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Merge pull request #99030 from tracefree/obstacle_2d_transform

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Make use of NavigationObstacle2D's transform
This commit is contained in:
Thaddeus Crews 2024-11-12 09:28:03 -06:00
commit e960aa319f
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GPG Key ID: 62181B86FE9E5D84
3 changed files with 39 additions and 8 deletions
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13
modules/navigation/2d/nav_mesh_generator_2d.cpp
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@ -691,11 +691,15 @@ void NavMeshGenerator2D::generator_parse_navigationobstacle_node(const Ref<Navig
return;
}
const Transform2D node_xform = p_source_geometry_data->root_node_transform * Transform2D(0.0, obstacle->get_global_position());
const Vector2 safe_scale = obstacle->get_global_scale().abs().maxf(0.001);
const float obstacle_radius = obstacle->get_radius();
if (obstacle_radius > 0.0) {
// Radius defined obstacle should be uniformly scaled from obstacle basis max scale axis.
const float scaling_max_value = safe_scale[safe_scale.max_axis_index()];
const Vector2 uniform_max_scale = Vector2(scaling_max_value, scaling_max_value);
const Transform2D obstacle_circle_transform = p_source_geometry_data->root_node_transform * Transform2D(obstacle->get_global_rotation(), uniform_max_scale, 0.0, obstacle->get_global_position());
Vector<Vector2> obstruction_circle_vertices;
// The point of this is that the moving obstacle can make a simple hole in the navigation mesh and affect the pathfinding.
@ -709,12 +713,15 @@ void NavMeshGenerator2D::generator_parse_navigationobstacle_node(const Ref<Navig
for (int i = 0; i < circle_points; i++) {
const float angle = i * circle_point_step;
circle_vertices_ptrw[i] = node_xform.xform(Vector2(Math::cos(angle) * obstacle_radius, Math::sin(angle) * obstacle_radius));
circle_vertices_ptrw[i] = obstacle_circle_transform.xform(Vector2(Math::cos(angle) * obstacle_radius, Math::sin(angle) * obstacle_radius));
}
p_source_geometry_data->add_projected_obstruction(obstruction_circle_vertices, obstacle->get_carve_navigation_mesh());
}
// Obstacles are projected to the xz-plane, so only rotation around the y-axis can be taken into account.
const Transform2D node_xform = p_source_geometry_data->root_node_transform * obstacle->get_global_transform();
const Vector<Vector2> &obstacle_vertices = obstacle->get_vertices();
if (obstacle_vertices.is_empty()) {

32
scene/2d/navigation_obstacle_2d.cpp
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@ -167,8 +167,7 @@ void NavigationObstacle2D::_notification(int p_what) {
if (is_debug_enabled) {
RS::get_singleton()->canvas_item_clear(debug_canvas_item);
Transform2D debug_transform = Transform2D(0.0, get_global_position());
RS::get_singleton()->canvas_item_set_transform(debug_canvas_item, debug_transform);
RS::get_singleton()->canvas_item_set_transform(debug_canvas_item, Transform2D());
_update_fake_agent_radius_debug();
_update_static_obstacle_debug();
}
@ -311,6 +310,25 @@ bool NavigationObstacle2D::get_carve_navigation_mesh() const {
return carve_navigation_mesh;
}
PackedStringArray NavigationObstacle2D::get_configuration_warnings() const {
PackedStringArray warnings = Node2D::get_configuration_warnings();
const Vector2 global_scale = get_global_scale();
if (global_scale.x < 0.001 || global_scale.y < 0.001) {
warnings.push_back(RTR("NavigationObstacle2D does not support negative or zero scaling."));
}
if (radius > 0.0 && !get_global_transform().is_conformal()) {
warnings.push_back(RTR("The agent radius can only be scaled uniformly. The largest value along the two axes of the global scale will be used to scale the radius. This value may change in unexpected ways when the node is rotated."));
}
if (radius > 0.0 && get_global_skew() != 0.0) {
warnings.push_back(RTR("Skew has no effect on the agent radius."));
}
return warnings;
}
void NavigationObstacle2D::_update_map(RID p_map) {
map_current = p_map;
NavigationServer2D::get_singleton()->obstacle_set_map(obstacle, p_map);
@ -327,8 +345,11 @@ void NavigationObstacle2D::_update_position(const Vector2 p_position) {
void NavigationObstacle2D::_update_fake_agent_radius_debug() {
if (radius > 0.0 && NavigationServer2D::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_radius()) {
Color debug_radius_color = NavigationServer2D::get_singleton()->get_debug_navigation_avoidance_obstacles_radius_color();
RS::get_singleton()->canvas_item_add_circle(debug_canvas_item, Vector2(), radius, debug_radius_color);
// Prevent non-positive scaling.
const Vector2 safe_scale = get_global_scale().abs().maxf(0.001);
// Agent radius is a scalar value and does not support non-uniform scaling, choose the largest axis.
const float scaling_max_value = safe_scale[safe_scale.max_axis_index()];
RS::get_singleton()->canvas_item_add_circle(debug_canvas_item, get_global_position(), scaling_max_value * radius, debug_radius_color);
}
}
#endif // DEBUG_ENABLED
@ -370,7 +391,8 @@ void NavigationObstacle2D::_update_static_obstacle_debug() {
debug_obstacle_line_colors.resize(debug_obstacle_line_vertices.size());
debug_obstacle_line_colors.fill(debug_static_obstacle_edge_color);
RS::get_singleton()->canvas_item_add_polyline(debug_canvas_item, debug_obstacle_line_vertices, debug_obstacle_line_colors, 4.0);
// Transforming the vertices directly instead of the canvas item in order to not affect the circle shape by non-uniform scales.
RS::get_singleton()->canvas_item_add_polyline(debug_canvas_item, get_global_transform().xform(debug_obstacle_line_vertices), debug_obstacle_line_colors, 4.0);
}
}
#endif // DEBUG_ENABLED

2
scene/2d/navigation_obstacle_2d.h
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@ -106,6 +106,8 @@ public:
void set_carve_navigation_mesh(bool p_enabled);
bool get_carve_navigation_mesh() const;
PackedStringArray get_configuration_warnings() const override;
private:
void _update_map(RID p_map);
void _update_position(const Vector2 p_position);