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pandemonium_engine/modules/navigation/pandemonium_navigation_server.cpp
Relintai bb5acfd745 Ported: [3.5] Update NavigationServer backport 
Backports features and bugfixes from current Godot 4.0 to 3.5 and brings functions and codebase of both version largely in sync to make tutorials more compatible and future backports easier.
- smix8
8bd7c6188b
2022-07-28 22:34:28 +02:00

635 lines
22 KiB
C++
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/*************************************************************************/
/* pandemonium_navigation_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_server.h"
#include "core/os/mutex.h"
#ifndef _3D_DISABLED
#include "navigation_mesh_generator.h"
#include "scene/resources/mesh.h"
#include "scene/resources/navigation_mesh.h"
#endif
/// Creates a struct for each function and a function that once called creates
/// an instance of that struct with the submitted parameters.
/// Then, that struct is stored in an array; the `sync` function consume that array.
#define COMMAND_1(F_NAME, T_0, D_0) \
struct MERGE(F_NAME, _command) : public SetCommand { \
T_0 d_0; \
MERGE(F_NAME, _command) \
(T_0 p_d_0) : \
d_0(p_d_0) {} \
virtual void exec(PandemoniumNavigationServer *server) { \
server->MERGE(_cmd_, F_NAME)(d_0); \
} \
}; \
void PandemoniumNavigationServer::F_NAME(T_0 D_0) const { \
auto cmd = memnew(MERGE(F_NAME, _command)( \
D_0)); \
add_command(cmd); \
} \
void PandemoniumNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0)
#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
struct MERGE(F_NAME, _command) : public SetCommand { \
T_0 d_0; \
T_1 d_1; \
MERGE(F_NAME, _command) \
( \
T_0 p_d_0, \
T_1 p_d_1) : \
d_0(p_d_0), \
d_1(p_d_1) {} \
virtual void exec(PandemoniumNavigationServer *server) { \
server->MERGE(_cmd_, F_NAME)(d_0, d_1); \
} \
}; \
void PandemoniumNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \
auto cmd = memnew(MERGE(F_NAME, _command)( \
D_0, \
D_1)); \
add_command(cmd); \
} \
void PandemoniumNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
#define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \
struct MERGE(F_NAME, _command) : public SetCommand { \
T_0 d_0; \
T_1 d_1; \
T_2 d_2; \
T_3 d_3; \
MERGE(F_NAME, _command) \
( \
T_0 p_d_0, \
T_1 p_d_1, \
T_2 p_d_2, \
T_3 p_d_3) : \
d_0(p_d_0), \
d_1(p_d_1), \
d_2(p_d_2), \
d_3(p_d_3) {} \
virtual void exec(PandemoniumNavigationServer *server) { \
server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \
} \
}; \
void PandemoniumNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) const { \
auto cmd = memnew(MERGE(F_NAME, _command)( \
D_0, \
D_1, \
D_2, \
D_3)); \
add_command(cmd); \
} \
void PandemoniumNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
PandemoniumNavigationServer::PandemoniumNavigationServer() {
active = true;
}
PandemoniumNavigationServer::~PandemoniumNavigationServer() {
flush_queries();
}
void PandemoniumNavigationServer::add_command(SetCommand *command) const {
PandemoniumNavigationServer *mut_this = const_cast<PandemoniumNavigationServer *>(this);
{
MutexLock lock(commands_mutex);
mut_this->commands.push_back(command);
}
}
RID PandemoniumNavigationServer::map_create() const {
PandemoniumNavigationServer *mut_this = const_cast<PandemoniumNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
NavMap *space = memnew(NavMap);
RID rid = map_owner.make_rid(space);
space->set_self(rid);
return rid;
}
COMMAND_2(map_set_active, RID, p_map, bool, p_active) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
if (p_active) {
if (!map_is_active(p_map)) {
active_maps.push_back(map);
active_maps_update_id.push_back(map->get_map_update_id());
}
} else {
int map_index = active_maps.find(map);
ERR_FAIL_COND(map_index < 0);
active_maps.remove(map_index);
active_maps_update_id.remove(map_index);
}
}
bool PandemoniumNavigationServer::map_is_active(RID p_map) const {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, false);
return active_maps.find(map) >= 0;
}
COMMAND_2(map_set_up, RID, p_map, Vector3, p_up) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
map->set_up(p_up);
}
Vector3 PandemoniumNavigationServer::map_get_up(RID p_map) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector3());
return map->get_up();
}
COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
map->set_cell_size(p_cell_size);
}
real_t PandemoniumNavigationServer::map_get_cell_size(RID p_map) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, 0);
return map->get_cell_size();
}
COMMAND_2(map_set_cell_height, RID, p_map, real_t, p_cell_height) {
NavMap *map = map_owner.get(p_map);
ERR_FAIL_COND(map == nullptr);
map->set_cell_height(p_cell_height);
}
real_t PandemoniumNavigationServer::map_get_cell_height(RID p_map) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, 0);
return map->get_cell_height();
}
COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
map->set_edge_connection_margin(p_connection_margin);
