1100 lines
34 KiB
C++
1100 lines
34 KiB
C++
/**************************************************************************/
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/* godot_navigation_server.cpp */
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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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#include "godot_navigation_server.h"
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#include "core/os/mutex.h"
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#ifndef _3D_DISABLED
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#include "navigation_mesh_generator.h"
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#endif
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using namespace NavigationUtilities;
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/// Creates a struct for each function and a function that once called creates
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/// an instance of that struct with the submitted parameters.
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/// Then, that struct is stored in an array; the `sync` function consume that array.
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#define COMMAND_1(F_NAME, T_0, D_0) \
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struct MERGE(F_NAME, _command) : public SetCommand { \
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T_0 d_0; \
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MERGE(F_NAME, _command) \
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(T_0 p_d_0) : \
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d_0(p_d_0) {} \
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virtual void exec(GodotNavigationServer *server) override { \
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server->MERGE(_cmd_, F_NAME)(d_0); \
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} \
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}; \
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void GodotNavigationServer::F_NAME(T_0 D_0) { \
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auto cmd = memnew(MERGE(F_NAME, _command)( \
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D_0)); \
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add_command(cmd); \
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} \
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void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0)
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#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
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struct MERGE(F_NAME, _command) : public SetCommand { \
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T_0 d_0; \
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T_1 d_1; \
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MERGE(F_NAME, _command) \
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( \
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T_0 p_d_0, \
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T_1 p_d_1) : \
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d_0(p_d_0), \
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d_1(p_d_1) {} \
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virtual void exec(GodotNavigationServer *server) override { \
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server->MERGE(_cmd_, F_NAME)(d_0, d_1); \
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} \
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}; \
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void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) { \
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auto cmd = memnew(MERGE(F_NAME, _command)( \
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D_0, \
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D_1)); \
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add_command(cmd); \
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} \
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void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
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GodotNavigationServer::GodotNavigationServer() {}
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GodotNavigationServer::~GodotNavigationServer() {
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flush_queries();
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}
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void GodotNavigationServer::add_command(SetCommand *command) {
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MutexLock lock(commands_mutex);
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commands.push_back(command);
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}
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TypedArray<RID> GodotNavigationServer::get_maps() const {
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TypedArray<RID> all_map_rids;
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List<RID> maps_owned;
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map_owner.get_owned_list(&maps_owned);
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if (maps_owned.size()) {
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for (const RID &E : maps_owned) {
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all_map_rids.push_back(E);
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}
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}
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return all_map_rids;
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}
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RID GodotNavigationServer::map_create() {
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MutexLock lock(operations_mutex);
