585 lines
23 KiB
C++
585 lines
23 KiB
C++
/**************************************************************************/
|
|
/* navigation_obstacle_3d.cpp */
|
|
/**************************************************************************/
|
|
/* 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. */
|
|
/**************************************************************************/
|
|
|
|
#include "navigation_obstacle_3d.h"
|
|
|
|
#include "core/math/geometry_2d.h"
|
|
#include "servers/navigation_server_3d.h"
|
|
|
|
void NavigationObstacle3D::_bind_methods() {
|
|
ClassDB::bind_method(D_METHOD("get_rid"), &NavigationObstacle3D::get_rid);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationObstacle3D::set_avoidance_enabled);
|
|
ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationObstacle3D::get_avoidance_enabled);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationObstacle3D::set_navigation_map);
|
|
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationObstacle3D::get_navigation_map);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle3D::set_radius);
|
|
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle3D::get_radius);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_height", "height"), &NavigationObstacle3D::set_height);
|
|
ClassDB::bind_method(D_METHOD("get_height"), &NavigationObstacle3D::get_height);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationObstacle3D::set_velocity);
|
|
ClassDB::bind_method(D_METHOD("get_velocity"), &NavigationObstacle3D::get_velocity);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationObstacle3D::set_vertices);
|
|
ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationObstacle3D::get_vertices);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationObstacle3D::set_avoidance_layers);
|
|
ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationObstacle3D::get_avoidance_layers);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationObstacle3D::set_avoidance_layer_value);
|
|
ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationObstacle3D::get_avoidance_layer_value);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_use_3d_avoidance", "enabled"), &NavigationObstacle3D::set_use_3d_avoidance);
|
|
ClassDB::bind_method(D_METHOD("get_use_3d_avoidance"), &NavigationObstacle3D::get_use_3d_avoidance);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_affect_navigation_mesh", "enabled"), &NavigationObstacle3D::set_affect_navigation_mesh);
|
|
ClassDB::bind_method(D_METHOD("get_affect_navigation_mesh"), &NavigationObstacle3D::get_affect_navigation_mesh);
|
|
|
|
ClassDB::bind_method(D_METHOD("set_carve_navigation_mesh", "enabled"), &NavigationObstacle3D::set_carve_navigation_mesh);
|
|
ClassDB::bind_method(D_METHOD("get_carve_navigation_mesh"), &NavigationObstacle3D::get_carve_navigation_mesh);
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.0,100,0.01,suffix:m"), "set_radius", "get_radius");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "height", PROPERTY_HINT_RANGE, "0.0,100,0.01,suffix:m"), "set_height", "get_height");
|
|
ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR3_ARRAY, "vertices"), "set_vertices", "get_vertices");
|
|
ADD_GROUP("NavigationMesh", "");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "affect_navigation_mesh"), "set_affect_navigation_mesh", "get_affect_navigation_mesh");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "carve_navigation_mesh"), "set_carve_navigation_mesh", "get_carve_navigation_mesh");
|
|
ADD_GROUP("Avoidance", "");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
|
|
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR), "set_velocity", "get_velocity");
|
|
ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_3d_avoidance"), "set_use_3d_avoidance", "get_use_3d_avoidance");
