/*************************************************************************/ /* godot_navigation_server.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 "godot_navigation_server.h" #include "core/os/mutex.h" #ifndef _3D_DISABLED #include "navigation_mesh_generator.h" #endif /// Creates a struct for each function and a function that once called creates /// an instance of that struct with the submitted parameters. /// Then, that struct is stored in an array; the `sync` function consume that array. #define COMMAND_1(F_NAME, T_0, D_0) \ struct MERGE(F_NAME, _command) : public SetCommand { \ T_0 d_0; \ MERGE(F_NAME, _command) \ (T_0 p_d_0) : \ d_0(p_d_0) {} \ virtual void exec(GodotNavigationServer *server) { \ server->MERGE(_cmd_, F_NAME)(d_0); \ } \ }; \ void GodotNavigationServer::F_NAME(T_0 D_0) const { \ auto cmd = memnew(MERGE(F_NAME, _command)( \ D_0)); \ add_command(cmd); \ } \ void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0) #define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \ struct MERGE(F_NAME, _command) : public SetCommand { \ T_0 d_0; \ T_1 d_1; \ MERGE(F_NAME, _command) \ ( \ T_0 p_d_0, \ T_1 p_d_1) : \ d_0(p_d_0), \ d_1(p_d_1) {} \ virtual void exec(GodotNavigationServer *server) { \ server->MERGE(_cmd_, F_NAME)(d_0, d_1); \ } \ }; \ void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \ auto cmd = memnew(MERGE(F_NAME, _command)( \ D_0, \ D_1)); \ add_command(cmd); \ } \ void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1) #define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \ struct MERGE(F_NAME, _command) : public SetCommand { \ T_0 d_0; \ T_1 d_1; \ T_2 d_2; \ T_3 d_3; \ MERGE(F_NAME, _command) \ ( \ T_0 p_d_0, \ T_1 p_d_1, \ T_2 p_d_2, \ T_3 p_d_3) : \ d_0(p_d_0), \ d_1(p_d_1), \ d_2(p_d_2), \ d_3(p_d_3) {} \ virtual void exec(GodotNavigationServer *server) { \ server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \ } \ }; \ void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) const { \ auto cmd = memnew(MERGE(F_NAME, _command)( \ D_0, \ D_1, \ D_2, \ D_3)); \ add_command(cmd); \ } \ void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) GodotNavigationServer::GodotNavigationServer() {} GodotNavigationServer::~GodotNavigationServer() { flush_queries(); } void GodotNavigationServer::add_command(SetCommand *command) const { GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); { MutexLock lock(commands_mutex); mut_this->commands.push_back(command); } } Array GodotNavigationServer::get_maps() const { Array all_map_rids; List<RID> maps_owned; map_owner.get_owned_list(&maps_owned); if (maps_owned.size()) { for (List<RID>::Element *E = maps_owned.front(); E; E = E->next()) { all_map_rids.push_back(E->get()); } } return all_map_rids; } RID GodotNavigationServer::map_create() const { GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); MutexLock lock(mut_this->operations_mutex); NavMap *space = memnew(NavMap); RID rid = map_owner.make_rid(space); space->set_self(rid); return rid; } COMMAND_2(map_set_active, RID, p_map, bool, p_active) { NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND(map == nullptr); if (p_active) { if (!map_is_active(p_map)) { active_maps.push_back(map); active_maps_update_id.push_back(map->get_map_update_id()); } } else { int map_index = active_maps.find(map); ERR_FAIL_COND(map_index < 0); active_maps.remove(map_index); active_maps_update_id.remove(map_index); } } bool GodotNavigationServer::map_is_active(RID p_map) const { NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, false); return active_maps.find(map) >= 0; } COMMAND_2(map_set_up, RID, p_map, Vector3, p_up) { NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND(map == nullptr); map->set_up(p_up); } Vector3 GodotNavigationServer::map_get_up(RID p_map) const { const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, Vector3()); return map->get_up(); } COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size) { NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND(map == nullptr); map->set_cell_size(p_cell_size); } real_t GodotNavigationServer::map_get_cell_size(RID p_map) const { const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, 0); return map->get_cell_size(); } COMMAND_2(map_set_cell_height, RID, p_map, real_t, p_cell_height) { NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND(map == nullptr); map->set_cell_height(p_cell_height); } real_t GodotNavigationServer::map_get_cell_height(RID p_map) const { const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, 0); return map->get_cell_height(); } COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin) { NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND(map == nullptr); map->set_edge_connection_margin(p_connection_margin); } real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const { const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, 0); return map->get_edge_connection_margin(); } Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers) const { const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>()); return map->get_path(p_origin, p_destination, p_optimize, p_layers); } Vector3 GodotNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const { const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, Vector3()); return map->get_closest_point_to_segment(p_from, p_to, p_use_collision); } Vector3 GodotNavigationServer::map_get_closest_point(RID p_map, const Vector3 &p_point) const { const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, Vector3()); return map->get_closest_point(p_point); } Vector3 GodotNavigationServer::map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const { const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, Vector3()); return map->get_closest_point_normal(p_point); } RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const { const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, RID()); return map->get_closest_point_owner(p_point); } Array GodotNavigationServer::map_get_regions(RID p_map) const { Array regions_rids; const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, regions_rids); const LocalVector<NavRegion *> regions = map->get_regions(); regions_rids.resize(regions.size()); for (uint32_t i = 0; i < regions.size(); i++) { regions_rids[i] = regions[i]->get_self(); } return regions_rids; } Array GodotNavigationServer::map_get_agents(RID p_map) const { Array agents_rids; const NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND_V(map == nullptr, agents_rids); const LocalVector<RvoAgent *> agents = map->get_agents(); agents_rids.resize(agents.size()); for (uint32_t i = 0; i < agents.size(); i++) { agents_rids[i] = agents[i]->get_self(); } return agents_rids; } RID GodotNavigationServer::region_get_map(RID p_region) const { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND_V(region == nullptr, RID()); if (region->get_map()) { return region->get_map()->get_self(); } return RID(); } RID GodotNavigationServer::agent_get_map(RID p_agent) const { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND_V(agent == nullptr, RID()); if (agent->get_map()) { return agent->get_map()->get_self(); } return RID(); } RID GodotNavigationServer::region_create() const { GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); MutexLock lock(mut_this->operations_mutex); NavRegion *reg = memnew(NavRegion); RID rid = region_owner.make_rid(reg); reg->set_self(rid); return rid; } COMMAND_2(region_set_map, RID, p_region, RID, p_map) { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND(region == nullptr); if (region->get_map() != nullptr) { if (region->get_map()->get_self() == p_map) { return; // Pointless } region->get_map()->remove_region(region); region->set_map(nullptr); } if (p_map.is_valid()) { NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND(map == nullptr); map->add_region(region); region->set_map(map); } } COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform) { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND(region == nullptr); region->set_transform(p_transform); } COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost) { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND(region == nullptr); ERR_FAIL_COND(p_enter_cost < 0.0); region->set_enter_cost(p_enter_cost); } real_t GodotNavigationServer::region_get_enter_cost(RID p_region) const { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND_V(region == nullptr, 0); return region->get_enter_cost(); } COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost) { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND(region == nullptr); ERR_FAIL_COND(p_travel_cost < 0.0); region->set_travel_cost(p_travel_cost); } real_t GodotNavigationServer::region_get_travel_cost(RID p_region) const { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND_V(region == nullptr, 0); return region->get_travel_cost(); } bool GodotNavigationServer::region_owns_point(RID p_region, const Vector3 &p_point) const { const NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND_V(region == nullptr, false); if (region->get_map()) { RID closest_point_owner = map_get_closest_point_owner(region->get_map()->get_self(), p_point); return closest_point_owner == region->get_self(); } return false; } COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers) { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND(region == nullptr); region->set_navigation_layers(p_navigation_layers); } uint32_t GodotNavigationServer::region_get_navigation_layers(RID p_region) const { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND_V(region == nullptr, 0); return region->get_navigation_layers(); } COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND(region == nullptr); region->set_mesh(p_nav_mesh); } void GodotNavigationServer::region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const { ERR_FAIL_COND(r_mesh.is_null()); ERR_FAIL_COND(p_node == nullptr); #ifndef _3D_DISABLED NavigationMeshGenerator::get_singleton()->clear(r_mesh); NavigationMeshGenerator::get_singleton()->bake(r_mesh, p_node); #endif } int GodotNavigationServer::region_get_connections_count(RID p_region) const { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND_V(!region, 0); return region->get_connections_count(); } Vector3 GodotNavigationServer::region_get_connection_pathway_start(RID p_region, int p_connection_id) const { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND_V(!region, Vector3()); return