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RID rid = map_owner.make_rid();
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NavMap *map = map_owner.get_or_null(rid);
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map->set_self(rid);
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return rid;
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}
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COMMAND_2(map_set_active, RID, p_map, bool, p_active) {
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NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND(map == nullptr);
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if (p_active) {
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if (!map_is_active(p_map)) {
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active_maps.push_back(map);
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active_maps_update_id.push_back(map->get_map_update_id());
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}
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} else {
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int map_index = active_maps.find(map);
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ERR_FAIL_COND(map_index < 0);
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active_maps.remove_at(map_index);
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active_maps_update_id.remove_at(map_index);
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}
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}
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bool GodotNavigationServer::map_is_active(RID p_map) const {
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NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, false);
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return active_maps.find(map) >= 0;
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}
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COMMAND_2(map_set_up, RID, p_map, Vector3, p_up) {
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NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_up(p_up);
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}
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Vector3 GodotNavigationServer::map_get_up(RID p_map) const {
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_up();
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}
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COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size) {
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NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_cell_size(p_cell_size);
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}
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real_t GodotNavigationServer::map_get_cell_size(RID p_map) const {
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, 0);
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return map->get_cell_size();
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}
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COMMAND_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled) {
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NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_use_edge_connections(p_enabled);
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}
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bool GodotNavigationServer::map_get_use_edge_connections(RID p_map) const {
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NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, false);
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return map->get_use_edge_connections();
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}
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COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin) {
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NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_edge_connection_margin(p_connection_margin);
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}
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real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const {
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, 0);
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return map->get_edge_connection_margin();
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}
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COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius) {
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NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_link_connection_radius(p_connection_radius);
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}
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real_t GodotNavigationServer::map_get_link_connection_radius(RID p_map) const {
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, 0);
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return map->get_link_connection_radius();
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}
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Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const {
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());
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return map->get_path(p_origin, p_destination, p_optimize, p_navigation_layers, nullptr, nullptr, nullptr);
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}
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Vector3 GodotNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_closest_point_to_segment(p_from, p_to, p_use_collision);
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}
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Vector3 GodotNavigationServer::map_get_closest_point(RID p_map, const Vector3 &p_point) const {
