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godot/modules/gdnavigation/gd_navigation_server.h

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- Integrated NavigationServer and Navigation2DServer. - Added Navigation Agents and Obstacles. - Integrated Collision Avoidance. This work has been kindly sponsored by IMVU.
2020-01-10 11:22:34 +00:00
/*************************************************************************/
/* gd_navigation_server.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
Update copyright statements to 2021 Happy new year to the wonderful Godot community! 2020 has been a tough year for most of us personally, but a good year for Godot development nonetheless with a huge amount of work done towards Godot 4.0 and great improvements backported to the long-lived 3.2 branch. We've had close to 400 contributors to engine code this year, authoring near 7,000 commit! (And that's only for the `master` branch and for the engine code, there's a lot more when counting docs, demos and other first-party repos.) Here's to a great year 2021 for all Godot users 🎆
2021-01-01 19:13:46 +00:00
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
- Integrated NavigationServer and Navigation2DServer. - Added Navigation Agents and Obstacles. - Integrated Collision Avoidance. This work has been kindly sponsored by IMVU.
2020-01-10 11:22:34 +00:00
/* */
/* 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. */
/*************************************************************************/
#ifndef GD_NAVIGATION_SERVER_H
#define GD_NAVIGATION_SERVER_H
Reorganized core/ directory, it was too fatty already -Removed FuncRef, since Callable makes it obsolete -Removed int_types.h as its obsolete in c++11+ -Changed color names code
2020-11-07 22:33:38 +00:00
#include "core/templates/rid.h"
#include "core/templates/rid_owner.h"
Renaming of servers for coherency. VisualServer -> RenderingServer PhysicsServer -> PhysicsServer3D Physics2DServer -> PhysicsServer2D NavigationServer -> NavigationServer3D Navigation2DServer -> NavigationServer2D Also renamed corresponding files.
2020-03-27 18:21:27 +00:00
#include "servers/navigation_server_3d.h"
- Integrated NavigationServer and Navigation2DServer. - Added Navigation Agents and Obstacles. - Integrated Collision Avoidance. This work has been kindly sponsored by IMVU.
2020-01-10 11:22:34 +00:00
#include "nav_map.h"
#include "nav_region.h"
#include "rvo_agent.h"
/**
@author AndreaCatania
*/
/// The commands are functions executed during the `sync` phase.
#define MERGE_INTERNAL(A, B) A##B
#define MERGE(A, B) MERGE_INTERNAL(A, B)
#define COMMAND_1(F_NAME, T_0, D_0) \
virtual void F_NAME(T_0 D_0) const; \
void MERGE(_cmd_, F_NAME)(T_0 D_0)
#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
virtual void F_NAME(T_0 D_0, T_1 D_1) const; \
void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
#define COMMAND_4_DEF(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, D_3_DEF) \
virtual void F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3 = D_3_DEF) const; \
void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
class GdNavigationServer;
struct SetCommand {
virtual ~SetCommand() {}
virtual void exec(GdNavigationServer *server) = 0;
};
Renaming of servers for coherency. VisualServer -> RenderingServer PhysicsServer -> PhysicsServer3D Physics2DServer -> PhysicsServer2D NavigationServer -> NavigationServer3D Navigation2DServer -> NavigationServer2D Also renamed corresponding files.
2020-03-27 18:21:27 +00:00
class GdNavigationServer : public NavigationServer3D {
Reimplement Mutex with C++'s <mutex> Main: - It's now implemented thanks to `<mutex>`. No more platform-specific implementations. - `BinaryMutex` (non-recursive) is added, as an alternative for special cases. - Doesn't need allocation/deallocation anymore. It can live in the stack and be part of other classes. - Because of that, it's methods are now `const` and the inner mutex is `mutable` so it can be easily used in `const` contexts. - A no-op implementation is provided if `NO_THREADS` is defined. No more need to add `#ifdef NO_THREADS` just for this. - `MutexLock` now takes a reference. At this point the cases of null `Mutex`es are rare. If you ever need that, just don't use `MutexLock`. - Thread-safe utilities are therefore simpler now. Misc.: - `ScopedMutexLock` is dropped and replaced by `MutexLock`, because they were pretty much the same. - Every case of lock, do-something, unlock is replaced by `MutexLock` (complex cases where it's not straightfoward are kept as as explicit lock and unlock). - `ShaderRD` contained an `std::mutex`, which has been replaced by `Mutex`.
2020-02-26 10:28:13 +00:00
Mutex commands_mutex;
- Integrated NavigationServer and Navigation2DServer. - Added Navigation Agents and Obstacles. - Integrated Collision Avoidance. This work has been kindly sponsored by IMVU.
2020-01-10 11:22:34 +00:00
/// Mutex used to make any operation threadsafe.
