diff --git a/doc/classes/NavigationLink2D.xml b/doc/classes/NavigationLink2D.xml new file mode 100644 index 00000000000..1e086fb7306 --- /dev/null +++ b/doc/classes/NavigationLink2D.xml @@ -0,0 +1,55 @@ + + + + Creates a link between two locations that [NavigationServer2D] can route agents through. + + + Creates a link between two locations that [NavigationServer2D] can route agents through. Links can be used to express navigation methods that aren't just traveling along the surface of the navigation mesh, like zip-lines, teleporters, or jumping across gaps. + + + + + + + + + Returns whether or not the specified layer of the [member navigation_layers] bitmask is enabled, given a [code]layer_number[/code] between 1 and 32. + + + + + + + + Based on [code]value[/code], enables or disables the specified layer in the [member navigation_layers] bitmask, given a [code]layer_number[/code] between 1 and 32. + + + + + + Whether this link can be traveled in both directions or only from [member start_location] to [member end_location]. + + + Whether this link is currently active. If [code]false[/code], [method NavigationServer2D.map_get_path] will ignore this link. + + + Ending position of the link. + This position will search out the nearest polygon in the navigation mesh to attach to. + The distance the link will search is controlled by [method NavigationServer2D.map_set_link_connection_radius]. + + + When pathfinding enters this link from another regions navmesh the [code]enter_cost[/code] value is added to the path distance for determining the shortest path. + + + A bitfield determining all navigation layers the link belongs to. These navigation layers will be checked when requesting a path with [method NavigationServer2D.map_get_path]. + + + Starting position of the link. + This position will search out the nearest polygon in the navigation mesh to attach to. + The distance the link will search is controlled by [method NavigationServer2D.map_set_link_connection_radius]. + + + When pathfinding moves along the link the traveled distance is multiplied with [code]travel_cost[/code] for determining the shortest path. + + + diff --git a/doc/classes/NavigationLink3D.xml b/doc/classes/NavigationLink3D.xml new file mode 100644 index 00000000000..4d5d81bec5b --- /dev/null +++ b/doc/classes/NavigationLink3D.xml @@ -0,0 +1,55 @@ + + + + Creates a link between two locations that [NavigationServer3D] can route agents through. + + + Creates a link between two locations that [NavigationServer3D] can route agents through. Links can be used to express navigation methods that aren't just traveling along the surface of the navigation mesh, like zip-lines, teleporters, or jumping across gaps. + + + + + + + + + Returns whether or not the specified layer of the [member navigation_layers] bitmask is enabled, given a [code]layer_number[/code] between 1 and 32. + + + + + + + + Based on [code]value[/code], enables or disables the specified layer in the [member navigation_layers] bitmask, given a [code]layer_number[/code] between 1 and 32. + + + + + + Whether this link can be traveled in both directions or only from [member start_location] to [member end_location]. + + + Whether this link is currently active. If [code]false[/code], [method NavigationServer3D.map_get_path] will ignore this link. + + + Ending position of the link. + This position will search out the nearest polygon in the navigation mesh to attach to. + The distance the link will search is controlled by [method NavigationServer3D.map_set_link_connection_radius]. + + + When pathfinding enters this link from another regions navmesh the [code]enter_cost[/code] value is added to the path distance for determining the shortest path. + + + A bitfield determining all navigation layers the link belongs to. These navigation layers will be checked when requesting a path with [method NavigationServer3D.map_get_path]. + + + Starting position of the link. + This position will search out the nearest polygon in the navigation mesh to attach to. + The distance the link will search is controlled by [method NavigationServer3D.map_set_link_connection_radius]. + + + When pathfinding moves along the link the traveled distance is multiplied with [code]travel_cost[/code] for determining the shortest path. + + + diff --git a/doc/classes/NavigationServer2D.xml b/doc/classes/NavigationServer2D.xml index b85c1c66498..0874e183e4d 100644 --- a/doc/classes/NavigationServer2D.xml +++ b/doc/classes/NavigationServer2D.xml @@ -133,6 +133,117 @@ Returns all created navigation map [RID]s on the NavigationServer. This returns both 2D and 3D created navigation maps as there is technically no distinction between them. + + + + Create a new link between two locations on a map. + + + + + + + Returns the ending location of this [code]link[/code]. + + + + + + + Returns the [code]enter_cost[/code] of this [code]link[/code]. + + + + + + + Returns the navigation map [RID] the requested [code]link[/code] is currently assigned to. + + + + + + + Returns the navigation layers for this [code]link[/code]. + + + + + + + Returns the starting location of this [code]link[/code]. + + + + + + + Returns the [code]travel_cost[/code] of this [code]link[/code]. + + + + + + + Returns whether this [code]link[/code] can be travelled in both directions. + + + + + + + + Sets whether this [code]link[/code] can be travelled in both directions. + + + + + + + + Sets the exit location for the [code]link[/code]. + + + + + + + + Sets the [code]enter_cost[/code] for this [code]link[/code]. + + + + + + + + Sets the navigation map [RID] for the link. + + + + + + + + Set the links's navigation layers. This allows selecting links from a path request (when using [method NavigationServer2D.map_get_path]). + + + + + + + + Sets the entry location for this [code]link[/code]. + + + + + + + + Sets the [code]travel_cost[/code] for this [code]link[/code]. + + @@ -186,6 +297,20 @@ Returns the edge connection margin of the map. The edge connection margin is a distance used to connect two regions. + + + + + Returns the link connection radius of the map. This distance is the maximum range any link will search for navigation mesh polygons to connect to. + + + + + + + Returns all navigation link [RID]s that are currently assigned to the requested navigation [code]map[/code]. + + @@ -235,6 +360,14 @@ Set the map edge connection margin used to weld the compatible region edges. + + + + + + Set the map's link connection radius used to connect links to navigation polygons. + + diff --git a/doc/classes/NavigationServer3D.xml b/doc/classes/NavigationServer3D.xml index 5b2a8fc08ba..255f2a902cb 100644 --- a/doc/classes/NavigationServer3D.xml +++ b/doc/classes/NavigationServer3D.xml @@ -133,6 +133,117 @@ Returns all created navigation map [RID]s on the NavigationServer. This returns both 2D and 3D created navigation maps as there is technically no distinction between them. + + + + Create a new link between two locations on a map. + + + + + + + Returns the ending location of this [code]link[/code]. + + + + + + + Returns the [code]enter_cost[/code] of this [code]link[/code]. + + + + + + + Returns the navigation map [RID] the requested [code]link[/code] is currently assigned to. + + + + + + + Returns the navigation layers for this [code]link[/code]. + + + + + + + Returns the starting location of this [code]link[/code]. + + + + + + + Returns the [code]travel_cost[/code] of this [code]link[/code]. + + + + + + + Returns whether this [code]link[/code] can be travelled in both directions. + + + + + + + + Sets whether this [code]link[/code] can be travelled in both directions. + + + + + + + + Sets the exit location for the [code]link[/code]. + + + + + + + + Sets the [code]enter_cost[/code] for this [code]link[/code]. + + + + + + + + Sets the navigation map [RID] for the link. + + + + + + + + Set the links's navigation layers. This allows selecting links from a path request (when using [method NavigationServer3D.map_get_path]). + + + + + + + + Sets the entry location for this [code]link[/code]. + + + + + + + + Sets the [code]travel_cost[/code] for this [code]link[/code]. + + @@ -204,6 +315,20 @@ Returns the edge connection margin of the map. This distance is the minimum vertex distance needed to connect two edges from different regions. + + + + + Returns the link connection radius of the map. This distance is the maximum range any link will search for navigation mesh polygons to connect to. + + + + + + + Returns all navigation link [RID]s that are currently assigned to the requested navigation [code]map[/code]. + + @@ -260,6 +385,14 @@ Set the map edge connection margin used to weld the compatible region edges. + + + + + + Set the map's link connection radius used to connect links to navigation polygons. + + diff --git a/doc/classes/ProjectSettings.xml b/doc/classes/ProjectSettings.xml index ffafff0ff45..e62c0433b46 100644 --- a/doc/classes/ProjectSettings.xml +++ b/doc/classes/ProjectSettings.xml @@ -497,6 +497,12 @@ If enabled, colorizes each navigation mesh polygon face with a random color when "Visible Navigation" is enabled in the Debug menu. + + If enabled, displays navigation link connections when "Visible Navigation" is enabled in the Debug menu. + + + If enabled, displays navigation link connections through geometry when "Visible Navigation" is enabled in the Debug menu. + Color of the navigation geometry, visible when "Visible Navigation" is enabled in the Debug menu. @@ -512,6 +518,12 @@ Color to display disabled navigation mesh polygon faces, visible when "Visible Navigation" is enabled in the Debug menu. + + Color to use to display navigation link connections, visible when "Visible Navigation" is enabled in the Debug menu. + + + Color to use to display disabled navigation link connections, visible when "Visible Navigation" is enabled in the Debug menu. + Color of the curve path geometry, visible when "Visible Paths" is enabled in the Debug menu. @@ -1439,12 +1451,18 @@ Default edge connection margin for 2D navigation maps. See [method NavigationServer2D.map_set_edge_connection_margin]. + + Default link connection radius for 2D navigation maps. See [method NavigationServer2D.map_set_link_connection_radius]. + Default cell size for 3D navigation maps. See [method NavigationServer3D.map_set_cell_size]. Default edge connection margin for 3D navigation maps. See [method NavigationServer3D.map_set_edge_connection_margin]. + + Default link connection radius for 3D navigation maps. See [method NavigationServer3D.map_set_link_connection_radius]. + Maximum number of characters allowed to send as output from the debugger. Over this value, content is dropped. This helps not to stall the debugger connection. diff --git a/editor/editor_node.cpp b/editor/editor_node.cpp index 9fd3728ec56..c2820389c69 100644 --- a/editor/editor_node.cpp +++ b/editor/editor_node.cpp @@ -170,6 +170,7 @@ #include "editor/plugins/mesh_instance_3d_editor_plugin.h" #include "editor/plugins/mesh_library_editor_plugin.h" #include "editor/plugins/multimesh_editor_plugin.h" +#include "editor/plugins/navigation_link_2d_editor_plugin.h" #include "editor/plugins/navigation_polygon_editor_plugin.h" #include "editor/plugins/node_3d_editor_plugin.h" #include "editor/plugins/occluder_instance_3d_editor_plugin.h" @@ -7349,6 +7350,7 @@ EditorNode::EditorNode() { add_editor_plugin(memnew(GPUParticles2DEditorPlugin)); add_editor_plugin(memnew(LightOccluder2DEditorPlugin)); add_editor_plugin(memnew(Line2DEditorPlugin)); + add_editor_plugin(memnew(NavigationLink2DEditorPlugin)); add_editor_plugin(memnew(NavigationPolygonEditorPlugin)); add_editor_plugin(memnew(Path2DEditorPlugin)); add_editor_plugin(memnew(Polygon2DEditorPlugin)); diff --git a/editor/icons/NavigationLink2D.svg b/editor/icons/NavigationLink2D.svg new file mode 100644 index 00000000000..6c5f17e256b --- /dev/null +++ b/editor/icons/NavigationLink2D.svg @@ -0,0 +1,4 @@ + + + + diff --git a/editor/icons/NavigationLink3D.svg b/editor/icons/NavigationLink3D.svg new file mode 100644 index 00000000000..ea4092c2c7d --- /dev/null +++ b/editor/icons/NavigationLink3D.svg @@ -0,0 +1,4 @@ + + + + diff --git a/editor/plugins/navigation_link_2d_editor_plugin.cpp b/editor/plugins/navigation_link_2d_editor_plugin.cpp new file mode 100644 index 00000000000..b72f639fbfb --- /dev/null +++ b/editor/plugins/navigation_link_2d_editor_plugin.cpp @@ -0,0 +1,191 @@ +/*************************************************************************/ +/* navigation_link_2d_editor_plugin.