304 lines
10 KiB
C++
304 lines
10 KiB
C++
/**************************************************************************/
|
|
/* nav_region.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 "nav_region.h"
|
|
|
|
#include "nav_map.h"
|
|
|
|
void NavRegion::set_map(NavMap *p_map) {
|
|
if (map == p_map) {
|
|
return;
|
|
}
|
|
|
|
if (map) {
|
|
map->remove_region(this);
|
|
}
|
|
|
|
map = p_map;
|
|
polygons_dirty = true;
|
|
|
|
connections.clear();
|
|
|
|
if (map) {
|
|
map->add_region(this);
|
|
}
|
|
}
|
|
|
|
void NavRegion::set_enabled(bool p_enabled) {
|
|
if (enabled == p_enabled) {
|
|
return;
|
|
}
|
|
enabled = p_enabled;
|
|
|
|
// TODO: This should not require a full rebuild as the region has not really changed.
|
|
polygons_dirty = true;
|
|
};
|
|
|
|
void NavRegion::set_use_edge_connections(bool p_enabled) {
|
|
if (use_edge_connections != p_enabled) {
|
|
use_edge_connections = p_enabled;
|
|
polygons_dirty = true;
|
|
}
|
|
}
|
|
|
|
void NavRegion::set_transform(Transform3D p_transform) {
|
|
if (transform == p_transform) {
|
|
return;
|
|
}
|
|
transform = p_transform;
|
|
polygons_dirty = true;
|
|
}
|
|
|
|
void NavRegion::set_mesh(Ref<NavigationMesh> p_mesh) {
|
|
mesh = p_mesh;
|
|
polygons_dirty = true;
|
|
}
|
|
|
|
int NavRegion::get_connections_count() const {
|
|
if (!map) {
|
|
return 0;
|
|
}
|
|
return connections.size();
|
|
}
|
|
|
|
Vector3 NavRegion::get_connection_pathway_start(int p_connection_id) const {
|
|
ERR_FAIL_NULL_V(map, Vector3());
|
|
ERR_FAIL_INDEX_V(p_connection_id, connections.size(), Vector3());
|
|
return connections[p_connection_id].pathway_start;
|
|
}
|
|
|
|
Vector3 NavRegion::get_connection_pathway_end(int p_connection_id) const {
|
|
ERR_FAIL_NULL_V(map, Vector3());
|
|
ERR_FAIL_INDEX_V(p_connection_id, connections.size(), Vector3());
|
|
return connections[p_connection_id].pathway_end;
|
|
}
|
|
|
|
Vector3 NavRegion::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const {
|
|
if (!get_enabled()) {
|
|
return Vector3();
|
|
}
|
|
|
|
const LocalVector<gd::Polygon> ®ion_polygons = get_polygons();
|
|
|
|
if (region_polygons.is_empty()) {
|
|
return Vector3();
|
|
}
|
|
|
|
if (p_uniformly) {
|
|
real_t accumulated_area = 0;
|
|
RBMap<real_t, uint32_t> region_area_map;
|
|
|
|
for (uint32_t rp_index = 0; rp_index < region_polygons.size(); rp_index++) {
|
|
const gd::Polygon ®ion_polygon = region_polygons[rp_index];
|
|
real_t polyon_area = region_polygon.surface_area;
|
|
|
|
if (polyon_area == 0.0) {
|
|
continue;
|
|
}
|
|
region_area_map[accumulated_area] = rp_index;
|
|
accumulated_area += polyon_area;
|
|
}
|
|
if (region_area_map.is_empty() || accumulated_area == 0) {
|
|
// All polygons have no real surface / no area.
