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Ported the geometry parser for GridMap from the navigation mesh generator pr.

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Relintai 2023-06-06 13:52:16 +02:00
parent 316a53bfbf
commit f04fe96da7
3 changed files with 239 additions and 0 deletions
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1
modules/gridmap/SCsub
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@ -8,6 +8,7 @@ env_gridmap = env_modules.Clone()
env_gridmap.add_source_files(env.modules_sources, "grid_map.cpp")
env_gridmap.add_source_files(env.modules_sources, "mesh_library.cpp")
env_gridmap.add_source_files(env.modules_sources, "register_types.cpp")
env_gridmap.add_source_files(env.modules_sources, "geometry_parser/*.cpp")
if env["tools"]:
env_gridmap.add_source_files(env.modules_sources, "grid_map_editor_plugin.cpp")

190
modules/gridmap/geometry_parser/gridmap_navigation_geometry_parser_3d.cpp Normal file
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@ -0,0 +1,190 @@
/**************************************************************************/
/* gridmap_navigation_geometry_parser_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 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 "gridmap_navigation_geometry_parser_3d.h"
#include "modules/gridmap/grid_map.h"
#include "core/math/convex_hull.h"
#include "scene/3d/mesh_instance.h"
#include "scene/3d/physics_body.h"
#include "scene/resources/box_shape.h"
#include "scene/resources/capsule_shape.h"
#include "scene/resources/concave_polygon_shape.h"
#include "scene/resources/convex_polygon_shape.h"
#include "scene/resources/cylinder_shape.h"
#include "scene/resources/height_map_shape.h"
#include "scene/resources/navigation_mesh.h"
#include "scene/resources/navigation_mesh_source_geometry_data_3d.h"
#include "scene/resources/plane_shape.h"
#include "scene/resources/primitive_meshes.h"
#include "scene/resources/shape.h"
#include "scene/resources/sphere_shape.h"
bool GridMap3DNavigationGeometryParser3D::parses_node(Node *p_node) {
return (Object::cast_to<GridMap>(p_node) != nullptr);
}
void GridMap3DNavigationGeometryParser3D::parse_geometry(Node *p_node, Ref<NavigationMesh> p_navigationmesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry) {
GridMap *gridmap = Object::cast_to<GridMap>(p_node);
NavigationMesh::ParsedGeometryType parsed_geometry_type = p_navigationmesh->get_parsed_geometry_type();
uint32_t navigationmesh_collision_mask = p_navigationmesh->get_collision_mask();
if (gridmap) {
if (parsed_geometry_type != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
Array meshes = gridmap->get_meshes();
Transform xform = gridmap->get_global_transform();
for (int i = 0; i < meshes.size(); i += 2) {
Ref<Mesh> mesh = meshes[i + 1];
if (mesh.is_valid()) {
p_source_geometry->add_mesh(mesh, xform * meshes[i].operator Transform());
}
}
}
else if (parsed_geometry_type != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES && (gridmap->get_collision_layer() & navigationmesh_collision_mask)) {
Array shapes = gridmap->get_collision_shapes();
for (int i = 0; i < shapes.size(); i += 2) {
RID shape = shapes[i + 1];
PhysicsServer::ShapeType type = PhysicsServer::get_singleton()->shape_get_type(shape);
Variant data = PhysicsServer::get_singleton()->shape_get_data(shape);
switch (type) {
case PhysicsServer::SHAPE_SPHERE: {
real_t radius = data;
Array arr;
arr.resize(RS::ARRAY_MAX);
SphereMesh::create_mesh_array(arr, radius, radius * 2.0);
p_source_geometry->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer::SHAPE_BOX: {
Vector3 extents = data;
Array arr;
arr.resize(RS::ARRAY_MAX);
CubeMesh::create_mesh_array(arr, extents * 2.0);
p_source_geometry->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer::SHAPE_CAPSULE: {
Dictionary dict = data;
real_t radius = dict["radius"];