}
real_t PandemoniumNavigationServer::map_get_edge_connection_margin(RID p_map) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, 0);
return map->get_edge_connection_margin();
}
Vector<Vector3> PandemoniumNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());
return map->get_path(p_origin, p_destination, p_optimize, p_layers);
}
Vector3 PandemoniumNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector3());
return map->get_closest_point_to_segment(p_from, p_to, p_use_collision);
}
Vector3 PandemoniumNavigationServer::map_get_closest_point(RID p_map, const Vector3 &p_point) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector3());
return map->get_closest_point(p_point);
}
Vector3 PandemoniumNavigationServer::map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector3());
return map->get_closest_point_normal(p_point);
}
RID PandemoniumNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, RID());
return map->get_closest_point_owner(p_point);
}
Array PandemoniumNavigationServer::map_get_regions(RID p_map) const {
Array regions_rids;
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, regions_rids);
for (NavRegion *region : map->get_regions()) {
regions_rids.push_back(region->get_self());
}
return regions_rids;
}
Array PandemoniumNavigationServer::map_get_agents(RID p_map) const {
Array agents_rids;
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, agents_rids);
for (RvoAgent *agent : map->get_agents()) {
agents_rids.push_back(agent->get_self());
}
return agents_rids;
}
RID PandemoniumNavigationServer::region_get_map(RID p_region) const {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND_V(region == nullptr, RID());
if (region->get_map()) {
return region->get_map()->get_self();
}
return RID();
}
RID PandemoniumNavigationServer::agent_get_map(RID p_agent) const {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND_V(agent == nullptr, RID());
if (agent->get_map()) {
return agent->get_map()->get_self();
}
return RID();
}
RID PandemoniumNavigationServer::region_create() const {
PandemoniumNavigationServer *mut_this = const_cast<PandemoniumNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
NavRegion *reg = memnew(NavRegion);
RID rid = region_owner.make_rid(reg);
reg->set_self(rid);
return rid;
}
COMMAND_2(region_set_map, RID, p_region, RID, p_map) {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND(region == nullptr);
if (region->get_map() != nullptr) {
if (region->get_map()->get_self() == p_map) {
return; // Pointless
}
region->get_map()->remove_region(region);
region->set_map(nullptr);
}
if (p_map.is_valid()) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
map->add_region(region);
region->set_map(map);
}
}
COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform) {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND(region == nullptr);
region->set_transform(p_transform);
}
COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost) {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND(region == nullptr);
ERR_FAIL_COND(p_enter_cost < 0.0);
region->set_enter_cost(p_enter_cost);
}
real_t PandemoniumNavigationServer::region_get_enter_cost(RID p_region) const {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND_V(region == nullptr, 0);
return region->get_enter_cost();
}
COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost) {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND(region == nullptr);
ERR_FAIL_COND(p_travel_cost < 0.0);
region->set_travel_cost(p_travel_cost);
}
real_t PandemoniumNavigationServer::region_get_travel_cost(RID p_region) const {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND_V(region == nullptr, 0);
return region->get_travel_cost();
}
COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers) {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND(region == nullptr);
region->set_navigation_layers(p_navigation_layers);
}
uint32_t PandemoniumNavigationServer::region_get_navigation_layers(RID p_region) const {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND_V(region == nullptr, 0);
return region->get_navigation_layers();
}
COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND(region == nullptr);
region->set_mesh(p_nav_mesh);
}
void PandemoniumNavigationServer::region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const {
ERR_FAIL_COND(r_mesh.is_null());
ERR_FAIL_COND(p_node == nullptr);
#ifndef _3D_DISABLED
NavigationMeshGenerator::get_singleton()->clear(r_mesh);
NavigationMeshGenerator::get_singleton()->bake(r_mesh, p_node);
#endif
}
int PandemoniumNavigationServer::region_get_connections_count(RID p_region) const {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND_V(!region, 0);
return region->get_connections_count();
}
Vector3 PandemoniumNavigationServer::region_get_connection_pathway_start(RID p_region, int p_connection_id) const {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND_V(!region, Vector3());
return region->get_connection_pathway_start(p_connection_id);
