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pandemonium_engine/modules/navigation/pandemonium_navigation_server.cpp
Relintai f058c87868 Backported from godot4: Rework Navigation Avoidance 
Rework Navigation Avoidance.
- smix8
a6ac305f96
2023-06-10 20:58:49 +02:00

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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
using namespace NavigationUtilities;
/// 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) { \
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) { \
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) { \
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;
pm_region_count = 0;
pm_agent_count = 0;
pm_link_count = 0;
pm_polygon_count = 0;
pm_edge_count = 0;
pm_edge_merge_count = 0;
pm_edge_connection_count = 0;
pm_edge_free_count = 0;
}
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);
}
}
Array PandemoniumNavigationServer::get_maps() const {
Array all_map_rids;
List<RID> maps_owned;
map_owner.get_owned_list(&maps_owned);
if (maps_owned.size()) {
for (List<RID>::Element *E = maps_owned.front(); E; E = E->next()) {
all_map_rids.push_back(E->get());
}
}
return all_map_rids;
}
RID PandemoniumNavigationServer::map_create() {
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_use_edge_connections, RID, p_map, bool, p_enabled) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
map->set_use_edge_connections(p_enabled);
}
bool PandemoniumNavigationServer::map_get_use_edge_connections(RID p_map) const {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, false);
return map->get_use_edge_connections();
}
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();
}
COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
map->set_link_connection_radius(p_connection_radius);
}
real_t PandemoniumNavigationServer::map_get_link_connection_radius(RID p_map) const {
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, 0);
return map->get_link_connection_radius();
}
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, nullptr, nullptr, nullptr);
}
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_links(RID p_map) const {
Array link_rids;
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, link_rids);
const LocalVector<NavLink *> links = map->get_links();
link_rids.resize(links.size());
for (uint32_t i = 0; i < links.size(); i++) {
link_rids[i] = links[i]->get_self();
}
return link_rids;
}
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);
const LocalVector<NavRegion *> regions = map->get_regions();
regions_rids.resize(regions.size());
for (uint32_t i = 0; i < regions.size(); i++) {
regions_rids[i] = regions[i]->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);
const LocalVector<NavAgent *> agents = map->get_agents();
agents_rids.resize(agents.size());
for (uint32_t i = 0; i < agents.size(); i++) {
agents_rids[i] = agents[i]->get_self();
}
return agents_rids;
}
Array PandemoniumNavigationServer::map_get_obstacles(RID p_map) const {
Array obstacles_rids;
const NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND_V(map == nullptr, obstacles_rids);
const LocalVector<NavObstacle *> obstacles = map->get_obstacles();
obstacles_rids.resize(obstacles.size());
for (uint32_t i = 0; i < obstacles.size(); i++) {
obstacles_rids[i] = obstacles[i]->get_self();
}
return obstacles_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 {
NavAgent *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() {
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_use_edge_connections, RID, p_region, bool, p_enabled) {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND(region == nullptr);
region->set_use_edge_connections(p_enabled);
}
bool PandemoniumNavigationServer::region_get_use_edge_connections(RID p_region) const {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND_V(region == nullptr, false);
return region->get_use_edge_connections();
}
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_owner_id, RID, p_region, ObjectID, p_owner_id) {
NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND(region == nullptr);
region->set_owner_id(p_owner_id);
}
ObjectID PandemoniumNavigationServer::region_get_owner_id(RID p_region) const {
const NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND_V(region == nullptr, ObjectID());
return region->get_owner_id();
}
bool PandemoniumNavigationServer::region_owns_point(RID p_region, const Vector3 &p_point) const {
const NavRegion *region = region_owner.getornull(p_region);
ERR_FAIL_COND_V(region == nullptr, false);
if (region->get_map()) {
RID closest_point_owner = map_get_closest_point_owner(region->get_map()->get_self(), p_point);
return closest_point_owner == region->get_self();
}
return false;
}
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);
}
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::link_create() {
PandemoniumNavigationServer *mut_this = const_cast<PandemoniumNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
NavLink *link = memnew(NavLink);
RID rid = link_owner.make_rid(link);
