/*************************************************************************/ /* navigation_2d_server.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* 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 "pandemonium_navigation_2d_server.h" #include "core/math/transform.h" #include "core/math/transform_2d.h" #include "scene/resources/navigation_mesh.h" #include "servers/navigation_server.h" #define FORWARD_0(FUNC_NAME) \ PandemoniumNavigation2DServer::FUNC_NAME() { \ return NavigationServer::get_singleton()->FUNC_NAME(); \ } #define FORWARD_0_C(FUNC_NAME) \ PandemoniumNavigation2DServer::FUNC_NAME() \ const { \ return NavigationServer::get_singleton()->FUNC_NAME(); \ } #define FORWARD_1(FUNC_NAME, T_0, D_0, CONV_0) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0) { \ return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0)); \ } #define FORWARD_1_C(FUNC_NAME, T_0, D_0, CONV_0) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0) \ const { \ return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0)); \ } #define FORWARD_1_R_C(CONV_R, FUNC_NAME, T_0, D_0, CONV_0) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0) \ const { \ return CONV_R(NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0))); \ } #define FORWARD_2(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1) { \ return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \ } #define FORWARD_2_C(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1) \ const { \ return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \ } #define FORWARD_2_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1) \ const { \ return CONV_R(NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1))); \ } #define FORWARD_3_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, CONV_0, CONV_1, CONV_2) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2) \ const { \ return CONV_R(NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2))); \ } #define FORWARD_3_C(FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, CONV_0, CONV_1, CONV_2) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2) \ const { \ return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2)); \ } #define FORWARD_4(FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, CONV_0, CONV_1, CONV_2, CONV_3) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) { \ return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3)); \ } #define FORWARD_4_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, CONV_0, CONV_1, CONV_2, CONV_3) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) \ const { \ return CONV_R(NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3))); \ } #define FORWARD_4_C(FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, CONV_0, CONV_1, CONV_2, CONV_3) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) \ const { \ return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3)); \ } #define FORWARD_5_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, T_4, D_4, CONV_0, CONV_1, CONV_2, CONV_3, CONV_4) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3, T_4 D_4) \ const { \ return CONV_R(NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3), CONV_4(D_4))); \ } #define FORWARD_5_C(FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, T_4, D_4, CONV_0, CONV_1, CONV_2, CONV_3, CONV_4) \ PandemoniumNavigation2DServer::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3, T_4 D_4) \ const { \ return NavigationServer::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3), CONV_4(D_4)); \ } RID rid_to_rid(const RID d) { return d; } bool bool_to_bool(const bool d) { return d; } int int_to_int(const int d) { return d; } uint32_t uint32_to_uint32(const uint32_t d) { return d; } real_t real_to_real(const real_t d) { return d; } Vector3 v2_to_v3(const Vector2 d) { return Vector3(d.x, 0.0, d.y); } Vector2 v3_to_v2(const Vector3 &d) { return Vector2(d.x, d.z); } Vector vector_v3_to_v2(const Vector &d) { Vector nd; nd.resize(d.size()); for (int i(0); i < nd.size(); i++) { nd.write[i] = v3_to_v2(d[i]); } return nd; } static Vector vector_v2_to_v3(const Vector &d) { Vector nd; nd.resize(d.size()); for (int i(0); i < nd.size(); i++) { nd.write[i] = v2_to_v3(d[i]); } return nd; } PoolVector poolvector_v3_to_v2(const PoolVector &d) { PoolVector nd; nd.resize(d.size()); PoolVector2Array::Write w = nd.write(); Vector2 *wptr = w.ptr(); for (int i(0); i < nd.size(); i++) { wptr[i] = v3_to_v2(d[i]); } return nd; } Transform trf2_to_trf3(const Transform2D &d) { Vector3 o(v2_to_v3(d.get_origin())); Basis b; b.rotate(Vector3(0, -1, 0), d.get_rotation()); b.scale(v2_to_v3(d.get_scale())); return Transform(b, o); } StringName sn_to_sn(StringName &d) { return d; } Variant var_to_var(Variant &d) { return d; } ObjectID id_to_id(const ObjectID &id) { return id; } Ref poly_to_mesh(Ref d) { if (d.is_valid()) { return