real_t height = dict["height"];
Array arr;
arr.resize(RS::ARRAY_MAX);
CapsuleMesh::create_mesh_array(arr, radius, height);
p_source_geometry->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer::SHAPE_CYLINDER: {
Dictionary dict = data;
real_t radius = dict["radius"];
real_t height = dict["height"];
Array arr;
arr.resize(RS::ARRAY_MAX);
CylinderMesh::create_mesh_array(arr, radius, radius, height);
p_source_geometry->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer::SHAPE_CONVEX_POLYGON: {
PoolVector3Array vertices = data;
Geometry::MeshData md;
Error err = ConvexHullComputer::convex_hull(vertices, md);
if (err == OK) {
PoolVector3Array faces;
for (int j = 0; j < md.faces.size(); ++j) {
const Geometry::MeshData::Face &face = md.faces[j];
for (int k = 2; k < face.indices.size(); ++k) {
faces.push_back(md.vertices[face.indices[0]]);
faces.push_back(md.vertices[face.indices[k - 1]]);
faces.push_back(md.vertices[face.indices[k]]);
}
}
p_source_geometry->add_faces(faces, shapes[i]);
}
} break;
case PhysicsServer::SHAPE_CONCAVE_POLYGON: {
Dictionary dict = data;
PoolVector3Array faces = Variant(dict["faces"]);
p_source_geometry->add_faces(faces, shapes[i]);
} break;
case PhysicsServer::SHAPE_HEIGHTMAP: {
Dictionary dict = data;
///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
int heightmap_depth = dict["depth"];
int heightmap_width = dict["width"];
if (heightmap_depth >= 2 && heightmap_width >= 2) {
const Vector<real_t> &map_data = dict["heights"];
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector2 start = heightmap_gridsize * -0.5;
PoolVector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
int map_data_current_index = 0;
for (int d = 0; d < heightmap_depth; d++) {
for (int w = 0; w < heightmap_width; w++) {
if (map_data_current_index + 1 + heightmap_depth < map_data.size()) {
float top_left_height = map_data[map_data_current_index];
float top_right_height = map_data[map_data_current_index + 1];
float bottom_left_height = map_data[map_data_current_index + heightmap_depth];
float bottom_right_height = map_data[map_data_current_index + 1 + heightmap_depth];
Vector3 top_left = Vector3(start.x + w, top_left_height, start.y + d);
Vector3 top_right = Vector3(start.x + w + 1.0, top_right_height, start.y + d);
Vector3 bottom_left = Vector3(start.x + w, bottom_left_height, start.y + d + 1.0);
Vector3 bottom_right = Vector3(start.x + w + 1.0, bottom_right_height, start.y + d + 1.0);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_left);
vertex_array.push_back(top_left);
vertex_array.push_back(top_right);
vertex_array.push_back(bottom_right);
vertex_array.push_back(bottom_left);
}
map_data_current_index += 1;
}
}
if (vertex_array.size() > 0) {
p_source_geometry->add_faces(vertex_array, shapes[i]);
}
}
} break;
default: {
WARN_PRINT("Unsupported collision shape type.");
} break;
}
}
}
}
}

48
modules/gridmap/geometry_parser/gridmap_navigation_geometry_parser_3d.h Normal file
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@ -0,0 +1,48 @@
#ifndef GRIDMAP_NAVIGATION_GEOMETRY_PARSER_3D_H
#define GRIDMAP_NAVIGATION_GEOMETRY_PARSER_3D_H
/**************************************************************************/
/* gridmap_navigation_geometry_parser_3d.h */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 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 "core/object/reference.h"
#include "scene/3d/navigation_geometry_parser_3d.h"
class NavigationMesh;
class NavigationMeshSourceGeometryData3D;
class GridMap3DNavigationGeometryParser3D : public NavigationGeometryParser3D {
public:
virtual bool parses_node(Node *p_node) override;
virtual void parse_geometry(Node *p_node, Ref<NavigationMesh> p_navigationmesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry);
};
#endif // GRIDMAP_NAVIGATION_GEOMETRY_PARSER_3D_H