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pandemonium_engine/scene/2d/navigation_polygon_instance.cpp

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/*************************************************************************/
/* navigation_polygon_instance.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_polygon_instance.h"
#include "core/config/engine.h"
#include "core/core_string_names.h"
#include "core/math/geometry.h"
#include "core/object/func_ref.h"
#include "core/os/mutex.h"
#include "core/os/os.h"
#include "navigation_2d.h"
#include "scene/2d/navigation_obstacle_2d.h"
#include "scene/resources/navigation/navigation_mesh.h"
#include "scene/resources/navigation_2d/navigation_mesh_source_geometry_data_2d.h"
#include "scene/resources/navigation_2d/navigation_polygon.h"
#include "scene/resources/world_2d.h"
#include "servers/navigation/navigation_mesh_generator.h"
#include "servers/navigation_2d_server.h"
#include "servers/navigation_server.h"
#include "thirdparty/misc/triangulator.h"
void NavigationPolygonInstance::set_enabled(bool p_enabled) {
if (enabled == p_enabled) {
return;
}
enabled = p_enabled;
Navigation2DServer::get_singleton()->region_set_enabled(region, enabled);
#ifdef DEBUG_ENABLED
if (Engine::get_singleton()->is_editor_hint() || Navigation2DServer::get_singleton()->get_debug_navigation_enabled()) {
update();
}
#endif // DEBUG_ENABLED
}
bool NavigationPolygonInstance::is_enabled() const {
return enabled;
}
void NavigationPolygonInstance::set_use_edge_connections(bool p_enabled) {
if (use_edge_connections == p_enabled) {
return;
}
use_edge_connections = p_enabled;
Navigation2DServer::get_singleton()->region_set_use_edge_connections(region, use_edge_connections);
}
bool NavigationPolygonInstance::get_use_edge_connections() const {
return use_edge_connections;
}
void NavigationPolygonInstance::set_navigation_layers(uint32_t p_navigation_layers) {
navigation_layers = p_navigation_layers;
Navigation2DServer::get_singleton()->region_set_navigation_layers(region, navigation_layers);
}
uint32_t NavigationPolygonInstance::get_navigation_layers() const {
return navigation_layers;
}
void NavigationPolygonInstance::set_navigation_layer_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive.");
uint32_t _navigation_layers = get_navigation_layers();
if (p_value) {
_navigation_layers |= 1 << (p_layer_number - 1);
} else {
_navigation_layers &= ~(1 << (p_layer_number - 1));
}
set_navigation_layers(_navigation_layers);
}
bool NavigationPolygonInstance::get_navigation_layer_value(int p_layer_number) const {
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive.");
return get_navigation_layers() & (1 << (p_layer_number - 1));
}
void NavigationPolygonInstance::set_enter_cost(real_t p_enter_cost) {
ERR_FAIL_COND_MSG(p_enter_cost < 0.0, "The enter_cost must be positive.");
if (Math::is_equal_approx(enter_cost, p_enter_cost)) {
return;
}
enter_cost = p_enter_cost;
Navigation2DServer::get_singleton()->region_set_enter_cost(region, p_enter_cost);
}
real_t NavigationPolygonInstance::get_enter_cost() const {
return enter_cost;
}
void NavigationPolygonInstance::set_travel_cost(real_t p_travel_cost) {
ERR_FAIL_COND_MSG(p_travel_cost < 0.0, "The travel_cost must be positive.");
if (Math::is_equal_approx(travel_cost, p_travel_cost)) {
return;
}
travel_cost = p_travel_cost;
Navigation2DServer::get_singleton()->region_set_travel_cost(region, travel_cost);
}
real_t NavigationPolygonInstance::get_travel_cost() const {
return travel_cost;
}
RID NavigationPolygonInstance::get_region_rid() const {
return region;
}
/////////////////////////////
#ifdef TOOLS_ENABLED
Rect2 NavigationPolygonInstance::_edit_get_rect() const {
return navigation_polygon.is_valid() ? navigation_polygon->_edit_get_rect() : Rect2();
}
bool NavigationPolygonInstance::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const {