d->get_navigation_mesh(); } else { return Ref(); } } void PandemoniumNavigation2DServer::_emit_map_changed(RID p_map) { emit_signal("map_changed", p_map); } void PandemoniumNavigation2DServer::_bind_methods() { ClassDB::bind_method(D_METHOD("_emit_map_changed"), &PandemoniumNavigation2DServer::_emit_map_changed); } PandemoniumNavigation2DServer::PandemoniumNavigation2DServer() { ERR_FAIL_COND_MSG(!NavigationServer::get_singleton(), "The NavigationServer singleton should be initialized before the PandemoniumNavigation2DServer one."); NavigationServer::get_singleton()->connect("map_changed", this, "_emit_map_changed"); } PandemoniumNavigation2DServer::~PandemoniumNavigation2DServer() { } Array FORWARD_0_C(get_maps); Array FORWARD_1_C(map_get_links, RID, p_map, rid_to_rid); Array FORWARD_1_C(map_get_regions, RID, p_map, rid_to_rid); Array FORWARD_1_C(map_get_agents, RID, p_map, rid_to_rid); Array FORWARD_1_C(map_get_obstacles, RID, p_map, rid_to_rid); RID FORWARD_1_C(region_get_map, RID, p_region, rid_to_rid); RID FORWARD_1_C(agent_get_map, RID, p_agent, rid_to_rid); RID FORWARD_0(map_create); void FORWARD_2(map_set_active, RID, p_map, bool, p_active, rid_to_rid, bool_to_bool); bool FORWARD_1_C(map_is_active, RID, p_map, rid_to_rid); void PandemoniumNavigation2DServer::map_force_update(RID p_map) { NavigationServer::get_singleton()->map_force_update(p_map); } void FORWARD_2(map_set_cell_size, RID, p_map, real_t, p_cell_size, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_cell_size, RID, p_map, rid_to_rid); void FORWARD_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(map_get_use_edge_connections, RID, p_map, rid_to_rid); void FORWARD_2(map_set_cell_height, RID, p_map, real_t, p_cell_height, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_cell_height, RID, p_map, rid_to_rid); void FORWARD_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_edge_connection_margin, RID, p_map, rid_to_rid); void FORWARD_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius, rid_to_rid, real_to_real); real_t FORWARD_1_C(map_get_link_connection_radius, RID, p_map, rid_to_rid); Vector FORWARD_5_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2, p_origin, Vector2, p_destination, bool, p_optimize, uint32_t, p_navigation_layers, rid_to_rid, v2_to_v3, v2_to_v3, bool_to_bool, uint32_to_uint32); Vector2 FORWARD_2_R_C(v3_to_v2, map_get_closest_point, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); RID FORWARD_2_C(map_get_closest_point_owner, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); RID FORWARD_0(region_create); void FORWARD_2(region_set_enabled, RID, p_region, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(region_get_enabled, RID, p_region, rid_to_rid); void FORWARD_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(region_get_use_edge_connections, RID, p_region, rid_to_rid); void FORWARD_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(region_get_enter_cost, RID, p_region, rid_to_rid); void FORWARD_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(region_get_travel_cost, RID, p_region, rid_to_rid); void FORWARD_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id, rid_to_rid, id_to_id); ObjectID FORWARD_1_C(region_get_owner_id, RID, p_region, rid_to_rid); bool FORWARD_2_C(region_owns_point, RID, p_region, const Vector2 &, p_point, rid_to_rid, v2_to_v3); void FORWARD_2(region_set_map, RID, p_region, RID, p_map, rid_to_rid, rid_to_rid); void FORWARD_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); uint32_t FORWARD_1_C(region_get_navigation_layers, RID, p_region, rid_to_rid); void FORWARD_2(region_set_transform, RID, p_region, Transform2D, p_transform, rid_to_rid, trf2_to_trf3); void PandemoniumNavigation2DServer::region_set_navigation_polygon(RID p_region, Ref p_navigation_mesh) { NavigationServer::get_singleton()->region_set_navigation_mesh(p_region, poly_to_mesh(p_navigation_mesh)); } int FORWARD_1_C(region_get_connections_count, RID, p_region, rid_to_rid); Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_start, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_end, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); RID FORWARD_0(link_create); void FORWARD_2(link_set_map, RID, p_link, RID, p_map, rid_to_rid, rid_to_rid); RID FORWARD_1_C(link_get_map, RID, p_link, rid_to_rid); void FORWARD_2(link_set_enabled, RID, p_link, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(link_get_enabled, RID, p_link, rid_to_rid); void FORWARD_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional, rid_to_rid, bool_to_bool); bool FORWARD_1_C(link_is_bidirectional, RID, p_link, rid_to_rid); void FORWARD_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); uint32_t FORWARD_1_C(link_get_navigation_layers, RID, p_link, rid_to_rid); void FORWARD_2(link_set_start_position, RID, p_link, Vector2, p_position, rid_to_rid, v2_to_v3); Vector2 