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_closest_point(p_point);
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}
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Vector3 GodotNavigationServer::map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const {
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_closest_point_normal(p_point);
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}
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RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const {
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, RID());
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return map->get_closest_point_owner(p_point);
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}
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TypedArray<RID> GodotNavigationServer::map_get_links(RID p_map) const {
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TypedArray<RID> link_rids;
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, link_rids);
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const LocalVector<NavLink *> links = map->get_links();
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link_rids.resize(links.size());
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for (uint32_t i = 0; i < links.size(); i++) {
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link_rids[i] = links[i]->get_self();
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}
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return link_rids;
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}
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TypedArray<RID> GodotNavigationServer::map_get_regions(RID p_map) const {
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TypedArray<RID> regions_rids;
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, regions_rids);
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const LocalVector<NavRegion *> regions = map->get_regions();
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regions_rids.resize(regions.size());
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for (uint32_t i = 0; i < regions.size(); i++) {
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regions_rids[i] = regions[i]->get_self();
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}
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return regions_rids;
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}
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TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const {
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TypedArray<RID> agents_rids;
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, agents_rids);
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const LocalVector<NavAgent *> agents = map->get_agents();
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agents_rids.resize(agents.size());
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for (uint32_t i = 0; i < agents.size(); i++) {
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agents_rids[i] = agents[i]->get_self();
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}
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return agents_rids;
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}
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TypedArray<RID> GodotNavigationServer::map_get_obstacles(RID p_map) const {
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TypedArray<RID> obstacles_rids;
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const NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND_V(map == nullptr, obstacles_rids);
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const LocalVector<NavObstacle *> obstacles = map->get_obstacles();
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obstacles_rids.resize(obstacles.size());
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for (uint32_t i = 0; i < obstacles.size(); i++) {
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obstacles_rids[i] = obstacles[i]->get_self();
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}
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return obstacles_rids;
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}
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RID GodotNavigationServer::region_get_map(RID p_region) const {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND_V(region == nullptr, RID());
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if (region->get_map()) {
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return region->get_map()->get_self();
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}
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return RID();
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}
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RID GodotNavigationServer::agent_get_map(RID p_agent) const {
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NavAgent *agent = agent_owner.get_or_null(p_agent);
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ERR_FAIL_COND_V(agent == nullptr, RID());
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if (agent->get_map()) {
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return agent->get_map()->get_self();
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}
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return RID();
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}
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RID GodotNavigationServer::region_create() {
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MutexLock lock(operations_mutex);
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RID rid = region_owner.make_rid();