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* 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_link_2d_editor_plugin.h" + +#include "canvas_item_editor_plugin.h" +#include "editor/editor_node.h" +#include "editor/editor_settings.h" +#include "editor/editor_undo_redo_manager.h" +#include "servers/navigation_server_3d.h" + +void NavigationLink2DEditor::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + get_tree()->connect("node_removed", callable_mp(this, &NavigationLink2DEditor::_node_removed)); + } break; + + case NOTIFICATION_EXIT_TREE: { + get_tree()->disconnect("node_removed", callable_mp(this, &NavigationLink2DEditor::_node_removed)); + } break; + } +} + +void NavigationLink2DEditor::_node_removed(Node *p_node) { + if (p_node == node) { + node = nullptr; + } +} + +bool NavigationLink2DEditor::forward_canvas_gui_input(const Ref &p_event) { + if (!node || !node->is_visible_in_tree()) { + return false; + } + + real_t grab_threshold = EDITOR_GET("editors/polygon_editor/point_grab_radius"); + Transform2D xform = canvas_item_editor->get_canvas_transform() * node->get_global_transform(); + + Ref mb = p_event; + if (mb.is_valid() && mb->get_button_index() == MouseButton::LEFT) { + if (mb->is_pressed()) { + // Start location + if (xform.xform(node->get_start_location()).distance_to(mb->get_position()) < grab_threshold) { + start_grabbed = true; + original_start_location = node->get_start_location(); + + return true; + } else { + start_grabbed = false; + } + + // End location + if (xform.xform(node->get_end_location()).distance_to(mb->get_position()) < grab_threshold) { + end_grabbed = true; + original_end_location = node->get_end_location(); + + return true; + } else { + end_grabbed = false; + } + } else { + if (start_grabbed) { + undo_redo->create_action(TTR("Set start_location")); + undo_redo->add_do_method(node, "set_start_location", node->get_start_location()); + undo_redo->add_do_method(canvas_item_editor, "update_viewport"); + undo_redo->add_undo_method(node, "set_start_location", original_start_location); + undo_redo->add_undo_method(canvas_item_editor, "update_viewport"); + undo_redo->commit_action(); + + start_grabbed = false; + + return true; + } + + if (end_grabbed) { + undo_redo->create_action(TTR("Set end_location")); + undo_redo->add_do_method(node, "set_end_location", node->get_end_location()); + undo_redo->add_do_method(canvas_item_editor, "update_viewport"); + undo_redo->add_undo_method(node, "set_end_location", original_end_location); + undo_redo->add_undo_method(canvas_item_editor, "update_viewport"); + undo_redo->commit_action(); + + end_grabbed = false; + + return true; + } + } + } + + Ref mm = p_event; + if (mm.is_valid()) { + Vector2 point = canvas_item_editor->snap_point(canvas_item_editor->get_canvas_transform().affine_inverse().xform(mm->get_position())); + point = node->get_global_transform().affine_inverse().xform(point); + + if (start_grabbed) { + node->set_start_location(point); + canvas_item_editor->update_viewport(); + + return true; + } + + if (end_grabbed) { + node->set_end_location(point); + canvas_item_editor->update_viewport(); + + return true; + } + } + + return false; +} + +void NavigationLink2DEditor::forward_canvas_draw_over_viewport(Control *p_overlay) { + if (!node || !node->is_visible_in_tree()) { + return; + } + + Transform2D gt = canvas_item_editor->get_canvas_transform() * node->get_global_transform(); + Vector2 global_start_location = gt.xform(node->get_start_location()); + Vector2 global_end_location = gt.xform(node->get_end_location()); + + // Only drawing the handles here, since the debug rendering will fill in the rest. + const Ref handle = get_theme_icon(SNAME("EditorHandle"), SNAME("EditorIcons")); + p_overlay->draw_texture(handle, global_start_location - handle->get_size() / 2); + p_overlay->draw_texture(handle, global_end_location - handle->get_size() / 2); +} + +void NavigationLink2DEditor::edit(NavigationLink2D *p_node) { + if (!canvas_item_editor) { + canvas_item_editor = CanvasItemEditor::get_singleton(); + } + + if (p_node) { + node = p_node; + } else { + node = nullptr; + } + + canvas_item_editor->update_viewport(); +} + +NavigationLink2DEditor::NavigationLink2DEditor() { + undo_redo = EditorNode::get_undo_redo(); +} + +/////////////////////// + +void NavigationLink2DEditorPlugin::edit(Object *p_object) { + editor->edit(Object::cast_to(p_object)); +} + +bool NavigationLink2DEditorPlugin::handles(Object *p_object) const { + return Object::cast_to(p_object) != nullptr; +} + +void NavigationLink2DEditorPlugin::make_visible(bool p_visible) { + if (!p_visible) { + edit(nullptr); + } +} + +NavigationLink2DEditorPlugin::NavigationLink2DEditorPlugin() { + editor = memnew(NavigationLink2DEditor); + EditorNode::get_singleton()->get_gui_base()->add_child(editor); +} diff --git a/editor/plugins/navigation_link_2d_editor_plugin.h b/editor/plugins/navigation_link_2d_editor_plugin.h new file mode 100644 index 00000000000..1c1251bec72 --- /dev/null +++ b/editor/plugins/navigation_link_2d_editor_plugin.h @@ -0,0 +1,83 @@ +/*************************************************************************/ +/* navigation_link_2d_editor_plugin.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* 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 NAVIGATION_LINK_2D_EDITOR_PLUGIN_H +#define NAVIGATION_LINK_2D_EDITOR_PLUGIN_H + +#include "editor/editor_plugin.h" +#include "scene/2d/navigation_link_2d.h" + +class CanvasItemEditor; +class EditorUndoRedoManager; + +class NavigationLink2DEditor : public Control { + GDCLASS(NavigationLink2DEditor, Control); + + Ref undo_redo; + CanvasItemEditor *canvas_item_editor = nullptr; + NavigationLink2D *node; + + bool start_grabbed = false; + Vector2 original_start_location; + + bool end_grabbed = false; + Vector2 original_end_location; + +protected: + void _notification(int p_what); + void _node_removed(Node *p_node); + +public: + bool forward_canvas_gui_input(const Ref &p_event); + void forward_canvas_draw_over_viewport(Control *p_overlay); + void edit(NavigationLink2D *p_node); + + NavigationLink2DEditor(); +}; + +class NavigationLink2DEditorPlugin : public EditorPlugin { + GDCLASS(NavigationLink2DEditorPlugin, EditorPlugin); + + NavigationLink2DEditor *editor = nullptr; + +public: + virtual bool forward_canvas_gui_input(const Ref &p_event) override { return editor->forward_canvas_gui_input(p_event); } + virtual void forward_canvas_draw_over_viewport(Control *p_overlay) override { editor->forward_canvas_draw_over_viewport(p_overlay); } + + virtual String get_name() const override { return "NavigationLink2D"; } + bool has_main_screen() const override { return false; } + virtual void edit(Object *p_object) override; + virtual bool handles(Object *p_object) const override; + virtual void make_visible(bool p_visible) override; + + NavigationLink2DEditorPlugin(); +}; + +#endif // NAVIGATION_LINK_2D_EDITOR_PLUGIN_H diff --git a/editor/plugins/node_3d_editor_gizmos.cpp b/editor/plugins/node_3d_editor_gizmos.cpp index 0c27ed46c53..ec6ea7f39bb 100644 --- a/editor/plugins/node_3d_editor_gizmos.cpp +++ b/editor/plugins/node_3d_editor_gizmos.cpp @@ -54,6 +54,7 @@ #include "scene/3d/lightmap_probe.h" #include "scene/3d/marker_3d.h" #include "scene/3d/mesh_instance_3d.h" +#include "scene/3d/navigation_link_3d.h" #include "scene/3d/navigation_region_3d.h" #include "scene/3d/occluder_instance_3d.h" #include "scene/3d/ray_cast_3d.h" @@ -4999,6 +5000,175 @@ void NavigationRegion3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { } } +//// + +NavigationLink3DGizmoPlugin::NavigationLink3DGizmoPlugin() { + create_material("navigation_link_material", NavigationServer3D::get_singleton()->get_debug_navigation_link_connection_color()); + create_material("navigation_link_material_disabled", NavigationServer3D::get_singleton()->get_debug_navigation_link_connection_disabled_color()); + create_handle_material("handles"); +} + +bool NavigationLink3DGizmoPlugin::has_gizmo(Node3D *p_spatial) { + return Object::cast_to(p_spatial) != nullptr; +} + +String NavigationLink3DGizmoPlugin::get_gizmo_name() const { + return "NavigationLink3D"; +} + +int NavigationLink3DGizmoPlugin::get_priority() const { + return -1; +} + +void NavigationLink3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) { + NavigationLink3D *link = Object::cast_to(p_gizmo->get_spatial_node()); + + RID nav_map = link->get_world_3d()->get_navigation_map(); + real_t search_radius = NavigationServer3D::get_singleton()->map_get_link_connection_radius(nav_map); + Vector3 up_vector = NavigationServer3D::get_singleton()->map_get_up(nav_map); + Vector3::Axis up_axis = up_vector.max_axis_index(); + + Vector3 start_location = link->get_start_location(); + Vector3 end_location = link->get_end_location(); + + Ref link_material = get_material("navigation_link_material", p_gizmo); + Ref link_material_disabled = get_material("navigation_link_material_disabled", p_gizmo); + Ref handles_material = get_material("handles"); + + p_gizmo->clear(); + + // Draw line between the points. + Vector lines; + lines.append(start_location); + lines.append(end_location); + + // Draw start location search radius + for (int i = 0; i < 30; i++) { + // Create a circle + const float ra = Math::deg_to_rad((float)(i * 12)); + const float rb = Math::deg_to_rad((float)((i + 1) * 12)); + const Point2 a = Vector2(Math::sin(ra), Math::cos(ra)) * search_radius; + const Point2 b = Vector2(Math::sin(rb), Math::cos(rb)) * search_radius; + + // Draw axis-aligned circle + switch (up_axis) { + case Vector3::AXIS_X: + lines.append(start_location + Vector3(0, a.x, a.y)); + lines.append(start_location + Vector3(0, b.x, b.y)); + break; + case Vector3::AXIS_Y: + lines.append(start_location + Vector3(a.x, 0, a.y)); + lines.append(start_location + Vector3(b.x, 0, b.y)); + break; + case Vector3::AXIS_Z: + lines.append(start_location + Vector3(a.x, a.y, 0)); + lines.append(start_location + Vector3(b.x, b.y, 0)); + break; + } + } + + // Draw end location search radius + for (int i = 0; i < 30; i++) { + // Create a circle + const float ra = Math::deg_to_rad((float)(i * 12)); + const float rb = Math::deg_to_rad((float)((i + 1) * 12)); + const Point2 a = Vector2(Math::sin(ra), Math::cos(ra)) * search_radius; + const Point2 b = Vector2(Math::sin(rb), Math::cos(rb)) * search_radius; + + // Draw axis-aligned circle + switch (up_axis) { + case Vector3::AXIS_X: + lines.append(end_location + Vector3(0, a.x, a.y)); + lines.append(end_location + Vector3(0, b.x, b.y)); + break; + case Vector3::AXIS_Y: + lines.append(end_location + Vector3(a.x, 0, a.y)); + lines.append(end_location + Vector3(b.x, 0, b.y)); + break; + case Vector3::AXIS_Z: + lines.append(end_location + Vector3(a.x, a.y, 0)); + lines.append(end_location + Vector3(b.x, b.y, 0)); + break; + } + } + + p_gizmo->add_lines(lines, link->is_enabled() ? link_material : link_material_disabled); + p_gizmo->add_collision_segments(lines); + + Vector handles; + handles.append(start_location); + handles.append(end_location); + p_gizmo->add_handles(handles, handles_material); +} + +String NavigationLink3DGizmoPlugin::get_handle_name(const EditorNode3DGizmo *p_gizmo, int p_id, bool p_secondary) const { + return p_id == 0 ? TTR("Start Location") : TTR("End Location"); +} + +Variant NavigationLink3DGizmoPlugin::get_handle_value(const EditorNode3DGizmo *p_gizmo, int p_id, bool p_secondary) const { + NavigationLink3D *link = Object::cast_to(p_gizmo->get_spatial_node()); + return p_id == 0 ? link->get_start_location() : link->get_end_location(); +} + +void NavigationLink3DGizmoPlugin::set_handle(const EditorNode3DGizmo *p_gizmo, int p_id, bool p_secondary, Camera3D *p_camera, const Point2 &p_point) { + NavigationLink3D *link = Object::cast_to(p_gizmo->get_spatial_node()); + + Transform3D gt = link->get_global_transform(); + Transform3D gi = gt.affine_inverse(); + + Transform3D ct = p_camera->get_global_transform(); + Vector3 cam_dir = ct.basis.get_column(Vector3::AXIS_Z); + + Vector3 ray_from = p_camera->project_ray_origin(p_point); + Vector3 ray_dir = p_camera->project_ray_normal(p_point); + + Vector3 location = p_id == 0 ? link->get_start_location() : link->get_end_location(); + Plane move_plane = Plane(cam_dir, gt.xform(location)); + + Vector3 intersection; + if (!move_plane.intersects_ray(ray_from, ray_dir, &intersection)) { + return; + } + + if (Node3DEditor::get_singleton()->is_snap_enabled()) { + double snap = Node3DEditor::get_singleton()->get_translate_snap(); + intersection.snap(Vector3(snap, snap, snap)); + } + + location = gi.xform(intersection); + if (p_id == 0) { + link->set_start_location(location); + } else if (p_id == 1) { + link->set_end_location(location); + } +} + +void NavigationLink3DGizmoPlugin::commit_handle(const EditorNode3DGizmo *p_gizmo, int p_id, bool p_secondary, const Variant &p_restore, bool p_cancel) { + NavigationLink3D *link = Object::cast_to(p_gizmo->get_spatial_node()); + + if (p_cancel) { + if (p_id == 0) { + link->set_start_location(p_restore); + } else { + link->set_end_location(p_restore); + } + return; + } + + Ref &ur = EditorNode::get_undo_redo(); + if (p_id == 0) { + ur->create_action(TTR("Change Start Location")); + ur->add_do_method(link, "set_start_location", link->get_start_location()); + ur->add_undo_method(link, "set_start_location", p_restore); + } else { + ur->create_action(TTR("Change End Location")); + ur->add_do_method(link, "set_end_location", link->get_end_location()); + ur->add_undo_method(link, "set_end_location", p_restore); + } + + ur->commit_action(); +} + ////// #define BODY_A_RADIUS 0.25 diff --git a/editor/plugins/node_3d_editor_gizmos.h b/editor/plugins/node_3d_editor_gizmos.h index 1b6485ac4ee..5924f8571a3 100644 --- a/editor/plugins/node_3d_editor_gizmos.h +++ b/editor/plugins/node_3d_editor_gizmos.h @@ -631,6 +631,23 @@ public: NavigationRegion3DGizmoPlugin(); }; +class NavigationLink3DGizmoPlugin : public EditorNode3DGizmoPlugin { + GDCLASS(NavigationLink3DGizmoPlugin, EditorNode3DGizmoPlugin); + +public: + bool has_gizmo(Node3D *p_spatial) override; + String get_gizmo_name() const override; + int get_priority() const override; + void redraw(EditorNode3DGizmo *p_gizmo) override; + + String