d8223ffa75
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!
(cherry picked from commit c7bc44d5ad)
756 lines
18 KiB
C++
756 lines
18 KiB
C++
/*************************************************************************/
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/* navigation.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "navigation.h"
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void Navigation::_navmesh_link(int p_id) {
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ERR_FAIL_COND(!navmesh_map.has(p_id));
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NavMesh &nm=navmesh_map[p_id];
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ERR_FAIL_COND(nm.linked);
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print_line("LINK");
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DVector<Vector3> vertices=nm.navmesh->get_vertices();
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int len = vertices.size();
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if (len==0)
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return;
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DVector<Vector3>::Read r=vertices.read();
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for(int i=0;i<nm.navmesh->get_polygon_count();i++) {
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//build
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List<Polygon>::Element *P=nm.polygons.push_back(Polygon());
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Polygon &p=P->get();
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p.owner=&nm;
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Vector<int> poly = nm.navmesh->get_polygon(i);
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int plen=poly.size();
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const int *indices=poly.ptr();
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bool valid=true;
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p.edges.resize(plen);
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Vector3 center;
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float sum=0;
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for(int j=0;j<plen;j++) {
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int idx = indices[j];
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if (idx<0 || idx>=len) {
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valid=false;
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break;
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}
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Polygon::Edge e;
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Vector3 ep=nm.xform.xform(r[idx]);
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center+=ep;
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e.point=_get_point(ep);
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p.edges[j]=e;
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if (j>=2) {
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Vector3 epa = nm.xform.xform(r[indices[j-2]]);
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Vector3 epb = nm.xform.xform(r[indices[j-1]]);
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sum+=up.dot((epb-epa).cross(ep-epa));
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}
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}
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p.clockwise=sum>0;
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if (!valid) {
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nm.polygons.pop_back();
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ERR_CONTINUE(!valid);
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continue;
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}
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p.center = center;
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if( plen != 0 ) {
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p.center /= plen;
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}
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//connect
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for(int j=0;j<plen;j++) {
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int next = (j+1)%plen;
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EdgeKey ek(p.edges[j].point,p.edges[next].point);
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Map<EdgeKey,Connection>::Element *C=connections.find(ek);
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if (!C) {
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Connection c;
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c.A=&p;
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c.A_edge=j;
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c.B=NULL;
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c.B_edge=-1;
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connections[ek]=c;
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} else {
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if (C->get().B!=NULL) {
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ConnectionPending pending;
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pending.polygon=&p;
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pending.edge=j;
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p.edges[j].P=C->get().pending.push_back(pending);
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continue;
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//print_line(String()+_get_vertex(ek.a)+" -> "+_get_vertex(ek.b));
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}
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//ERR_CONTINUE(C->get().B!=NULL); //wut
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C->get().B=&p;
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C->get().B_edge=j;
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C->get().A->edges[C->get().A_edge].C=&p;
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C->get().A->edges[C->get().A_edge].C_edge=j;;
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p.edges[j].C=C->get().A;
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p.edges[j].C_edge=C->get().A_edge;
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//connection successful.