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NavRegion *reg = region_owner.get_or_null(rid);
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reg->set_self(rid);
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return rid;
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}
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COMMAND_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled) {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND(region == nullptr);
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region->set_use_edge_connections(p_enabled);
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}
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bool GodotNavigationServer::region_get_use_edge_connections(RID p_region) const {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND_V(region == nullptr, false);
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return region->get_use_edge_connections();
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}
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COMMAND_2(region_set_map, RID, p_region, RID, p_map) {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND(region == nullptr);
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if (region->get_map() != nullptr) {
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if (region->get_map()->get_self() == p_map) {
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return; // Pointless
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}
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region->get_map()->remove_region(region);
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region->set_map(nullptr);
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}
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if (p_map.is_valid()) {
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NavMap *map = map_owner.get_or_null(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->add_region(region);
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region->set_map(map);
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}
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}
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COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform) {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND(region == nullptr);
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region->set_transform(p_transform);
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}
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COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost) {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND(region == nullptr);
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ERR_FAIL_COND(p_enter_cost < 0.0);
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region->set_enter_cost(p_enter_cost);
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}
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real_t GodotNavigationServer::region_get_enter_cost(RID p_region) const {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND_V(region == nullptr, 0);
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return region->get_enter_cost();
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}
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COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost) {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND(region == nullptr);
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ERR_FAIL_COND(p_travel_cost < 0.0);
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region->set_travel_cost(p_travel_cost);
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}
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real_t GodotNavigationServer::region_get_travel_cost(RID p_region) const {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND_V(region == nullptr, 0);
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return region->get_travel_cost();
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}
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COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id) {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND(region == nullptr);
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region->set_owner_id(p_owner_id);
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}
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ObjectID GodotNavigationServer::region_get_owner_id(RID p_region) const {
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const NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND_V(region == nullptr, ObjectID());
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return region->get_owner_id();
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}
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bool GodotNavigationServer::region_owns_point(RID p_region, const Vector3 &p_point) const {
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const NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND_V(region == nullptr, false);
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if (region->get_map()) {
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RID closest_point_owner = map_get_closest_point_owner(region->get_map()->get_self(), p_point);
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return closest_point_owner == region->get_self();
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}
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return false;
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}
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COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers) {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND(region == nullptr);