get_handle_name(const EditorNode3DGizmo *p_gizmo, int p_id, bool p_secondary) const override; + Variant get_handle_value(const EditorNode3DGizmo *p_gizmo, int p_id, bool p_secondary) const override; + void set_handle(const EditorNode3DGizmo *p_gizmo, int p_id, bool p_secondary, Camera3D *p_camera, const Point2 &p_point) override; + void commit_handle(const EditorNode3DGizmo *p_gizmo, int p_id, bool p_secondary, const Variant &p_restore, bool p_cancel = false) override; + + NavigationLink3DGizmoPlugin(); +}; + class JointGizmosDrawer { public: static Basis look_body(const Transform3D &p_joint_transform, const Transform3D &p_body_transform); diff --git a/editor/plugins/node_3d_editor_plugin.cpp b/editor/plugins/node_3d_editor_plugin.cpp index 1a704a5777d..0bb044e6799 100644 --- a/editor/plugins/node_3d_editor_plugin.cpp +++ b/editor/plugins/node_3d_editor_plugin.cpp @@ -7523,6 +7523,7 @@ void Node3DEditor::_register_all_gizmos() { add_gizmo_plugin(Ref(memnew(CollisionObject3DGizmoPlugin))); add_gizmo_plugin(Ref(memnew(CollisionShape3DGizmoPlugin))); add_gizmo_plugin(Ref(memnew(CollisionPolygon3DGizmoPlugin))); + add_gizmo_plugin(Ref(memnew(NavigationLink3DGizmoPlugin))); add_gizmo_plugin(Ref(memnew(NavigationRegion3DGizmoPlugin))); add_gizmo_plugin(Ref(memnew(Joint3DGizmoPlugin))); add_gizmo_plugin(Ref(memnew(PhysicalBone3DGizmoPlugin))); diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp index 4191e46f624..9e5d666a518 100644 --- a/modules/navigation/godot_navigation_server.cpp +++ b/modules/navigation/godot_navigation_server.cpp @@ -210,6 +210,20 @@ real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const { return map->get_edge_connection_margin(); } +COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius) { + NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND(map == nullptr); + + map->set_link_connection_radius(p_connection_radius); +} + +real_t GodotNavigationServer::map_get_link_connection_radius(RID p_map) const { + const NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND_V(map == nullptr, 0); + + return map->get_link_connection_radius(); +} + Vector GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const { const NavMap *map = map_owner.get_or_null(p_map); ERR_FAIL_COND_V(map == nullptr, Vector()); @@ -245,6 +259,20 @@ RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 return map->get_closest_point_owner(p_point); } +TypedArray GodotNavigationServer::map_get_links(RID p_map) const { + TypedArray link_rids; + const NavMap *map = map_owner.get_or_null(p_map); + ERR_FAIL_COND_V(map == nullptr, link_rids); + + const LocalVector links = map->get_links(); + link_rids.resize(links.size()); + + for (uint32_t i = 0; i < links.size(); i++) { + link_rids[i] = links[i]->get_self(); + } + return link_rids; +} + TypedArray GodotNavigationServer::map_get_regions(RID p_map) const { TypedArray regions_rids; const NavMap *map = map_owner.get_or_null(p_map); @@ -417,6 +445,131 @@ Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, i return region->get_connection_pathway_end(p_connection_id); } +RID GodotNavigationServer::link_create() const { + GodotNavigationServer *mut_this = const_cast(this); + MutexLock lock(mut_this->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_location, RID, p_link, Vector3, p_location) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_start_location(p_location); +} + +Vector3 GodotNavigationServer::link_get_start_location(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_location(); +} + +COMMAND_2(link_set_end_location, RID, p_link, Vector3, p_location) { + NavLink *link = link_owner.get_or_null(p_link); + ERR_FAIL_COND(link == nullptr); + + link->set_end_location(p_location); +} + +Vector3 GodotNavigationServer::link_get_end_location(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_location(); +} + +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(); +} + RID GodotNavigationServer::agent_create() const { GodotNavigationServer *mut_this = const_cast(this); MutexLock lock(mut_this->operations_mutex); @@ -549,6 +702,13 @@ COMMAND_1(free, RID, p_object) { regions[i]->set_map(nullptr); } + // Removes any assigned links + LocalVector links = map->get_links(); + for (uint32_t i = 0; i < links.size(); i++) { + map->remove_link(links[i]); + links[i]->set_map(nullptr); + } + // Remove any assigned agent LocalVector agents = map->get_agents(); for (uint32_t i = 0; i < agents.size(); i++) { @@ -572,6 +732,17 @@ COMMAND_1(free, RID, p_object) { 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)) { RvoAgent *agent = agent_owner.get_or_null(p_object); diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h index 05ba46ede1a..e6ef7e3bb12 100644 --- a/modules/navigation/godot_navigation_server.h +++ b/modules/navigation/godot_navigation_server.h @@ -36,6 +36,7 @@ #include "core/templates/rid_owner.h" #include "servers/navigation_server_3d.h" +#include "nav_link.h" #include "nav_map.h" #include "nav_region.h" #include "rvo_agent.h" @@ -71,6 +72,7 @@ class GodotNavigationServer : public NavigationServer3D { LocalVector commands; + mutable RID_Owner link_owner; mutable RID_Owner map_owner; mutable RID_Owner region_owner; mutable RID_Owner agent_owner; @@ -100,6 +102,9 @@ public: 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 override; + COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius); + virtual real_t map_get_link_connection_radius(RID p_map) const override; + virtual Vector map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const override; 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 override; @@ -107,6 +112,7 @@ public: virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const override; virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const override; + virtual TypedArray map_get_links(RID p_map) const override; virtual TypedArray map_get_regions(RID p_map) const override; virtual TypedArray map_get_agents(RID p_map) const override; @@ -132,6 +138,22 @@ public: virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override; virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override; + virtual RID link_create() const override; + COMMAND_2(link_set_map, RID, p_link, RID, p_map); + virtual RID link_get_map(RID p_link) const override; + COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional); + virtual bool link_is_bidirectional(RID p_link) const override; + COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers); + virtual uint32_t link_get_navigation_layers(RID p_link) const override; + COMMAND_2(link_set_start_location, RID, p_link, Vector3, p_location); + virtual Vector3 link_get_start_location(RID p_link) const override; + COMMAND_2(link_set_end_location, RID, p_link, Vector3, p_location); + virtual Vector3 link_get_end_location(RID p_link) const override; + COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost); + virtual real_t link_get_enter_cost(RID p_link) const override; + COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost); + virtual real_t link_get_travel_cost(RID p_link) const override; + virtual RID agent_create() const override; COMMAND_2(agent_set_map, RID, p_agent, RID, p_map); virtual RID agent_get_map(RID p_agent) const override; diff --git a/modules/navigation/nav_base.h b/modules/navigation/nav_base.h new file mode 100644 index 00000000000..6dfaaf9af44 --- /dev/null +++ b/modules/navigation/nav_base.h @@ -0,0 +1,56 @@ +/*************************************************************************/ +/* nav_base.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* 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 NAV_BASE_H +#define NAV_BASE_H + +#include "nav_rid.h" +#include "nav_utils.h" + +class NavMap; + +class NavBase : public NavRid { +protected: + uint32_t navigation_layers = 1; + float enter_cost = 0.0; + float travel_cost = 1.0; + +public: + void set_navigation_layers(uint32_t p_navigation_layers) { navigation_layers = p_navigation_layers; } + uint32_t get_navigation_layers() const { return navigation_layers; } + + void set_enter_cost(float p_enter_cost) { enter_cost = MAX(p_enter_cost, 0.0); } + float get_enter_cost() const { return enter_cost; } + + void set_travel_cost(float p_travel_cost) { travel_cost = MAX(p_travel_cost, 0.0); } + float get_travel_cost() const { return travel_cost; } +}; + +#endif // NAV_BASE_H diff --git a/modules/navigation/nav_link.cpp b/modules/navigation/nav_link.cpp new file mode 100644 index 00000000000..828b131ec65 --- /dev/null +++ b/modules/navigation/nav_link.cpp @@ -0,0 +1,60 @@ +/*************************************************************************/ +/* nav_link.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* 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_link.h" + +#include "nav_map.h" + +void NavLink::set_map(NavMap *p_map) { + map = p_map; + link_dirty = true; +} + +void NavLink::set_bidirectional(bool p_bidirectional) { + bidirectional = p_bidirectional; + link_dirty = true; +} + +void NavLink::set_start_location(const Vector3 p_location) { + start_location = p_location; + link_dirty = true; +} + +void NavLink::set_end_location(const Vector3 p_location) { + end_location = p_location; + link_dirty = true; +} + +bool NavLink::check_dirty() { + const bool was_dirty = link_dirty; + + link_dirty = false; + return was_dirty; +} diff --git a/modules/navigation/nav_link.h b/modules/navigation/nav_link.h new file mode 100644 index 00000000000..8d57f076c03 --- /dev/null +++ b/modules/navigation/nav_link.h @@ -0,0 +1,69 @@ +/*************************************************************************/ +/* nav_link.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* 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 NAV_LINK_H +#define NAV_LINK_H + +#include "nav_base.h" +#include "nav_utils.h" + +class NavLink : public NavBase { + NavMap *map = nullptr; + bool bidirectional = true; + Vector3 start_location = Vector3(); + Vector3 end_location = Vector3(); + + bool link_dirty = true; + +public: + void set_map(NavMap *p_map); + NavMap *get_map() const { + return map; + } + + void set_bidirectional(bool p_bidirectional); + bool is_bidirectional() const { + return bidirectional; + } + + void set_start_location(Vector3 p_location); + Vector3 get_start_location() const { + return start_location; + } + + void set_end_location(Vector3 p_location); + Vector3 get_end_location() const { + return end_location; + } + + bool check_dirty(); +}; + +#endif // NAV_LINK_H diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index 49029b55139..100db9bc824 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -31,6 +31,7 @@ #include "nav_map.h" #include "core/object/worker_thread_pool.h" +#include "nav_link.h" #include "nav_region.h" #include "rvo_agent.h" #include @@ -52,6 +53,11 @@ void NavMap::set_edge_connection_margin(float p_edge_connection_margin) { regenerate_links = true; } +void NavMap::set_link_connection_radius(float p_link_connection_radius) { + link_connection_radius = p_link_connection_radius; + regenerate_links = true; +} + gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const { const int x = int(Math::floor(p_pos.x / cell_size)); const int y = int(Math::floor(p_pos.y / cell_size)); @@ -158,17 +164,17 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p continue; } - float region_enter_cost = 0.0; - float region_travel_cost = least_cost_poly->poly->owner->get_travel_cost(); + float poly_enter_cost = 0.0; + float poly_travel_cost = least_cost_poly->poly->owner->get_travel_cost(); - if (prev_least_cost_poly != nullptr && !