return navigation_polygon.is_valid() ? navigation_polygon->_edit_is_selected_on_click(p_point, p_tolerance) : false;
}
#endif
void NavigationPolygonInstance::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_ENTER_TREE: {
Node2D *c = this;
while (c) {
navigation = Object::cast_to<Navigation2D>(c);
if (navigation) {
break;
}
c = Object::cast_to<Node2D>(c->get_parent());
}
_region_enter_navigation_map();
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
set_physics_process_internal(true);
} break;
case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
set_physics_process_internal(false);
_region_update_transform();
} break;
case NOTIFICATION_EXIT_TREE: {
_region_exit_navigation_map();
navigation = nullptr;
} break;
case NOTIFICATION_DRAW: {
#ifdef DEBUG_ENABLED
if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || Navigation2DServer::get_singleton()->get_debug_navigation_enabled()) && navigation_polygon.is_valid()) {
_update_debug_mesh();
_update_debug_edge_connections_mesh();
}
#endif // DEBUG_ENABLED
} break;
}
}
void NavigationPolygonInstance::set_navigation_polygon(const Ref<NavigationPolygon> &p_navigation_polygon) {
if (p_navigation_polygon == navigation_polygon) {
return;
}
if (navigation_polygon.is_valid()) {
navigation_polygon->disconnect(CoreStringNames::get_singleton()->changed, this, "_navigation_polygon_changed");
}
navigation_polygon = p_navigation_polygon;
Navigation2DServer::get_singleton()->region_set_navigation_polygon(region, p_navigation_polygon);
if (navigation_polygon.is_valid()) {
navigation_polygon->connect(CoreStringNames::get_singleton()->changed, this, "_navigation_polygon_changed");
}
_navigation_polygon_changed();
}
Ref<NavigationPolygon> NavigationPolygonInstance::get_navigation_polygon() const {
return navigation_polygon;
}
void NavigationPolygonInstance::set_navigation_map(RID p_navigation_map) {
if (map_override == p_navigation_map) {
return;
}
map_override = p_navigation_map;
Navigation2DServer::get_singleton()->region_set_map(region, map_override);
}
RID NavigationPolygonInstance::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 NavigationPolygonInstance::bake_navigation_polygon(bool p_on_thread) {
ERR_FAIL_COND_MSG(!get_navigation_polygon().is_valid(), "Can't bake the navigation polygon if the `NavigationPolygon` resource doesn't exist");
if (baking_started) {
WARN_PRINT("NavigationPolygon baking already started. Wait for it to finish.");
return;
}
baking_started = true;
navigation_polygon->clear();
if (p_on_thread && OS::get_singleton()->can_use_threads()) {
Ref<FuncRef> f;
f.instance();
f->set_instance(this);
f->set_function("_bake_finished");
NavigationMeshGenerator::get_singleton()->parse_and_bake_2d(navigation_polygon, this, f);
} else {
Ref<NavigationMeshSourceGeometryData2D> source_geometry_data = NavigationMeshGenerator::get_singleton()->parse_2d_source_geometry_data(navigation_polygon, this);
NavigationMeshGenerator::get_singleton()->bake_2d_from_source_geometry_data(navigation_polygon, source_geometry_data);
_bake_finished();
}
}
void NavigationPolygonInstance::_bake_finished() {
baking_started = false;
set_navigation_polygon(navigation_polygon);
emit_signal("bake_finished");
}
void NavigationPolygonInstance::_navigation_polygon_changed() {
if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint())) {
update();
}
if (navigation_polygon.is_valid()) {
Navigation2DServer::get_singleton()->region_set_navigation_polygon(region, navigation_polygon);
}
_update_avoidance_constrain();
emit_signal("navigation_polygon_changed");
_change_notify("navigation_polygon");
update_configuration_warning();
}
#ifdef DEBUG_ENABLED
void NavigationPolygonInstance::_navigation_map_changed(RID p_map) {
if (navigation != nullptr && enabled && (navigation->get_rid() == p_map)) {
update();
} else if (is_inside_tree() && enabled && (get_world_2d()->get_navigation_map() == p_map)) {