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}
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}
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}
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nm.linked=true;
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}
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void Navigation::_navmesh_unlink(int p_id) {
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ERR_FAIL_COND(!navmesh_map.has(p_id));
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NavMesh &nm=navmesh_map[p_id];
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ERR_FAIL_COND(!nm.linked);
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print_line("UNLINK");
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for (List<Polygon>::Element *E=nm.polygons.front();E;E=E->next()) {
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Polygon &p=E->get();
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int ec = p.edges.size();
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Polygon::Edge *edges=p.edges.ptr();
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for(int i=0;i<ec;i++) {
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int next = (i+1)%ec;
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EdgeKey ek(edges[i].point,edges[next].point);
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Map<EdgeKey,Connection>::Element *C=connections.find(ek);
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ERR_CONTINUE(!C);
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if (edges[i].P) {
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C->get().pending.erase(edges[i].P);
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edges[i].P=NULL;
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} else if (C->get().B) {
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//disconnect
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C->get().B->edges[C->get().B_edge].C=NULL;
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C->get().B->edges[C->get().B_edge].C_edge=-1;
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C->get().A->edges[C->get().A_edge].C=NULL;
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C->get().A->edges[C->get().A_edge].C_edge=-1;
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if (C->get().A==&E->get()) {
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C->get().A=C->get().B;
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C->get().A_edge=C->get().B_edge;
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}
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C->get().B=NULL;
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C->get().B_edge=-1;
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if (C->get().pending.size()) {
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//reconnect if something is pending
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ConnectionPending cp = C->get().pending.front()->get();
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C->get().pending.pop_front();
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C->get().B=cp.polygon;
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C->get().B_edge=cp.edge;
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C->get().A->edges[C->get().A_edge].C=cp.polygon;
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C->get().A->edges[C->get().A_edge].C_edge=cp.edge;
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cp.polygon->edges[cp.edge].C=C->get().A;
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cp.polygon->edges[cp.edge].C_edge=C->get().A_edge;
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cp.polygon->edges[cp.edge].P=NULL;
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}
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} else {
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connections.erase(C);
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//erase
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}
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}
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}
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nm.polygons.clear();
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nm.linked=false;
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}
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int Navigation::navmesh_create(const Ref<NavigationMesh>& p_mesh, const Transform& p_xform, Object *p_owner) {
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int id = last_id++;
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NavMesh nm;
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nm.linked=false;
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nm.navmesh=p_mesh;
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nm.xform=p_xform;
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nm.owner=p_owner;
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navmesh_map[id]=nm;
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_navmesh_link(id);
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return id;
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}
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void Navigation::navmesh_set_transform(int p_id, const Transform& p_xform){
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ERR_FAIL_COND(!navmesh_map.has(p_id));
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NavMesh &nm=navmesh_map[p_id];
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if (nm.xform==p_xform)
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return; //bleh
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_navmesh_unlink(p_id);
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nm.xform=p_xform;
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_navmesh_link(p_id);
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}
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void Navigation::navmesh_remove(int p_id){
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ERR_FAIL_COND(!navmesh_map.has(p_id));
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_navmesh_unlink(p_id);
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navmesh_map.erase(p_id);
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}
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void Navigation::_clip_path(Vector<Vector3>& path, Polygon *from_poly, const Vector3& p_to_point, Polygon* p_to_poly) {
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Vector3 from = path[path.size()-1];
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if (from.distance_to(p_to_point)<CMP_EPSILON)
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return;
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Plane cut_plane;
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cut_plane.normal = (from-p_to_point).cross(up);
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if (cut_plane.normal==Vector3())
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return;
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cut_plane.normal.normalize();