|
|
return Vector3();
|
|
}
|
|
|
|
real_t region_area_map_pos = Math::random(real_t(0), accumulated_area);
|
|
|
|
RBMap<real_t, uint32_t>::Iterator region_E = region_area_map.find_closest(region_area_map_pos);
|
|
ERR_FAIL_COND_V(!region_E, Vector3());
|
|
uint32_t rrp_polygon_index = region_E->value;
|
|
ERR_FAIL_UNSIGNED_INDEX_V(rrp_polygon_index, region_polygons.size(), Vector3());
|
|
|
|
const gd::Polygon &rr_polygon = region_polygons[rrp_polygon_index];
|
|
|
|
real_t accumulated_polygon_area = 0;
|
|
RBMap<real_t, uint32_t> polygon_area_map;
|
|
|
|
for (uint32_t rpp_index = 2; rpp_index < rr_polygon.points.size(); rpp_index++) {
|
|
real_t face_area = Face3(rr_polygon.points[0].pos, rr_polygon.points[rpp_index - 1].pos, rr_polygon.points[rpp_index].pos).get_area();
|
|
|
|
if (face_area == 0.0) {
|
|
continue;
|
|
}
|
|
polygon_area_map[accumulated_polygon_area] = rpp_index;
|
|
accumulated_polygon_area += face_area;
|
|
}
|
|
if (polygon_area_map.is_empty() || accumulated_polygon_area == 0) {
|
|
// All faces have no real surface / no area.
|
|
return Vector3();
|
|
}
|
|
|
|
real_t polygon_area_map_pos = Math::random(real_t(0), accumulated_polygon_area);
|
|
|
|
RBMap<real_t, uint32_t>::Iterator polygon_E = polygon_area_map.find_closest(polygon_area_map_pos);
|
|
ERR_FAIL_COND_V(!polygon_E, Vector3());
|
|
uint32_t rrp_face_index = polygon_E->value;
|
|
ERR_FAIL_UNSIGNED_INDEX_V(rrp_face_index, rr_polygon.points.size(), Vector3());
|
|
|
|
const Face3 face(rr_polygon.points[0].pos, rr_polygon.points[rrp_face_index - 1].pos, rr_polygon.points[rrp_face_index].pos);
|
|
|
|
Vector3 face_random_position = face.get_random_point_inside();
|
|
return face_random_position;
|
|
|
|
} else {
|
|
uint32_t rrp_polygon_index = Math::random(int(0), region_polygons.size() - 1);
|
|
|
|
const gd::Polygon &rr_polygon = region_polygons[rrp_polygon_index];
|
|
|
|
uint32_t rrp_face_index = Math::random(int(2), rr_polygon.points.size() - 1);
|
|
|
|
const Face3 face(rr_polygon.points[0].pos, rr_polygon.points[rrp_face_index - 1].pos, rr_polygon.points[rrp_face_index].pos);
|
|
|
|
Vector3 face_random_position = face.get_random_point_inside();
|
|
return face_random_position;
|
|
}
|
|
}
|
|
|
|
bool NavRegion::sync() {
|
|
bool something_changed = polygons_dirty /* || something_dirty? */;
|
|
|
|
update_polygons();
|
|
|
|
return something_changed;
|
|
}
|
|
|
|
void NavRegion::update_polygons() {
|
|
if (!polygons_dirty) {
|
|
return;
|
|
}
|
|
polygons.clear();
|
|
surface_area = 0.0;
|
|
polygons_dirty = false;
|
|
|
|
if (map == nullptr) {
|
|
return;
|
|
}
|
|
|
|
if (mesh.is_null()) {
|
|
return;
|
|
}
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
if (!Math::is_equal_approx(double(map->get_cell_size()), double(mesh->get_cell_size()))) {
|
|
ERR_PRINT_ONCE(vformat("Navigation map synchronization error. Attempted to update a navigation region with a navigation mesh that uses a `cell_size` of %s while assigned to a navigation map set to a `cell_size` of %s. The cell size for navigation maps can be changed by using the NavigationServer map_set_cell_size() function. The cell size for default navigation maps can also be changed in the ProjectSettings.", double(mesh->get_cell_size()), double(map->get_cell_size())));
|
|
}
|
|
|
|