(prev_least_cost_poly->poly->owner->get_self() == least_cost_poly->poly->owner->get_self())) { - region_enter_cost = least_cost_poly->poly->owner->get_enter_cost(); + if (prev_least_cost_poly != nullptr && (prev_least_cost_poly->poly->owner->get_self() != least_cost_poly->poly->owner->get_self())) { + poly_enter_cost = least_cost_poly->poly->owner->get_enter_cost(); } prev_least_cost_poly = least_cost_poly; Vector3 pathway[2] = { connection.pathway_start, connection.pathway_end }; const Vector3 new_entry = Geometry3D::get_closest_point_to_segment(least_cost_poly->entry, pathway); - const float new_distance = (least_cost_poly->entry.distance_to(new_entry) * region_travel_cost) + region_enter_cost + least_cost_poly->traveled_distance; + const float new_distance = (least_cost_poly->entry.distance_to(new_entry) * poly_travel_cost) + poly_enter_cost + least_cost_poly->traveled_distance; int64_t already_visited_polygon_index = navigation_polys.find(gd::NavigationPoly(connection.polygon)); @@ -360,10 +366,15 @@ Vector NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p // Add mid points int np_id = least_cost_id; while (np_id != -1 && navigation_polys[np_id].back_navigation_poly_id != -1) { - int prev = navigation_polys[np_id].back_navigation_edge; - int prev_n = (navigation_polys[np_id].back_navigation_edge + 1) % navigation_polys[np_id].poly->points.size(); - Vector3 point = (navigation_polys[np_id].poly->points[prev].pos + navigation_polys[np_id].poly->points[prev_n].pos) * 0.5; - path.push_back(point); + if (navigation_polys[np_id].back_navigation_edge != -1) { + int prev = navigation_polys[np_id].back_navigation_edge; + int prev_n = (navigation_polys[np_id].back_navigation_edge + 1) % navigation_polys[np_id].poly->points.size(); + Vector3 point = (navigation_polys[np_id].poly->points[prev].pos + navigation_polys[np_id].poly->points[prev_n].pos) * 0.5; + path.push_back(point); + } else { + path.push_back(navigation_polys[np_id].entry); + } + np_id = navigation_polys[np_id].back_navigation_poly_id; } @@ -475,6 +486,19 @@ void NavMap::remove_region(NavRegion *p_region) { } } +void NavMap::add_link(NavLink *p_link) { + links.push_back(p_link); + regenerate_links = true; +} + +void NavMap::remove_link(NavLink *p_link) { + int64_t link_index = links.find(p_link); + if (link_index != -1) { + links.remove_at_unordered(link_index); + regenerate_links = true; + } +} + bool NavMap::has_agent(RvoAgent *agent) const { return (agents.find(agent) != -1); } @@ -526,6 +550,12 @@ void NavMap::sync() { } } + for (uint32_t l = 0; l < links.size(); l++) { + if (links[l]->check_dirty()) { + regenerate_links = true; + } + } + if (regenerate_links) { // Remove regions connections. for (uint32_t r = 0; r < regions.size(); r++) { @@ -651,7 +681,121 @@ void NavMap::sync() { free_edge.polygon->edges[free_edge.edge].connections.push_back(new_connection); // Add the connection to the region_connection map. - free_edge.polygon->owner->get_connections().push_back(new_connection); + ((NavRegion *)free_edge.polygon->owner)->get_connections().push_back(new_connection); + } + } + + uint32_t link_poly_idx = 0; + link_polygons.resize(links.size()); + + // Search for polygons within range of a nav link. + for (uint32_t l = 0; l < links.size(); l++) { + const NavLink *link = links[l]; + const Vector3 start = link->get_start_location(); + const Vector3 end = link->get_end_location(); + + gd::Polygon *closest_start_polygon = nullptr; + real_t closest_start_distance = link_connection_radius; + Vector3 closest_start_point; + + gd::Polygon *closest_end_polygon = nullptr; + real_t closest_end_distance = link_connection_radius; + Vector3 closest_end_point; + + // Create link to any polygons within the search radius of the start point. + for (uint32_t start_index = 0; start_index < polygons.size(); start_index++) { + gd::Polygon &start_poly = polygons[start_index]; + + // For each face check the distance to the start + for (uint32_t start_point_id = 2; start_point_id < start_poly.points.size(); start_point_id += 1) { + const Face3 start_face(start_poly.points[0].pos, start_poly.points[start_point_id - 1].pos, start_poly.points[start_point_id].pos); + const Vector3 start_point = start_face.get_closest_point_to(start); + const real_t start_distance = start_point.distance_to(start); + + // Pick the polygon that is within our radius and is closer than anything we've seen yet. + if (start_distance <= link_connection_radius && start_distance < closest_start_distance) { + closest_start_distance = start_distance; + closest_start_point = start_point; + closest_start_polygon = &start_poly; + } + } + } + + // Find any polygons within the search radius of the end point. + for (uint32_t end_index = 0; end_index < polygons.size(); end_index++) { + gd::Polygon &end_poly = polygons[end_index]; + + // For each face check the distance to the end + for (uint32_t end_point_id = 2; end_point_id < end_poly.points.size(); end_point_id += 1) { + const Face3 end_face(end_poly.points[0].pos, end_poly.points[end_point_id - 1].pos, end_poly.points[end_point_id].pos); + const Vector3 end_point = end_face.get_closest_point_to(end); + const real_t end_distance = end_point.distance_to(end); + + // Pick the polygon that is within our radius and is closer than anything we've seen yet. + if (end_distance <= link_connection_radius && end_distance < closest_end_distance) { + closest_end_distance = end_distance; + closest_end_point = end_point; + closest_end_polygon = &end_poly; + } + } + } + + // If we have both a start and end point, then create a synthetic polygon to route through. + if (closest_start_polygon && closest_end_polygon) { + gd::Polygon &new_polygon = link_polygons[link_poly_idx++]; + new_polygon.owner = link; + + new_polygon.edges.clear(); + new_polygon.edges.resize(4); + new_polygon.points.clear(); + new_polygon.points.reserve(4); + + // Build a set of vertices that create a thin polygon going from the start to the end point. + new_polygon.points.push_back({ closest_start_point, get_point_key(closest_start_point) }); + new_polygon.points.push_back({ closest_start_point, get_point_key(closest_start_point) }); + new_polygon.points.push_back({ closest_end_point, get_point_key(closest_end_point) }); + new_polygon.points.push_back({ closest_end_point, get_point_key(closest_end_point) }); + + Vector3 center; + for (int p = 0; p < 4; ++p) { + center += new_polygon.points[p].pos; + } + new_polygon.center = center / real_t(new_polygon.points.size()); + new_polygon.clockwise = true; + + // Setup connections to go forward in the link. + { + gd::Edge::Connection entry_connection; + entry_connection.polygon = &new_polygon; + entry_connection.edge = -1; + entry_connection.pathway_start = new_polygon.points[0].pos; + entry_connection.pathway_end = new_polygon.points[1].pos; + closest_start_polygon->edges[0].connections.push_back(entry_connection); + + gd::Edge::Connection exit_connection; + exit_connection.polygon = closest_end_polygon; + exit_connection.edge = -1; + exit_connection.pathway_start = new_polygon.points[2].pos; + exit_connection.pathway_end = new_polygon.points[3].pos; + new_polygon.edges[2].connections.push_back(exit_connection); + } + + // If the link is bi-directional, create connections from the end to the start. + if (link->is_bidirectional()) { + gd::Edge::Connection entry_connection; + entry_connection.polygon = &new_polygon; + entry_connection.edge = -1; + entry_connection.pathway_start = new_polygon.points[2].pos; + entry_connection.pathway_end = new_polygon.points[3].pos; + closest_end_polygon->edges[0].connections.push_back(entry_connection); + + gd::Edge::Connection exit_connection; + exit_connection.polygon = closest_start_polygon; + exit_connection.edge = -1; + exit_connection.pathway_start = new_polygon.points[0].pos; + exit_connection.pathway_end = new_polygon.points[1].pos; + new_polygon.edges[0].connections.push_back(exit_connection); + } } } diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h index e50a1afbe94..a3da9fa7277 100644 --- a/modules/navigation/nav_map.h +++ b/modules/navigation/nav_map.h @@ -40,9 +40,9 @@ #include +class NavLink; class NavRegion; class RvoAgent; -class NavRegion; class NavMap : public NavRid { /// Map Up @@ -55,11 +55,19 @@ class NavMap : public NavRid { /// This value is used to detect the near edges to connect. real_t edge_connection_margin = 0.25; + /// This value is used to limit how far links search to find polygons to connect to. + real_t link_connection_radius = 1.0; + bool regenerate_polygons = true; bool regenerate_links = true; + /// Map regions LocalVector regions; + /// Map links + LocalVector links; + LocalVector link_polygons; + /// Map polygons LocalVector polygons; @@ -100,6 +108,11 @@ public: return edge_connection_margin; } + void set_link_connection_radius(float p_link_connection_radius); + float get_link_connection_radius() const { + return link_connection_radius; + } + gd::PointKey get_point_key(const Vector3 &p_pos) const; Vector get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const; @@ -115,6 +128,12 @@ public: return regions; } + void add_link(NavLink *p_link); + void remove_link(NavLink *p_link); + const LocalVector &get_links() const { + return links; + } + bool has_agent(RvoAgent *agent) const; void add_agent(RvoAgent *agent); void remove_agent(RvoAgent *agent); diff --git a/modules/navigation/nav_region.cpp b/modules/navigation/nav_region.cpp index 88740807eb4..d43f53d1c0d 100644 --- a/modules/navigation/nav_region.cpp +++ b/modules/navigation/nav_region.cpp @@ -40,14 +40,6 @@ void NavRegion::set_map(NavMap *p_map) { } } -void NavRegion::set_navigation_layers(uint32_t p_navigation_layers) { - navigation_layers = p_navigation_layers; -} - -uint32_t NavRegion::get_navigation_layers() const { - return navigation_layers; -} - void NavRegion::set_transform(Transform3D p_transform) { transform = p_transform; polygons_dirty = true; diff --git a/modules/navigation/nav_region.h b/modules/navigation/nav_region.h index c9d2d80f6ce..8d2b5aa9eb1 100644 --- a/modules/navigation/nav_region.h +++ b/modules/navigation/nav_region.h @@ -33,21 +33,13 @@ #include "scene/resources/navigation_mesh.h" -#include "nav_rid.h" +#include "nav_base.h" #include "nav_utils.h" -#include - -class NavMap; -class NavRegion; - -class NavRegion : public NavRid { +class NavRegion : public NavBase { NavMap *map = nullptr; Transform3D transform; Ref mesh; - uint32_t navigation_layers = 1; - float enter_cost = 0.0; - float travel_cost = 1.0; Vector connections; bool polygons_dirty = true; @@ -67,15 +59,6 @@ public: return map; } - void set_enter_cost(float p_enter_cost) { enter_cost = MAX(p_enter_cost, 0.0); } - float get_enter_cost() const { return enter_cost; } - - void set_travel_cost(float p_travel_cost) { travel_cost = MAX(p_travel_cost, 0.0); } - float get_travel_cost() const { return travel_cost; } - - void set_navigation_layers(uint32_t p_navigation_layers); - uint32_t get_navigation_layers() const; - void set_transform(Transform3D transform); const Transform3D &get_transform() const { return transform; diff --git a/modules/navigation/nav_utils.h b/modules/navigation/nav_utils.h index 47f04b6a75f..16b96dcfe9f 100644 --- a/modules/navigation/nav_utils.h +++ b/modules/navigation/nav_utils.h @@ -35,9 +35,8 @@ #include "core/templates/hash_map.h" #include "core/templates/hashfuncs.h" #include "core/templates/local_vector.h" -#include -class NavRegion; +class NavBase; namespace gd { struct Polygon; @@ -79,26 +78,33 @@ struct Point { }; struct Edge { - /// This edge ID - int this_edge = -1; - /// The gateway in the edge, as, in some case, the whole edge might not be navigable. struct Connection { + /// Polygon that this connection leads to. Polygon *polygon = nullptr; + + /// Edge of the source polygon where this connection starts from. int edge = -1; + + /// Point on the edge where the gateway leading to the poly starts. Vector3 pathway_start; + + /// Point on the edge where the gateway leading to the poly ends. Vector3 pathway_end; }; + + /// Connections from this edge to other polygons. Vector connections; }; struct Polygon { - NavRegion *owner = nullptr; + /// Navigation region or link that contains this polygon. + const NavBase *owner = nullptr; /// The points of this `Polygon` LocalVector points; - /// Are the points clockwise ? + /// Are the points clockwise? bool clockwise; /// The edges of this `Polygon` @@ -115,7 +121,7 @@ struct NavigationPoly { /// Those 4 variables are used to travel the path backwards. int back_navigation_poly_id = -1; - uint32_t back_navigation_edge = UINT32_MAX; + int back_navigation_edge = -1; Vector3 back_navigation_edge_pathway_start; Vector3 back_navigation_edge_pathway_end; diff --git a/scene/2d/navigation_link_2d.cpp b/scene/2d/navigation_link_2d.cpp new file mode 100644 index 00000000000..d1aeea3efaa --- /dev/null +++ b/scene/2d/navigation_link_2d.cpp @@ -0,0 +1,284 @@ +/*************************************************************************/ +/* navigation_link_2d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* 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_link_2d.h" + +#include "core/math/geometry_2d.h" +#include "scene/resources/world_2d.h" +#include "servers/navigation_server_2d.h" +#include "servers/navigation_server_3d.h" + +void NavigationLink2D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationLink2D::set_enabled); + ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationLink2D::is_enabled); + + ClassDB::bind_method(D_METHOD("set_bidirectional", "bidirectional"), &NavigationLink2D::set_bidirectional); + ClassDB::bind_method(D_METHOD("is_bidirectional"), &NavigationLink2D::is_bidirectional); + + ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationLink2D::set_navigation_layers); + ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationLink2D::get_navigation_layers); + + ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationLink2D::set_navigation_layer_value); + ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationLink2D::get_navigation_layer_value); + + ClassDB::bind_method(D_METHOD("set_start_location", "location"), &NavigationLink2D::set_start_location); + ClassDB::bind_method(D_METHOD("get_start_location"), &NavigationLink2D::get_start_location); + + ClassDB::bind_method(D_METHOD("set_end_location", "location"), &NavigationLink2D::set_end_location); + ClassDB::bind_method(D_METHOD("get_end_location"), &NavigationLink2D::get_end_location); + + ClassDB::bind_method(D_METHOD("set_enter_cost", "enter_cost"), &NavigationLink2D::set_enter_cost); + ClassDB::bind_method(D_METHOD("get_enter_cost"), &NavigationLink2D::get_enter_cost); + + ClassDB::bind_method(D_METHOD("set_travel_cost", "travel_cost"), &NavigationLink2D::set_travel_cost); + ClassDB::bind_method(D_METHOD("get_travel_cost"), &NavigationLink2D::get_travel_cost); + + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "bidirectional"), "set_bidirectional", "is_bidirectional"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "start_location"), "set_start_location", "get_start_location"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "end_location"), "set_end_location", "get_end_location"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "enter_cost"), "set_enter_cost", "get_enter_cost"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "travel_cost"), "set_travel_cost", "get_travel_cost"); +} + +void