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cut_plane.d = cut_plane.normal.dot(from);
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while(from_poly!=p_to_poly) {
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int pe = from_poly->prev_edge;
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Vector3 a = _get_vertex(from_poly->edges[pe].point);
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Vector3 b = _get_vertex(from_poly->edges[(pe+1)%from_poly->edges.size()].point);
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from_poly=from_poly->edges[pe].C;
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ERR_FAIL_COND(!from_poly);
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if (a.distance_to(b)>CMP_EPSILON) {
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Vector3 inters;
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if (cut_plane.intersects_segment(a,b,&inters)) {
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if (inters.distance_to(p_to_point)>CMP_EPSILON && inters.distance_to(path[path.size()-1])>CMP_EPSILON) {
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path.push_back(inters);
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}
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}
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}
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}
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}
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Vector<Vector3> Navigation::get_simple_path(const Vector3& p_start, const Vector3& p_end, bool p_optimize) {
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Polygon *begin_poly=NULL;
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Polygon *end_poly=NULL;
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Vector3 begin_point;
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Vector3 end_point;
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float begin_d=1e20;
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float end_d=1e20;
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for (Map<int,NavMesh>::Element*E=navmesh_map.front();E;E=E->next()) {
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if (!E->get().linked)
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continue;
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for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
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Polygon &p=F->get();
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for(int i=2;i<p.edges.size();i++) {
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Face3 f(_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point));
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Vector3 spoint = f.get_closest_point_to(p_start);
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float dpoint = spoint.distance_to(p_start);
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if (dpoint<begin_d) {
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begin_d=dpoint;
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begin_poly=&p;
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begin_point=spoint;
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}
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spoint = f.get_closest_point_to(p_end);
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dpoint = spoint.distance_to(p_end);
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if (dpoint<end_d) {
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end_d=dpoint;
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end_poly=&p;
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end_point=spoint;
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}
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}
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p.prev_edge=-1;
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}
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}
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if (!begin_poly || !end_poly) {
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//print_line("No Path Path");
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return Vector<Vector3>(); //no path
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}
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if (begin_poly==end_poly) {
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Vector<Vector3> path;
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path.resize(2);
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path[0]=begin_point;
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path[1]=end_point;
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//print_line("Direct Path");
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return path;
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}
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bool found_route=false;
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List<Polygon*> open_list;
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for(int i=0;i<begin_poly->edges.size();i++) {
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if (begin_poly->edges[i].C) {
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begin_poly->edges[i].C->prev_edge=begin_poly->edges[i].C_edge;
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begin_poly->edges[i].C->distance=begin_poly->center.distance_to(begin_poly->edges[i].C->center);
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open_list.push_back(begin_poly->edges[i].C);
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if (begin_poly->edges[i].C==end_poly) {
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found_route=true;
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}
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}
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}
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while(!found_route) {
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if (open_list.size()==0) {
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// print_line("NOU OPEN LIST");
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break;
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}
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//check open list
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List<Polygon*>::Element *least_cost_poly=NULL;
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float least_cost=1e30;
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//this could be faster (cache previous results)
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for (List<Polygon*>::Element *E=open_list.front();E;E=E->next()) {
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Polygon *p=E->get();
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float cost=p->distance;
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cost+=p->center.distance_to(end_point);
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if (cost<least_cost) {
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least_cost_poly=E;