update();
}
}
void NavigationPolygonInstance::_navigation_debug_changed() {
if (navigation != nullptr && enabled) {
update();
} else if (is_inside_tree() && enabled) {
update();
}
}
#endif // DEBUG_ENABLED
String NavigationPolygonInstance::get_configuration_warning() const {
if (!is_visible_in_tree() || !is_inside_tree()) {
return String();
}
String warning = Node2D::get_configuration_warning();
if (!navigation_polygon.is_valid()) {
if (warning != String()) {
warning += "\n\n";
}
warning += TTR("A NavigationPolygon resource must be set or created for this node to work. Please set a property or draw a polygon.");
}
return warning;
}
void NavigationPolygonInstance::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationPolygonInstance::set_enabled);
ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationPolygonInstance::is_enabled);
ClassDB::bind_method(D_METHOD("set_use_edge_connections", "enabled"), &NavigationPolygonInstance::set_use_edge_connections);
ClassDB::bind_method(D_METHOD("get_use_edge_connections"), &NavigationPolygonInstance::get_use_edge_connections);
ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationPolygonInstance::set_navigation_layers);
ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationPolygonInstance::get_navigation_layers);
ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationPolygonInstance::set_navigation_layer_value);
ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationPolygonInstance::get_navigation_layer_value);
ClassDB::bind_method(D_METHOD("set_constrain_avoidance", "enabled"), &NavigationPolygonInstance::set_constrain_avoidance);
ClassDB::bind_method(D_METHOD("get_constrain_avoidance"), &NavigationPolygonInstance::get_constrain_avoidance);
ClassDB::bind_method(D_METHOD("set_avoidance_layers", "layers"), &NavigationPolygonInstance::set_avoidance_layers);
ClassDB::bind_method(D_METHOD("get_avoidance_layers"), &NavigationPolygonInstance::get_avoidance_layers);
ClassDB::bind_method(D_METHOD("set_avoidance_layer_value", "layer_number", "value"), &NavigationPolygonInstance::set_avoidance_layer_value);
ClassDB::bind_method(D_METHOD("get_avoidance_layer_value", "layer_number"), &NavigationPolygonInstance::get_avoidance_layer_value);
ClassDB::bind_method(D_METHOD("set_enter_cost", "enter_cost"), &NavigationPolygonInstance::set_enter_cost);
ClassDB::bind_method(D_METHOD("get_enter_cost"), &NavigationPolygonInstance::get_enter_cost);
ClassDB::bind_method(D_METHOD("set_travel_cost", "travel_cost"), &NavigationPolygonInstance::set_travel_cost);
ClassDB::bind_method(D_METHOD("get_travel_cost"), &NavigationPolygonInstance::get_travel_cost);
ClassDB::bind_method(D_METHOD("set_navigation_polygon", "navigation_polygon"), &NavigationPolygonInstance::set_navigation_polygon);
ClassDB::bind_method(D_METHOD("get_navigation_polygon"), &NavigationPolygonInstance::get_navigation_polygon);
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &NavigationPolygonInstance::set_navigation_map);
ClassDB::bind_method(D_METHOD("get_navigation_map"), &NavigationPolygonInstance::get_navigation_map);
ClassDB::bind_method(D_METHOD("bake_navigation_polygon", "on_thread"), &NavigationPolygonInstance::bake_navigation_polygon);
ClassDB::bind_method(D_METHOD("_bake_finished"), &NavigationPolygonInstance::_bake_finished);
ClassDB::bind_method(D_METHOD("get_region_rid"), &NavigationPolygonInstance::get_region_rid);
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "navigation_polygon", PROPERTY_HINT_RESOURCE_TYPE, "NavigationPolygon"), "set_navigation_polygon", "get_navigation_polygon");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "use_edge_connections"), "set_use_edge_connections", "get_use_edge_connections");
ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "enter_cost"), "set_enter_cost", "get_enter_cost");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "travel_cost"), "set_travel_cost", "get_travel_cost");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "constrain_avoidance"), "set_constrain_avoidance", "get_constrain_avoidance");
ADD_PROPERTY(PropertyInfo(Variant::INT, "avoidance_layers", PROPERTY_HINT_LAYERS_AVOIDANCE), "set_avoidance_layers", "get_avoidance_layers");
#ifdef DEBUG_ENABLED
ClassDB::bind_method(D_METHOD("_navigation_debug_changed"), &NavigationPolygonInstance::_navigation_debug_changed);
ClassDB::bind_method(D_METHOD("_navigation_map_changed"), &NavigationPolygonInstance::_navigation_map_changed);
#endif
ClassDB::bind_method(D_METHOD("_navigation_polygon_changed"), &NavigationPolygonInstance::_navigation_polygon_changed);
ADD_SIGNAL(MethodInfo("navigation_polygon_changed"));
ADD_SIGNAL(MethodInfo("bake_finished"));
}
#ifndef DISABLE_DEPRECATED
//Renamed after 4.0
bool NavigationPolygonInstance::_set(const StringName &p_name, const Variant &p_value) {
if (p_name == "navpoly") {
set_navigation_polygon(p_value);
return true;
}
return false;
}
bool NavigationPolygonInstance::_get(const StringName &p_name, Variant &r_ret) const {
if (p_name == "navpoly") {
r_ret = get_navigation_polygon();
return true;
}
return false;
}
#endif // DISABLE_DEPRECATED
NavigationPolygonInstance::NavigationPolygonInstance() {
enabled = true;
use_edge_connections = true;
set_notify_transform(true);
region = Navigation2DServer::get_singleton()->region_create();
navigation = nullptr;
enter_cost = 0.0;
travel_cost = 1.0;
navigation_layers = 1;
constrain_avoidance = false;
avoidance_layers = 1;
baking_started = false;
Navigation2DServer::get_singleton()->region_set_owner_id(region, get_instance_id());
Navigation2DServer::get_singleton()->region_set_enter_cost(region, get_enter_cost());
Navigation2DServer::get_singleton()->region_set_travel_cost(region, get_travel_cost());
#ifdef DEBUG_ENABLED
Navigation2DServer::get_singleton()->connect("map_changed", this, "_navigation_map_changed");
NavigationServer::get_singleton()->connect("navigation_debug_changed", this, "_navigation_debug_changed");
#endif // DEBUG_ENABLED
}
NavigationPolygonInstance::~NavigationPolygonInstance() {
ERR_FAIL_NULL(Navigation2DServer::get_singleton());
Navigation2DServer::get_singleton()->free(region);
for (uint32_t i = 0; i < constrain_avoidance_obstacles.size(); i++) {
if (constrain_avoidance_obstacles[i].is_valid()) {
Navigation2DServer::get_singleton()->free(constrain_avoidance_obstacles[i]);
}
}
constrain_avoidance_obstacles.clear();
#ifdef DEBUG_ENABLED
Navigation2DServer::get_singleton()->disconnect("map_changed", this, "_navigation_map_changed");
NavigationServer::get_singleton()->disconnect("navigation_debug_changed", this, "_navigation_debug_changed");
#endif // DEBUG_ENABLED
}
void NavigationPolygonInstance::_update_avoidance_constrain() {
for (uint32_t i = 0; i < constrain_avoidance_obstacles.size(); i++) {
if (constrain_avoidance_obstacles[i].is_valid()) {
Navigation2DServer::get_singleton()->free(constrain_avoidance_obstacles[i]);
constrain_avoidance_obstacles[i] = RID();
}
}
constrain_avoidance_obstacles.clear();
if (!constrain_avoidance) {
return;
}
if (get_navigation_polygon() == nullptr) {
return;
}
Ref<NavigationPolygon> _navigation_polygon = get_navigation_polygon();
int _outline_count = _navigation_polygon->get_outline_count();
if (_outline_count == 0) {
return;
}
for (int outline_index(0); outline_index < _outline_count; outline_index++) {
//TODO navigation_polygon should probably use normal vectors internally
const PoolVector<Vector2> &_outline = _navigation_polygon->get_outline(outline_index);
Vector<Vector2> outline;
outline.resize(_outline.size());
for (int i = 0; i < _outline.size(); ++i) {
outline.write[i] = outline[i];
}
const int outline_size = _outline.size();
if (outline_size < 3) {
ERR_FAIL_COND_MSG(_outline.size() < 3, "NavigationPolygon outline needs to have at least 3 vertex to create avoidance obstacles to constrain avoidance agent's");