if (!Math::is_equal_approx(double(map->get_cell_height()), double(mesh->get_cell_height()))) {
|
|
ERR_PRINT_ONCE(vformat("Navigation map synchronization error. Attempted to update a navigation region with a navigation mesh that uses a `cell_height` of %s while assigned to a navigation map set to a `cell_height` of %s. The cell height for navigation maps can be changed by using the NavigationServer map_set_cell_height() function. The cell height for default navigation maps can also be changed in the ProjectSettings.", double(mesh->get_cell_height()), double(map->get_cell_height())));
|
|
}
|
|
|
|
if (map && Math::rad_to_deg(map->get_up().angle_to(transform.basis.get_column(1))) >= 90.0f) {
|
|
ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to update a navigation region transform rotated 90 degrees or more away from the current navigation map UP orientation.");
|
|
}
|
|
#endif // DEBUG_ENABLED
|
|
|
|
Vector<Vector3> vertices = mesh->get_vertices();
|
|
int len = vertices.size();
|
|
if (len == 0) {
|
|
return;
|
|
}
|
|
|
|
const Vector3 *vertices_r = vertices.ptr();
|
|
|
|
polygons.resize(mesh->get_polygon_count());
|
|
|
|
real_t _new_region_surface_area = 0.0;
|
|
|
|
// Build
|
|
int navigation_mesh_polygon_index = 0;
|
|
for (gd::Polygon &polygon : polygons) {
|
|
polygon.owner = this;
|
|
polygon.surface_area = 0.0;
|
|
|
|
Vector<int> navigation_mesh_polygon = mesh->get_polygon(navigation_mesh_polygon_index);
|
|
navigation_mesh_polygon_index += 1;
|
|
|
|
int navigation_mesh_polygon_size = navigation_mesh_polygon.size();
|
|
if (navigation_mesh_polygon_size < 3) {
|
|
continue;
|
|
}
|
|
|
|
const int *indices = navigation_mesh_polygon.ptr();
|
|
bool valid(true);
|
|
|
|
polygon.points.resize(navigation_mesh_polygon_size);
|
|
polygon.edges.resize(navigation_mesh_polygon_size);
|
|
|
|
real_t _new_polygon_surface_area = 0.0;
|
|
|
|
for (int j(2); j < navigation_mesh_polygon_size; j++) {
|
|
const Face3 face = Face3(
|
|
transform.xform(vertices_r[indices[0]]),
|
|
transform.xform(vertices_r[indices[j - 1]]),
|
|
transform.xform(vertices_r[indices[j]]));
|
|
|
|
_new_polygon_surface_area += face.get_area();
|
|
}
|
|
|
|
polygon.surface_area = _new_polygon_surface_area;
|
|
_new_region_surface_area += _new_polygon_surface_area;
|
|
|
|
Vector3 polygon_center;
|
|
real_t sum(0);
|
|
|
|
for (int j(0); j < navigation_mesh_polygon_size; j++) {
|
|
int idx = indices[j];
|
|
if (idx < 0 || idx >= len) {
|
|
valid = false;
|
|
break;
|
|
}
|
|
|
|
Vector3 point_position = transform.xform(vertices_r[idx]);
|
|
polygon.points[j].pos = point_position;
|
|
polygon.points[j].key = map->get_point_key(point_position);
|
|
|
|
polygon_center += point_position; // Composing the center of the polygon
|
|
|
|
if (j >= 2) {
|
|
Vector3 epa = transform.xform(vertices_r[indices[j - 2]]);
|
|
Vector3 epb = transform.xform(vertices_r[indices[j - 1]]);
|
|
|
|
sum += map->get_up().dot((epb - epa).cross(point_position - epa));
|
|
}
|
|
}
|
|
|
|
if (!valid) {
|
|
ERR_BREAK_MSG(!valid, "The navigation mesh set in this region is not valid!");
|
|
}
|
|
|
|
polygon.clockwise = sum > 0;
|
|
if (!navigation_mesh_polygon.is_empty()) {
|
|
polygon.center = polygon_center / real_t(navigation_mesh_polygon.size());
|
|
}
|
|
}
|
|
|
|
surface_area = _new_region_surface_area;
|
|
}
|