|
|
}
|
|
|
|
void NavigationObstacle3D::_notification(int p_what) {
|
|
switch (p_what) {
|
|
case NOTIFICATION_POST_ENTER_TREE: {
|
|
if (map_override.is_valid()) {
|
|
_update_map(map_override);
|
|
} else if (is_inside_tree()) {
|
|
_update_map(get_world_3d()->get_navigation_map());
|
|
} else {
|
|
_update_map(RID());
|
|
}
|
|
previous_transform = get_global_transform();
|
|
// need to trigger map controlled agent assignment somehow for the fake_agent since obstacles use no callback like regular agents
|
|
NavigationServer3D::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
|
|
_update_position(get_global_transform().origin);
|
|
set_physics_process_internal(true);
|
|
#ifdef DEBUG_ENABLED
|
|
if ((NavigationServer3D::get_singleton()->get_debug_avoidance_enabled()) &&
|
|
(NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_radius())) {
|
|
_update_fake_agent_radius_debug();
|
|
_update_static_obstacle_debug();
|
|
}
|
|
#endif // DEBUG_ENABLED
|
|
} break;
|
|
|
|
case NOTIFICATION_EXIT_TREE: {
|
|
set_physics_process_internal(false);
|
|
_update_map(RID());
|
|
#ifdef DEBUG_ENABLED
|
|
if (fake_agent_radius_debug_instance.is_valid()) {
|
|
RS::get_singleton()->instance_set_visible(fake_agent_radius_debug_instance, false);
|
|
}
|
|
if (static_obstacle_debug_instance.is_valid()) {
|
|
RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, false);
|
|
}
|
|
#endif // DEBUG_ENABLED
|
|
} break;
|
|
|
|
case NOTIFICATION_PAUSED: {
|
|
if (!can_process()) {
|
|
map_before_pause = map_current;
|
|
_update_map(RID());
|
|
} else if (can_process() && !(map_before_pause == RID())) {
|
|
_update_map(map_before_pause);
|
|
map_before_pause = RID();
|
|
}
|
|
NavigationServer3D::get_singleton()->obstacle_set_paused(obstacle, !can_process());
|
|
} break;
|
|
|
|
case NOTIFICATION_UNPAUSED: {
|
|
if (!can_process()) {
|
|
map_before_pause = map_current;
|
|
_update_map(RID());
|
|
} else if (can_process() && !(map_before_pause == RID())) {
|
|
_update_map(map_before_pause);
|
|
map_before_pause = RID();
|
|
}
|
|
NavigationServer3D::get_singleton()->obstacle_set_paused(obstacle, !can_process());
|
|
} break;
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
case NOTIFICATION_VISIBILITY_CHANGED: {
|
|
if (is_inside_tree()) {
|
|
if (fake_agent_radius_debug_instance.is_valid()) {
|
|
RS::get_singleton()->instance_set_visible(fake_agent_radius_debug_instance, is_visible_in_tree());
|
|
}
|
|
if (static_obstacle_debug_instance.is_valid()) {
|
|
RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, is_visible_in_tree());
|
|
}
|
|
}
|
|
} break;
|
|
#endif // DEBUG_ENABLED
|
|
|
|
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
|
|
if (is_inside_tree()) {
|
|
_update_position(get_global_transform().origin);
|
|
|
|
if (velocity_submitted) {
|
|
velocity_submitted = false;
|
|
// only update if there is a noticeable change, else the rvo agent preferred velocity stays the same
|
|
if (!previous_velocity.is_equal_approx(velocity)) {
|
|
NavigationServer3D::get_singleton()->obstacle_set_velocity(obstacle, velocity);
|
|
}
|
|
previous_velocity = velocity;
|
|
}
|
|
#ifdef DEBUG_ENABLED
|
|
if (fake_agent_radius_debug_instance.is_valid() && radius > 0.0) {
|
|
Transform3D debug_transform;
|
|
debug_transform.origin = get_global_position();
|
|
RS::get_singleton()->instance_set_transform(fake_agent_radius_debug_instance, debug_transform);
|
|
}
|
|
if (static_obstacle_debug_instance.is_valid() && get_vertices().size() > 0) {
|
|
Transform3D debug_transform;
|
|
debug_transform.origin = get_global_position();
|
|
RS::get_singleton()->instance_set_transform(static_obstacle_debug_instance, debug_transform);
|
|
}
|
|
#endif // DEBUG_ENABLED
|
|
}
|
|
} break;
|
|
}
|
|
}
|