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least_cost=cost;
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}
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}
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Polygon *p=least_cost_poly->get();
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//open the neighbours for search
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for(int i=0;i<p->edges.size();i++) {
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Polygon::Edge &e=p->edges[i];
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if (!e.C)
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continue;
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float distance = p->center.distance_to(e.C->center) + p->distance;
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if (e.C->prev_edge!=-1) {
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//oh this was visited already, can we win the cost?
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if (e.C->distance>distance) {
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e.C->prev_edge=e.C_edge;
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e.C->distance=distance;
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}
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} else {
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//add to open neighbours
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e.C->prev_edge=e.C_edge;
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e.C->distance=distance;
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open_list.push_back(e.C);
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if (e.C==end_poly) {
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//oh my reached end! stop algorithm
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found_route=true;
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break;
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}
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}
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}
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if (found_route)
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break;
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open_list.erase(least_cost_poly);
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}
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if (found_route) {
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Vector<Vector3> path;
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if (p_optimize) {
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//string pulling
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Polygon *apex_poly=end_poly;
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Vector3 apex_point=end_point;
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Vector3 portal_left=apex_point;
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Vector3 portal_right=apex_point;
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Polygon *left_poly=end_poly;
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Polygon *right_poly=end_poly;
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Polygon *p=end_poly;
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path.push_back(end_point);
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while(p) {
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Vector3 left;
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Vector3 right;
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#define CLOCK_TANGENT(m_a,m_b,m_c) ( ((m_a)-(m_c)).cross((m_a)-(m_b)) )
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if (p==begin_poly) {
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left=begin_point;
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right=begin_point;
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} else {
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int prev = p->prev_edge;
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int prev_n = (p->prev_edge+1)%p->edges.size();
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left = _get_vertex(p->edges[prev].point);
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right = _get_vertex(p->edges[prev_n].point);
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//if (CLOCK_TANGENT(apex_point,left,(left+right)*0.5).dot(up) < 0){
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if (p->clockwise) {
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SWAP(left,right);
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}
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}
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bool skip=false;
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if (CLOCK_TANGENT(apex_point,portal_left,left).dot(up) >= 0){
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//process
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if (portal_left==apex_point || CLOCK_TANGENT(apex_point,left,portal_right).dot(up) > 0) {
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left_poly=p;
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portal_left=left;
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} else {
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_clip_path(path,apex_poly,portal_right,right_poly);
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apex_point=portal_right;
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p=right_poly;
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left_poly=p;
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apex_poly=p;
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portal_left=apex_point;
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portal_right=apex_point;
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path.push_back(apex_point);
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skip=true;
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}
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}
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if (!skip && CLOCK_TANGENT(apex_point,portal_right,right).dot(up) <= 0){
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//process
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if (portal_right==apex_point || CLOCK_TANGENT(apex_point,right,portal_left).dot(up) < 0) {
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right_poly=p;
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portal_right=right;
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} else {
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_clip_path(path,apex_poly,portal_left,left_poly);
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apex_point=portal_left;
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p=left_poly;
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right_poly=p;
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apex_poly=p;
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portal_right=apex_point;
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portal_left=apex_point;
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path.push_back(apex_point);
