157 lines
4.3 KiB
C++
157 lines
4.3 KiB
C++
/*************************************************************************/
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/* nav_utils.h */
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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) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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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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#ifndef NAV_UTILS_H
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#define NAV_UTILS_H
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#include "core/math/vector3.h"
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#include <vector>
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/**
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@author AndreaCatania
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*/
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class NavRegion;
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namespace gd {
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struct Polygon;
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union PointKey {
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struct {
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int64_t x : 21;
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int64_t y : 22;
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int64_t z : 21;
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};
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uint64_t key;
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bool operator<(const PointKey &p_key) const { return key < p_key.key; }
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};
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struct EdgeKey {
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PointKey a;
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PointKey b;
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bool operator<(const EdgeKey &p_key) const {
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return (a.key == p_key.a.key) ? (b.key < p_key.b.key) : (a.key < p_key.a.key);
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}
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EdgeKey(const PointKey &p_a = PointKey(), const PointKey &p_b = PointKey()) :
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a(p_a),
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b(p_b) {
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if (a.key > b.key) {
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SWAP(a, b);
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}
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}
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};
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struct Point {
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Vector3 pos;
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PointKey key;
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};
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struct Edge {
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/// This edge ID
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int this_edge = -1;
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/// Other Polygon
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Polygon *other_polygon = nullptr;
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/// The other `Polygon` at this edge id has this `Polygon`.
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int other_edge = -1;
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Edge() {}
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};
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struct Polygon {
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NavRegion *owner;
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/// The points of this `Polygon`
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std::vector<Point> points;
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/// Are the points clockwise ?
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bool clockwise;
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/// The edges of this `Polygon`
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std::vector<Edge> edges;
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/// The center of this `Polygon`
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Vector3 center;
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};
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struct Connection {
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Polygon *A = nullptr;
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int A_edge = -1;
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Polygon *B = nullptr;
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int B_edge = -1;
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Connection() {}
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};
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struct NavigationPoly {
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uint32_t self_id = 0;
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/// This poly.
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const Polygon *poly;
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/// The previous navigation poly (id in the `navigation_poly` array).
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int prev_navigation_poly_id = -1;
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/// The edge id in this `Poly` to reach the `prev_navigation_poly_id`.
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uint32_t back_navigation_edge = 0;
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/// The entry location of this poly.
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Vector3 entry;
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/// The distance to the destination.
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float traveled_distance = 0.0;
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NavigationPoly(const Polygon *p_poly) :
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poly(p_poly) {}
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bool operator==(const NavigationPoly &other) const {
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return this->poly == other.poly;
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}
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bool operator!=(const NavigationPoly &other) const {
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return !operator==(other);
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}
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};
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struct FreeEdge {
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bool is_free;
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Polygon *poly;
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uint32_t edge_id;
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Vector3 edge_center;
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Vector3 edge_dir;
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float edge_len_squared;
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};
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} // namespace gd
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#endif // NAV_UTILS_H
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