continue;
}
RID obstacle_rid = Navigation2DServer::get_singleton()->obstacle_create();
constrain_avoidance_obstacles.push_back(obstacle_rid);
Vector<Vector2> new_obstacle_outline;
if (outline_index == 0) {
for (int i(0); i < outline_size; i++) {
new_obstacle_outline.push_back(_outline[outline_size - i - 1]);
}
ERR_FAIL_COND_MSG(Geometry::is_polygon_clockwise(outline), "Outermost outline needs to be clockwise to push avoidance agent inside");
} else {
for (int i(0); i < outline_size; i++) {
new_obstacle_outline.push_back(_outline[i]);
}
}
new_obstacle_outline.resize(outline_size);
Navigation2DServer::get_singleton()->obstacle_set_vertices(obstacle_rid, new_obstacle_outline);
Navigation2DServer::get_singleton()->obstacle_set_avoidance_layers(obstacle_rid, avoidance_layers);
if (is_inside_tree()) {
Navigation2DServer::get_singleton()->obstacle_set_map(obstacle_rid, get_world_2d()->get_navigation_map());
Navigation2DServer::get_singleton()->obstacle_set_position(obstacle_rid, get_global_position());
}
}
constrain_avoidance_obstacles.resize(_outline_count);
}
void NavigationPolygonInstance::set_constrain_avoidance(bool p_enabled) {
constrain_avoidance = p_enabled;
_update_avoidance_constrain();
property_list_changed_notify();
}
bool NavigationPolygonInstance::get_constrain_avoidance() const {
return constrain_avoidance;
}
void NavigationPolygonInstance::_validate_property(PropertyInfo &p_property) const {
if (p_property.name == "avoidance_layers") {
if (!constrain_avoidance) {
p_property.usage = PROPERTY_USAGE_NOEDITOR;
}
}
}
void NavigationPolygonInstance::set_avoidance_layers(uint32_t p_layers) {
avoidance_layers = p_layers;
if (constrain_avoidance_obstacles.size() > 0) {
for (uint32_t i = 0; i < constrain_avoidance_obstacles.size(); i++) {
Navigation2DServer::get_singleton()->obstacle_set_avoidance_layers(constrain_avoidance_obstacles[i], avoidance_layers);
}
}
}
uint32_t NavigationPolygonInstance::get_avoidance_layers() const {
return avoidance_layers;
}
void NavigationPolygonInstance::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 NavigationPolygonInstance::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 NavigationPolygonInstance::_region_enter_navigation_map() {
if (!is_inside_tree()) {
return;
}
if (enabled) {
RID map = get_navigation_map();
Navigation2DServer::get_singleton()->region_set_map(region, map);
for (uint32_t i = 0; i < constrain_avoidance_obstacles.size(); i++) {
if (constrain_avoidance_obstacles[i].is_valid()) {
Navigation2DServer::get_singleton()->obstacle_set_map(constrain_avoidance_obstacles[i], map);
}
}
}
current_global_transform = get_global_transform();
Navigation2DServer::get_singleton()->region_set_transform(region, current_global_transform);
for (uint32_t i = 0; i < constrain_avoidance_obstacles.size(); i++) {
if (constrain_avoidance_obstacles[i].is_valid()) {
Navigation2DServer::get_singleton()->obstacle_set_position(constrain_avoidance_obstacles[i], get_global_position());
}
}
update();
}
void NavigationPolygonInstance::_region_exit_navigation_map() {
Navigation2DServer::get_singleton()->region_set_map(region, RID());
for (uint32_t i = 0; i < constrain_avoidance_obstacles.size(); i++) {
if (constrain_avoidance_obstacles[i].is_valid()) {
Navigation2DServer::get_singleton()->obstacle_set_map(constrain_avoidance_obstacles[i], RID());
}
}
}
void NavigationPolygonInstance::_region_update_transform() {
if (!is_inside_tree()) {
return;
}
Transform2D new_global_transform = get_global_transform();
if (current_global_transform != new_global_transform) {
current_global_transform = new_global_transform;
Navigation2DServer::get_singleton()->region_set_transform(region, current_global_transform);
for (uint32_t i = 0; i < constrain_avoidance_obstacles.size(); i++) {
if (constrain_avoidance_obstacles[i].is_valid()) {
