#ifndef NAVIGATION_H #define NAVIGATION_H #include "scene/3d/spatial.h" #include "scene/3d/navigation_mesh.h" class Navigation : public Spatial { OBJ_TYPE( Navigation, Spatial); union Point { struct { int64_t x:21; int64_t y:22; int64_t z:21; }; uint64_t key; bool operator<(const Point& p_key) const { return key < p_key.key; } }; struct EdgeKey { Point a; Point b; bool operator<(const EdgeKey& p_key) const { return (a.key==p_key.a.key)?(b.key<p_key.b.key):(a.key<p_key.a.key); }; EdgeKey(const Point& p_a=Point(),const Point& p_b=Point()) { a=p_a; b=p_b; if (a.key > b.key) { SWAP(a,b); } } }; struct NavMesh; struct Polygon; struct ConnectionPending { Polygon *polygon; int edge; }; struct Polygon { struct Edge { Point point; Polygon *C; //connection int C_edge; List<ConnectionPending>::Element *P; Edge() { C=NULL; C_edge=-1; P=NULL; } }; Vector<Edge> edges; Vector3 center; float distance; int prev_edge; bool clockwise; NavMesh *owner; }; struct Connection { Polygon *A; int A_edge; Polygon *B; int B_edge; List<ConnectionPending> pending; Connection() { A=NULL; B=NULL; A_edge=-1; B_edge=-1;} }; Map<EdgeKey,Connection> connections; struct NavMesh { Object *owner; Transform xform; bool linked; Ref<NavigationMesh> navmesh; List<Polygon> polygons; }; _FORCE_INLINE_ Point _get_point(const Vector3& p_pos) const { int x = int(Math::floor(p_pos.x/cell_size)); int y = int(Math::floor(p_pos.y/cell_size)); int z = int(Math::floor(p_pos.z/cell_size)); Point p; p.key=0; p.x=x; p.y=y; p.z=z; return p; } _FORCE_INLINE_ Vector3 _get_vertex(const Point& p_point) const { return Vector3(p_point.x,p_point.y,p_point.z)*cell_size; } void _navmesh_link(int p_id); void _navmesh_unlink(int p_id); float cell_size; Map<int,NavMesh> navmesh_map; int last_id; Vector3 up; void _clip_path(Vector<Vector3>& path,Polygon *from_poly, const Vector3& p_to_point, Polygon* p_to_poly); protected: static void _bind_methods(); public: void set_up_vector(const Vector3& p_up); Vector3 get_up_vector() const; //API should be as dynamic as possible int navmesh_create(const Ref<NavigationMesh>& p_mesh,const Transform& p_xform,Object* p_owner=NULL); void navmesh_set_transform(int p_id, const Transform& p_xform); void navmesh_remove(int p_id); Vector<Vector3> get_simple_path(const Vector3& p_start, const Vector3& p_end,bool p_optimize=true); Vector3 get_closest_point_to_segment(const Vector3& p_from,const Vector3& p_to,const bool& p_use_collision=false); Vector3 get_closest_point(const Vector3& p_point); Vector3 get_closest_point_normal(const Vector3& p_point); Object* get_closest_point_owner(const Vector3& p_point); Navigation(); }; #endif // NAVIGATION_H