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pandemonium_engine/scene/2d/navigation_obstacle_2d.cpp

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/*************************************************************************/
/* navigation_obstacle_2d.cpp */
/*************************************************************************/
/* This file is part of: */
/* PANDEMONIUM ENGINE */
/* https://github.com/Relintai/pandemonium_engine */
/*************************************************************************/
/* Copyright (c) 2022-present Péter Magyar. */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
/* Copyright (c) 2007-2022 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 "navigation_obstacle_2d.h"
#include "core/config/engine.h"
#include "scene/2d/collision_shape_2d.h"
#include "scene/2d/navigation_2d.h"
#include "scene/2d/physics_body_2d.h"
#include "scene/main/node_2d.h"
#include "scene/resources/world_2d.h"
#include "servers/navigation_2d_server.h"
void NavigationObstacle2D::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_rid"), &NavigationObstacle2D::get_rid);
ClassDB::bind_method(D_METHOD("set_avoidance_enabled", "enabled"), &NavigationObstacle2D::set_avoidance_enabled);
ClassDB::bind_method(D_METHOD("get_avoidance_enabled"), &NavigationObstacle2D::get_avoidance_enabled);
ClassDB::bind_method(D_METHOD("set_navigation", "navigation"), &NavigationObstacle2D::set_navigation_node);
ClassDB::bind_method(D_METHOD("get_navigation"), &NavigationObstacle2D::get_navigation_node);
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationObstacle2D::set_navigation_map);
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationObstacle2D::get_navigation_map);
ClassDB::bind_method(D_METHOD("set_radius", "radius"), &NavigationObstacle2D::set_radius);
ClassDB::bind_method(D_METHOD("get_radius"), &NavigationObstacle2D::get_radius);
ClassDB::bind_method(D_METHOD("set_velocity", "velocity"), &NavigationObstacle2D::set_velocity);
ClassDB::bind_method(D_METHOD("get_velocity"), &NavigationObstacle2D::get_velocity);
ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationObstacle2D::set_vertices);
ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationObstacle2D::get_vertices);
ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationObstacle2D::set_avoidance_layers);
ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationObstacle2D::get_avoidance_layers);
ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationObstacle2D::set_avoidance_layer_value);
ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationObstacle2D::get_avoidance_layer_value);
ADD_GROUP("Avoidance", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "velocity", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_velocity", "get_velocity");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "radius", PROPERTY_HINT_RANGE, "0.0,500,0.01,suffix:px"), "set_radius", "get_radius");
ADD_PROPERTY(PropertyInfo(Variant::POOL_VECTOR2_ARRAY, "vertices"), "set_vertices", "get_vertices");
ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers");
}
void NavigationObstacle2D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_ENTER_TREE: {
// Search the navigation node and set it
{
Navigation2D *nav = nullptr;
Node *p = get_parent();
while (p != nullptr) {
nav = Object::cast_to<Navigation2D>(p);
if (nav != nullptr) {
p = nullptr;
} else {
p = p->get_parent();
}
}
navigation = nav;
}
_update_map(get_navigation_map());
previous_transform = get_global_transform();
// need to trigger map controlled agent assignment somehow for the fake_agent since obstacles use no callback like regular agents
Navigation2DServer::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
_update_position(get_global_transform().get_origin());
set_physics_process_internal(true);
} break;
case NOTIFICATION_EXIT_TREE: {
set_navigation(nullptr);
set_physics_process_internal(false);
_update_map(RID());
request_ready(); // required to solve an issue with losing the navigation