|
|
|
NavigationObstacle3D::NavigationObstacle3D() {
|
|
obstacle = NavigationServer3D::get_singleton()->obstacle_create();
|
|
|
|
NavigationServer3D::get_singleton()->obstacle_set_height(obstacle, height);
|
|
NavigationServer3D::get_singleton()->obstacle_set_radius(obstacle, radius);
|
|
NavigationServer3D::get_singleton()->obstacle_set_vertices(obstacle, vertices);
|
|
NavigationServer3D::get_singleton()->obstacle_set_avoidance_layers(obstacle, avoidance_layers);
|
|
NavigationServer3D::get_singleton()->obstacle_set_use_3d_avoidance(obstacle, use_3d_avoidance);
|
|
NavigationServer3D::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
NavigationServer3D::get_singleton()->connect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_fake_agent_radius_debug));
|
|
NavigationServer3D::get_singleton()->connect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_static_obstacle_debug));
|
|
_update_fake_agent_radius_debug();
|
|
_update_static_obstacle_debug();
|
|
#endif // DEBUG_ENABLED
|
|
}
|
|
|
|
NavigationObstacle3D::~NavigationObstacle3D() {
|
|
ERR_FAIL_NULL(NavigationServer3D::get_singleton());
|
|
|
|
NavigationServer3D::get_singleton()->free(obstacle);
|
|
obstacle = RID();
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
NavigationServer3D::get_singleton()->disconnect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_fake_agent_radius_debug));
|
|
NavigationServer3D::get_singleton()->disconnect("avoidance_debug_changed", callable_mp(this, &NavigationObstacle3D::_update_static_obstacle_debug));
|
|
if (fake_agent_radius_debug_instance.is_valid()) {
|
|
RenderingServer::get_singleton()->free(fake_agent_radius_debug_instance);
|
|
}
|
|
if (fake_agent_radius_debug_mesh.is_valid()) {
|
|
RenderingServer::get_singleton()->free(fake_agent_radius_debug_mesh->get_rid());
|
|
}
|
|
|
|
if (static_obstacle_debug_instance.is_valid()) {
|
|
RenderingServer::get_singleton()->free(static_obstacle_debug_instance);
|
|
}
|
|
if (static_obstacle_debug_mesh.is_valid()) {
|
|
RenderingServer::get_singleton()->free(static_obstacle_debug_mesh->get_rid());
|
|
}
|
|
#endif // DEBUG_ENABLED
|
|
}
|
|
|
|
void NavigationObstacle3D::set_vertices(const Vector<Vector3> &p_vertices) {
|
|
vertices = p_vertices;
|
|
NavigationServer3D::get_singleton()->obstacle_set_vertices(obstacle, vertices);
|
|
#ifdef DEBUG_ENABLED
|
|
_update_static_obstacle_debug();
|
|
#endif // DEBUG_ENABLED
|
|
}
|
|
|
|
void NavigationObstacle3D::set_navigation_map(RID p_navigation_map) {
|
|
if (map_override == p_navigation_map) {
|
|
return;
|
|
}
|
|
map_override = p_navigation_map;
|
|
_update_map(map_override);
|
|
}
|
|
|
|
RID NavigationObstacle3D::get_navigation_map() const {
|
|
if (map_override.is_valid()) {
|
|
return map_override;
|
|
} else if (is_inside_tree()) {
|
|
return get_world_3d()->get_navigation_map();
|
|
}
|
|
return RID();
|
|
}
|
|
|
|
void NavigationObstacle3D::set_radius(real_t p_radius) {
|
|
ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
|
|
if (Math::is_equal_approx(radius, p_radius)) {
|
|
return;
|
|
}
|
|
|
|
radius = p_radius;
|
|
NavigationServer3D::get_singleton()->obstacle_set_radius(obstacle, radius);
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
_update_fake_agent_radius_debug();
|
|
#endif // DEBUG_ENABLED
|
|
}
|
|
|
|
void NavigationObstacle3D::set_height(real_t p_height) {
|
|
ERR_FAIL_COND_MSG(p_height < 0.0, "Height must be positive.");
|
|
if (Math::is_equal_approx(height, p_height)) {
|
|
return;
|
|
}
|
|
|
|
height = p_height;
|
|
NavigationServer3D::get_singleton()->obstacle_set_height(obstacle, height);
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
_update_static_obstacle_debug();
|
|
#endif // DEBUG_ENABLED
|
|
}
|
|
|
|
void NavigationObstacle3D::set_avoidance_layers(uint32_t p_layers) {
