368 lines
12 KiB
C++
368 lines
12 KiB
C++
/**************************************************************************/
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/* navigation_polygon.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 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_polygon.h"
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#include "core/math/geometry_2d.h"
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#include "core/os/mutex.h"
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#include "thirdparty/misc/polypartition.h"
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#ifdef TOOLS_ENABLED
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Rect2 NavigationPolygon::_edit_get_rect() const {
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if (rect_cache_dirty) {
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item_rect = Rect2();
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bool first = true;
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for (int i = 0; i < outlines.size(); i++) {
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const Vector<Vector2> &outline = outlines[i];
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const int outline_size = outline.size();
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if (outline_size < 3) {
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continue;
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}
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const Vector2 *p = outline.ptr();
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for (int j = 0; j < outline_size; j++) {
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if (first) {
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item_rect = Rect2(p[j], Vector2(0, 0));
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first = false;
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} else {
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item_rect.expand_to(p[j]);
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}
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}
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}
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rect_cache_dirty = false;
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}
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return item_rect;
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}
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bool NavigationPolygon::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const {
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for (int i = 0; i < outlines.size(); i++) {
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const Vector<Vector2> &outline = outlines[i];
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const int outline_size = outline.size();
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if (outline_size < 3) {
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continue;
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}
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if (Geometry2D::is_point_in_polygon(p_point, Variant(outline))) {
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return true;
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}
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}
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return false;
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}
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#endif
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void NavigationPolygon::set_vertices(const Vector<Vector2> &p_vertices) {
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{
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MutexLock lock(navigation_mesh_generation);
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navigation_mesh.unref();
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}
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vertices = p_vertices;
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rect_cache_dirty = true;
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}
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Vector<Vector2> NavigationPolygon::get_vertices() const {
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return vertices;
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}
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void NavigationPolygon::_set_polygons(const TypedArray<Vector<int32_t>> &p_array) {
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{
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MutexLock lock(navigation_mesh_generation);
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navigation_mesh.unref();
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}
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polygons.resize(p_array.size());
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for (int i = 0; i < p_array.size(); i++) {
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polygons.write[i].indices = p_array[i];
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}
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}
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TypedArray<Vector<int32_t>> NavigationPolygon::_get_polygons() const {
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TypedArray<Vector<int32_t>> ret;
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ret.resize(polygons.size());
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for (int i = 0; i < ret.size(); i++) {
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ret[i] = polygons[i].indices;
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}
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return ret;
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}
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void NavigationPolygon::_set_outlines(const TypedArray<Vector<Vector2>> &p_array) {
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outlines.resize(p_array.size());
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for (int i = 0; i < p_array.size(); i++) {
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outlines.write[i] = p_array[i];
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}
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rect_cache_dirty = true;
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}
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TypedArray<Vector<Vector2>> NavigationPolygon::_get_outlines() const {
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TypedArray<Vector<Vector2>> ret;
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ret.resize(outlines.size());
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for (int i = 0; i < ret.size(); i++) {
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ret[i] = outlines[i];
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}
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return ret;
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}
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void NavigationPolygon::add_polygon(const Vector<int> &p_polygon) {
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Polygon polygon;
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polygon.indices = p_polygon;
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polygons.push_back(polygon);
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{
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MutexLock lock(navigation_mesh_generation);
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navigation_mesh.unref();
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}
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}
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void NavigationPolygon::add_outline_at_index(const Vector<Vector2> &p_outline, int p_index) {
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outlines.insert(p_index, p_outline);
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rect_cache_dirty = true;
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}
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int NavigationPolygon::get_polygon_count() const {
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return polygons.size();
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}
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Vector<int> NavigationPolygon::get_polygon(int p_idx) {
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ERR_FAIL_INDEX_V(p_idx, polygons.size(), Vector<int>());
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return polygons[p_idx].indices;
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}
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void NavigationPolygon::clear_polygons() {
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polygons.clear();
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{