region->get_connection_pathway_start(p_connection_id); } Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, int p_connection_id) const { NavRegion *region = region_owner.getornull(p_region); ERR_FAIL_COND_V(!region, Vector3()); return region->get_connection_pathway_end(p_connection_id); } RID GodotNavigationServer::agent_create() const { GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); MutexLock lock(mut_this->operations_mutex); RvoAgent *agent = memnew(RvoAgent()); RID rid = agent_owner.make_rid(agent); agent->set_self(rid); return rid; } COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); if (agent->get_map()) { if (agent->get_map()->get_self() == p_map) { return; // Pointless } agent->get_map()->remove_agent(agent); } agent->set_map(nullptr); if (p_map.is_valid()) { NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND(map == nullptr); agent->set_map(map); map->add_agent(agent); if (agent->has_callback()) { map->set_agent_as_controlled(agent); } } } COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->neighborDist_ = p_dist; } COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->maxNeighbors_ = p_count; } COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->timeHorizon_ = p_time; } COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->radius_ = p_radius; } COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->maxSpeed_ = p_max_speed; } COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->velocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z); } COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->prefVelocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z); } COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->position_ = RVO::Vector3(p_position.x, p_position.y, p_position.z); } COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); agent->get_agent()->ignore_y_ = p_ignore; } bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND_V(agent == nullptr, false); return agent->is_map_changed(); } COMMAND_4(agent_set_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata) { RvoAgent *agent = agent_owner.getornull(p_agent); ERR_FAIL_COND(agent == nullptr); agent->set_callback(p_object_id, p_method, p_udata); if (agent->get_map()) { if (p_object_id == ObjectID()) { agent->get_map()->remove_agent_as_controlled(agent); } else { agent->get_map()->set_agent_as_controlled(agent); } } } COMMAND_1(free, RID, p_object) { if (!p_object.is_valid()) { ERR_FAIL_MSG("NavigationServer attempted to free a NULL RID."); return; } if (map_owner.owns(p_object)) { NavMap *map = map_owner.getornull(p_object); // Removes any assigned region LocalVector<NavRegion *> regions = map->get_regions(); for (uint32_t i = 0; i < regions.size(); i++) { map->remove_region(regions[i]); regions[i]->set_map(nullptr); } // Remove any assigned agent LocalVector<RvoAgent *> agents = map->get_agents(); for (uint32_t i = 0; i < agents.size(); i++) { map->remove_agent(agents[i]); agents[i]->set_map(nullptr); } int map_index = active_maps.find(map); active_maps.remove(map_index); active_maps_update_id.remove(map_index); map_owner.free(p_object); memdelete(map); } else if (region_owner.owns(p_object)) { NavRegion *region = region_owner.getornull(p_object); // Removes this region from the map if assigned if (region->get_map() != nullptr) { region->get_map()->remove_region(region); region->set_map(nullptr); } region_owner.free(p_object); memdelete(region); } else if (agent_owner.owns(p_object)) { RvoAgent *agent = agent_owner.getornull(p_object); // Removes this agent from the map if assigned if (agent->get_map() != nullptr) { agent->get_map()->remove_agent(agent); agent->set_map(nullptr); } agent_owner.free(p_object); memdelete(agent); } else { ERR_FAIL_COND("RID not found by NavigationServer."); } } void GodotNavigationServer::set_active(bool p_active) const { GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this); MutexLock lock(mut_this->operations_mutex); mut_this->active = p_active; } void GodotNavigationServer::flush_queries() { // In C++ we can't be sure that this is performed in the main thread // even with mutable functions. MutexLock lock(commands_mutex); MutexLock lock2(operations_mutex); for (size_t i(0); i < commands.size(); i++) { commands[i]->exec(this); memdelete(commands[i]); } commands.clear(); } void GodotNavigationServer::map_force_update(RID p_map) { NavMap *map = map_owner.getornull(p_map); ERR_FAIL_COND(map == nullptr); flush_queries(); map->sync(); } void GodotNavigationServer::process(real_t p_delta_time) { flush_queries(); if (!active) { return; } // In c++ we can't be sure that this is performed in the main thread // even with mutable functions. MutexLock lock(operations_mutex); for (uint32_t i(0); i < active_maps.size(); i++) { active_maps[i]->sync(); active_maps[i]->step(p_delta_time); active_maps[i]->dispatch_callbacks(); // Emit a signal if a map changed. const uint32_t new_map_update_id = active_maps[i]->get_map_update_id(); if (new_map_update_id != active_maps_update_id[i]) { emit_signal("map_changed", active_maps[i]->get_self()); active_maps_update_id[i] = new_map_update_id; } } } #undef COMMAND_1 #undef COMMAND_2 #undef COMMAND_4