} break;
case NOTIFICATION_PAUSED: {
if (!can_process()) {
map_before_pause = map_current;
_update_map(RID());
} else if (can_process() && !(map_before_pause == RID())) {
_update_map(map_before_pause);
map_before_pause = RID();
}
Navigation2DServer::get_singleton()->obstacle_set_paused(obstacle, !can_process());
} break;
case NOTIFICATION_UNPAUSED: {
if (!can_process()) {
map_before_pause = map_current;
_update_map(RID());
} else if (can_process() && !(map_before_pause == RID())) {
_update_map(map_before_pause);
map_before_pause = RID();
}
Navigation2DServer::get_singleton()->obstacle_set_paused(obstacle, !can_process());
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
if (is_inside_tree()) {
_update_position(get_global_transform().get_origin());
if (velocity_submitted) {
velocity_submitted = false;
// only update if there is a noticeable change, else the rvo agent preferred velocity stays the same
if (!previous_velocity.is_equal_approx(velocity)) {
Navigation2DServer::get_singleton()->obstacle_set_velocity(obstacle, velocity);
}
previous_velocity = velocity;
}
}
} break;
case NOTIFICATION_DRAW: {
#ifdef DEBUG_ENABLED
if (is_inside_tree()) {
bool is_debug_enabled = false;
if (Engine::get_singleton()->is_editor_hint()) {
is_debug_enabled = true;
} else if (Navigation2DServer::get_singleton()->get_debug_enabled() && Navigation2DServer::get_singleton()->get_debug_avoidance_enabled()) {
is_debug_enabled = true;
}
if (is_debug_enabled) {
_update_fake_agent_radius_debug();
_update_static_obstacle_debug();
}
}
#endif // DEBUG_ENABLED
} break;
}
}
NavigationObstacle2D::NavigationObstacle2D() {
navigation = NULL;
obstacle = Navigation2DServer::get_singleton()->obstacle_create();
radius = 0.0;
avoidance_enabled = true;
avoidance_layers = 1;
velocity_submitted = false;
set_radius(radius);
set_vertices(vertices);
set_avoidance_layers(avoidance_layers);
set_avoidance_enabled(avoidance_enabled);
}
NavigationObstacle2D::~NavigationObstacle2D() {
ERR_FAIL_NULL(Navigation2DServer::get_singleton());
Navigation2DServer::get_singleton()->free(obstacle);
obstacle = RID();
}
void NavigationObstacle2D::set_navigation(Navigation2D *p_nav) {
if (navigation == p_nav && navigation != nullptr) {
return; // Pointless
}
navigation = p_nav;
_update_map(get_navigation_map());
}
void NavigationObstacle2D::set_navigation_node(Node *p_nav) {
Navigation2D *nav = Object::cast_to<Navigation2D>(p_nav);
ERR_FAIL_COND(nav == nullptr);
set_navigation(nav);
}
Node *NavigationObstacle2D::get_navigation_node() const {
return Object::cast_to<Node>(navigation);
}
void NavigationObstacle2D::set_vertices(const Vector<Vector2> &p_vertices) {
vertices = p_vertices;
Navigation2DServer::get_singleton()->obstacle_set_vertices(obstacle, vertices);
#ifdef DEBUG_ENABLED
update();
#endif // DEBUG_ENABLED
}
void NavigationObstacle2D::set_navigation_map(RID p_navigation_map) {
if (map_override == p_navigation_map) {
return;
}
map_override = p_navigation_map;
_update_map(get_navigation_map());
}
RID NavigationObstacle2D::get_navigation_map() const {
if (map_override.is_valid()) {
return map_override;
} else if (navigation) {
return navigation->get_rid();
} else if (is_inside_tree()) {
return get_world_2d()->get_navigation_map();
}
return RID();
}
void NavigationObstacle2D::set_radius(real_t p_radius) {
ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
if (Math::is_equal_approx(radius, p_radius)) {
return;
}
radius = p_radius;
Navigation2DServer::get_singleton()->obstacle_set_radius(obstacle, radius);
#ifdef DEBUG_ENABLED
update();
#endif // DEBUG_ENABLED
}
void NavigationObstacle2D::set_avoidance_layers(uint32_t p_layers) {
if (avoidance_layers == p_layers) {
return;
}
avoidance_layers = p_layers;
Navigation2DServer::get_singleton()->obstacle_set_avoidance_layers(obstacle, avoidance_layers);
}
uint32_t NavigationObstacle2D::get_avoidance_layers() const {
return avoidance_layers;
}