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}
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}
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if (p!=begin_poly)
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p=p->edges[p->prev_edge].C;
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else
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p=NULL;
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}
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if (path[path.size()-1]!=begin_point)
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path.push_back(begin_point);
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path.invert();
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} else {
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//midpoints
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Polygon *p=end_poly;
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path.push_back(end_point);
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while(true) {
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int prev = p->prev_edge;
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int prev_n = (p->prev_edge+1)%p->edges.size();
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Vector3 point = (_get_vertex(p->edges[prev].point) + _get_vertex(p->edges[prev_n].point))*0.5;
|
|
path.push_back(point);
|
|
p = p->edges[prev].C;
|
|
if (p==begin_poly)
|
|
break;
|
|
}
|
|
|
|
path.push_back(begin_point);
|
|
|
|
|
|
path.invert();;
|
|
}
|
|
|
|
return path;
|
|
}
|
|
|
|
|
|
return Vector<Vector3>();
|
|
|
|
}
|
|
|
|
Vector3 Navigation::get_closest_point_to_segment(const Vector3& p_from,const Vector3& p_to,const bool& p_use_collision) {
|
|
|
|
|
|
bool use_collision=p_use_collision;
|
|
Vector3 closest_point;
|
|
float closest_point_d=1e20;
|
|
NavMesh *closest_navmesh=NULL;
|
|
|
|
for (Map<int,NavMesh>::Element*E=navmesh_map.front();E;E=E->next()) {
|
|
|
|
if (!E->get().linked)
|
|
continue;
|
|
for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
|
|
|
|
Polygon &p=F->get();
|
|
for(int i=2;i<p.edges.size();i++) {
|
|
|
|
Face3 f(_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point));
|
|
Vector3 inters;
|
|
if (f.intersects_segment(p_from,p_to,&inters)) {
|
|
|
|
if (!use_collision) {
|
|
closest_point=inters;
|
|
use_collision=true;
|
|
closest_point_d=p_from.distance_to(inters);
|
|
closest_navmesh=p.owner;
|
|
} else if (closest_point_d > inters.distance_to(p_from)){
|
|
|
|
closest_point=inters;
|
|
closest_point_d=p_from.distance_to(inters);
|
|
closest_navmesh=p.owner;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!use_collision) {
|
|
|
|
for(int i=0;i<p.edges.size();i++) {
|
|
|
|
Vector3 a,b;
|
|
|
|
Geometry::get_closest_points_between_segments(p_from,p_to,_get_vertex(p.edges[i].point),_get_vertex(p.edges[(i+1)%p.edges.size()].point),a,b);
|
|
|
|
float d = a.distance_to(b);
|
|
if (d<closest_point_d) {
|
|
|
|
closest_point_d=d;
|
|
closest_point=b;
|
|
closest_navmesh=p.owner;
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (closest_navmesh && closest_navmesh->owner) {
|
|
//print_line("navmesh is: "+closest_navmesh->owner->cast_to<Node>()->get_name());
|
|
}
|
|
|
|
return closest_point;
|
|
}
|
|
|
|
Vector3 Navigation::get_closest_point(const Vector3& p_point) {
|
|
|
|
Vector3 closest_point;
|
|
float closest_point_d=1e20;
|
|
|
|
for (Map<int,NavMesh>::Element*E=navmesh_map.front();E;E=E->next()) {
|
|
|
|
if (!E->get().linked)
|
|
continue;
|
|
for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
|
|
|
|
Polygon &p=F->get();
|
|
for(int i=2;i<p.edges.size();i++) {
|
|
|
|
Face3 f(_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point));
|
|
Vector3 inters = f.get_closest_point_to(p_point);
|
|
float d = inters.distance_to(p_point);
|
|
if (d<closest_point_d) {
|
|
closest_point=inters;
|
|
closest_point_d=d;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return closest_point;
|
|
|
|
}
|
|
|
|
Vector3 Navigation::get_closest_point_normal(const Vector3& p_point){
|
|
|
|
Vector3 closest_point;
|
|
Vector3 closest_normal;
|
|
float closest_point_d=1e20;
|
|
|
|
for (Map<int,NavMesh>::Element*E=navmesh_map.front();E;E=E->next()) {
|
|
|
|
if (!E->get().linked)
|
|
continue;
|
|
for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
|
|
|
|
Polygon &p=F->get();
|
|
for(int i=2;i<p.edges.size();i++) {
|
|
|
|
Face3 f(_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point));
|
|
Vector3 inters = f.get_closest_point_to(p_point);
|
|
float d = inters.distance_to(p_point);
|
|
if (d<closest_point_d) {
|
|
closest_point=inters;
|
|
closest_point_d=d;
|
|
closest_normal=f.get_plane().normal;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return closest_normal;
|
|
|
|
}
|
|
|
|
|
|
Object* Navigation::get_closest_point_owner(const Vector3& p_point){
|
|
|
|
Vector3 closest_point;
|
|
Object *owner=NULL;
|
|
float closest_point_d=1e20;
|
|
|
|
for (Map<int,NavMesh>::Element*E=navmesh_map.front();E;E=E->next()) {
|
|
|
|
if (!E->get().linked)
|
|
continue;
|
|
for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
|
|
|
|
Polygon &p=F->get();
|
|
for(int i=2;i<p.edges.size();i++) {
|
|
|
|
Face3 f(_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point));
|
|
Vector3 inters = f.get_closest_point_to(p_point);
|
|
float d = inters.distance_to(p_point);
|
|
if (d<closest_point_d) {
|
|
closest_point=inters;
|
|
closest_point_d=d;
|
|
owner=E->get().owner;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return owner;
|
|
|
|
}
|
|
|
|
void Navigation::set_up_vector(const Vector3& p_up) {
|
|
|
|
|
|
up=p_up;
|
|
}
|
|
|
|
Vector3 Navigation::get_up_vector() const{
|
|
|
|
return up;
|
|
}
|
|
|
|
|
|
void Navigation::_bind_methods() {
|
|
|
|
ObjectTypeDB::bind_method(_MD("navmesh_create","mesh:NavigationMesh","xform","owner"),&Navigation::navmesh_create,DEFVAL(Variant()));
|
|
ObjectTypeDB::bind_method(_MD("navmesh_set_transform","id","xform"),&Navigation::navmesh_set_transform);
|
|
ObjectTypeDB::bind_method(_MD("navmesh_remove","id"),&Navigation::navmesh_remove);
|
|
|
|
ObjectTypeDB::bind_method(_MD("get_simple_path","start","end","optimize"),&Navigation::get_simple_path,DEFVAL(true));
|
|
ObjectTypeDB::bind_method(_MD("get_closest_point_to_segment","start","end","use_collision"),&Navigation::get_closest_point_to_segment,DEFVAL(false));
|
|
ObjectTypeDB::bind_method(_MD("get_closest_point","to_point"),&Navigation::get_closest_point);
|
|
ObjectTypeDB::bind_method(_MD("get_closest_point_normal","to_point"),&Navigation::get_closest_point_normal);
|
|
ObjectTypeDB::bind_method(_MD("get_closest_point_owner","to_point"),&Navigation::get_closest_point_owner);
|
|
|
|
ObjectTypeDB::bind_method(_MD("set_up_vector","up"),&Navigation::set_up_vector);
|
|
ObjectTypeDB::bind_method(_MD("get_up_vector"),&Navigation::get_up_vector);
|
|
|
|
ADD_PROPERTY( PropertyInfo(Variant::VECTOR3,"up_vector"),_SCS("set_up_vector"),_SCS("get_up_vector"));
|
|
}
|
|
|
|
Navigation::Navigation() {
|
|
|
|
ERR_FAIL_COND( sizeof(Point)!=8 );
|
|
cell_size=0.01; //one centimeter
|
|
last_id=1;
|
|
up=Vector3(0,1,0);
|
|
}
|