|
|
avoidance_layers = p_layers;
|
|
NavigationServer3D::get_singleton()->obstacle_set_avoidance_layers(obstacle, avoidance_layers);
|
|
}
|
|
|
|
uint32_t NavigationObstacle3D::get_avoidance_layers() const {
|
|
return avoidance_layers;
|
|
}
|
|
|
|
void NavigationObstacle3D::set_avoidance_layer_value(int p_layer_number, bool p_value) {
|
|
ERR_FAIL_COND_MSG(p_layer_number < 1, "Avoidance layer number must be between 1 and 32 inclusive.");
|
|
ERR_FAIL_COND_MSG(p_layer_number > 32, "Avoidance layer number must be between 1 and 32 inclusive.");
|
|
uint32_t avoidance_layers_new = get_avoidance_layers();
|
|
if (p_value) {
|
|
avoidance_layers_new |= 1 << (p_layer_number - 1);
|
|
} else {
|
|
avoidance_layers_new &= ~(1 << (p_layer_number - 1));
|
|
}
|
|
set_avoidance_layers(avoidance_layers_new);
|
|
}
|
|
|
|
bool NavigationObstacle3D::get_avoidance_layer_value(int p_layer_number) const {
|
|
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Avoidance layer number must be between 1 and 32 inclusive.");
|
|
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Avoidance layer number must be between 1 and 32 inclusive.");
|
|
return get_avoidance_layers() & (1 << (p_layer_number - 1));
|
|
}
|
|
|
|
void NavigationObstacle3D::set_avoidance_enabled(bool p_enabled) {
|
|
if (avoidance_enabled == p_enabled) {
|
|
return;
|
|
}
|
|
|
|
avoidance_enabled = p_enabled;
|
|
NavigationServer3D::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
|
|
}
|
|
|
|
bool NavigationObstacle3D::get_avoidance_enabled() const {
|
|
return avoidance_enabled;
|
|
}
|
|
|
|
void NavigationObstacle3D::set_use_3d_avoidance(bool p_use_3d_avoidance) {
|
|
use_3d_avoidance = p_use_3d_avoidance;
|
|
_update_use_3d_avoidance(use_3d_avoidance);
|
|
notify_property_list_changed();
|
|
}
|
|
|
|
void NavigationObstacle3D::set_velocity(const Vector3 p_velocity) {
|
|
velocity = p_velocity;
|
|
velocity_submitted = true;
|
|
}
|
|
|
|
void NavigationObstacle3D::set_affect_navigation_mesh(bool p_enabled) {
|
|
affect_navigation_mesh = p_enabled;
|
|
}
|
|
|
|
bool NavigationObstacle3D::get_affect_navigation_mesh() const {
|
|
return affect_navigation_mesh;
|
|
}
|
|
|
|
void NavigationObstacle3D::set_carve_navigation_mesh(bool p_enabled) {
|
|
carve_navigation_mesh = p_enabled;
|
|
}
|
|
|
|
bool NavigationObstacle3D::get_carve_navigation_mesh() const {
|
|
return carve_navigation_mesh;
|
|
}
|
|
|
|
void NavigationObstacle3D::_update_map(RID p_map) {
|
|
NavigationServer3D::get_singleton()->obstacle_set_map(obstacle, p_map);
|
|
map_current = p_map;
|
|
}
|
|
|
|
void NavigationObstacle3D::_update_position(const Vector3 p_position) {
|
|
NavigationServer3D::get_singleton()->obstacle_set_position(obstacle, p_position);
|
|
}
|
|
|
|
void NavigationObstacle3D::_update_use_3d_avoidance(bool p_use_3d_avoidance) {
|
|
NavigationServer3D::get_singleton()->obstacle_set_use_3d_avoidance(obstacle, use_3d_avoidance);
|
|
_update_map(map_current);
|
|
}
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
void NavigationObstacle3D::_update_fake_agent_radius_debug() {
|
|
bool is_debug_enabled = false;
|
|
if (Engine::get_singleton()->is_editor_hint()) {
|
|
is_debug_enabled = true;
|
|
} else if (NavigationServer3D::get_singleton()->get_debug_enabled() &&
|
|
NavigationServer3D::get_singleton()->get_debug_avoidance_enabled() &&
|
|
NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_radius()) {
|
|
is_debug_enabled = true;
|
|
}
|
|
|
|
if (is_debug_enabled == false) {
|
|
if (fake_agent_radius_debug_instance.is_valid()) {
|
|
RS::get_singleton()->instance_set_visible(fake_agent_radius_debug_instance, false);
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (!fake_agent_radius_debug_instance.is_valid()) {
|
|