}
Vector3 PandemoniumNavigationServer::region_get_connection_pathway_end(RID p_region, int p_connection_id) const {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND_V(!region, Vector3());
return region->get_connection_pathway_end(p_connection_id);
}
RID PandemoniumNavigationServer::agent_create() const {
PandemoniumNavigationServer *mut_this = const_cast<PandemoniumNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
RvoAgent *agent = memnew(RvoAgent());
RID rid = agent_owner.make_rid(agent);
agent->set_self(rid);
return rid;
}
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
if (agent->get_map()) {
if (agent->get_map()->get_self() == p_map) {
return; // Pointless
}
agent->get_map()->remove_agent(agent);
}
agent->set_map(nullptr);
if (p_map.is_valid()) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
agent->set_map(map);
map->add_agent(agent);
if (agent->has_callback()) {
map->set_agent_as_controlled(agent);
}
}
}
COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->neighborDist_ = p_dist;
}
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->maxNeighbors_ = p_count;
}
COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->timeHorizon_ = p_time;
}
COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->radius_ = p_radius;
}
COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->maxSpeed_ = p_max_speed;
}
COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->velocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
}
COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->prefVelocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
}
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->position_ = RVO::Vector3(p_position.x, p_position.y, p_position.z);
}
COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->ignore_y_ = p_ignore;
}
bool PandemoniumNavigationServer::agent_is_map_changed(RID p_agent) const {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND_V(agent == nullptr, false);
return agent->is_map_changed();
}
COMMAND_4(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata) {
RvoAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_callback(p_receiver == nullptr ? 0 : p_receiver->get_instance_id(), p_method, p_udata);
if (agent->get_map()) {
if (p_receiver == nullptr) {
agent->get_map()->remove_agent_as_controlled(agent);
} else {
agent->get_map()->set_agent_as_controlled(agent);
}
}
}
COMMAND_1(free, RID, p_object) {
if (map_owner.owns(p_object)) {
NavMap *map = map_owner.getornull(p_object);
// Removes any assigned region
std::vector<NavRegion *> regions = map->get_regions();
for (size_t i(0); i < regions.size(); i++) {
map->remove_region(regions[i]);
regions[i]->set_map(nullptr);
}
// Remove any assigned agent
std::vector<RvoAgent *> agents = map->get_agents();
for (size_t i(0); i < agents.size(); i++) {
map->remove_agent(agents[i]);
agents[i]->set_map(nullptr);
}
int map_index = active_maps.find(map);
active_maps.remove(map_index);
active_maps_update_id.remove(map_index);
map_owner.free(p_object);
memdelete(map);
} else if (region_owner.owns(p_object)) {
NavRegion *region = region_owner.getornull(p_object);
// Removes this region from the map if assigned
if (region->get_map() != nullptr) {
region->get_map()->remove_region(region);
region->set_map(nullptr);
}
region_owner.free(p_object);
memdelete(region);
} else if (agent_owner.owns(p_object)) {
RvoAgent *agent = agent_owner.getornull(p_object);
// Removes this agent from the map if assigned
if (agent->get_map() != nullptr) {
agent->get_map()->remove_agent(agent);
agent->set_map(nullptr);
}
agent_owner.free(p_object);
memdelete(agent);
} else {
ERR_FAIL_COND("Invalid ID.");
}
}
void PandemoniumNavigationServer::set_active(bool p_active) const {
PandemoniumNavigationServer *mut_this = const_cast<PandemoniumNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
mut_this->active = p_active;
}
void PandemoniumNavigationServer::flush_queries() {
// In C++ we can't be sure that this is performed in the main thread
// even with mutable functions.
MutexLock lock(commands_mutex);
MutexLock lock2(operations_mutex);
for (size_t i(0); i < commands.size(); i++) {
commands[i]->exec(this);
memdelete(commands[i]);
}
commands.clear();
}
void PandemoniumNavigationServer::process(real_t p_delta_time) {
flush_queries();
if (!active) {
return;
}
// In c++ we can't be sure that this is performed in the main thread
// even with mutable functions.
MutexLock lock(operations_mutex);
for (uint32_t i(0); i < active_maps.size(); i++) {
active_maps[i]->sync();
active_maps[i]->step(p_delta_time);
active_maps[i]->dispatch_callbacks();
// Emit a signal if a map changed.
const uint32_t new_map_update_id = active_maps[i]->get_map_update_id();
if (new_map_update_id != active_maps_update_id[i]) {
emit_signal("map_changed", active_maps[i]->get_self());
active_maps_update_id[i] = new_map_update_id;
}
}
}
#undef COMMAND_1
#undef COMMAND_2
#undef COMMAND_4
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