NavigationLink2D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + if (enabled) { + NavigationServer2D::get_singleton()->link_set_map(link, get_world_2d()->get_navigation_map()); + + // Update global positions for the link. + Transform2D gt = get_global_transform(); + NavigationServer2D::get_singleton()->link_set_start_location(link, gt.xform(start_location)); + NavigationServer2D::get_singleton()->link_set_end_location(link, gt.xform(end_location)); + } + } break; + case NOTIFICATION_TRANSFORM_CHANGED: { + // Update global positions for the link. + Transform2D gt = get_global_transform(); + NavigationServer2D::get_singleton()->link_set_start_location(link, gt.xform(start_location)); + NavigationServer2D::get_singleton()->link_set_end_location(link, gt.xform(end_location)); + } break; + case NOTIFICATION_EXIT_TREE: { + NavigationServer2D::get_singleton()->link_set_map(link, RID()); + } break; + case NOTIFICATION_DRAW: { +#ifdef DEBUG_ENABLED + if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || NavigationServer2D::get_singleton()->get_debug_enabled())) { + Color color; + if (enabled) { + color = NavigationServer2D::get_singleton()->get_debug_navigation_link_connection_color(); + } else { + color = NavigationServer2D::get_singleton()->get_debug_navigation_link_connection_disabled_color(); + } + + real_t radius = NavigationServer2D::get_singleton()->map_get_link_connection_radius(get_world_2d()->get_navigation_map()); + + draw_line(get_start_location(), get_end_location(), color); + draw_arc(get_start_location(), radius, 0, Math_TAU, 10, color); + draw_arc(get_end_location(), radius, 0, Math_TAU, 10, color); + } +#endif // DEBUG_ENABLED + } break; + } +} + +#ifdef TOOLS_ENABLED +Rect2 NavigationLink2D::_edit_get_rect() const { + real_t radius = NavigationServer2D::get_singleton()->map_get_link_connection_radius(get_world_2d()->get_navigation_map()); + + Rect2 rect(get_start_location(), Size2()); + rect.expand_to(get_end_location()); + rect.grow_by(radius); + return rect; +} + +bool NavigationLink2D::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const { + Point2 segment[2] = { get_start_location(), get_end_location() }; + + Vector2 closest_point = Geometry2D::get_closest_point_to_segment(p_point, segment); + return p_point.distance_to(closest_point) < p_tolerance; +} +#endif // TOOLS_ENABLED + +void NavigationLink2D::set_enabled(bool p_enabled) { + if (enabled == p_enabled) { + return; + } + + enabled = p_enabled; + + if (!is_inside_tree()) { + return; + } + + if (!enabled) { + NavigationServer2D::get_singleton()->link_set_map(link, RID()); + } else { + NavigationServer2D::get_singleton()->link_set_map(link, get_world_2d()->get_navigation_map()); + } + +#ifdef DEBUG_ENABLED + if (Engine::get_singleton()->is_editor_hint() || NavigationServer2D::get_singleton()->get_debug_enabled()) { + update(); + } +#endif // DEBUG_ENABLED +} + +void NavigationLink2D::set_bidirectional(bool p_bidirectional) { + if (bidirectional == p_bidirectional) { + return; + } + + bidirectional = p_bidirectional; + + NavigationServer2D::get_singleton()->link_set_bidirectional(link, bidirectional); +} + +void NavigationLink2D::set_navigation_layers(uint32_t p_navigation_layers) { + if (navigation_layers == p_navigation_layers) { + return; + } + + navigation_layers = p_navigation_layers; + + NavigationServer2D::get_singleton()->link_set_navigation_layers(link, navigation_layers); +} + +void NavigationLink2D::set_navigation_layer_value(int p_layer_number, bool p_value) { + ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive."); + ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive."); + + uint32_t _navigation_layers = get_navigation_layers(); + + if (p_value) { + _navigation_layers |= 1 << (p_layer_number - 1); + } else { + _navigation_layers &= ~(1 << (p_layer_number - 1)); + } + + set_navigation_layers(_navigation_layers); +} + +bool NavigationLink2D::get_navigation_layer_value(int p_layer_number) const { + ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive."); + ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive."); + + return get_navigation_layers() & (1 << (p_layer_number - 1)); +} + +void NavigationLink2D::set_start_location(Vector2 p_location) { + if (start_location.is_equal_approx(p_location)) { + return; + } + + start_location = p_location; + + if (!is_inside_tree()) { + return; + } + + Transform2D gt = get_global_transform(); + NavigationServer2D::get_singleton()->link_set_start_location(link, gt.xform(start_location)); + + update_configuration_warnings(); + +#ifdef DEBUG_ENABLED + if (Engine::get_singleton()->is_editor_hint() || NavigationServer2D::get_singleton()->get_debug_enabled()) { + update(); + } +#endif // DEBUG_ENABLED +} + +void NavigationLink2D::set_end_location(Vector2 p_location) { + if (end_location.is_equal_approx(p_location)) { + return; + } + + end_location = p_location; + + if (!is_inside_tree()) { + return; + } + + Transform2D gt = get_global_transform(); + NavigationServer2D::get_singleton()->link_set_end_location(link, gt.xform(end_location)); + + update_configuration_warnings(); + +#ifdef DEBUG_ENABLED + if (Engine::get_singleton()->is_editor_hint() || NavigationServer2D::get_singleton()->get_debug_enabled()) { + update(); + } +#endif // DEBUG_ENABLED +} + +void NavigationLink2D::set_enter_cost(real_t p_enter_cost) { + ERR_FAIL_COND_MSG(p_enter_cost < 0.0, "The enter_cost must be positive."); + if (Math::is_equal_approx(enter_cost, p_enter_cost)) { + return; + } + + enter_cost = p_enter_cost; + + NavigationServer2D::get_singleton()->link_set_enter_cost(link, enter_cost); +} + +void NavigationLink2D::set_travel_cost(real_t p_travel_cost) { + ERR_FAIL_COND_MSG(p_travel_cost < 0.0, "The travel_cost must be positive."); + if (Math::is_equal_approx(travel_cost, p_travel_cost)) { + return; + } + + travel_cost = p_travel_cost; + + NavigationServer2D::get_singleton()->link_set_travel_cost(link, travel_cost); +} + +TypedArray NavigationLink2D::get_configuration_warnings() const { + TypedArray warnings = Node::get_configuration_warnings(); + + if (start_location.is_equal_approx(end_location)) { + warnings.push_back(RTR("NavigationLink2D start location should be different than the end location to be useful.")); + } + + return warnings; +} + +NavigationLink2D::NavigationLink2D() { + link = NavigationServer2D::get_singleton()->link_create(); + set_notify_transform(true); +} + +NavigationLink2D::~NavigationLink2D() { + NavigationServer2D::get_singleton()->free(link); + link = RID(); +} diff --git a/scene/2d/navigation_link_2d.h b/scene/2d/navigation_link_2d.h new file mode 100644 index 00000000000..5990ea082cb --- /dev/null +++ b/scene/2d/navigation_link_2d.h @@ -0,0 +1,88 @@ +/*************************************************************************/ +/* navigation_link_2d.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* 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 NAVIGATION_LINK_2D_H +#define NAVIGATION_LINK_2D_H + +#include "scene/2d/node_2d.h" + +class NavigationLink2D : public Node2D { + GDCLASS(NavigationLink2D, Node2D); + + bool enabled = true; + RID link = RID(); + bool bidirectional = true; + uint32_t navigation_layers = 1; + Vector2 end_location = Vector2(); + Vector2 start_location = Vector2(); + real_t enter_cost = 0.0; + real_t travel_cost = 1.0; + +protected: + static void _bind_methods(); + void _notification(int p_what); + +public: +#ifdef TOOLS_ENABLED + virtual Rect2 _edit_get_rect() const override; + virtual bool _edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const override; +#endif + + void set_enabled(bool p_enabled); + bool is_enabled() const { return enabled; } + + void set_bidirectional(bool p_bidirectional); + bool is_bidirectional() const { return bidirectional; } + + void set_navigation_layers(uint32_t p_navigation_layers); + uint32_t get_navigation_layers() const { return navigation_layers; } + + void set_navigation_layer_value(int p_layer_number, bool p_value); + bool get_navigation_layer_value(int p_layer_number) const; + + void set_start_location(Vector2 p_location); + Vector2 get_start_location() const { return start_location; } + + void set_end_location(Vector2 p_location); + Vector2 get_end_location() const { return end_location; } + + void set_enter_cost(real_t p_enter_cost); + real_t get_enter_cost() const { return enter_cost; } + + void set_travel_cost(real_t p_travel_cost); + real_t get_travel_cost() const { return travel_cost; } + + TypedArray get_configuration_warnings() const override; + + NavigationLink2D(); + ~NavigationLink2D(); +}; + +#endif // NAVIGATION_LINK_2D_H diff --git a/scene/3d/navigation_link_3d.cpp b/scene/3d/navigation_link_3d.cpp new file mode 100644 index 00000000000..47b602c9667 --- /dev/null +++ b/scene/3d/navigation_link_3d.cpp @@ -0,0 +1,389 @@ +/*************************************************************************/ +/* navigation_link_3d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* 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_link_3d.h" + +#include "mesh_instance_3d.h" +#include "servers/navigation_server_3d.h" + +#ifdef DEBUG_ENABLED +void NavigationLink3D::_update_debug_mesh() { + if (!is_inside_tree()) { + return; + } + + if (Engine::get_singleton()->is_editor_hint()) { + // don't update inside Editor as node 3d gizmo takes care of this + // as collisions and selections for Editor Viewport need to be updated + return; + } + + if (!NavigationServer3D::get_singleton()->get_debug_enabled()) { + if (debug_instance.is_valid()) { + RS::get_singleton()->instance_set_visible(debug_instance, false); + } + return; + } + + if (!debug_instance.is_valid()) { + debug_instance = RenderingServer::get_singleton()->instance_create(); + } + + if (!debug_mesh.is_valid()) { + debug_mesh = Ref(memnew(ArrayMesh)); + } + + RID nav_map = get_world_3d()->get_navigation_map(); + real_t search_radius = NavigationServer3D::get_singleton()->map_get_link_connection_radius(nav_map); + Vector3 up_vector = NavigationServer3D::get_singleton()->map_get_up(nav_map); + Vector3::Axis up_axis = up_vector.max_axis_index(); + + debug_mesh->clear_surfaces(); + + Vector lines; + + // Draw line between the points. + lines.push_back(start_location); + lines.push_back(end_location); + + // Draw start location search radius + for (int i = 0; i < 30; i++) { + // Create a circle + const float ra = Math::deg_to_rad((float)(i * 12)); + const float rb = Math::deg_to_rad((float)((i + 1) * 12)); + const Point2 a = Vector2(Math::sin(ra), Math::cos(ra)) * search_radius; + const Point2 b = Vector2(Math::sin(rb), Math::cos(rb)) * search_radius; + + // Draw axis-aligned circle + switch (up_axis) { + case Vector3::AXIS_X: + lines.append(start_location + Vector3(0, a.x, a.y)); + lines.append(start_location + Vector3(0, b.x, b.y)); + break; + case Vector3::AXIS_Y: + lines.append(start_location + Vector3(a.x, 0, a.y)); + lines.append(start_location + Vector3(b.x, 0, b.y)); + break; + case Vector3::AXIS_Z: + lines.append(start_location + Vector3(a.x, a.y, 0)); + lines.append(start_location + Vector3(b.x, b.y, 0)); + break; + } + } + + // Draw end location search radius + for (int i = 0; i < 30; i++) { + // Create a circle + const float ra = Math::deg_to_rad((float)(i * 12)); + const float rb = Math::deg_to_rad((float)((i + 1) * 12)); + const Point2 a = Vector2(Math::sin(ra), Math::cos(ra)) * search_radius; + const Point2 b = Vector2(Math::sin(rb), Math::cos(rb)) * search_radius; + + // Draw axis-aligned circle + switch (up_axis) { + case Vector3::AXIS_X: + lines.append(end_location + Vector3(0, a.x, a.y)); + lines.append(end_location + Vector3(0, b.x, b.y)); + break; + case Vector3::AXIS_Y: + lines.append(end_location + Vector3(a.x, 0, a.y)); + lines.append(end_location + Vector3(b.x, 0, b.y)); + break; + case Vector3::AXIS_Z: + lines.append(end_location + Vector3(a.x, a.y, 0)); + lines.append(end_location + Vector3(b.x, b.y, 0)); + break; + } + } + + Array mesh_array; + mesh_array.resize(Mesh::ARRAY_MAX); + mesh_array[Mesh::ARRAY_VERTEX] = lines; + + debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, mesh_array); + + RS::get_singleton()->instance_set_base(debug_instance, debug_mesh->get_rid()); + RS::get_singleton()->instance_set_scenario(debug_instance, get_world_3d()->get_scenario()); + RS::get_singleton()->instance_set_visible(debug_instance, is_visible_in_tree()); + + Ref link_material = NavigationServer3D::get_singleton_mut()->get_debug_navigation_link_connections_material(); + Ref disabled_link_material = NavigationServer3D::get_singleton_mut()->get_debug_navigation_link_connections_disabled_material(); + + if (enabled) { + RS::get_singleton()->instance_set_surface_override_material(debug_instance, 0, link_material->get_rid()); + } else { + RS::get_singleton()->instance_set_surface_override_material(debug_instance, 0, disabled_link_material->get_rid()); + } +} +#endif // DEBUG_ENABLED + +void NavigationLink3D::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationLink3D::set_enabled); + ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationLink3D::is_enabled); + + ClassDB::bind_method(D_METHOD("set_bidirectional", "bidirectional"), &NavigationLink3D::set_bidirectional); + ClassDB::bind_method(D_METHOD("is_bidirectional"), &NavigationLink3D::is_bidirectional); + + ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationLink3D::set_navigation_layers); + ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationLink3D::get_navigation_layers); + + ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationLink3D::set_navigation_layer_value); + ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationLink3D::get_navigation_layer_value); + + ClassDB::bind_method(D_METHOD("set_start_location", "location"), &NavigationLink3D::set_start_location); + ClassDB::bind_method(D_METHOD("get_start_location"), &NavigationLink3D::get_start_location); + + ClassDB::bind_method(D_METHOD("set_end_location", "location"), &NavigationLink3D::set_end_location); + ClassDB::bind_method(D_METHOD("get_end_location"), &NavigationLink3D::get_end_location); + + ClassDB::bind_method(D_METHOD("set_enter_cost", "enter_cost"), &NavigationLink3D::set_enter_cost); + ClassDB::bind_method(D_METHOD("get_enter_cost"), &NavigationLink3D::get_enter_cost); + + ClassDB::bind_method(D_METHOD("set_travel_cost", "travel_cost"), &NavigationLink3D::set_travel_cost); + ClassDB::bind_method(D_METHOD("get_travel_cost"), &NavigationLink3D::get_travel_cost); + + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled"); + ADD_PROPERTY(PropertyInfo(Variant::BOOL, "bidirectional"), "set_bidirectional", "is_bidirectional"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "start_location"), "set_start_location", "get_start_location"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "end_location"), "set_end_location", "get_end_location"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "enter_cost"), "set_enter_cost", "get_enter_cost"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "travel_cost"), "set_travel_cost", "get_travel_cost"); +} + +void NavigationLink3D::_notification(int p_what) { + switch (p_what) { + case NOTIFICATION_ENTER_TREE: { + if (enabled) { + NavigationServer3D::get_singleton()->link_set_map(link, get_world_3d()->get_navigation_map()); + + // Update global positions for the link. + Transform3D gt = get_global_transform(); + NavigationServer3D::get_singleton()->link_set_start_location(link, gt.xform(start_location)); + NavigationServer3D::get_singleton()->link_set_end_location(link, gt.xform(end_location)); + } + +#ifdef DEBUG_ENABLED + _update_debug_mesh(); +#endif // DEBUG_ENABLED + } break; + case NOTIFICATION_TRANSFORM_CHANGED: { + // Update global positions for the link. + Transform3D gt = get_global_transform(); + NavigationServer3D::get_singleton()->link_set_start_location(link, gt.xform(start_location)); + NavigationServer3D::get_singleton()->link_set_end_location(link, gt.xform(end_location)); + +#ifdef DEBUG_ENABLED + if (is_inside_tree() && debug_instance.is_valid()) { + RS::get_singleton()->instance_set_transform(debug_instance, get_global_transform()); + } +#endif // DEBUG_ENABLED + } break; + case NOTIFICATION_EXIT_TREE: { + NavigationServer3D::get_singleton()->link_set_map(link, RID()); + +#ifdef DEBUG_ENABLED + if (debug_instance.is_valid()) { + RS::get_singleton()->instance_set_scenario(debug_instance, RID()); + RS::get_singleton()->instance_set_visible(debug_instance, false); + } +#endif // DEBUG_ENABLED + } break; + } +} + +NavigationLink3D::NavigationLink3D() { + link = NavigationServer3D::get_singleton()->link_create(); + set_notify_transform(true); +} + +NavigationLink3D::~NavigationLink3D() { + NavigationServer3D::get_singleton()->free(link); + link = RID(); + +#ifdef DEBUG_ENABLED + if (debug_instance.is_valid()) { + RenderingServer::get_singleton()->free(debug_instance); + } + if (debug_mesh.is_valid()) { + RenderingServer::get_singleton()->free(debug_mesh->get_rid()); + } +#endif // DEBUG_ENABLED +} + +void NavigationLink3D::set_enabled(bool p_enabled) { + if (enabled == p_enabled) { + return; + } + + enabled = p_enabled; + + if (!is_inside_tree()) { + return; + } + + if (enabled) { + NavigationServer3D::get_singleton()->link_set_map(link, get_world_3d()->get_navigation_map()); + } else { + NavigationServer3D::get_singleton()->link_set_map(link, RID()); + } + +#ifdef DEBUG_ENABLED + if (debug_instance.is_valid() && debug_mesh.is_valid()) { + if (enabled) { + Ref link_material = NavigationServer3D::get_singleton_mut()->get_debug_navigation_link_connections_material(); + RS::get_singleton()->instance_set_surface_override_material(debug_instance, 0, link_material->get_rid()); + } else { + Ref disabled_link_material = NavigationServer3D::get_singleton_mut()->get_debug_navigation_link_connections_disabled_material(); + RS::get_singleton()->instance_set_surface_override_material(debug_instance, 0, disabled_link_material->get_rid()); + } + } +#endif // DEBUG_ENABLED + + update_gizmos(); +} + +void NavigationLink3D::set_bidirectional(bool p_bidirectional) { + if (bidirectional == p_bidirectional) { + return; + } + + bidirectional = p_bidirectional; + + NavigationServer3D::get_singleton()->link_set_bidirectional(link, bidirectional); +} + +void NavigationLink3D::set_navigation_layers(uint32_t p_navigation_layers) { + if (navigation_layers == p_navigation_layers) { + return; + } + + navigation_layers = p_navigation_layers; + + NavigationServer3D::get_singleton()->link_set_navigation_layers(link, navigation_layers); +} + +void NavigationLink3D::set_navigation_layer_value(int p_layer_number, bool p_value) { + ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive."); + ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive."); + + uint32_t _navigation_layers = get_navigation_layers(); + + if (p_value) { + _navigation_layers |= 1 << (p_layer_number - 1); + } else { + _navigation_layers &= ~(1 << (p_layer_number - 1)); + } + + set_navigation_layers(_navigation_layers); +} + +bool NavigationLink3D::get_navigation_layer_value(int p_layer_number) const { + ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive."); + ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive."); + + return get_navigation_layers() & (1 << (p_layer_number - 1)); +} + +void NavigationLink3D::set_start_location(Vector3 p_location) { + if (start_location.is_equal_approx(p_location)) { + return; + } + + start_location = p_location; + + if (!is_inside_tree()) { + return; + } + + Transform3D gt = get_global_transform(); + NavigationServer3D::get_singleton()->link_set_start_location(link, gt.xform(start_location)); + +#ifdef DEBUG_ENABLED + _update_debug_mesh(); +#endif // DEBUG_ENABLED + + update_gizmos(); + update_configuration_warnings(); +} + +void NavigationLink3D::set_end_location(Vector3 p_location) { + if (end_location.is_equal_approx(p_location)) { + return; + } + + end_location = p_location; + + if (!is_inside_tree()) { + return; + } + + Transform3D gt = get_global_transform(); + NavigationServer3D::get_singleton()->link_set_end_location(link, gt.xform(end_location)); + +#ifdef DEBUG_ENABLED + _update_debug_mesh(); +#endif // DEBUG_ENABLED + + update_gizmos(); + update_configuration_warnings(); +} + +void NavigationLink3D::set_enter_cost(real_t p_enter_cost) { + ERR_FAIL_COND_MSG(p_enter_cost < 0.0, "The enter_cost must be positive."); + if (Math::is_equal_approx(enter_cost, p_enter_cost)) { + return; + } + + enter_cost = p_enter_cost; + + NavigationServer3D::get_singleton()->link_set_enter_cost(link, enter_cost); +} + +void NavigationLink3D::set_travel_cost(real_t p_travel_cost) { + ERR_FAIL_COND_MSG(p_travel_cost < 0.0, "The travel_cost must be positive."); + if (Math::is_equal_approx(travel_cost, p_travel_cost)) { + return; + } + + travel_cost = p_travel_cost; + + NavigationServer3D::get_singleton()->link_set_travel_cost(link, travel_cost); +} + +TypedArray NavigationLink3D::get_configuration_warnings() const { + TypedArray warnings = Node::get_configuration_warnings(); + + if (start_location.is_equal_approx(end_location)) { + warnings.push_back(RTR("NavigationLink3D start location should be different than the end location to be useful.")); + } + + return warnings; +} diff --git a/scene/3d/navigation_link_3d.h b/scene/3d/navigation_link_3d.h new file mode 100644 index 00000000000..1f88075527b --- /dev/null +++ b/scene/3d/navigation_link_3d.h @@ -0,0 +1,90 @@ +/*************************************************************************/ +/* navigation_link_3d.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* 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 NAVIGATION_LINK_3D_H +#define NAVIGATION_LINK_3D_H + +#include "scene/3d/node_3d.h" + +class NavigationLink3D : public Node3D { + GDCLASS(NavigationLink3D, Node3D); + + bool enabled = true; + RID link = RID(); + bool bidirectional = true; + uint32_t navigation_layers = 1; + Vector3 end_location = Vector3(); + Vector3 start_location = Vector3(); + real_t enter_cost = 0.0; + real_t travel_cost = 1.0; + +#ifdef DEBUG_ENABLED + RID debug_instance; + Ref debug_mesh; + + void _update_debug_mesh(); +#endif // DEBUG_ENABLED + +protected: + static void _bind_methods(); + void _notification(int p_what); + +public: + NavigationLink3D(); + ~NavigationLink3D(); + + void set_enabled(bool p_enabled); + bool is_enabled() const { return enabled; } + + void set_bidirectional(bool p_bidirectional); + bool is_bidirectional() const { return bidirectional; } + + void set_navigation_layers(uint32_t p_navigation_layers); + uint32_t get_navigation_layers() const { return navigation_layers; } + + void set_navigation_layer_value(int p_layer_number, bool p_value); + bool get_navigation_layer_value(int p_layer_number) const; + + void set_start_location(Vector3 p_location); + Vector3 get_start_location() const { return start_location; } + + void set_end_location(Vector3 p_location); + Vector3 get_end_location() const { return end_location; } + + void set_enter_cost(real_t p_enter_cost); + real_t get_enter_cost() const { return enter_cost; } + + void set_travel_cost(real_t p_travel_cost); + real_t get_travel_cost() const { return travel_cost; } + + TypedArray get_configuration_warnings() const override; +}; + +#endif // NAVIGATION_LINK_3D_H diff --git a/scene/register_scene_types.cpp b/scene/register_scene_types.cpp index cc40d36fa37..6643fb8418a 100644 --- a/scene/register_scene_types.cpp +++ b/scene/register_scene_types.cpp @@ -54,6 +54,7 @@ #include "scene/2d/mesh_instance_2d.h" #include "scene/2d/multimesh_instance_2d.h" #include "scene/2d/navigation_agent_2d.h" +#include "scene/2d/navigation_link_2d.h" #include "scene/2d/navigation_obstacle_2d.h" #include "scene/2d/parallax_background.h" #include "scene/2d/parallax_layer.h" @@ -240,6 +241,7 @@ #include "scene/3d/mesh_instance_3d.h" #include "scene/3d/multimesh_instance_3d.h" #include "scene/3d/navigation_agent_3d.h" +#include "scene/3d/navigation_link_3d.h" #include "scene/3d/navigation_obstacle_3d.h" #include "scene/3d/navigation_region_3d.h" #include "scene/3d/node_3d.h" @@ -577,6 +579,7 @@ void register_scene_types() { GDREGISTER_CLASS(NavigationRegion3D); GDREGISTER_CLASS(NavigationAgent3D); GDREGISTER_CLASS(NavigationObstacle3D); + GDREGISTER_CLASS(NavigationLink3D); OS::get_singleton()->yield(); // may take time to init #endif // _3D_DISABLED @@ -934,6 +937,7 @@ void register_scene_types() { GDREGISTER_CLASS(NavigationRegion2D); GDREGISTER_CLASS(NavigationAgent2D); GDREGISTER_CLASS(NavigationObstacle2D); + GDREGISTER_CLASS(NavigationLink2D); OS::get_singleton()->yield(); // may take time to init diff --git a/scene/resources/world_2d.cpp b/scene/resources/world_2d.cpp index 4dfbe5f0795..75deb1e60b4 100644 --- a/scene/resources/world_2d.cpp +++ b/scene/resources/world_2d.cpp @@ -85,6 +85,7 @@ World2D::World2D() { NavigationServer2D::get_singleton()->map_set_active(navigation_map, true); NavigationServer2D::get_singleton()->map_set_cell_size(navigation_map, GLOBAL_DEF("navigation/2d/default_cell_size", 1)); NavigationServer2D::get_singleton()->map_set_edge_connection_margin(navigation_map, GLOBAL_DEF("navigation/2d/default_edge_connection_margin", 1)); + NavigationServer2D::get_singleton()->map_set_link_connection_radius(navigation_map, GLOBAL_DEF("navigation/2d/default_link_connection_radius", 4)); } World2D::~World2D() { diff --git a/scene/resources/world_3d.cpp b/scene/resources/world_3d.cpp index 945b6af614c..ae8c9a182f3 100644 --- a/scene/resources/world_3d.cpp +++ b/scene/resources/world_3d.cpp @@ -153,6 +153,7 @@ World3D::World3D() { NavigationServer3D::get_singleton()->map_set_active(navigation_map, true); NavigationServer3D::get_singleton()->map_set_cell_size(navigation_map, GLOBAL_DEF("navigation/3d/default_cell_size", 0.25)); NavigationServer3D::get_singleton()->map_set_edge_connection_margin(navigation_map, GLOBAL_DEF("navigation/3d/default_edge_connection_margin", 0.25)); + NavigationServer3D::get_singleton()->map_set_link_connection_radius(navigation_map, GLOBAL_DEF("navigation/3d/default_link_connection_radius", 1.0)); } World3D::~World3D() { diff --git a/servers/navigation_server_2d.cpp b/servers/navigation_server_2d.cpp index 0f73df88949..cec8b952255 100644 --- a/servers/navigation_server_2d.cpp +++ b/servers/navigation_server_2d.cpp @@ -53,6 +53,12 @@ NavigationServer2D *NavigationServer2D::singleton = nullptr; return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0)); \ } +#define FORWARD_1_R_C(CONV_R, FUNC_NAME, T_0, D_0, CONV_0) \ + NavigationServer2D::FUNC_NAME(T_0 