/*************************************************************************/ /* nav_utils.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_UTILS_H #define NAV_UTILS_H #include "core/math/vector3.h" #include /** @author AndreaCatania */ class NavRegion; namespace gd { struct Polygon; union PointKey { struct { int64_t x : 21; int64_t y : 22; int64_t z : 21; }; uint64_t key; bool operator<(const PointKey &p_key) const { return key < p_key.key; } }; struct EdgeKey { PointKey a; PointKey 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 PointKey &p_a = PointKey(), const PointKey &p_b = PointKey()) : a(p_a), b(p_b) { if (a.key > b.key) { SWAP(a, b); } } }; struct Point { Vector3 pos; PointKey key; }; struct Edge { /// This edge ID int this_edge; /// Other Polygon Polygon *other_polygon; /// The other `Polygon` at this edge id has this `Polygon`. int other_edge; Edge() { this_edge = -1; other_polygon = NULL; other_edge = -1; } }; struct Polygon { NavRegion *owner; /// The points of this `Polygon` std::vector points; /// Are the points clockwise ? bool clockwise; /// The edges of this `Polygon` std::vector edges; /// The center of this `Polygon` Vector3 center; }; struct Connection { Polygon *A; int A_edge; Polygon *B; int B_edge; Connection() { A = NULL; B = NULL; A_edge = -1; B_edge = -1; } }; struct NavigationPoly { uint32_t self_id; /// This poly. const Polygon *poly; /// The previous navigation poly (id in the `navigation_poly` array). int prev_navigation_poly_id; /// The edge id in this `Poly` to reach the `prev_navigation_poly_id`. uint32_t back_navigation_edge; /// The entry location of this poly. Vector3 entry; /// The distance to the destination. float traveled_distance; NavigationPoly(const Polygon *p_poly) : self_id(0), poly(p_poly), prev_navigation_poly_id(-1), back_navigation_edge(0), traveled_distance(0.0) { } bool operator==(const NavigationPoly &other) const { return this->poly == other.poly; } bool operator!=(const NavigationPoly &other) const { return !operator==(other); } }; struct FreeEdge { bool is_free; Polygon *poly; uint32_t edge_id; Vector3 edge_center; Vector3 edge_dir; float edge_len_squared; }; } // namespace gd #endif // NAV_UTILS_H