fake_agent_radius_debug_instance = RenderingServer::get_singleton()->instance_create();
|
|
}
|
|
if (!fake_agent_radius_debug_mesh.is_valid()) {
|
|
fake_agent_radius_debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
|
|
}
|
|
fake_agent_radius_debug_mesh->clear_surfaces();
|
|
|
|
Vector<Vector3> face_vertex_array;
|
|
Vector<int> face_indices_array;
|
|
|
|
int i, j, prevrow, thisrow, point;
|
|
float x, y, z;
|
|
|
|
int rings = 16;
|
|
int radial_segments = 32;
|
|
|
|
point = 0;
|
|
|
|
thisrow = 0;
|
|
prevrow = 0;
|
|
for (j = 0; j <= (rings + 1); j++) {
|
|
float v = j;
|
|
float w;
|
|
|
|
v /= (rings + 1);
|
|
w = sin(Math_PI * v);
|
|
y = (radius)*cos(Math_PI * v);
|
|
|
|
for (i = 0; i <= radial_segments; i++) {
|
|
float u = i;
|
|
u /= radial_segments;
|
|
|
|
x = sin(u * Math_TAU);
|
|
z = cos(u * Math_TAU);
|
|
|
|
Vector3 p = Vector3(x * radius * w, y, z * radius * w);
|
|
face_vertex_array.push_back(p);
|
|
|
|
point++;
|
|
|
|
if (i > 0 && j > 0) {
|
|
face_indices_array.push_back(prevrow + i - 1);
|
|
face_indices_array.push_back(prevrow + i);
|
|
face_indices_array.push_back(thisrow + i - 1);
|
|
|
|
face_indices_array.push_back(prevrow + i);
|
|
face_indices_array.push_back(thisrow + i);
|
|
face_indices_array.push_back(thisrow + i - 1);
|
|
};
|
|
};
|
|
|
|
prevrow = thisrow;
|
|
thisrow = point;
|
|
};
|
|
|
|
Array face_mesh_array;
|
|
face_mesh_array.resize(Mesh::ARRAY_MAX);
|
|
face_mesh_array[Mesh::ARRAY_VERTEX] = face_vertex_array;
|
|
face_mesh_array[Mesh::ARRAY_INDEX] = face_indices_array;
|
|
|
|
fake_agent_radius_debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, face_mesh_array);
|
|
Ref<StandardMaterial3D> face_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_obstacles_radius_material();
|
|
fake_agent_radius_debug_mesh->surface_set_material(0, face_material);
|
|
|
|
RS::get_singleton()->instance_set_base(fake_agent_radius_debug_instance, fake_agent_radius_debug_mesh->get_rid());
|
|
if (is_inside_tree()) {
|
|
RS::get_singleton()->instance_set_scenario(fake_agent_radius_debug_instance, get_world_3d()->get_scenario());
|
|
RS::get_singleton()->instance_set_visible(fake_agent_radius_debug_instance, is_visible_in_tree());
|
|
}
|
|
}
|
|
#endif // DEBUG_ENABLED
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
void NavigationObstacle3D::_update_static_obstacle_debug() {
|
|
bool is_debug_enabled = false;
|
|
if (Engine::get_singleton()->is_editor_hint()) {
|
|
is_debug_enabled = true;
|
|
} else if (NavigationServer3D::get_singleton()->get_debug_enabled() &&
|
|
NavigationServer3D::get_singleton()->get_debug_avoidance_enabled() &&
|
|
NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_static()) {
|
|
is_debug_enabled = true;
|
|
}
|
|
|
|
if (is_debug_enabled == false) {
|
|
if (static_obstacle_debug_instance.is_valid()) {
|
|
RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, false);
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (vertices.size() < 3) {
|
|
if (static_obstacle_debug_instance.is_valid()) {
|
|
RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, false);
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (!static_obstacle_debug_instance.is_valid()) {
|
|
static_obstacle_debug_instance = RenderingServer::get_singleton()->instance_create();
|
|
}
|
|
if (!static_obstacle_debug_mesh.is_valid()) {
|
|
static_obstacle_debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
|
|
}
|
|
static_obstacle_debug_mesh->clear_surfaces();
|
|
|
|
Vector<Vector2> polygon_2d_vertices;
|
|
polygon_2d_vertices.resize(vertices.size());
|
|
Vector2 *polygon_2d_vertices_ptr = polygon_2d_vertices.ptrw();
|
|
|
|
for (int i = 0; i < vertices.size(); ++i) {
|
|
Vector3 obstacle_vertex = vertices[i];
|
|
Vector2 obstacle_vertex_2d = Vector2(obstacle_vertex.x, obstacle_vertex.z);