D_0) \ + const { \ + return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0))); \ + } + #define FORWARD_2_C(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ NavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1) \ const { \ @@ -190,6 +196,22 @@ Color NavigationServer2D::get_debug_navigation_geometry_face_disabled_color() co return NavigationServer3D::get_singleton()->get_debug_navigation_geometry_face_disabled_color(); } +void NavigationServer2D::set_debug_navigation_link_connection_color(const Color &p_color) { + NavigationServer3D::get_singleton_mut()->set_debug_navigation_link_connection_color(p_color); +} + +Color NavigationServer2D::get_debug_navigation_link_connection_color() const { + return NavigationServer3D::get_singleton()->get_debug_navigation_link_connection_color(); +} + +void NavigationServer2D::set_debug_navigation_link_connection_disabled_color(const Color &p_color) { + NavigationServer3D::get_singleton_mut()->set_debug_navigation_link_connection_disabled_color(p_color); +} + +Color NavigationServer2D::get_debug_navigation_link_connection_disabled_color() const { + return NavigationServer3D::get_singleton()->get_debug_navigation_link_connection_disabled_color(); +} + void NavigationServer2D::set_debug_navigation_enable_edge_connections(const bool p_value) { NavigationServer3D::get_singleton_mut()->set_debug_navigation_enable_edge_connections(p_value); } @@ -209,10 +231,13 @@ void NavigationServer2D::_bind_methods() { ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer2D::map_get_cell_size); ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer2D::map_set_edge_connection_margin); ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer2D::map_get_edge_connection_margin); + ClassDB::bind_method(D_METHOD("map_set_link_connection_radius", "map", "radius"), &NavigationServer2D::map_set_link_connection_radius); + ClassDB::bind_method(D_METHOD("map_get_link_connection_radius", "map"), &NavigationServer2D::map_get_link_connection_radius); ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "navigation_layers"), &NavigationServer2D::map_get_path, DEFVAL(1)); ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer2D::map_get_closest_point); ClassDB::bind_method(D_METHOD("map_get_closest_point_owner", "map", "to_point"), &NavigationServer2D::map_get_closest_point_owner); + ClassDB::bind_method(D_METHOD("map_get_links", "map"), &NavigationServer2D::map_get_links); ClassDB::bind_method(D_METHOD("map_get_regions", "map"), &NavigationServer2D::map_get_regions); ClassDB::bind_method(D_METHOD("map_get_agents", "map"), &NavigationServer2D::map_get_agents); @@ -234,6 +259,22 @@ void NavigationServer2D::_bind_methods() { ClassDB::bind_method(D_METHOD("region_get_connection_pathway_start", "region", "connection"), &NavigationServer2D::region_get_connection_pathway_start); ClassDB::bind_method(D_METHOD("region_get_connection_pathway_end", "region", "connection"), &NavigationServer2D::region_get_connection_pathway_end); + ClassDB::bind_method(D_METHOD("link_create"), &NavigationServer2D::link_create); + ClassDB::bind_method(D_METHOD("link_set_map", "link", "map"), &NavigationServer2D::link_set_map); + ClassDB::bind_method(D_METHOD("link_get_map", "link"), &NavigationServer2D::link_get_map); + ClassDB::bind_method(D_METHOD("link_set_bidirectional", "link", "bidirectional"), &NavigationServer2D::link_set_bidirectional); + ClassDB::bind_method(D_METHOD("link_is_bidirectional", "link"), &NavigationServer2D::link_is_bidirectional); + ClassDB::bind_method(D_METHOD("link_set_navigation_layers", "link", "navigation_layers"), &NavigationServer2D::link_set_navigation_layers); + ClassDB::bind_method(D_METHOD("link_get_navigation_layers", "link"), &NavigationServer2D::link_get_navigation_layers); + ClassDB::bind_method(D_METHOD("link_set_start_location", "link", "location"), &NavigationServer2D::link_set_start_location); + ClassDB::bind_method(D_METHOD("link_get_start_location", "link"), &NavigationServer2D::link_get_start_location); + ClassDB::bind_method(D_METHOD("link_set_end_location", "link", "location"), &NavigationServer2D::link_set_end_location); + ClassDB::bind_method(D_METHOD("link_get_end_location", "link"), &NavigationServer2D::link_get_end_location); + ClassDB::bind_method(D_METHOD("link_set_enter_cost", "link", "enter_cost"), &NavigationServer2D::link_set_enter_cost); + ClassDB::bind_method(D_METHOD("link_get_enter_cost", "link"), &NavigationServer2D::link_get_enter_cost); + ClassDB::bind_method(D_METHOD("link_set_travel_cost", "link", "travel_cost"), &NavigationServer2D::link_set_travel_cost); + ClassDB::bind_method(D_METHOD("link_get_travel_cost", "link"), &NavigationServer2D::link_get_travel_cost); + ClassDB::bind_method(D_METHOD("agent_create"), &NavigationServer2D::agent_create); ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &NavigationServer2D::agent_set_map); ClassDB::bind_method(D_METHOD("agent_get_map", "agent"), &NavigationServer2D::agent_get_map); @@ -265,6 +306,8 @@ NavigationServer2D::~NavigationServer2D() { TypedArray FORWARD_0_C(get_maps); +TypedArray FORWARD_1_C(map_get_links, RID, p_map, rid_to_rid); + TypedArray FORWARD_1_C(map_get_regions, RID, p_map, rid_to_rid); TypedArray FORWARD_1_C(map_get_agents, RID, p_map, rid_to_rid); @@ -289,6 +332,9 @@ real_t FORWARD_1_C(map_get_cell_size, RID, p_map, rid_to_rid); void FORWARD_2_C(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_edge_connection_margin, RID, p_map, rid_to_rid); +void FORWARD_2_C(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius, rid_to_rid, real_to_real); +real_t FORWARD_1_C(map_get_link_connection_radius, RID, p_map, rid_to_rid); + Vector FORWARD_5_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2, p_origin, Vector2, p_destination, bool, p_optimize, uint32_t, p_layers, rid_to_rid, v2_to_v3, v2_to_v3, bool_to_bool, uint32_to_uint32); Vector2 FORWARD_2_R_C(v3_to_v2, map_get_closest_point, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); @@ -315,6 +361,23 @@ int FORWARD_1_C(region_get_connections_count, RID, p_region, rid_to_rid); Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_start, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_end, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); +RID FORWARD_0_C(link_create); + +void FORWARD_2_C(link_set_map, RID, p_link, RID, p_map, rid_to_rid, rid_to_rid); +RID FORWARD_1_C(link_get_map, RID, p_link, rid_to_rid); +void FORWARD_2_C(link_set_bidirectional, RID, p_link, bool, p_bidirectional, rid_to_rid, bool_to_bool); +bool FORWARD_1_C(link_is_bidirectional, RID, p_link, rid_to_rid); +void FORWARD_2_C(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); +uint32_t FORWARD_1_C(link_get_navigation_layers, RID, p_link, rid_to_rid); +void FORWARD_2_C(link_set_start_location, RID, p_link, Vector2, p_location, rid_to_rid, v2_to_v3); +Vector2 FORWARD_1_R_C(v3_to_v2, link_get_start_location, RID, p_link, rid_to_rid); +void FORWARD_2_C(link_set_end_location, RID, p_link, Vector2, p_location, rid_to_rid, v2_to_v3); +Vector2 FORWARD_1_R_C(v3_to_v2, link_get_end_location, RID, p_link, rid_to_rid); +void FORWARD_2_C(link_set_enter_cost, RID, p_link, real_t, p_enter_cost, rid_to_rid, real_to_real); +real_t FORWARD_1_C(link_get_enter_cost, RID, p_link, rid_to_rid); +void FORWARD_2_C(link_set_travel_cost, RID, p_link, real_t, p_travel_cost, rid_to_rid, real_to_real); +real_t FORWARD_1_C(link_get_travel_cost, RID, p_link, rid_to_rid); + RID NavigationServer2D::agent_create() const { RID agent = NavigationServer3D::get_singleton()->agent_create(); NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, true); diff --git a/servers/navigation_server_2d.h b/servers/navigation_server_2d.h index 5e96466d665..b2ea4c28a0f 100644 --- a/servers/navigation_server_2d.h +++ b/servers/navigation_server_2d.h @@ -76,12 +76,19 @@ public: /// Returns the edge connection margin of this map. virtual real_t map_get_edge_connection_margin(RID p_map) const; + /// Set the map link connection radius used to attach links to the nav mesh. + virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) const; + + /// Returns the link connection radius of this map. + virtual real_t map_get_link_connection_radius(RID p_map) const; + /// Returns the navigation path to reach the destination from the origin. virtual Vector map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const; virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const; virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const; + virtual TypedArray map_get_links(RID p_map) const; virtual TypedArray map_get_regions(RID p_map) const; virtual TypedArray map_get_agents(RID p_map) const; @@ -119,6 +126,37 @@ public: virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const; virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const; + /// Creates a new link between locations in the nav map. + virtual RID link_create() const; + + /// Set the map of this link. + virtual void link_set_map(RID p_link, RID p_map) const; + virtual RID link_get_map(RID p_link) const; + + /// Set whether this link travels in both directions. + virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) const; + virtual bool link_is_bidirectional(RID p_link) const; + + /// Set the link's layers. + virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) const; + virtual uint32_t link_get_navigation_layers(RID p_link) const; + + /// Set the start location of the link. + virtual void link_set_start_location(RID p_link, Vector2 p_location) const; + virtual Vector2 link_get_start_location(RID p_link) const; + + /// Set the end location of the link. + virtual void link_set_end_location(RID p_link, Vector2 p_location) const; + virtual Vector2 link_get_end_location(RID p_link) const; + + /// Set the enter cost of the link. + virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) const; + virtual real_t link_get_enter_cost(RID p_link) const; + + /// Set the travel cost of the link. + virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) const; + virtual real_t link_get_travel_cost(RID p_link) const; + /// Creates the agent. virtual RID agent_create() const; @@ -198,6 +236,12 @@ public: void set_debug_navigation_geometry_face_disabled_color(const Color &p_color); Color get_debug_navigation_geometry_face_disabled_color() const; + void set_debug_navigation_link_connection_color(const Color &p_color); + Color get_debug_navigation_link_connection_color() const; + + void set_debug_navigation_link_connection_disabled_color(const Color &p_color); + Color get_debug_navigation_link_connection_disabled_color() const; + void set_debug_navigation_enable_edge_connections(const bool p_value); bool get_debug_navigation_enable_edge_connections() const; #endif // DEBUG_ENABLED diff --git a/servers/navigation_server_3d.cpp b/servers/navigation_server_3d.cpp index 466b74bc642..bc0602e1df2 100644 --- a/servers/navigation_server_3d.cpp +++ b/servers/navigation_server_3d.cpp @@ -48,12 +48,15 @@ void NavigationServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer3D::map_get_cell_size); ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer3D::map_set_edge_connection_margin); ClassDB::bind_method(D_METHOD("map_get_edge_connection_margin", "map"), &NavigationServer3D::map_get_edge_connection_margin); + ClassDB::bind_method(D_METHOD("map_set_link_connection_radius", "map", "radius"), &NavigationServer3D::map_set_link_connection_radius); + ClassDB::bind_method(D_METHOD("map_get_link_connection_radius", "map"), &NavigationServer3D::map_get_link_connection_radius); ClassDB::bind_method(D_METHOD("map_get_path", "map", "origin", "destination", "optimize", "navigation_layers"), &NavigationServer3D::map_get_path, DEFVAL(1)); ClassDB::bind_method(D_METHOD("map_get_closest_point_to_segment", "map", "start", "end", "use_collision"), &NavigationServer3D::map_get_closest_point_to_segment, DEFVAL(false)); ClassDB::bind_method(D_METHOD("map_get_closest_point", "map", "to_point"), &NavigationServer3D::map_get_closest_point); ClassDB::bind_method(D_METHOD("map_get_closest_point_normal", "map", "to_point"), &NavigationServer3D::map_get_closest_point_normal); ClassDB::bind_method(D_METHOD("map_get_closest_point_owner", "map", "to_point"), &NavigationServer3D::map_get_closest_point_owner); + ClassDB::bind_method(D_METHOD("map_get_links", "map"), &NavigationServer3D::map_get_links); ClassDB::bind_method(D_METHOD("map_get_regions", "map"), &NavigationServer3D::map_get_regions); ClassDB::bind_method(D_METHOD("map_get_agents", "map"), &NavigationServer3D::map_get_agents); @@ -76,6 +79,22 @@ void