FORWARD_1_R_C(v3_to_v2, link_get_start_position, RID, p_link, rid_to_rid); void FORWARD_2(link_set_end_position, RID, p_link, Vector2, p_position, rid_to_rid, v2_to_v3); Vector2 FORWARD_1_R_C(v3_to_v2, link_get_end_position, RID, p_link, rid_to_rid); void FORWARD_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(link_get_enter_cost, RID, p_link, rid_to_rid); void FORWARD_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost, rid_to_rid, real_to_real); real_t FORWARD_1_C(link_get_travel_cost, RID, p_link, rid_to_rid); void FORWARD_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id, rid_to_rid, id_to_id); ObjectID FORWARD_1_C(link_get_owner_id, RID, p_link, rid_to_rid); RID PandemoniumNavigation2DServer::agent_create() { RID agent = NavigationServer::get_singleton()->agent_create(); return agent; } void FORWARD_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(agent_get_avoidance_enabled, RID, p_agent, rid_to_rid); void FORWARD_2(agent_set_map, RID, p_agent, RID, p_map, rid_to_rid, rid_to_rid); void FORWARD_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_dist, rid_to_rid, real_to_real); void FORWARD_2(agent_set_max_neighbors, RID, p_agent, int, p_count, rid_to_rid, int_to_int); void FORWARD_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon, rid_to_rid, real_to_real); void FORWARD_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon, rid_to_rid, real_to_real); void FORWARD_2(agent_set_radius, RID, p_agent, real_t, p_radius, rid_to_rid, real_to_real); void FORWARD_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed, rid_to_rid, real_to_real); void FORWARD_2(agent_set_velocity_forced, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3); void FORWARD_2(agent_set_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3); void FORWARD_2(agent_set_position, RID, p_agent, Vector2, p_position, rid_to_rid, v2_to_v3); bool FORWARD_1_C(agent_is_map_changed, RID, p_agent, rid_to_rid); void FORWARD_2(agent_set_paused, RID, p_agent, bool, p_paused, rid_to_rid, bool_to_bool); bool FORWARD_1_C(agent_get_paused, RID, p_agent, rid_to_rid); void FORWARD_1(free, RID, p_object, rid_to_rid); void FORWARD_4(agent_set_avoidance_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata, rid_to_rid, id_to_id, sn_to_sn, var_to_var); void FORWARD_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers, rid_to_rid, uint32_to_uint32); void FORWARD_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask, rid_to_rid, uint32_to_uint32); void FORWARD_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority, rid_to_rid, real_to_real); RID PandemoniumNavigation2DServer::obstacle_create() { RID obstacle = NavigationServer::get_singleton()->obstacle_create(); return obstacle; } void FORWARD_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled, rid_to_rid, bool_to_bool); bool FORWARD_1_C(obstacle_get_avoidance_enabled, RID, p_obstacle, rid_to_rid); void FORWARD_2(obstacle_set_map, RID, p_obstacle, RID, p_map, rid_to_rid, rid_to_rid); RID FORWARD_1_C(obstacle_get_map, RID, p_obstacle, rid_to_rid); void FORWARD_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius, rid_to_rid, real_to_real); void FORWARD_2(obstacle_set_velocity, RID, p_obstacle, Vector2, p_velocity, rid_to_rid, v2_to_v3); void FORWARD_2(obstacle_set_paused, RID, p_obstacle, bool, p_paused, rid_to_rid, bool_to_bool); bool FORWARD_1_C(obstacle_get_paused, RID, p_obstacle, rid_to_rid); void FORWARD_2(obstacle_set_position, RID, p_obstacle, Vector2, p_position, rid_to_rid, v2_to_v3); void FORWARD_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers, rid_to_rid, uint32_to_uint32); void PandemoniumNavigation2DServer::obstacle_set_vertices(RID p_obstacle, const Vector &p_vertices) { NavigationServer::get_singleton()->obstacle_set_vertices(p_obstacle, vector_v2_to_v3(p_vertices)); } NavigationUtilities::PathQueryResult2D PandemoniumNavigation2DServer::_query_path(const NavigationUtilities::PathQueryParameters2D &p_parameters) const { NavigationUtilities::PathQueryParameters params; params.pathfinding_algorithm = p_parameters.pathfinding_algorithm; params.path_postprocessing = p_parameters.path_postprocessing; params.map = p_parameters.map; params.start_position = Vector3(p_parameters.start_position.x, 0.0, p_parameters.start_position.y); params.target_position = Vector3(p_parameters.target_position.x, 0.0, p_parameters.target_position.y); params.navigation_layers = p_parameters.navigation_layers; params.metadata_flags = p_parameters.metadata_flags; NavigationUtilities::PathQueryResult res = NavigationServer::get_singleton()->_query_path(params); NavigationUtilities::PathQueryResult2D resf; resf.path = vector_v3_to_v2(res.path); resf.path_types = res.path_types; resf.path_rids = res.path_rids; resf.path_owner_ids = res.path_owner_ids; return resf; }