#ifndef RVO_SPACE_H #define RVO_SPACE_H /*************************************************************************/ /* nav_map.h */ /*************************************************************************/ /* 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 "nav_rid.h" #include "core/math/math_defs.h" #include "nav_utils.h" #include <KdTree.h> /** @author AndreaCatania */ class NavRegion; class RvoAgent; class NavRegion; class NavMap : public NavRid { /// Map Up Vector3 up; /// To find the polygons edges the vertices are displaced in a grid where /// each cell has the following cell_size and cell_height. real_t cell_size; real_t cell_height; /// This value is used to detect the near edges to connect. real_t edge_connection_margin; bool regenerate_polygons; bool regenerate_links; std::vector<NavRegion *> regions; /// Map polygons std::vector<gd::Polygon> polygons; /// Rvo world RVO::KdTree rvo; /// Is agent array modified? bool agents_dirty; /// All the Agents (even the controlled one) std::vector<RvoAgent *> agents; /// Controlled agents std::vector<RvoAgent *> controlled_agents; /// Physics delta time real_t deltatime; /// Change the id each time the map is updated. uint32_t map_update_id; public: NavMap(); void set_up(Vector3 p_up); Vector3 get_up() const { return up; } void set_cell_size(float p_cell_size); float get_cell_size() const { return cell_size; } void set_cell_height(float p_cell_height); float get_cell_height() const { return cell_height; } void set_edge_connection_margin(float p_edge_connection_margin); float get_edge_connection_margin() const { return edge_connection_margin; } gd::PointKey get_point_key(const Vector3 &p_pos) const; Vector<Vector3> get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize) const; Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const; Vector3 get_closest_point(const Vector3 &p_point) const; Vector3 get_closest_point_normal(const Vector3 &p_point) const; gd::ClosestPointQueryResult get_closest_point_info(const Vector3 &p_point) const; RID get_closest_point_owner(const Vector3 &p_point) const; void add_region(NavRegion *p_region); void remove_region(NavRegion *p_region); const std::vector<NavRegion *> &get_regions() const { return regions; } bool has_agent(RvoAgent *agent) const; void add_agent(RvoAgent *agent); void remove_agent(RvoAgent *agent); const std::vector<RvoAgent *> &get_agents() const { return agents; } void set_agent_as_controlled(RvoAgent *agent); void remove_agent_as_controlled(RvoAgent *agent); uint32_t get_map_update_id() const { return map_update_id; } void sync(); void step(real_t p_deltatime); void dispatch_callbacks(); private: void compute_single_step(uint32_t index, RvoAgent **agent); void clip_path(const std::vector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly) const; }; #endif // RVO_SPACE_H