09bc9eb101
Change the entire navigation system. Remove editor prefix from nav mesh generator class. It is now used for baking at runtime as well. Navigation supports obstacle avoidance now with the RVO2 library. Nav system will also automatically link all nav meshes together to form one overall complete nav map.
140 lines
6.0 KiB
C++
140 lines
6.0 KiB
C++
/*************************************************************************/
|
|
/* godot_navigation_server.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2021 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 GODOT_NAVIGATION_SERVER_H
|
|
#define GODOT_NAVIGATION_SERVER_H
|
|
|
|
#include "servers/navigation_server.h"
|
|
|
|
#include "nav_map.h"
|
|
#include "nav_region.h"
|
|
#include "rvo_agent.h"
|
|
|
|
/**
|
|
@author AndreaCatania
|
|
*/
|
|
|
|
/// The commands are functions executed during the `sync` phase.
|
|
|
|
#define MERGE_INTERNAL(A, B) A##B
|
|
#define MERGE(A, B) MERGE_INTERNAL(A, B)
|
|
|
|
#define COMMAND_1(F_NAME, T_0, D_0) \
|
|
virtual void F_NAME(T_0 D_0) const; \
|
|
void MERGE(_cmd_, F_NAME)(T_0 D_0)
|
|
|
|
#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
|
|
virtual void F_NAME(T_0 D_0, T_1 D_1) const; \
|
|
void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
|
|
|
|
#define COMMAND_4_DEF(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, D_3_DEF) \
|
|
virtual void F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3 = D_3_DEF) const; \
|
|
void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
|
|
|
|
class GodotNavigationServer;
|
|
|
|
struct SetCommand {
|
|
virtual ~SetCommand() {}
|
|
virtual void exec(GodotNavigationServer *server) = 0;
|
|
};
|
|
|
|
class GodotNavigationServer : public NavigationServer {
|
|
Mutex commands_mutex;
|
|
/// Mutex used to make any operation threadsafe.
|
|
Mutex operations_mutex;
|
|
|
|
std::vector<SetCommand *> commands;
|
|
|
|
mutable RID_Owner<NavMap> map_owner;
|
|
mutable RID_Owner<NavRegion> region_owner;
|
|
mutable RID_Owner<RvoAgent> agent_owner;
|
|
|
|
bool active;
|
|
Vector<NavMap *> active_maps;
|
|
|
|
public:
|
|
GodotNavigationServer();
|
|
virtual ~GodotNavigationServer();
|
|
|
|
void add_command(SetCommand *command) const;
|
|
|
|
virtual RID map_create() const;
|
|
COMMAND_2(map_set_active, RID, p_map, bool, p_active);
|
|
virtual bool map_is_active(RID p_map) const;
|
|
|
|
COMMAND_2(map_set_up, RID, p_map, Vector3, p_up);
|
|
virtual Vector3 map_get_up(RID p_map) const;
|
|
|
|
COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size);
|
|
virtual real_t map_get_cell_size(RID p_map) const;
|
|
|
|
COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
|
|
virtual real_t map_get_edge_connection_margin(RID p_map) const;
|
|
|
|
virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize) const;
|
|
|
|
virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const;
|
|
virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const;
|
|
virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const;
|
|
virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const;
|
|
|
|
virtual RID region_create() const;
|
|
COMMAND_2(region_set_map, RID, p_region, RID, p_map);
|
|
COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform);
|
|
COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh);
|
|
virtual void region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const;
|
|
|
|
virtual RID agent_create() const;
|
|
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map);
|
|
COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist);
|
|
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count);
|
|
COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time);
|
|
COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius);
|
|
COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed);
|
|
COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity);
|
|
COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity);
|
|
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position);
|
|
COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore);
|
|
virtual bool agent_is_map_changed(RID p_agent) const;
|
|
COMMAND_4_DEF(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata, Variant());
|
|
|
|
COMMAND_1(free, RID, p_object);
|
|
|
|
virtual void set_active(bool p_active) const;
|
|
void flush_queries();
|
|
virtual void process(real_t p_delta_time);
|
|
};
|
|
|
|
#undef COMMAND_1
|
|
#undef COMMAND_2
|
|
#undef COMMAND_4_DEF
|
|
|
|
#endif // GODOT_NAVIGATION_SERVER_H
|