NavigationServer3D::_bind_methods() { ClassDB::bind_method(D_METHOD("region_get_connection_pathway_start", "region", "connection"), &NavigationServer3D::region_get_connection_pathway_start); ClassDB::bind_method(D_METHOD("region_get_connection_pathway_end", "region", "connection"), &NavigationServer3D::region_get_connection_pathway_end); + ClassDB::bind_method(D_METHOD("link_create"), &NavigationServer3D::link_create); + ClassDB::bind_method(D_METHOD("link_set_map", "link", "map"), &NavigationServer3D::link_set_map); + ClassDB::bind_method(D_METHOD("link_get_map", "link"), &NavigationServer3D::link_get_map); + ClassDB::bind_method(D_METHOD("link_set_bidirectional", "link", "bidirectional"), &NavigationServer3D::link_set_bidirectional); + ClassDB::bind_method(D_METHOD("link_is_bidirectional", "link"), &NavigationServer3D::link_is_bidirectional); + ClassDB::bind_method(D_METHOD("link_set_navigation_layers", "link", "navigation_layers"), &NavigationServer3D::link_set_navigation_layers); + ClassDB::bind_method(D_METHOD("link_get_navigation_layers", "link"), &NavigationServer3D::link_get_navigation_layers); + ClassDB::bind_method(D_METHOD("link_set_start_location", "link", "location"), &NavigationServer3D::link_set_start_location); + ClassDB::bind_method(D_METHOD("link_get_start_location", "link"), &NavigationServer3D::link_get_start_location); + ClassDB::bind_method(D_METHOD("link_set_end_location", "link", "location"), &NavigationServer3D::link_set_end_location); + ClassDB::bind_method(D_METHOD("link_get_end_location", "link"), &NavigationServer3D::link_get_end_location); + ClassDB::bind_method(D_METHOD("link_set_enter_cost", "link", "enter_cost"), &NavigationServer3D::link_set_enter_cost); + ClassDB::bind_method(D_METHOD("link_get_enter_cost", "link"), &NavigationServer3D::link_get_enter_cost); + ClassDB::bind_method(D_METHOD("link_set_travel_cost", "link", "travel_cost"), &NavigationServer3D::link_set_travel_cost); + ClassDB::bind_method(D_METHOD("link_get_travel_cost", "link"), &NavigationServer3D::link_get_travel_cost); + ClassDB::bind_method(D_METHOD("agent_create"), &NavigationServer3D::agent_create); ClassDB::bind_method(D_METHOD("agent_set_map", "agent", "map"), &NavigationServer3D::agent_set_map); ClassDB::bind_method(D_METHOD("agent_get_map", "agent"), &NavigationServer3D::agent_get_map); @@ -118,11 +137,16 @@ NavigationServer3D::NavigationServer3D() { debug_navigation_geometry_face_color = GLOBAL_DEF("debug/shapes/navigation/geometry_face_color", Color(0.5, 1.0, 1.0, 0.4)); debug_navigation_geometry_edge_disabled_color = GLOBAL_DEF("debug/shapes/navigation/geometry_edge_disabled_color", Color(0.5, 0.5, 0.5, 1.0)); debug_navigation_geometry_face_disabled_color = GLOBAL_DEF("debug/shapes/navigation/geometry_face_disabled_color", Color(0.5, 0.5, 0.5, 0.4)); + debug_navigation_link_connection_color = GLOBAL_DEF("debug/shapes/navigation/link_connection_color", Color(1.0, 0.5, 1.0, 1.0)); + debug_navigation_link_connection_disabled_color = GLOBAL_DEF("debug/shapes/navigation/link_connection_disabled_color", Color(0.5, 0.5, 0.5, 1.0)); + debug_navigation_enable_edge_connections = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections", true); debug_navigation_enable_edge_connections_xray = GLOBAL_DEF("debug/shapes/navigation/enable_edge_connections_xray", true); debug_navigation_enable_edge_lines = GLOBAL_DEF("debug/shapes/navigation/enable_edge_lines", true); debug_navigation_enable_edge_lines_xray = GLOBAL_DEF("debug/shapes/navigation/enable_edge_lines_xray", true); debug_navigation_enable_geometry_face_random_color = GLOBAL_DEF("debug/shapes/navigation/enable_geometry_face_random_color", true); + debug_navigation_enable_link_connections = GLOBAL_DEF("debug/shapes/navigation/enable_link_connections", true); + debug_navigation_enable_link_connections_xray = GLOBAL_DEF("debug/shapes/navigation/enable_link_connections_xray", true); if (Engine::get_singleton()->is_editor_hint()) { // enable NavigationServer3D when in Editor or else navmesh edge connections are invisible @@ -261,6 +285,40 @@ Ref NavigationServer3D::get_debug_navigation_edge_connection return debug_navigation_edge_connections_material; } +Ref NavigationServer3D::get_debug_navigation_link_connections_material() { + if (debug_navigation_link_connections_material.is_valid()) { + return debug_navigation_link_connections_material; + } + + Ref material = Ref(memnew(StandardMaterial3D)); + material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); + material->set_albedo(debug_navigation_link_connection_color); + if (debug_navigation_enable_link_connections_xray) { + material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true); + } + material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2); + + debug_navigation_link_connections_material = material; + return debug_navigation_link_connections_material; +} + +Ref NavigationServer3D::get_debug_navigation_link_connections_disabled_material() { + if (debug_navigation_link_connections_disabled_material.is_valid()) { + return debug_navigation_link_connections_disabled_material; + } + + Ref material = Ref(memnew(StandardMaterial3D)); + material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED); + material->set_albedo(debug_navigation_link_connection_disabled_color); + if (debug_navigation_enable_link_connections_xray) { + material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, true); + } + material->set_render_priority(StandardMaterial3D::RENDER_PRIORITY_MAX - 2); + + debug_navigation_link_connections_disabled_material = material; + return debug_navigation_link_connections_disabled_material; +} + void NavigationServer3D::set_debug_navigation_edge_connection_color(const Color &p_color) { debug_navigation_edge_connection_color = p_color; if (debug_navigation_edge_connections_material.is_valid()) { @@ -316,6 +374,28 @@ Color NavigationServer3D::get_debug_navigation_geometry_face_disabled_color() co return debug_navigation_geometry_face_disabled_color; } +void NavigationServer3D::set_debug_navigation_link_connection_color(const Color &p_color) { + debug_navigation_link_connection_color = p_color; + if (debug_navigation_link_connections_material.is_valid()) { + debug_navigation_link_connections_material->set_albedo(debug_navigation_link_connection_color); + } +} + +Color NavigationServer3D::get_debug_navigation_link_connection_color() const { + return debug_navigation_link_connection_color; +} + +void NavigationServer3D::set_debug_navigation_link_connection_disabled_color(const Color &p_color) { + debug_navigation_link_connection_disabled_color = p_color; + if (debug_navigation_link_connections_disabled_material.is_valid()) { + debug_navigation_link_connections_disabled_material->set_albedo(debug_navigation_link_connection_disabled_color); + } +} + +Color NavigationServer3D::get_debug_navigation_link_connection_disabled_color() const { + return debug_navigation_link_connection_disabled_color; +} + void NavigationServer3D::set_debug_navigation_enable_edge_connections(const bool p_value) { debug_navigation_enable_edge_connections = p_value; debug_dirty = true; @@ -368,6 +448,27 @@ bool NavigationServer3D::get_debug_navigation_enable_geometry_face_random_color( return debug_navigation_enable_geometry_face_random_color; } +void NavigationServer3D::set_debug_navigation_enable_link_connections(const bool p_value) { + debug_navigation_enable_link_connections = p_value; + debug_dirty = true; + call_deferred("_emit_navigation_debug_changed_signal"); +} + +bool NavigationServer3D::get_debug_navigation_enable_link_connections() const { + return debug_navigation_enable_link_connections; +} + +void NavigationServer3D::set_debug_navigation_enable_link_connections_xray(const bool p_value) { + debug_navigation_enable_link_connections_xray = p_value; + if (debug_navigation_link_connections_material.is_valid()) { + debug_navigation_link_connections_material->set_flag(StandardMaterial3D::FLAG_DISABLE_DEPTH_TEST, debug_navigation_enable_link_connections_xray); + } +} + +bool NavigationServer3D::get_debug_navigation_enable_link_connections_xray() const { + return debug_navigation_enable_link_connections_xray; +} + void NavigationServer3D::set_debug_enabled(bool p_enabled) { if (debug_enabled != p_enabled) { debug_dirty = true; diff --git a/servers/navigation_server_3d.h b/servers/navigation_server_3d.h index 3213da3d847..02770794c69 100644 --- a/servers/navigation_server_3d.h +++ b/servers/navigation_server_3d.h @@ -85,6 +85,12 @@ public: /// Returns the edge connection margin of this map. virtual real_t map_get_edge_connection_margin(RID p_map) const = 0; + /// Set the map link connection radius used to attach links to the nav mesh. + virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) const = 0; + + /// Returns the link connection radius of this map. + virtual real_t map_get_link_connection_radius(RID p_map) const = 0; + /// Returns the navigation path to reach the destination from the origin. virtual Vector map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const = 0; @@ -93,6 +99,7 @@ public: virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const = 0; virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const = 0; + virtual TypedArray map_get_links(RID p_map) const = 0; virtual TypedArray map_get_regions(RID p_map) const = 0; virtual TypedArray map_get_agents(RID p_map) const = 0; @@ -133,6 +140,37 @@ public: virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const = 0; virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0; + /// Creates a new link between locations in the nav map. + virtual RID link_create() const = 0; + + /// Set the map of this link. + virtual void link_set_map(RID p_link, RID p_map) const = 0; + virtual RID link_get_map(RID p_link) const = 0; + + /// Set whether this link travels in both directions. + virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) const = 0; + virtual bool link_is_bidirectional(RID p_link) const = 0; + + /// Set the link's layers. + virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) const = 0; + virtual uint32_t link_get_navigation_layers(RID p_link) const = 0; + + /// Set the start location of the link. + virtual void link_set_start_location(RID p_link, Vector3 p_location) const = 0; + virtual Vector3 link_get_start_location(RID p_link) const = 0; + + /// Set the end location of the link. + virtual void link_set_end_location(RID p_link, Vector3 p_location) const = 0; + virtual Vector3 link_get_end_location(RID p_link) const = 0; + + /// Set the enter cost of the link. + virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) const = 0; + virtual real_t link_get_enter_cost(RID p_link) const = 0; + + /// Set the travel cost of the link. + virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) const = 0; + virtual real_t link_get_travel_cost(RID p_link) const = 0; + /// Creates the agent. virtual RID agent_create() const = 0; @@ -209,29 +247,38 @@ public: virtual ~NavigationServer3D(); #ifdef DEBUG_ENABLED +private: bool debug_enabled = false; bool debug_dirty = true; void _emit_navigation_debug_changed_signal(); - void set_debug_enabled(bool p_enabled); - bool get_debug_enabled() const; - Color debug_navigation_edge_connection_color = Color(1.0, 0.0, 1.0, 1.0); Color debug_navigation_geometry_edge_color = Color(0.5, 1.0, 1.0, 1.0); Color debug_navigation_geometry_face_color = Color(0.5, 1.0, 1.0, 0.4); Color debug_navigation_geometry_edge_disabled_color = Color(0.5, 0.5, 0.5, 1.0); Color debug_navigation_geometry_face_disabled_color = Color(0.5, 0.5, 0.5, 0.4); + Color debug_navigation_link_connection_color = Color(1.0, 0.5, 1.0, 1.0); + Color debug_navigation_link_connection_disabled_color = Color(0.5, 0.5, 0.5, 1.0); + bool debug_navigation_enable_edge_connections = true; bool debug_navigation_enable_edge_connections_xray = true; bool debug_navigation_enable_edge_lines = true; bool debug_navigation_enable_edge_lines_xray = true; bool debug_navigation_enable_geometry_face_random_color = true; + bool debug_navigation_enable_link_connections = true; + bool debug_navigation_enable_link_connections_xray = true; Ref debug_navigation_geometry_edge_material; Ref debug_navigation_geometry_face_material; Ref debug_navigation_geometry_edge_disabled_material; Ref debug_navigation_geometry_face_disabled_material; Ref debug_navigation_edge_connections_material; + Ref debug_navigation_link_connections_material; + Ref debug_navigation_link_connections_disabled_material; + +public: + void set_debug_enabled(bool p_enabled); + bool get_debug_enabled() const; void set_debug_navigation_edge_connection_color(const Color &p_color); Color get_debug_navigation_edge_connection_color() const; @@ -248,6 +295,12 @@ public: void set_debug_navigation_geometry_face_disabled_color(const Color &p_color); Color get_debug_navigation_geometry_face_disabled_color() const; + void set_debug_navigation_link_connection_color(const Color &p_color); + Color get_debug_navigation_link_connection_color() const; + + void set_debug_navigation_link_connection_disabled_color(const Color &p_color); + Color get_debug_navigation_link_connection_disabled_color() const; + void set_debug_navigation_enable_edge_connections(const bool p_value); bool get_debug_navigation_enable_edge_connections() const; @@ -263,11 +316,19 @@ public: void set_debug_navigation_enable_geometry_face_random_color(const bool p_value); bool get_debug_navigation_enable_geometry_face_random_color() const; + void set_debug_navigation_enable_link_connections(const bool p_value); + bool get_debug_navigation_enable_link_connections() const; + + void set_debug_navigation_enable_link_connections_xray(const bool p_value); + bool get_debug_navigation_enable_link_connections_xray() const; + Ref get_debug_navigation_geometry_face_material(); Ref get_debug_navigation_geometry_edge_material(); Ref get_debug_navigation_geometry_face_disabled_material(); Ref get_debug_navigation_geometry_edge_disabled_material(); Ref get_debug_navigation_edge_connections_material(); + Ref get_debug_navigation_link_connections_material(); + Ref get_debug_navigation_link_connections_disabled_material(); #endif // DEBUG_ENABLED };