|
|
polygon_2d_vertices_ptr[i] = obstacle_vertex_2d;
|
|
}
|
|
|
|
Vector<int> triangulated_polygon_2d_indices = Geometry2D::triangulate_polygon(polygon_2d_vertices);
|
|
|
|
if (triangulated_polygon_2d_indices.is_empty()) {
|
|
// failed triangulation
|
|
return;
|
|
}
|
|
|
|
bool obstacle_pushes_inward = Geometry2D::is_polygon_clockwise(polygon_2d_vertices);
|
|
|
|
Vector<Vector3> face_vertex_array;
|
|
Vector<int> face_indices_array;
|
|
|
|
face_vertex_array.resize(polygon_2d_vertices.size());
|
|
face_indices_array.resize(triangulated_polygon_2d_indices.size());
|
|
|
|
Vector3 *face_vertex_array_ptr = face_vertex_array.ptrw();
|
|
int *face_indices_array_ptr = face_indices_array.ptrw();
|
|
|
|
for (int i = 0; i < triangulated_polygon_2d_indices.size(); ++i) {
|
|
int vertex_index = triangulated_polygon_2d_indices[i];
|
|
const Vector2 &vertex_2d = polygon_2d_vertices[vertex_index];
|
|
Vector3 vertex_3d = Vector3(vertex_2d.x, 0.0, vertex_2d.y);
|
|
face_vertex_array_ptr[vertex_index] = vertex_3d;
|
|
face_indices_array_ptr[i] = vertex_index;
|
|
}
|
|
|
|
Array face_mesh_array;
|
|
face_mesh_array.resize(Mesh::ARRAY_MAX);
|
|
face_mesh_array[Mesh::ARRAY_VERTEX] = face_vertex_array;
|
|
face_mesh_array[Mesh::ARRAY_INDEX] = face_indices_array;
|
|
|
|
static_obstacle_debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, face_mesh_array);
|
|
|
|
Vector<Vector3> edge_vertex_array;
|
|
|
|
for (int i = 0; i < polygon_2d_vertices.size(); ++i) {
|
|
int from_index = i - 1;
|
|
int to_index = i;
|
|
|
|
if (i == 0) {
|
|
from_index = polygon_2d_vertices.size() - 1;
|
|
}
|
|
|
|
const Vector2 &vertex_2d_from = polygon_2d_vertices[from_index];
|
|
const Vector2 &vertex_2d_to = polygon_2d_vertices[to_index];
|
|
|
|
Vector3 vertex_3d_ground_from = Vector3(vertex_2d_from.x, 0.0, vertex_2d_from.y);
|
|
Vector3 vertex_3d_ground_to = Vector3(vertex_2d_to.x, 0.0, vertex_2d_to.y);
|
|
|
|
edge_vertex_array.push_back(vertex_3d_ground_from);
|
|
edge_vertex_array.push_back(vertex_3d_ground_to);
|
|
|
|
Vector3 vertex_3d_height_from = Vector3(vertex_2d_from.x, height, vertex_2d_from.y);
|
|
Vector3 vertex_3d_height_to = Vector3(vertex_2d_to.x, height, vertex_2d_to.y);
|
|
|
|
edge_vertex_array.push_back(vertex_3d_height_from);
|
|
edge_vertex_array.push_back(vertex_3d_height_to);
|
|
|
|
edge_vertex_array.push_back(vertex_3d_ground_from);
|
|
edge_vertex_array.push_back(vertex_3d_height_from);
|
|
}
|
|
|
|
Array edge_mesh_array;
|
|
edge_mesh_array.resize(Mesh::ARRAY_MAX);
|
|
edge_mesh_array[Mesh::ARRAY_VERTEX] = edge_vertex_array;
|
|
|
|
static_obstacle_debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, edge_mesh_array);
|
|
|
|
Ref<StandardMaterial3D> face_material;
|
|
Ref<StandardMaterial3D> edge_material;
|
|
|
|
if (obstacle_pushes_inward) {
|
|
face_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushin_face_material();
|
|
edge_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushin_edge_material();
|
|
} else {
|
|
face_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushout_face_material();
|
|
edge_material = NavigationServer3D::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushout_edge_material();
|
|
}
|
|
|
|
static_obstacle_debug_mesh->surface_set_material(0, face_material);
|
|
static_obstacle_debug_mesh->surface_set_material(1, edge_material);
|
|
|
|
RS::get_singleton()->instance_set_base(static_obstacle_debug_instance, static_obstacle_debug_mesh->get_rid());
|
|
if (is_inside_tree()) {
|
|
RS::get_singleton()->instance_set_scenario(static_obstacle_debug_instance, get_world_3d()->get_scenario());
|
|
RS::get_singleton()->instance_set_visible(static_obstacle_debug_instance, is_visible_in_tree());
|
|
}
|
|
}
|
|
#endif // DEBUG_ENABLED
|