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godot/scene/3d/navigation_mesh.cpp

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/*************************************************************************/
/* navigation_mesh.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
/* */
/* 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. */
/*************************************************************************/
#include "navigation_mesh.h"
#include "navigation.h"
#include "mesh_instance.h"
void NavigationMesh::create_from_mesh(const Ref<Mesh>& p_mesh) {
vertices=DVector<Vector3>();
clear_polygons();
for(int i=0;i<p_mesh->get_surface_count();i++) {
if (p_mesh->surface_get_primitive_type(i)!=Mesh::PRIMITIVE_TRIANGLES)
continue;
Array arr = p_mesh->surface_get_arrays(i);
DVector<Vector3> varr = arr[Mesh::ARRAY_VERTEX];
DVector<int> iarr = arr[Mesh::ARRAY_INDEX];
if (varr.size()==0 || iarr.size()==0)
continue;
int from = vertices.size();
vertices.append_array(varr);
int rlen = iarr.size();
DVector<int>::Read r = iarr.read();
for(int j=0;j<rlen;j+=3) {
Vector<int> vi;
vi.resize(3);
vi[0]=r[j+0]+from;
vi[1]=r[j+1]+from;
vi[2]=r[j+2]+from;
add_polygon(vi);
}
}
}
void NavigationMesh::set_vertices(const DVector<Vector3>& p_vertices) {
vertices=p_vertices;
}
DVector<Vector3> NavigationMesh::get_vertices() const{
return vertices;
}
void NavigationMesh::_set_polygons(const Array& p_array) {
polygons.resize(p_array.size());
for(int i=0;i<p_array.size();i++) {
polygons[i].indices=p_array[i];
}
}
Array NavigationMesh::_get_polygons() const {
Array ret;
ret.resize(polygons.size());
for(int i=0;i<ret.size();i++) {
ret[i]=polygons[i].indices;
}
return ret;
}
void NavigationMesh::add_polygon(const Vector<int>& p_polygon){
Polygon polygon;
polygon.indices=p_polygon;
polygons.push_back(polygon);
}
int NavigationMesh::get_polygon_count() const{
return polygons.size();
}
Vector<int> NavigationMesh::get_polygon(int p_idx){
ERR_FAIL_INDEX_V(p_idx,polygons.size(),Vector<int>());
return polygons[p_idx].indices;
}
void NavigationMesh::clear_polygons(){
polygons.clear();
}
Ref<Mesh> NavigationMesh::get_debug_mesh() {
if (debug_mesh.is_valid())
return debug_mesh;
DVector<Vector3> vertices = get_vertices();
DVector<Vector3>::Read vr=vertices.read();
List<Face3> faces;
for(int i=0;i<get_polygon_count();i++) {
Vector<int> p = get_polygon(i);
for(int j=2;j<p.size();j++) {
Face3 f;
f.vertex[0]=vr[p[0]];
f.vertex[1]=vr[p[j-1]];
f.vertex[2]=vr[p[j]];
faces.push_back(f);
}
}
Map<_EdgeKey,bool> edge_map;
DVector<Vector3> tmeshfaces;
tmeshfaces.resize(faces.size()*3);
{
DVector<Vector3>::Write tw=tmeshfaces.write();
int tidx=0;
for(List<Face3>::Element *E=faces.front();E;E=E->next()) {
const Face3 &f = E->get();
for(int j=0;j<3;j++) {
tw[tidx++]=f.vertex[j];
_EdgeKey ek;
ek.from=f.vertex[j].snapped(CMP_EPSILON);
ek.to=f.vertex[(j+1)%3].snapped(CMP_EPSILON);
if (ek.from<ek.to)
SWAP(ek.from,ek.to);
Map<_EdgeKey,bool>::Element *E=edge_map.find(ek);
if (E) {
E->get()=false;
} else {
edge_map[ek]=true;
}
}
}
}
List<Vector3> lines;
for(Map<_EdgeKey,bool>::Element *E=edge_map.front();E;E=E->next()) {
if (E->get()) {
lines.push_back(E->key().from);
lines.push_back(E->key().to);
}
}
DVector<Vector3> varr;
varr.resize(lines.size());
{
DVector<Vector3>::Write w = varr.write();
int idx=0;
for(List<Vector3>::Element *E=lines.front();E;E=E->next()) {
w[idx++]=E->get();
}
}
debug_mesh = Ref<Mesh>( memnew( Mesh ) );
Array arr;
arr.resize(Mesh::ARRAY_MAX);
arr[Mesh::ARRAY_VERTEX]=varr;
debug_mesh->add_surface(Mesh::PRIMITIVE_LINES,arr);
return debug_mesh;
}
void NavigationMesh::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_vertices","vertices"),&NavigationMesh::set_vertices);
ObjectTypeDB::bind_method(_MD("get_vertices"),&NavigationMesh::get_vertices);
ObjectTypeDB::bind_method(_MD("add_polygon","polygon"),&NavigationMesh::add_polygon);
ObjectTypeDB::bind_method(_MD("get_polygon_count"),&NavigationMesh::get_polygon_count);
ObjectTypeDB::bind_method(_MD("get_polygon","idx"),&NavigationMesh::get_polygon);
ObjectTypeDB::bind_method(_MD("clear_polygons"),&NavigationMesh::clear_polygons);