Reimplement Mutex with C++'s <mutex> Main: - It's now implemented thanks to `<mutex>`. No more platform-specific implementations. - `BinaryMutex` (non-recursive) is added, as an alternative for special cases. - Doesn't need allocation/deallocation anymore. It can live in the stack and be part of other classes. - Because of that, it's methods are now `const` and the inner mutex is `mutable` so it can be easily used in `const` contexts. - A no-op implementation is provided if `NO_THREADS` is defined. No more need to add `#ifdef NO_THREADS` just for this. - `MutexLock` now takes a reference. At this point the cases of null `Mutex`es are rare. If you ever need that, just don't use `MutexLock`. - Thread-safe utilities are therefore simpler now. Misc.: - `ScopedMutexLock` is dropped and replaced by `MutexLock`, because they were pretty much the same. - Every case of lock, do-something, unlock is replaced by `MutexLock` (complex cases where it's not straightfoward are kept as as explicit lock and unlock). - `ShaderRD` contained an `std::mutex`, which has been replaced by `Mutex`.
2020-02-26 10:28:13 +00:00
Mutex operations_mutex;
- Integrated NavigationServer and Navigation2DServer. - Added Navigation Agents and Obstacles. - Integrated Collision Avoidance. This work has been kindly sponsored by IMVU.
2020-01-10 11:22:34 +00:00
std::vector<SetCommand *> commands;
Refactored RID/RID_Owner to always use O(1) allocation. * Implements a growing chunked allocator * Removed redudant methods get and getptr, only getornull is supported now.
2019-06-10 15:38:51 +00:00
mutable RID_PtrOwner<NavMap> map_owner;
mutable RID_PtrOwner<NavRegion> region_owner;
mutable RID_PtrOwner<RvoAgent> agent_owner;
- Integrated NavigationServer and Navigation2DServer. - Added Navigation Agents and Obstacles. - Integrated Collision Avoidance. This work has been kindly sponsored by IMVU.
2020-01-10 11:22:34 +00:00
Port member initialization from constructor to declaration (C++11) Using `clang-tidy`'s `modernize-use-default-member-init` check and manual review of the changes, and some extra manual changes that `clang-tidy` failed to do. Also went manually through all of `core` to find occurrences that `clang-tidy` couldn't handle, especially all initializations done in a constructor without using initializer lists.
2020-05-12 15:01:17 +00:00
bool active = true;
- Integrated NavigationServer and Navigation2DServer. - Added Navigation Agents and Obstacles. - Integrated Collision Avoidance. This work has been kindly sponsored by IMVU.
2020-01-10 11:22:34 +00:00
Vector<NavMap *> active_maps;
public:
GdNavigationServer();
virtual ~GdNavigationServer();
void add_command(SetCommand *command) const;
virtual RID map_create() const;
COMMAND_2(map_set_active, RID, p_map, bool, p_active);
virtual bool map_is_active(RID p_map) const;
COMMAND_2(map_set_up, RID, p_map, Vector3, p_up);
virtual Vector3 map_get_up(RID p_map) const;
COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size);
virtual real_t map_get_cell_size(RID p_map) const;
COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
virtual real_t map_get_edge_connection_margin(RID p_map) const;
virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize) const;
Added utility functions to the new NavigationServer: - Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool &p_use_collision = false); - Vector3 get_closest_point(const Vector3 &p_point); - Vector3 get_closest_point_normal(const Vector3 &p_point); - Object *get_closest_point_owner(const Vector3 &p_point);
2020-02-18 16:08:34 +00:00
virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const;
virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const;
virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const;
virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const;
- Integrated NavigationServer and Navigation2DServer. - Added Navigation Agents and Obstacles. - Integrated Collision Avoidance. This work has been kindly sponsored by IMVU.
2020-01-10 11:22:34 +00:00
virtual RID region_create() const;
COMMAND_2(region_set_map, RID, p_region, RID, p_map);
COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform);
COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh);
virtual void region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const;
virtual RID agent_create() const;
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map);
COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist);
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count);
COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time);
COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius);
COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed);
COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity);
COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity);
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position);
COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore);
virtual bool agent_is_map_changed(RID p_agent) const;
COMMAND_4_DEF(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata, Variant());
COMMAND_1(free, RID, p_object);
virtual void set_active(bool p_active) const;
Flushes commands just before the navigation server is destroyed
2020-02-26 08:42:51 +00:00
void flush_queries();
virtual void process(real_t p_delta_time);
- Integrated NavigationServer and Navigation2DServer. - Added Navigation Agents and Obstacles. - Integrated Collision Avoidance. This work has been kindly sponsored by IMVU.
2020-01-10 11:22:34 +00:00
};
#undef COMMAND_1
#undef COMMAND_2
#undef COMMAND_4_DEF
#endif // GD_NAVIGATION_SERVER_H