d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
160 lines
5.7 KiB
C++
160 lines
5.7 KiB
C++
/**************************************************************************/
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/* nav_map.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_MAP_H
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#define NAV_MAP_H
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#include "nav_rid.h"
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#include "core/math/math_defs.h"
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#include "core/object/worker_thread_pool.h"
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#include "core/templates/rb_map.h"
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#include "nav_utils.h"
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#include <KdTree.h>
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class NavLink;
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class NavRegion;
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class RvoAgent;
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class NavMap : public NavRid {
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/// Map Up
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Vector3 up = Vector3(0, 1, 0);
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/// To find the polygons edges the vertices are displaced in a grid where
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/// each cell has the following cell_size.
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real_t cell_size = 0.25;
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/// This value is used to detect the near edges to connect.
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real_t edge_connection_margin = 0.25;
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/// This value is used to limit how far links search to find polygons to connect to.
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real_t link_connection_radius = 1.0;
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bool regenerate_polygons = true;
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bool regenerate_links = true;
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/// Map regions
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LocalVector<NavRegion *> regions;
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/// Map links
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LocalVector<NavLink *> links;
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LocalVector<gd::Polygon> link_polygons;
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/// Map polygons
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LocalVector<gd::Polygon> polygons;
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/// Rvo world
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RVO::KdTree rvo;
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/// Is agent array modified?
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bool agents_dirty = false;
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/// All the Agents (even the controlled one)
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LocalVector<RvoAgent *> agents;
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/// Controlled agents
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LocalVector<RvoAgent *> controlled_agents;
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/// Physics delta time
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real_t deltatime = 0.0;
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/// Change the id each time the map is updated.
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uint32_t map_update_id = 0;
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public:
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NavMap();
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~NavMap();
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void set_up(Vector3 p_up);
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Vector3 get_up() const {
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return up;
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}
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void set_cell_size(float p_cell_size);
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float get_cell_size() const {
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return cell_size;
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}
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void set_edge_connection_margin(float p_edge_connection_margin);
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float get_edge_connection_margin() const {
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return edge_connection_margin;
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}
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void set_link_connection_radius(float p_link_connection_radius);
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float get_link_connection_radius() const {
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return link_connection_radius;
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}
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gd::PointKey get_point_key(const Vector3 &p_pos) const;
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Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers, Vector<int32_t> *r_path_types, TypedArray<RID> *r_path_rids, Vector<int64_t> *r_path_owners) const;
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Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const;
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Vector3 get_closest_point(const Vector3 &p_point) const;
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Vector3 get_closest_point_normal(const Vector3 &p_point) const;
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gd::ClosestPointQueryResult get_closest_point_info(const Vector3 &p_point) const;
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RID get_closest_point_owner(const Vector3 &p_point) const;
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void add_region(NavRegion *p_region);
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void remove_region(NavRegion *p_region);
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const LocalVector<NavRegion *> &get_regions() const {
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return regions;
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}
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void add_link(NavLink *p_link);
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void remove_link(NavLink *p_link);
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const LocalVector<NavLink *> &get_links() const {
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return links;
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}
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bool has_agent(RvoAgent *agent) const;
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void add_agent(RvoAgent *agent);
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void remove_agent(RvoAgent *agent);
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const LocalVector<RvoAgent *> &get_agents() const {
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return agents;
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}
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void set_agent_as_controlled(RvoAgent *agent);
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void remove_agent_as_controlled(RvoAgent *agent);
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uint32_t get_map_update_id() const {
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return map_update_id;
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}
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void sync();
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void step(real_t p_deltatime);
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void dispatch_callbacks();
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private:
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void compute_single_step(uint32_t index, RvoAgent **agent);
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void clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly, Vector<int32_t> *r_path_types, TypedArray<RID> *r_path_rids, Vector<int64_t> *r_path_owners) const;
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};
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#endif // NAV_MAP_H
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