void NavigationObstacle2D::set_avoidance_layer_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Avoidance layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Avoidance layer number must be between 1 and 32 inclusive.");
uint32_t avoidance_layers_new = get_avoidance_layers();
if (p_value) {
avoidance_layers_new |= 1 << (p_layer_number - 1);
} else {
avoidance_layers_new &= ~(1 << (p_layer_number - 1));
}
set_avoidance_layers(avoidance_layers_new);
}
bool NavigationObstacle2D::get_avoidance_layer_value(int p_layer_number) const {
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Avoidance layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Avoidance layer number must be between 1 and 32 inclusive.");
return get_avoidance_layers() & (1 << (p_layer_number - 1));
}
void NavigationObstacle2D::set_avoidance_enabled(bool p_enabled) {
if (avoidance_enabled == p_enabled) {
return;
}
avoidance_enabled = p_enabled;
Navigation2DServer::get_singleton()->obstacle_set_avoidance_enabled(obstacle, avoidance_enabled);
#ifdef DEBUG_ENABLED
update();
#endif // DEBUG_ENABLED
}
bool NavigationObstacle2D::get_avoidance_enabled() const {
return avoidance_enabled;
}
void NavigationObstacle2D::set_velocity(const Vector2 p_velocity) {
velocity = p_velocity;
velocity_submitted = true;
}
void NavigationObstacle2D::_update_map(RID p_map) {
map_current = p_map;
Navigation2DServer::get_singleton()->obstacle_set_map(obstacle, p_map);
}
void NavigationObstacle2D::_update_position(const Vector2 p_position) {
Navigation2DServer::get_singleton()->obstacle_set_position(obstacle, p_position);
#ifdef DEBUG_ENABLED
update();
#endif // DEBUG_ENABLED
}
#ifdef DEBUG_ENABLED
void NavigationObstacle2D::_update_fake_agent_radius_debug() {
if (radius > 0.0 && Navigation2DServer::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_radius()) {
Color debug_radius_color = Navigation2DServer::get_singleton()->get_debug_navigation_avoidance_obstacles_radius_color();
RS::get_singleton()->canvas_item_add_circle(get_canvas_item(), Vector2(), radius, debug_radius_color);
}
}
#endif // DEBUG_ENABLED
#ifdef DEBUG_ENABLED
void NavigationObstacle2D::_update_static_obstacle_debug() {
if (get_vertices().size() > 2 && Navigation2DServer::get_singleton()->get_debug_navigation_avoidance_enable_obstacles_static()) {
bool obstacle_pushes_inward = Geometry::is_polygon_clockwise(get_vertices());
Color debug_static_obstacle_face_color;
if (obstacle_pushes_inward) {
debug_static_obstacle_face_color = Navigation2DServer::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushin_face_color();
} else {
debug_static_obstacle_face_color = Navigation2DServer::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushout_face_color();
}
Vector<Vector2> debug_obstacle_polygon_vertices = get_vertices();
Vector<Color> debug_obstacle_polygon_colors;
debug_obstacle_polygon_colors.resize(debug_obstacle_polygon_vertices.size());
debug_obstacle_polygon_colors.fill(debug_static_obstacle_face_color);
RS::get_singleton()->canvas_item_add_polygon(get_canvas_item(), debug_obstacle_polygon_vertices, debug_obstacle_polygon_colors);
Color debug_static_obstacle_edge_color;
if (obstacle_pushes_inward) {
debug_static_obstacle_edge_color = Navigation2DServer::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushin_edge_color();
} else {
debug_static_obstacle_edge_color = Navigation2DServer::get_singleton()->get_debug_navigation_avoidance_static_obstacle_pushout_edge_color();
}
Vector<Vector2> debug_obstacle_line_vertices = get_vertices();
debug_obstacle_line_vertices.push_back(debug_obstacle_line_vertices[0]);
debug_obstacle_line_vertices.resize(debug_obstacle_line_vertices.size());
Vector<Color> debug_obstacle_line_colors;
debug_obstacle_line_colors.resize(debug_obstacle_line_vertices.size());
debug_obstacle_line_colors.fill(debug_static_obstacle_edge_color);
RS::get_singleton()->canvas_item_add_polyline(get_canvas_item(), debug_obstacle_line_vertices, debug_obstacle_line_colors, 4.0);
}
}
#endif // DEBUG_ENABLED
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