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4184884ad1
Removes the duplicated NavMap polygon soup. All navmesh queries now use the NavRegionIteration polygons directly.
149 lines
7.5 KiB
C++
149 lines
7.5 KiB
C++
/**************************************************************************/
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/* nav_mesh_queries_3d.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) 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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#ifndef NAV_MESH_QUERIES_3D_H
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#define NAV_MESH_QUERIES_3D_H
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#ifndef _3D_DISABLED
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#include "../nav_utils.h"
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#include "servers/navigation/navigation_path_query_parameters_3d.h"
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#include "servers/navigation/navigation_path_query_result_3d.h"
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#include "servers/navigation/navigation_utilities.h"
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using namespace NavigationUtilities;
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class NavMap;
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struct NavMapIteration;
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class NavMeshQueries3D {
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public:
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struct PathQuerySlot {
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LocalVector<gd::NavigationPoly> path_corridor;
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gd::Heap<gd::NavigationPoly *, gd::NavPolyTravelCostGreaterThan, gd::NavPolyHeapIndexer> traversable_polys;
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bool in_use = false;
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uint32_t slot_index = 0;
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};
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struct NavMeshPathQueryTask3D {
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enum TaskStatus {
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QUERY_STARTED,
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QUERY_FINISHED,
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QUERY_FAILED,
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CALLBACK_DISPATCHED,
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CALLBACK_FAILED,
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};
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// Parameters.
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Vector3 start_position;
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Vector3 target_position;
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uint32_t navigation_layers;
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BitField<PathMetadataFlags> metadata_flags = PathMetadataFlags::PATH_INCLUDE_ALL;
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PathfindingAlgorithm pathfinding_algorithm = PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
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PathPostProcessing path_postprocessing = PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
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bool simplify_path = false;
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real_t simplify_epsilon = 0.0;
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// Path building.
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Vector3 begin_position;
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Vector3 end_position;
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const gd::Polygon *begin_polygon = nullptr;
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const gd::Polygon *end_polygon = nullptr;
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uint32_t least_cost_id = 0;
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// Map.
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Vector3 map_up;
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NavMap *map = nullptr;
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PathQuerySlot *path_query_slot = nullptr;
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// Path points.
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LocalVector<Vector3> path_points;
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LocalVector<int32_t> path_meta_point_types;
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LocalVector<RID> path_meta_point_rids;
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LocalVector<int64_t> path_meta_point_owners;
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Ref<NavigationPathQueryParameters3D> query_parameters;
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Ref<NavigationPathQueryResult3D> query_result;
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Callable callback;
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NavMeshPathQueryTask3D::TaskStatus status = NavMeshPathQueryTask3D::TaskStatus::QUERY_STARTED;
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void path_clear() {
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path_points.clear();
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path_meta_point_types.clear();
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path_meta_point_rids.clear();
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path_meta_point_owners.clear();
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}
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void path_reverse() {
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path_points.invert();
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path_meta_point_types.invert();
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path_meta_point_rids.invert();
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path_meta_point_owners.invert();
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}
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};
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static bool emit_callback(const Callable &p_callback);
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static Vector3 polygons_get_random_point(const LocalVector<gd::Polygon> &p_polygons, uint32_t p_navigation_layers, bool p_uniformly);
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static Vector3 polygons_get_closest_point_to_segment(const LocalVector<gd::Polygon> &p_polygons, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision);
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static Vector3 polygons_get_closest_point(const LocalVector<gd::Polygon> &p_polygons, const Vector3 &p_point);
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static Vector3 polygons_get_closest_point_normal(const LocalVector<gd::Polygon> &p_polygons, const Vector3 &p_point);
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static gd::ClosestPointQueryResult polygons_get_closest_point_info(const LocalVector<gd::Polygon> &p_polygons, const Vector3 &p_point);
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static RID polygons_get_closest_point_owner(const LocalVector<gd::Polygon> &p_polygons, const Vector3 &p_point);
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static Vector3 map_iteration_get_closest_point_to_segment(const NavMapIteration &p_map_iteration, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision);
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static Vector3 map_iteration_get_closest_point(const NavMapIteration &p_map_iteration, const Vector3 &p_point);
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static Vector3 map_iteration_get_closest_point_normal(const NavMapIteration &p_map_iteration, const Vector3 &p_point);
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static RID map_iteration_get_closest_point_owner(const NavMapIteration &p_map_iteration, const Vector3 &p_point);
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static gd::ClosestPointQueryResult map_iteration_get_closest_point_info(const NavMapIteration &p_map_iteration, const Vector3 &p_point);
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static Vector3 map_iteration_get_random_point(const NavMapIteration &p_map_iteration, uint32_t p_navigation_layers, bool p_uniformly);
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static void map_query_path(NavMap *map, const Ref<NavigationPathQueryParameters3D> &p_query_parameters, Ref<NavigationPathQueryResult3D> p_query_result, const Callable &p_callback);
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static void query_task_map_iteration_get_path(NavMeshPathQueryTask3D &p_query_task, const NavMapIteration &p_map_iteration);
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static void _query_task_push_back_point_with_metadata(NavMeshPathQueryTask3D &p_query_task, const Vector3 &p_point, const gd::Polygon *p_point_polygon);
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static void _query_task_find_start_end_positions(NavMeshPathQueryTask3D &p_query_task, const NavMapIteration &p_map_iteration);
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static void _query_task_build_path_corridor(NavMeshPathQueryTask3D &p_query_task);
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static void _query_task_post_process_corridorfunnel(NavMeshPathQueryTask3D &p_query_task);
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static void _query_task_post_process_edgecentered(NavMeshPathQueryTask3D &p_query_task);
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static void _query_task_post_process_nopostprocessing(NavMeshPathQueryTask3D &p_query_task);
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static void _query_task_clip_path(NavMeshPathQueryTask3D &p_query_task, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly);
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static void _query_task_simplified_path_points(NavMeshPathQueryTask3D &p_query_task);
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static void simplify_path_segment(int p_start_inx, int p_end_inx, const LocalVector<Vector3> &p_points, real_t p_epsilon, LocalVector<uint32_t> &r_simplified_path_indices);
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static LocalVector<uint32_t> get_simplified_path_indices(const LocalVector<Vector3> &p_path, real_t p_epsilon);
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};
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#endif // _3D_DISABLED
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#endif // NAV_MESH_QUERIES_3D_H
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