if (navpoly.is_valid()) {
navpoly->disconnect(CoreStringNames::get_singleton()->changed, callable_mp(this, &NavigationRegion2D::_navpoly_changed));
}
navpoly = p_navpoly;
NavigationServer2D::get_singleton()->region_set_navpoly(region, p_navpoly);
if (navpoly.is_valid()) {
navpoly->connect(CoreStringNames::get_singleton()->changed, callable_mp(this, &NavigationRegion2D::_navpoly_changed));
}
_navpoly_changed();
update_configuration_warnings();
}
Ref<NavigationPolygon> NavigationRegion2D::get_navigation_polygon() const {
return navpoly;
}
void NavigationRegion2D::_navpoly_changed() {
if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint())) {
update();
}
}
void NavigationRegion2D::_map_changed(RID p_map) {
if (enabled && get_world_2d()->get_navigation_map() == p_map) {
update();
}
}
TypedArray<String> NavigationRegion2D::get_configuration_warnings() const {
TypedArray<String> warnings = Node2D::get_configuration_warnings();
if (is_visible_in_tree() && is_inside_tree()) {
if (!navpoly.is_valid()) {
warnings.push_back(RTR("A NavigationMesh resource must be set or created for this node to work. Please set a property or draw a polygon."));
}
}
return warnings;
}
void NavigationRegion2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_navigation_polygon", "navpoly"), &NavigationRegion2D::set_navigation_polygon);
ClassDB::bind_method(D_METHOD("get_navigation_polygon"), &NavigationRegion2D::get_navigation_polygon);
ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationRegion2D::set_enabled);
ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationRegion2D::is_enabled);
ClassDB::bind_method(D_METHOD("set_layers", "layers"), &NavigationRegion2D::set_layers);
ClassDB::bind_method(D_METHOD("get_layers"), &NavigationRegion2D::get_layers);
ClassDB::bind_method(D_METHOD("get_region_rid"), &NavigationRegion2D::get_region_rid);
ClassDB::bind_method(D_METHOD("_navpoly_changed"), &NavigationRegion2D::_navpoly_changed);
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "navpoly", PROPERTY_HINT_RESOURCE_TYPE, "NavigationPolygon"), "set_navigation_polygon", "get_navigation_polygon");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
ADD_PROPERTY(PropertyInfo(Variant::INT, "layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_layers", "get_layers");
}
NavigationRegion2D::NavigationRegion2D() {
set_notify_transform(true);
region = NavigationServer2D::get_singleton()->region_create();
}
NavigationRegion2D::~NavigationRegion2D() {
NavigationServer2D::get_singleton()->free(region);
}