Navigation2DServer::get_singleton()->obstacle_set_position(constrain_avoidance_obstacles[i], get_global_position());
}
}
}
update();
}
#ifdef DEBUG_ENABLED
void NavigationPolygonInstance::_update_debug_mesh() {
PoolVector<Vector2> navigation_polygon_vertices = navigation_polygon->get_vertices();
if (navigation_polygon_vertices.size() < 3) {
return;
}
const Navigation2DServer *ns2d = Navigation2DServer::get_singleton();
bool enabled_geometry_face_random_color = ns2d->get_debug_navigation_enable_geometry_face_random_color();
bool enabled_edge_lines = ns2d->get_debug_navigation_enable_edge_lines();
//bool enable_edge_connections = use_edge_connections && ns2d->get_debug_navigation_enable_edge_connections() && ns2d->map_get_use_edge_connections(get_world_2d()->get_navigation_map());
Color debug_face_color = ns2d->get_debug_navigation_geometry_face_color();
Color debug_edge_color = ns2d->get_debug_navigation_geometry_edge_color();
//Color debug_edge_connection_color = ns2d->get_debug_navigation_edge_connection_color();
if (!enabled) {
debug_face_color = ns2d->get_debug_navigation_geometry_face_disabled_color();
debug_edge_color = ns2d->get_debug_navigation_geometry_edge_disabled_color();
}
RandomPCG rand;
for (int i = 0; i < navigation_polygon->get_polygon_count(); i++) {
// An array of vertices for this polygon.
Vector<int> polygon = navigation_polygon->get_polygon(i);
Vector<Vector2> debug_polygon_vertices;
debug_polygon_vertices.resize(polygon.size());
for (int j = 0; j < polygon.size(); j++) {
ERR_FAIL_INDEX(polygon[j], navigation_polygon_vertices.size());
debug_polygon_vertices.write[j] = navigation_polygon_vertices[polygon[j]];
}
// Generate the polygon color, slightly randomly modified from the settings one.
Color random_variation_color = debug_face_color;
if (enabled_geometry_face_random_color) {
random_variation_color.set_hsv(debug_face_color.get_h() + rand.random(-1.0, 1.0) * 0.1, debug_face_color.get_s(), debug_face_color.get_v() + rand.random(-1.0, 1.0) * 0.2);
}
random_variation_color.a = debug_face_color.a;
Vector<Color> debug_face_colors;
debug_face_colors.push_back(random_variation_color);
RS::get_singleton()->canvas_item_add_polygon(get_canvas_item(), debug_polygon_vertices, debug_face_colors);
if (enabled_edge_lines) {
Vector<Color> debug_edge_colors;
debug_edge_colors.push_back(debug_edge_color);
debug_polygon_vertices.push_back(debug_polygon_vertices[0]); // Add first again for closing polyline.
RS::get_singleton()->canvas_item_add_polyline(get_canvas_item(), debug_polygon_vertices, debug_edge_colors);
}
}
}
#endif // DEBUG_ENABLED
#ifdef DEBUG_ENABLED
void NavigationPolygonInstance::_update_debug_edge_connections_mesh() {
const Navigation2DServer *ns2d = Navigation2DServer::get_singleton();
bool enable_edge_connections = ns2d->get_debug_navigation_enable_edge_connections();
if (enable_edge_connections) {
Color debug_edge_connection_color = ns2d->get_debug_navigation_edge_connection_color();
// Draw the region edge connections.
Transform2D xform = get_global_transform();
RID map = get_navigation_map();
real_t radius = 1.0;
radius = ns2d->map_get_edge_connection_margin(map) / 2.0;
for (int i = 0; i < ns2d->region_get_connections_count(region); i++) {
// Two main points
Vector2 a = ns2d->region_get_connection_pathway_start(region, i);
a = xform.affine_inverse().xform(a);
Vector2 b = ns2d->region_get_connection_pathway_end(region, i);
b = xform.affine_inverse().xform(b);
draw_line(a, b, debug_edge_connection_color);
// Draw a circle to illustrate the margins.
real_t angle = a.angle_to_point(b);
draw_arc(a, radius, angle + Math_PI / 2.0, angle - Math_PI / 2.0 + Math_TAU, 10, debug_edge_connection_color);
draw_arc(b, radius, angle - Math_PI / 2.0, angle + Math_PI / 2.0, 10, debug_edge_connection_color);
}
}
}
#endif // DEBUG_ENABLED
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