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MutexLock lock(navigation_mesh_generation);
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navigation_mesh.unref();
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}
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}
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Ref<NavigationMesh> NavigationPolygon::get_navigation_mesh() {
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MutexLock lock(navigation_mesh_generation);
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if (navigation_mesh.is_null()) {
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navigation_mesh.instantiate();
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Vector<Vector3> verts;
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{
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verts.resize(get_vertices().size());
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Vector3 *w = verts.ptrw();
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const Vector2 *r = get_vertices().ptr();
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for (int i(0); i < get_vertices().size(); i++) {
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w[i] = Vector3(r[i].x, 0.0, r[i].y);
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}
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}
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navigation_mesh->set_vertices(verts);
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for (int i(0); i < get_polygon_count(); i++) {
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navigation_mesh->add_polygon(get_polygon(i));
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}
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navigation_mesh->set_cell_size(cell_size); // Needed to not fail the cell size check on the server
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}
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return navigation_mesh;
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}
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void NavigationPolygon::add_outline(const Vector<Vector2> &p_outline) {
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outlines.push_back(p_outline);
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rect_cache_dirty = true;
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}
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int NavigationPolygon::get_outline_count() const {
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return outlines.size();
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}
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void NavigationPolygon::set_outline(int p_idx, const Vector<Vector2> &p_outline) {
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ERR_FAIL_INDEX(p_idx, outlines.size());
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outlines.write[p_idx] = p_outline;
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rect_cache_dirty = true;
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}
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void NavigationPolygon::remove_outline(int p_idx) {
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ERR_FAIL_INDEX(p_idx, outlines.size());
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outlines.remove_at(p_idx);
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rect_cache_dirty = true;
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}
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Vector<Vector2> NavigationPolygon::get_outline(int p_idx) const {
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ERR_FAIL_INDEX_V(p_idx, outlines.size(), Vector<Vector2>());
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return outlines[p_idx];
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}
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void NavigationPolygon::clear_outlines() {
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outlines.clear();
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rect_cache_dirty = true;
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}
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void NavigationPolygon::make_polygons_from_outlines() {
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{
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MutexLock lock(navigation_mesh_generation);
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navigation_mesh.unref();
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}
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List<TPPLPoly> in_poly, out_poly;
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Vector2 outside_point(-1e10, -1e10);
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for (int i = 0; i < outlines.size(); i++) {
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Vector<Vector2> ol = outlines[i];
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int olsize = ol.size();
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if (olsize < 3) {
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continue;
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}
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const Vector2 *r = ol.ptr();
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for (int j = 0; j < olsize; j++) {
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outside_point.x = MAX(r[j].x, outside_point.x);
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outside_point.y = MAX(r[j].y, outside_point.y);
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}
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}
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outside_point += Vector2(0.7239784, 0.819238); //avoid precision issues
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for (int i = 0; i < outlines.size(); i++) {
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Vector<Vector2> ol = outlines[i];
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int olsize = ol.size();
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if (olsize < 3) {
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continue;
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}
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const Vector2 *r = ol.ptr();
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int interscount = 0;
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//test if this is an outer outline
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for (int k = 0; k < outlines.size(); k++) {
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if (i == k) {
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continue; //no self intersect
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}
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Vector<Vector2> ol2 = outlines[k];
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int olsize2 = ol2.size();
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if (olsize2 < 3) {
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continue;
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}
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const Vector2 *r2 = ol2.ptr();
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for (int l = 0; l < olsize2; l++) {
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if (Geometry2D::segment_intersects_segment(r[0], outside_point, r2[l], r2[(l + 1) % olsize2], nullptr)) {
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interscount++;
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}
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}
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}
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bool outer = (interscount % 2) == 0;
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TPPLPoly tp;
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tp.Init(olsize);
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for (int j = 0; j < olsize; j++) {
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tp[j] = r[j];
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}
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if (outer) {
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tp.SetOrientation(TPPL_ORIENTATION_CCW);
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} else {
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tp.SetOrientation(TPPL_ORIENTATION_CW);
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tp.SetHole(true);
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}
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in_poly.push_back(tp);
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}
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TPPLPartition tpart;
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if (tpart.ConvexPartition_HM(&in_poly, &out_poly) == 0) { //failed!