ObjectTypeDB::bind_method(_MD("_set_polygons","polygons"),&NavigationMesh::_set_polygons);
ObjectTypeDB::bind_method(_MD("_get_polygons"),&NavigationMesh::_get_polygons);
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3_ARRAY,"vertices",PROPERTY_HINT_NONE,"",PROPERTY_USAGE_NOEDITOR),_SCS("set_vertices"),_SCS("get_vertices"));
ADD_PROPERTY(PropertyInfo(Variant::ARRAY,"polygons",PROPERTY_HINT_NONE,"",PROPERTY_USAGE_NOEDITOR),_SCS("_set_polygons"),_SCS("_get_polygons"));
}
NavigationMesh::NavigationMesh() {
}
void NavigationMeshInstance::set_enabled(bool p_enabled) {
if (enabled==p_enabled)
return;
enabled=p_enabled;
if (!is_inside_tree())
return;
if (!enabled) {
if (nav_id!=-1) {
navigation->navmesh_remove(nav_id);
nav_id=-1;
}
} else {
if (navigation) {
if (navmesh.is_valid()) {
nav_id = navigation->navmesh_create(navmesh,get_relative_transform(navigation),this);
}
}
}
if (debug_view) {
MeshInstance *dm=debug_view->cast_to<MeshInstance>();
if (is_enabled()) {
dm->set_material_override( get_tree()->get_debug_navigation_material() );
} else {
dm->set_material_override( get_tree()->get_debug_navigation_disabled_material() );
}
}
update_gizmo();
}
bool NavigationMeshInstance::is_enabled() const {
return enabled;
}
/////////////////////////////
void NavigationMeshInstance::_notification(int p_what) {
switch(p_what) {
case NOTIFICATION_ENTER_TREE: {
Spatial *c=this;
while(c) {
navigation=c->cast_to<Navigation>();
if (navigation) {
if (enabled && navmesh.is_valid()) {
nav_id = navigation->navmesh_create(navmesh,get_relative_transform(navigation),this);
}
break;
}
c=c->get_parent_spatial();
}
if (navmesh.is_valid() && get_tree()->is_debugging_navigation_hint()) {
MeshInstance *dm = memnew( MeshInstance );
dm->set_mesh( navmesh->get_debug_mesh() );
if (is_enabled()) {
dm->set_material_override( get_tree()->get_debug_navigation_material() );
} else {
dm->set_material_override( get_tree()->get_debug_navigation_disabled_material() );
}
add_child(dm);
debug_view=dm;
}
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
if (navigation && nav_id!=-1) {
navigation->navmesh_set_transform(nav_id,get_relative_transform(navigation));
}
} break;
case NOTIFICATION_EXIT_TREE: {
if (navigation) {
if (nav_id!=-1) {
navigation->navmesh_remove(nav_id);
nav_id=-1;
}
}
if (debug_view) {
debug_view->queue_delete();
debug_view=NULL;
}
navigation=NULL;
} break;
}
}
void NavigationMeshInstance::set_navigation_mesh(const Ref<NavigationMesh>& p_navmesh) {
if (p_navmesh==navmesh)
return;
if (navigation && nav_id!=-1) {
navigation->navmesh_remove(nav_id);
nav_id=-1;
}
navmesh=p_navmesh;
if (navigation && navmesh.is_valid() && enabled) {
nav_id = navigation->navmesh_create(navmesh,get_relative_transform(navigation),this);
}
update_gizmo();
update_configuration_warning();
}
Ref<NavigationMesh> NavigationMeshInstance::get_navigation_mesh() const{
return navmesh;
}
String NavigationMeshInstance::get_configuration_warning() const {
if (!is_visible() || !is_inside_tree())
return String();
if (!navmesh.is_valid()) {
return TTR("A NavigationMesh resource must be set or created for this node to work.");
}
const Spatial *c=this;
while(c) {
if (c->cast_to<Navigation>())
return String();
c=c->get_parent()->cast_to<Spatial>();
}
return TTR("NavigationMeshInstance must be a child or grandchild to a Navigation node. It only provides navigation data.");
}
void NavigationMeshInstance::_bind_methods() {
ObjectTypeDB::bind_method(_MD("set_navigation_mesh","navmesh"),&NavigationMeshInstance::set_navigation_mesh);
ObjectTypeDB::bind_method(_MD("get_navigation_mesh"),&NavigationMeshInstance::get_navigation_mesh);
ObjectTypeDB::bind_method(_MD("set_enabled","enabled"),&NavigationMeshInstance::set_enabled);
ObjectTypeDB::bind_method(_MD("is_enabled"),&NavigationMeshInstance::is_enabled);
ADD_PROPERTY( PropertyInfo(Variant::OBJECT,"navmesh",PROPERTY_HINT_RESOURCE_TYPE,"NavigationMesh"),_SCS("set_navigation_mesh"),_SCS("get_navigation_mesh"));
ADD_PROPERTY( PropertyInfo(Variant::BOOL,"enabled"),_SCS("set_enabled"),_SCS("is_enabled"));
}
NavigationMeshInstance::NavigationMeshInstance() {
debug_view=NULL;
navigation=NULL;
nav_id=-1;
enabled=true;
}
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