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region->set_navigation_layers(p_navigation_layers);
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}
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uint32_t GodotNavigationServer::region_get_navigation_layers(RID p_region) const {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND_V(region == nullptr, 0);
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return region->get_navigation_layers();
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}
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COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref<NavigationMesh>, p_navigation_mesh) {
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NavRegion *region = region_owner.get_or_null(p_region);
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ERR_FAIL_COND(region == nullptr);
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region->set_mesh(p_navigation_mesh);
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}
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void GodotNavigationServer::region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) {
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ERR_FAIL_COND(p_navigation_mesh.is_null());
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ERR_FAIL_COND(p_root_node == nullptr);
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#ifndef _3D_DISABLED
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NavigationMeshGenerator::get_singleton()->clear(p_navigation_mesh);
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NavigationMeshGenerator::get_singleton()->bake(p_navigation_mesh, p_root_node);
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#endif
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}
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int GodotNavigationServer::region_get_connections_count(RID p_region) const {
|
|
NavRegion *region = region_owner.get_or_null(p_region);
|
|
ERR_FAIL_COND_V(!region, 0);
|
|
|
|
return region->get_connections_count();
|
|
}
|
|
|
|
Vector3 GodotNavigationServer::region_get_connection_pathway_start(RID p_region, int p_connection_id) const {
|
|
NavRegion *region = region_owner.get_or_null(p_region);
|
|
ERR_FAIL_COND_V(!region, Vector3());
|
|
|
|
return region->get_connection_pathway_start(p_connection_id);
|
|
}
|
|
|
|
Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, int p_connection_id) const {
|
|
NavRegion *region = region_owner.get_or_null(p_region);
|
|
ERR_FAIL_COND_V(!region, Vector3());
|
|
|
|
return region->get_connection_pathway_end(p_connection_id);
|
|
}
|
|
|
|
RID GodotNavigationServer::link_create() {
|
|
MutexLock lock(operations_mutex);
|
|
|
|
RID rid = link_owner.make_rid();
|
|
NavLink *link = link_owner.get_or_null(rid);
|
|
link->set_self(rid);
|
|
return rid;
|
|
}
|
|
|
|
COMMAND_2(link_set_map, RID, p_link, RID, p_map) {
|
|
NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND(link == nullptr);
|
|
|
|
if (link->get_map() != nullptr) {
|
|
if (link->get_map()->get_self() == p_map) {
|
|
return; // Pointless
|
|
}
|
|
|
|
link->get_map()->remove_link(link);
|
|
link->set_map(nullptr);
|
|
}
|
|
|
|
if (p_map.is_valid()) {
|
|
NavMap *map = map_owner.get_or_null(p_map);
|
|
ERR_FAIL_COND(map == nullptr);
|
|
|
|
map->add_link(link);
|
|
link->set_map(map);
|
|
}
|
|
}
|
|
|
|
RID GodotNavigationServer::link_get_map(const RID p_link) const {
|
|
const NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND_V(link == nullptr, RID());
|
|
|
|
if (link->get_map()) {
|
|
return link->get_map()->get_self();
|
|
}
|
|
return RID();
|
|
}
|
|
|
|
COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional) {
|
|
NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND(link == nullptr);
|
|
|
|
link->set_bidirectional(p_bidirectional);
|
|
}
|
|
|
|
bool GodotNavigationServer::link_is_bidirectional(RID p_link) const {
|
|
const NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND_V(link == nullptr, false);
|
|
|
|
return link->is_bidirectional();
|
|
}
|
|
|
|
COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers) {
|
|
NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND(link == nullptr);
|
|
|
|
link->set_navigation_layers(p_navigation_layers);
|
|
}
|
|
|
|
uint32_t GodotNavigationServer::link_get_navigation_layers(const RID p_link) const {
|
|
const NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND_V(link == nullptr, 0);
|
|
|
|
return link->get_navigation_layers();
|
|
}
|
|
|
|
COMMAND_2(link_set_start_position, RID, p_link, Vector3, p_position) {
|
|
NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND(link == nullptr);
|
|
|
|
link->set_start_position(p_position);
|
|
}
|
|
|
|
Vector3 GodotNavigationServer::link_get_start_position(RID p_link) const {
|
|
const NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND_V(link == nullptr, Vector3());
|
|
|
|
return link->get_start_position();
|
|
}
|
|
|
|
COMMAND_2(link_set_end_position, RID, p_link, Vector3, p_position) {
|
|
NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND(link == nullptr);
|
|
|
|
link->set_end_position(p_position);
|
|
}
|
|
|
|
Vector3 GodotNavigationServer::link_get_end_position(RID p_link) const {
|
|
const NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND_V(link == nullptr, Vector3());
|
|
|
|
return link->get_end_position();
|
|
}
|
|
|
|
COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost) {
|
|
NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND(link == nullptr);
|
|
|
|
link->set_enter_cost(p_enter_cost);
|
|
}
|
|
|
|
real_t GodotNavigationServer::link_get_enter_cost(const RID p_link) const {
|
|
const NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND_V(link == nullptr, 0);
|
|
|
|
return link->get_enter_cost();
|
|
}
|
|
|
|
COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost) {
|
|
NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND(link == nullptr);
|
|
|
|
link->set_travel_cost(p_travel_cost);
|
|
}
|
|
|
|
real_t GodotNavigationServer::link_get_travel_cost(const RID p_link) const {
|
|
const NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND_V(link == nullptr, 0);
|
|
|
|
return link->get_travel_cost();
|
|
}
|
|
|
|
COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id) {
|
|
NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND(link == nullptr);
|
|
|
|
link->set_owner_id(p_owner_id);
|
|
}
|
|
|
|
ObjectID GodotNavigationServer::link_get_owner_id(RID p_link) const {
|
|
const NavLink *link = link_owner.get_or_null(p_link);
|
|
ERR_FAIL_COND_V(link == nullptr, ObjectID());
|
|
|
|
return link->get_owner_id();
|
|
}
|
|
|
|
RID GodotNavigationServer::agent_create() {
|
|
MutexLock lock(operations_mutex);
|
|
|
|
RID rid = agent_owner.make_rid();
|
|
NavAgent *agent = agent_owner.get_or_null(rid);
|
|
agent->set_self(rid);
|
|
return rid;
|
|
}
|
|
|
|
COMMAND_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_avoidance_enabled(p_enabled);
|
|
}
|
|
|
|
bool GodotNavigationServer::agent_get_avoidance_enabled(RID p_agent) const {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND_V(agent == nullptr, false);
|
|
|
|
return agent->is_avoidance_enabled();
|
|
}
|
|
|
|
COMMAND_2(agent_set_use_3d_avoidance, RID, p_agent, bool, p_enabled) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_use_3d_avoidance(p_enabled);
|
|
}
|
|
|
|
bool GodotNavigationServer::agent_get_use_3d_avoidance(RID p_agent) const {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND_V(agent == nullptr, false);
|
|
|
|
return agent->get_use_3d_avoidance();
|
|
}
|
|
|
|
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
if (agent->get_map()) {
|
|
if (agent->get_map()->get_self() == p_map) {
|
|
return; // Pointless
|
|
}
|
|
|
|
agent->get_map()->remove_agent(agent);
|
|
}
|
|
|
|
agent->set_map(nullptr);
|
|
|
|
if (p_map.is_valid()) {
|
|
NavMap *map = map_owner.get_or_null(p_map);
|
|
ERR_FAIL_COND(map == nullptr);
|
|
|
|
agent->set_map(map);
|
|
map->add_agent(agent);
|
|
|
|
if (agent->has_avoidance_callback()) {
|
|
map->set_agent_as_controlled(agent);
|
|
}
|
|
}
|
|
}
|
|
|
|
COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_neighbor_distance(p_distance);
|
|
}
|
|
|
|
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_max_neighbors(p_count);
|
|
}
|
|
|
|
COMMAND_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon) {
|
|
ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion must be positive.");
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_time_horizon_agents(p_time_horizon);
|
|
}
|
|
|
|
COMMAND_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon) {
|
|
ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion must be positive.");
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_time_horizon_obstacles(p_time_horizon);
|
|
}
|
|
|
|
COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) {
|
|
ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_radius(p_radius);
|
|
}
|
|
|
|
COMMAND_2(agent_set_height, RID, p_agent, real_t, p_height) {
|
|
ERR_FAIL_COND_MSG(p_height < 0.0, "Height must be positive.");
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_height(p_height);
|
|
}
|
|
|
|
COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) {
|
|
ERR_FAIL_COND_MSG(p_max_speed < 0.0, "Max speed must be positive.");
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_max_speed(p_max_speed);
|
|
}
|
|
|
|
COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_velocity(p_velocity);
|
|
}
|
|
|
|
COMMAND_2(agent_set_velocity_forced, RID, p_agent, Vector3, p_velocity) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_velocity_forced(p_velocity);
|
|
}
|
|
|
|
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_position(p_position);
|
|
}
|
|
|
|
bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND_V(agent == nullptr, false);
|
|
|
|
return agent->is_map_changed();
|
|
}
|
|
|
|
COMMAND_2(agent_set_avoidance_callback, RID, p_agent, Callable, p_callback) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
|
|
agent->set_avoidance_callback(p_callback);
|
|
|
|
if (agent->get_map()) {
|
|
if (p_callback.is_valid()) {
|
|
agent->get_map()->set_agent_as_controlled(agent);
|
|
} else {
|
|
agent->get_map()->remove_agent_as_controlled(agent);
|
|
}
|
|
}
|
|
}
|
|
|
|
COMMAND_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
agent->set_avoidance_layers(p_layers);
|
|
}
|
|
|
|
COMMAND_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
agent->set_avoidance_mask(p_mask);
|
|
}
|
|
|
|
COMMAND_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority) {
|
|
ERR_FAIL_COND_MSG(p_priority < 0.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
|
|
ERR_FAIL_COND_MSG(p_priority > 1.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
|
|
NavAgent *agent = agent_owner.get_or_null(p_agent);
|
|
ERR_FAIL_COND(agent == nullptr);
|
|
agent->set_avoidance_priority(p_priority);
|
|
}
|
|
|
|
RID GodotNavigationServer::obstacle_create() {
|
|
GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
|
|
MutexLock lock(mut_this->operations_mutex);
|
|
RID rid = obstacle_owner.make_rid();
|
|
NavObstacle *obstacle = obstacle_owner.get_or_null(rid);
|
|
obstacle->set_self(rid);
|
|
return rid;
|
|
}
|
|
|
|
COMMAND_2(obstacle_set_map, RID, p_obstacle, RID, p_map) {
|
|
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
|
|
ERR_FAIL_COND(obstacle == nullptr);
|
|
|
|
if (obstacle->get_map()) {
|
|
if (obstacle->get_map()->get_self() == p_map) {
|
|
return; // Pointless
|
|
}
|
|
|
|
obstacle->get_map()->remove_obstacle(obstacle);
|
|
}
|
|
|
|
obstacle->set_map(nullptr);