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ERR_PRINT("NavigationPolygon: Convex partition failed! Failed to convert outlines to a valid NavigationMesh."
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"\nNavigationPolygon outlines can not overlap vertices or edges inside same outline or with other outlines or have any intersections."
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"\nAdd the outmost and largest outline first. To add holes inside this outline add the smaller outlines with same winding order.");
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return;
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}
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polygons.clear();
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vertices.clear();
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HashMap<Vector2, int> points;
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for (List<TPPLPoly>::Element *I = out_poly.front(); I; I = I->next()) {
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TPPLPoly &tp = I->get();
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struct Polygon p;
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for (int64_t i = 0; i < tp.GetNumPoints(); i++) {
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HashMap<Vector2, int>::Iterator E = points.find(tp[i]);
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if (!E) {
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E = points.insert(tp[i], vertices.size());
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vertices.push_back(tp[i]);
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}
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p.indices.push_back(E->value);
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}
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polygons.push_back(p);
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}
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emit_changed();
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}
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void NavigationPolygon::set_cell_size(real_t p_cell_size) {
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cell_size = p_cell_size;
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get_navigation_mesh()->set_cell_size(cell_size);
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}
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real_t NavigationPolygon::get_cell_size() const {
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return cell_size;
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}
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void NavigationPolygon::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationPolygon::set_vertices);
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ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationPolygon::get_vertices);
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ClassDB::bind_method(D_METHOD("add_polygon", "polygon"), &NavigationPolygon::add_polygon);
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ClassDB::bind_method(D_METHOD("get_polygon_count"), &NavigationPolygon::get_polygon_count);
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ClassDB::bind_method(D_METHOD("get_polygon", "idx"), &NavigationPolygon::get_polygon);
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ClassDB::bind_method(D_METHOD("clear_polygons"), &NavigationPolygon::clear_polygons);
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ClassDB::bind_method(D_METHOD("get_navigation_mesh"), &NavigationPolygon::get_navigation_mesh);
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ClassDB::bind_method(D_METHOD("add_outline", "outline"), &NavigationPolygon::add_outline);
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ClassDB::bind_method(D_METHOD("add_outline_at_index", "outline", "index"), &NavigationPolygon::add_outline_at_index);
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ClassDB::bind_method(D_METHOD("get_outline_count"), &NavigationPolygon::get_outline_count);
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ClassDB::bind_method(D_METHOD("set_outline", "idx", "outline"), &NavigationPolygon::set_outline);
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ClassDB::bind_method(D_METHOD("get_outline", "idx"), &NavigationPolygon::get_outline);
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ClassDB::bind_method(D_METHOD("remove_outline", "idx"), &NavigationPolygon::remove_outline);
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ClassDB::bind_method(D_METHOD("clear_outlines"), &NavigationPolygon::clear_outlines);
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ClassDB::bind_method(D_METHOD("make_polygons_from_outlines"), &NavigationPolygon::make_polygons_from_outlines);
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ClassDB::bind_method(D_METHOD("_set_polygons", "polygons"), &NavigationPolygon::_set_polygons);
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ClassDB::bind_method(D_METHOD("_get_polygons"), &NavigationPolygon::_get_polygons);
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ClassDB::bind_method(D_METHOD("_set_outlines", "outlines"), &NavigationPolygon::_set_outlines);
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ClassDB::bind_method(D_METHOD("_get_outlines"), &NavigationPolygon::_get_outlines);
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ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &NavigationPolygon::set_cell_size);
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ClassDB::bind_method(D_METHOD("get_cell_size"), &NavigationPolygon::get_cell_size);
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ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR2_ARRAY, "vertices", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "set_vertices", "get_vertices");
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ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "polygons", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_polygons", "_get_polygons");
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ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "outlines", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_outlines", "_get_outlines");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell_size", PROPERTY_HINT_RANGE, "0.01,500.0,0.01,or_greater,suffix:px"), "set_cell_size", "get_cell_size");
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}
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