link->set_self(rid);
return rid;
}
COMMAND_2(link_set_map, RID, p_link, RID, p_map) {
NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND(link == nullptr);
if (link->get_map() != nullptr) {
if (link->get_map()->get_self() == p_map) {
return; // Pointless
}
link->get_map()->remove_link(link);
link->set_map(nullptr);
}
if (p_map.is_valid()) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
map->add_link(link);
link->set_map(map);
}
}
RID PandemoniumNavigationServer::link_get_map(const RID p_link) const {
const NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND_V(link == nullptr, RID());
if (link->get_map()) {
return link->get_map()->get_self();
}
return RID();
}
COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional) {
NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_bidirectional(p_bidirectional);
}
bool PandemoniumNavigationServer::link_is_bidirectional(RID p_link) const {
const NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND_V(link == nullptr, false);
return link->is_bidirectional();
}
COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers) {
NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_navigation_layers(p_navigation_layers);
}
uint32_t PandemoniumNavigationServer::link_get_navigation_layers(const RID p_link) const {
const NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND_V(link == nullptr, 0);
return link->get_navigation_layers();
}
COMMAND_2(link_set_start_position, RID, p_link, Vector3, p_position) {
NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_start_position(p_position);
}
Vector3 PandemoniumNavigationServer::link_get_start_position(RID p_link) const {
const NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND_V(link == nullptr, Vector3());
return link->get_start_position();
}
COMMAND_2(link_set_end_position, RID, p_link, Vector3, p_position) {
NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_end_position(p_position);
}
Vector3 PandemoniumNavigationServer::link_get_end_position(RID p_link) const {
const NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND_V(link == nullptr, Vector3());
return link->get_end_position();
}
COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost) {
NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_enter_cost(p_enter_cost);
}
real_t PandemoniumNavigationServer::link_get_enter_cost(const RID p_link) const {
const NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND_V(link == nullptr, 0);
return link->get_enter_cost();
}
COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost) {
NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_travel_cost(p_travel_cost);
}
real_t PandemoniumNavigationServer::link_get_travel_cost(const RID p_link) const {
const NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND_V(link == nullptr, 0);
return link->get_travel_cost();
}
COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id) {
NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_owner_id(p_owner_id);
}
ObjectID PandemoniumNavigationServer::link_get_owner_id(RID p_link) const {
const NavLink *link = link_owner.getornull(p_link);
ERR_FAIL_COND_V(link == nullptr, ObjectID());
return link->get_owner_id();
}
RID PandemoniumNavigationServer::agent_create() {
PandemoniumNavigationServer *mut_this = const_cast<PandemoniumNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
NavAgent *agent = memnew(NavAgent());
RID rid = agent_owner.make_rid(agent);
agent->set_self(rid);
return rid;
}
COMMAND_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled) {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_avoidance_enabled(p_enabled);
}
bool PandemoniumNavigationServer::agent_get_avoidance_enabled(RID p_agent) const {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND_V(agent == nullptr, false);
return agent->is_avoidance_enabled();
}
COMMAND_2(agent_set_use_3d_avoidance, RID, p_agent, bool, p_enabled) {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_use_3d_avoidance(p_enabled);
}
bool PandemoniumNavigationServer::agent_get_use_3d_avoidance(RID p_agent) const {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND_V(agent == nullptr, false);
return agent->get_use_3d_avoidance();
}
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
NavAgent *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_avoidance_callback()) {
map->set_agent_as_controlled(agent);
}
}
}
COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist) {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_neighbor_distance(p_dist);
}
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_max_neighbors(p_count);
}
COMMAND_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon) {
ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion must be positive.");
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_time_horizon_agents(p_time_horizon);
}
COMMAND_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon) {
ERR_FAIL_COND_MSG(p_time_horizon < 0.0, "Time horizion must be positive.");
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_time_horizon_obstacles(p_time_horizon);