|
|
|
|
if (p_map.is_valid()) {
|
|
NavMap *map = map_owner.get_or_null(p_map);
|
|
ERR_FAIL_COND(map == nullptr);
|
|
|
|
obstacle->set_map(map);
|
|
map->add_obstacle(obstacle);
|
|
}
|
|
}
|
|
|
|
RID GodotNavigationServer::obstacle_get_map(RID p_obstacle) const {
|
|
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
|
|
ERR_FAIL_COND_V(obstacle == nullptr, RID());
|
|
if (obstacle->get_map()) {
|
|
return obstacle->get_map()->get_self();
|
|
}
|
|
return RID();
|
|
}
|
|
|
|
COMMAND_2(obstacle_set_height, RID, p_obstacle, real_t, p_height) {
|
|
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
|
|
ERR_FAIL_COND(obstacle == nullptr);
|
|
obstacle->set_height(p_height);
|
|
}
|
|
|
|
COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector3, p_position) {
|
|
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
|
|
ERR_FAIL_COND(obstacle == nullptr);
|
|
obstacle->set_position(p_position);
|
|
}
|
|
|
|
void GodotNavigationServer::obstacle_set_vertices(RID p_obstacle, const Vector<Vector3> &p_vertices) {
|
|
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
|
|
ERR_FAIL_COND(obstacle == nullptr);
|
|
obstacle->set_vertices(p_vertices);
|
|
}
|
|
|
|
COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers) {
|
|
NavObstacle *obstacle = obstacle_owner.get_or_null(p_obstacle);
|
|
ERR_FAIL_COND(obstacle == nullptr);
|
|
obstacle->set_avoidance_layers(p_layers);
|
|
}
|
|
|
|
COMMAND_1(free, RID, p_object) {
|
|
if (map_owner.owns(p_object)) {
|
|
NavMap *map = map_owner.get_or_null(p_object);
|
|
|
|
// Removes any assigned region
|
|
for (NavRegion *region : map->get_regions()) {
|
|
map->remove_region(region);
|
|
region->set_map(nullptr);
|
|
}
|
|
|
|
// Removes any assigned links
|
|
for (NavLink *link : map->get_links()) {
|
|
map->remove_link(link);
|
|
link->set_map(nullptr);
|
|
}
|
|
|
|
// Remove any assigned agent
|
|
for (NavAgent *agent : map->get_agents()) {
|
|
map->remove_agent(agent);
|
|
agent->set_map(nullptr);
|
|
}
|
|
|
|
// Remove any assigned obstacles
|
|
for (NavObstacle *obstacle : map->get_obstacles()) {
|
|
map->remove_obstacle(obstacle);
|
|
obstacle->set_map(nullptr);
|
|
}
|
|
|
|
int map_index = active_maps.find(map);
|
|
active_maps.remove_at(map_index);
|
|
active_maps_update_id.remove_at(map_index);
|
|
map_owner.free(p_object);
|
|
|
|
} else if (region_owner.owns(p_object)) {
|
|
NavRegion *region = region_owner.get_or_null(p_object);
|
|
|
|
// Removes this region from the map if assigned
|
|
if (region->get_map() != nullptr) {
|
|
region->get_map()->remove_region(region);
|
|
region->set_map(nullptr);
|
|
}
|
|
|
|
region_owner.free(p_object);
|
|
|
|
} else if (link_owner.owns(p_object)) {
|
|
NavLink *link = link_owner.get_or_null(p_object);
|
|
|
|
// Removes this link from the map if assigned
|
|
if (link->get_map() != nullptr) {
|
|
link->get_map()->remove_link(link);
|
|
link->set_map(nullptr);
|
|
}
|
|
|
|
link_owner.free(p_object);
|
|
|
|
} else if (agent_owner.owns(p_object)) {
|
|
NavAgent *agent = agent_owner.get_or_null(p_object);
|
|
|
|
// Removes this agent from the map if assigned
|
|
if (agent->get_map() != nullptr) {
|
|
agent->get_map()->remove_agent(agent);
|
|
agent->set_map(nullptr);
|
|
}
|
|
|
|
agent_owner.free(p_object);
|
|
|
|
} else if (obstacle_owner.owns(p_object)) {
|
|
NavObstacle *obstacle = obstacle_owner.get_or_null(p_object);
|
|
|
|
// Removes this agent from the map if assigned
|
|
if (obstacle->get_map() != nullptr) {
|
|
obstacle->get_map()->remove_obstacle(obstacle);
|
|
obstacle->set_map(nullptr);
|
|
}
|
|
|
|
obstacle_owner.free(p_object);
|
|
|
|
} else {
|
|
ERR_PRINT("Attempted to free a NavigationServer RID that did not exist (or was already freed).");
|
|
}
|
|
}
|
|
|
|
void GodotNavigationServer::set_active(bool p_active) {
|
|
MutexLock lock(operations_mutex);
|
|
|
|
active = p_active;
|
|
}
|
|
|
|
void GodotNavigationServer::flush_queries() {
|
|
// In c++ we can't be sure that this is performed in the main thread
|
|
// even with mutable functions.
|
|
MutexLock lock(commands_mutex);
|
|
MutexLock lock2(operations_mutex);
|
|
|
|
for (SetCommand *command : commands) {
|
|
command->exec(this);
|
|
memdelete(command);
|
|
}
|
|
commands.clear();
|
|
}
|
|
|
|
void GodotNavigationServer::map_force_update(RID p_map) {
|
|
NavMap *map = map_owner.get_or_null(p_map);
|
|
ERR_FAIL_COND(map == nullptr);
|
|
|
|
flush_queries();
|
|
|
|
map->sync();
|
|
}
|
|
|
|
void GodotNavigationServer::process(real_t p_delta_time) {
|
|
flush_queries();
|
|
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
int _new_pm_region_count = 0;
|
|
int _new_pm_agent_count = 0;
|
|
int _new_pm_link_count = 0;
|
|
int _new_pm_polygon_count = 0;
|
|
int _new_pm_edge_count = 0;
|
|
int _new_pm_edge_merge_count = 0;
|
|
int _new_pm_edge_connection_count = 0;
|
|
int _new_pm_edge_free_count = 0;
|
|
|
|
// In c++ we can't be sure that this is performed in the main thread
|
|
// even with mutable functions.
|
|
MutexLock lock(operations_mutex);
|
|
for (uint32_t i(0); i < active_maps.size(); i++) {
|
|
active_maps[i]->sync();
|
|
active_maps[i]->step(p_delta_time);
|
|
active_maps[i]->dispatch_callbacks();
|
|
|
|
_new_pm_region_count += active_maps[i]->get_pm_region_count();
|
|
_new_pm_agent_count += active_maps[i]->get_pm_agent_count();
|
|
_new_pm_link_count += active_maps[i]->get_pm_link_count();
|
|
_new_pm_polygon_count += active_maps[i]->get_pm_polygon_count();
|
|
_new_pm_edge_count += active_maps[i]->get_pm_edge_count();
|
|
_new_pm_edge_merge_count += active_maps[i]->get_pm_edge_merge_count();
|
|
_new_pm_edge_connection_count += active_maps[i]->get_pm_edge_connection_count();
|
|
_new_pm_edge_free_count += active_maps[i]->get_pm_edge_free_count();
|
|
|
|
// Emit a signal if a map changed.