}
COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) {
ERR_FAIL_COND_MSG(p_radius < 0.0, "Radius must be positive.");
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_radius(p_radius);
}
COMMAND_2(agent_set_height, RID, p_agent, real_t, p_height) {
ERR_FAIL_COND_MSG(p_height < 0.0, "Height must be positive.");
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_height(p_height);
}
COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) {
ERR_FAIL_COND_MSG(p_max_speed < 0.0, "Max speed must be positive.");
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_max_speed(p_max_speed);
}
COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_velocity(p_velocity);
}
COMMAND_2(agent_set_velocity_forced, RID, p_agent, Vector3, p_velocity) {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_velocity_forced(p_velocity);
}
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_position(p_position);
}
bool PandemoniumNavigationServer::agent_is_map_changed(RID p_agent) const {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND_V(agent == nullptr, false);
return agent->is_map_changed();
}
COMMAND_4(agent_set_avoidance_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata) {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_avoidance_callback(p_object_id, p_method, p_udata);
if (agent->get_map()) {
if (p_object_id == ObjectID()) {
agent->get_map()->remove_agent_as_controlled(agent);
} else {
agent->get_map()->set_agent_as_controlled(agent);
}
}
}
COMMAND_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers) {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_avoidance_layers(p_layers);
}
COMMAND_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask) {
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_avoidance_mask(p_mask);
}
COMMAND_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority) {
ERR_FAIL_COND_MSG(p_priority < 0.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
ERR_FAIL_COND_MSG(p_priority > 1.0, "Avoidance priority must be between 0.0 and 1.0 inclusive.");
NavAgent *agent = agent_owner.getornull(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_avoidance_priority(p_priority);
}
RID PandemoniumNavigationServer::obstacle_create() {
PandemoniumNavigationServer *mut_this = const_cast<PandemoniumNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
NavObstacle *obstacle = memnew(NavObstacle());
RID rid = obstacle_owner.make_rid(obstacle);
obstacle->set_self(rid);
return rid;
}
COMMAND_2(obstacle_set_map, RID, p_obstacle, RID, p_map) {
NavObstacle *obstacle = obstacle_owner.getornull(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);
if (obstacle->get_map()) {
if (obstacle->get_map()->get_self() == p_map) {
return; // Pointless
}
obstacle->get_map()->remove_obstacle(obstacle);
}
obstacle->set_map(nullptr);
if (p_map.is_valid()) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
obstacle->set_map(map);
map->add_obstacle(obstacle);
}
}
RID PandemoniumNavigationServer::obstacle_get_map(RID p_obstacle) const {
NavObstacle *obstacle = obstacle_owner.getornull(p_obstacle);
ERR_FAIL_COND_V(obstacle == nullptr, RID());
if (obstacle->get_map()) {
return obstacle->get_map()->get_self();
}
return RID();
}
COMMAND_2(obstacle_set_height, RID, p_obstacle, real_t, p_height) {
NavObstacle *obstacle = obstacle_owner.getornull(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);
obstacle->set_height(p_height);
}
COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector3, p_position) {
NavObstacle *obstacle = obstacle_owner.getornull(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);
obstacle->set_position(p_position);
}
void PandemoniumNavigationServer::obstacle_set_vertices(RID p_obstacle, const Vector<Vector3> &p_vertices) {
NavObstacle *obstacle = obstacle_owner.getornull(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);
obstacle->set_vertices(p_vertices);
}
COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers) {
NavObstacle *obstacle = obstacle_owner.getornull(p_obstacle);
ERR_FAIL_COND(obstacle == nullptr);
obstacle->set_avoidance_layers(p_layers);
}
COMMAND_1(free, RID, p_object) {
if (!p_object.is_valid()) {
ERR_FAIL_MSG("Invalid RID.");
return;
}
if (map_owner.owns(p_object)) {
NavMap *map = map_owner.getornull(p_object);
// Removes any assigned region
LocalVector<NavRegion *> regions = map->get_regions();
for (uint32_t i = 0; i < regions.size(); i++) {
map->remove_region(regions[i]);
regions[i]->set_map(nullptr);
}
// Removes any assigned links
LocalVector<NavLink *> links = map->get_links();
for (uint32_t i = 0; i < links.size(); i++) {
map->remove_link(links[i]);
links[i]->set_map(nullptr);
}
// Remove any assigned agent
LocalVector<NavAgent *> agents = map->get_agents();
for (uint32_t i = 0; i < agents.size(); i++) {
map->remove_agent(agents[i]);
agents[i]->set_map(nullptr);
}
// Remove any assigned obstacles
LocalVector<NavObstacle *> obstacles = map->get_obstacles();
for (uint32_t i = 0; i < obstacles.size(); i++) {
map->remove_obstacle(obstacles[i]);
obstacles[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 (link_owner.owns(p_object)) {
NavLink *link = link_owner.getornull(p_object);
// Removes this link from the map if assigned
if (link->get_map() != nullptr) {
link->get_map()->remove_link(link);
link->set_map(nullptr);
}
link_owner.free(p_object);
} else if (agent_owner.owns(p_object)) {
NavAgent *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 if (obstacle_owner.owns(p_object)) {
NavObstacle *obstacle = obstacle_owner.getornull(p_object);
// Removes this agent from the map if assigned
if (obstacle->get_map() != nullptr) {
obstacle->get_map()->remove_obstacle(obstacle);
obstacle->set_map(nullptr);
}
obstacle_owner.free(p_object);
} else {
ERR_FAIL_COND("Invalid RID.");
}
}
void PandemoniumNavigationServer::set_active(bool p_active) {
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::map_force_update(RID p_map) {
NavMap *map = map_owner.getornull(p_map);
ERR_FAIL_COND(map == nullptr);
flush_queries();
map->sync();
}
void PandemoniumNavigationServer::process(real_t p_delta_time) {
flush_queries();
if (!active) {
return;
}
int _new_pm_region_count = 0;
int _new_pm_agent_count = 0;
int _new_pm_link_count = 0;
int _new_pm_polygon_count = 0;
int _new_pm_edge_count = 0;
int _new_pm_edge_merge_count = 0;
int _new_pm_edge_connection_count = 0;
int _new_pm_edge_free_count = 0;
// 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();
_new_pm_region_count += active_maps[i]->get_pm_region_count();
_new_pm_agent_count += active_maps[i]->get_pm_agent_count();
_new_pm_link_count += active_maps[i]->get_pm_link_count();
_new_pm_polygon_count += active_maps[i]->get_pm_polygon_count();
_new_pm_edge_count += active_maps[i]->get_pm_edge_count();
_new_pm_edge_merge_count += active_maps[i]->get_pm_edge_merge_count();
_new_pm_edge_connection_count += active_maps[i]->get_pm_edge_connection_count();
_new_pm_edge_free_count += active_maps[i]->get_pm_edge_free_count();
// 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;
}
}
pm_region_count = _new_pm_region_count;
pm_agent_count = _new_pm_agent_count;
pm_link_count = _new_pm_link_count;
pm_polygon_count = _new_pm_polygon_count;
pm_edge_count = _new_pm_edge_count;
pm_edge_merge_count = _new_pm_edge_merge_count;
pm_edge_connection_count = _new_pm_edge_connection_count;
pm_edge_free_count = _new_pm_edge_free_count;
}
PathQueryResult PandemoniumNavigationServer::_query_path(const PathQueryParameters &p_parameters) const {
PathQueryResult r_query_result;
const NavMap *map = map_owner.getornull(p_parameters.map);
ERR_FAIL_COND_V(map == nullptr, r_query_result);
// run the pathfinding
if (p_parameters.pathfinding_algorithm == PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) {
Vector<Vector3> path;
// while postprocessing is still part of map.get_path() need to check and route it here for the correct "optimize" post-processing
if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) {
r_query_result.path = map->get_path(
p_parameters.start_position,
p_parameters.target_position,
true,
p_parameters.navigation_layers,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_TYPES) != 0) ? &r_query_result.path_types : nullptr,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_RIDS) != 0) ? &r_query_result.path_rids : nullptr,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_OWNERS) != 0) ? &r_query_result.path_owner_ids : nullptr);
} else if (p_parameters.path_postprocessing == PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) {
r_query_result.path = map->get_path(
p_parameters.start_position,
p_parameters.target_position,
false,
p_parameters.navigation_layers,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_TYPES) != 0) ? &r_query_result.path_types : nullptr,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_RIDS) != 0) ? &r_query_result.path_rids : nullptr,
((p_parameters.metadata_flags & PathMetadataFlags::PATH_INCLUDE_OWNERS) != 0) ? &r_query_result.path_owner_ids : nullptr);
}
r_query_result.path.resize(path.size());
Vector3 *wptr = r_query_result.path.ptrw();
const Vector3 *pptr = path.ptr();
for (int i = 0; i < path.size(); ++i) {
wptr[i] = pptr[i];
}
} else {
return r_query_result;
}
// add path postprocessing
// add path stats
return r_query_result;
}
int PandemoniumNavigationServer::get_process_info(ProcessInfo p_info) const {
switch (p_info) {
case INFO_ACTIVE_MAPS: {
return active_maps.size();
} break;
case INFO_REGION_COUNT: {
return pm_region_count;
} break;
case INFO_AGENT_COUNT: {
return pm_agent_count;
} break;
case INFO_LINK_COUNT: {
return pm_link_count;
} break;
case INFO_POLYGON_COUNT: {
return pm_polygon_count;
} break;
case INFO_EDGE_COUNT: {
return pm_edge_count;
} break;
case INFO_EDGE_MERGE_COUNT: {
return pm_edge_merge_count;
} break;
case INFO_EDGE_CONNECTION_COUNT: {
return pm_edge_connection_count;
} break;
case INFO_EDGE_FREE_COUNT: {
return pm_edge_free_count;
} break;
}
return 0;
}
#undef COMMAND_1
#undef COMMAND_2
#undef COMMAND_2N
#undef COMMAND_4
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