|
|
const uint32_t new_map_update_id = active_maps[i]->get_map_update_id();
|
|
if (new_map_update_id != active_maps_update_id[i]) {
|
|
emit_signal(SNAME("map_changed"), active_maps[i]->get_self());
|
|
active_maps_update_id[i] = new_map_update_id;
|
|
}
|
|
}
|
|
|
|
pm_region_count = _new_pm_region_count;
|
|
pm_agent_count = _new_pm_agent_count;
|
|
pm_link_count = _new_pm_link_count;
|
|
pm_polygon_count = _new_pm_polygon_count;
|
|
pm_edge_count = _new_pm_edge_count;
|
|
pm_edge_merge_count = _new_pm_edge_merge_count;
|
|
pm_edge_connection_count = _new_pm_edge_connection_count;
|
|
pm_edge_free_count = _new_pm_edge_free_count;
|
|
}
|
|
|
|
PathQueryResult GodotNavigationServer::_query_path(const PathQueryParameters &p_parameters) const {
|
|
PathQueryResult r_query_result;
|
|
|
|
const NavMap *map = map_owner.get_or_null(p_parameters.map);
|
|
ERR_FAIL_COND_V(map == nullptr, r_query_result);
|
|
|
|
// run the pathfinding
|
|
|
|
if (p_parameters.pathfinding_algorithm == PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) {
|
|
// while postprocessing is still part of map.get_path() need to check and route it here for the correct "optimize" post-processing
|
|
if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) {
|
|
r_query_result.path = map->get_path(
|
|
p_parameters.start_position,
|
|
p_parameters.target_position,
|
|
true,
|
|
p_parameters.navigation_layers,
|
|
p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES) ? &r_query_result.path_types : nullptr,
|
|
p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS) ? &r_query_result.path_rids : nullptr,
|
|
p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS) ? &r_query_result.path_owner_ids : nullptr);
|
|
} else if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) {
|
|
r_query_result.path = map->get_path(
|
|
p_parameters.start_position,
|
|
p_parameters.target_position,
|
|
false,
|
|
p_parameters.navigation_layers,
|
|
p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES) ? &r_query_result.path_types : nullptr,
|
|
p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS) ? &r_query_result.path_rids : nullptr,
|
|
p_parameters.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS) ? &r_query_result.path_owner_ids : nullptr);
|
|
}
|
|
} else {
|
|
return r_query_result;
|
|
}
|
|
|
|
// add path postprocessing
|
|
|
|
// add path stats
|
|
|
|
return r_query_result;
|
|
}
|
|
|
|
int GodotNavigationServer::get_process_info(ProcessInfo p_info) const {
|
|
switch (p_info) {
|
|
case INFO_ACTIVE_MAPS: {
|
|
return active_maps.size();
|
|
} break;
|
|
case INFO_REGION_COUNT: {
|
|
return pm_region_count;
|
|
} break;
|
|
case INFO_AGENT_COUNT: {
|
|
return pm_agent_count;
|
|
} break;
|
|
case INFO_LINK_COUNT: {
|
|
return pm_link_count;
|
|
} break;
|
|
case INFO_POLYGON_COUNT: {
|
|
return pm_polygon_count;
|
|
} break;
|
|
case INFO_EDGE_COUNT: {
|
|
return pm_edge_count;
|
|
} break;
|
|
case INFO_EDGE_MERGE_COUNT: {
|
|
return pm_edge_merge_count;
|
|
} break;
|
|
case INFO_EDGE_CONNECTION_COUNT: {
|
|
return pm_edge_connection_count;
|
|
} break;
|
|
case INFO_EDGE_FREE_COUNT: {
|
|
return pm_edge_free_count;
|
|
} break;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
#undef COMMAND_1
|
|
#undef COMMAND_2
|