mirror of
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537 lines
23 KiB
C++
537 lines
23 KiB
C++
#ifndef NAVIGATION_SERVER_H
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#define NAVIGATION_SERVER_H
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/*************************************************************************/
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/* navigation_server.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "core/containers/rid.h"
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#include "core/object/object.h"
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#include "navigation/navigation_utilities.h"
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#include "core/object/reference.h"
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class NavigationMesh;
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class SpatialMaterial;
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class NavigationPathQueryParameters3D;
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class NavigationPathQueryResult3D;
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/// This server uses the concept of internal mutability.
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/// All the constant functions can be called in multithread because internally
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/// the server takes care to schedule the functions access.
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///
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/// Note: All the `set` functions are commands executed during the `sync` phase,
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/// don't expect that a change is immediately propagated.
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class NavigationServer : public Object {
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GDCLASS(NavigationServer, Object);
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static NavigationServer *singleton;
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protected:
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static void _bind_methods();
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public:
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static NavigationServer *get_singleton();
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virtual Array get_maps() const = 0;
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/// Create a new map.
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virtual RID map_create() = 0;
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/// Set map active.
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virtual void map_set_active(RID p_map, bool p_active) = 0;
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/// Returns true if the map is active.
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virtual bool map_is_active(RID p_map) const = 0;
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/// Set the map UP direction.
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virtual void map_set_up(RID p_map, Vector3 p_up) = 0;
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/// Returns the map UP direction.
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virtual Vector3 map_get_up(RID p_map) const = 0;
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/// Set the map cell size used to weld the navigation mesh polygons.
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virtual void map_set_cell_size(RID p_map, real_t p_cell_size) = 0;
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/// Returns the map cell size.
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virtual real_t map_get_cell_size(RID p_map) const = 0;
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virtual void map_set_use_edge_connections(RID p_map, bool p_enabled) = 0;
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virtual bool map_get_use_edge_connections(RID p_map) const = 0;
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/// Set the map cell height used to weld the navigation mesh polygons.
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virtual void map_set_cell_height(RID p_map, real_t p_cell_height) = 0;
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/// Returns the map cell height.
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virtual real_t map_get_cell_height(RID p_map) const = 0;
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/// Set the map edge connection margin used to weld the compatible region edges.
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virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) = 0;
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/// Returns the edge connection margin of this map.
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virtual real_t map_get_edge_connection_margin(RID p_map) const = 0;
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/// Set the map link connection radius used to attach links to the nav mesh.
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virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) = 0;
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/// Returns the link connection radius of this map.
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virtual real_t map_get_link_connection_radius(RID p_map) const = 0;
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/// Returns the navigation path to reach the destination from the origin.
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virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const = 0;
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virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const = 0;
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virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const = 0;
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virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const = 0;
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virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const = 0;
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virtual Array map_get_links(RID p_map) const = 0;
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virtual Array map_get_regions(RID p_map) const = 0;
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virtual Array map_get_agents(RID p_map) const = 0;
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virtual Array map_get_obstacles(RID p_map) const = 0;
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virtual void map_force_update(RID p_map) = 0;
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/// Creates a new region.
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virtual RID region_create() = 0;
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virtual void region_set_use_edge_connections(RID p_region, bool p_enabled) = 0;
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virtual bool region_get_use_edge_connections(RID p_region) const = 0;
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/// Set the enter_cost of a region
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virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) = 0;
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virtual real_t region_get_enter_cost(RID p_region) const = 0;
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/// Set the travel_cost of a region
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virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) = 0;
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virtual real_t region_get_travel_cost(RID p_region) const = 0;
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/// Set the node which manages this region.
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virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) = 0;
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virtual ObjectID region_get_owner_id(RID p_region) const = 0;
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virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const = 0;
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/// Set the map of this region.
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virtual void region_set_map(RID p_region, RID p_map) = 0;
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virtual RID region_get_map(RID p_region) const = 0;
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/// Set the region's layers
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virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) = 0;
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virtual uint32_t region_get_navigation_layers(RID p_region) const = 0;
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/// Set the global transformation of this region.
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virtual void region_set_transform(RID p_region, Transform p_transform) = 0;
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/// Set the navigation mesh of this region.
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virtual void region_set_navmesh(RID p_region, Ref<NavigationMesh> p_nav_mesh) = 0;
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/// Get a list of a region's connection to other regions.
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virtual int region_get_connections_count(RID p_region) const = 0;
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virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const = 0;
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virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0;
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/// Creates a new link between positions in the nav map.
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virtual RID link_create() = 0;
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/// Set the map of this link.
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virtual void link_set_map(RID p_link, RID p_map) = 0;
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virtual RID link_get_map(RID p_link) const = 0;
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/// Set whether this link travels in both directions.
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virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) = 0;
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virtual bool link_is_bidirectional(RID p_link) const = 0;
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/// Set the link's layers.
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virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) = 0;
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virtual uint32_t link_get_navigation_layers(RID p_link) const = 0;
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/// Set the start position of the link.
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virtual void link_set_start_position(RID p_link, Vector3 p_position) = 0;
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virtual Vector3 link_get_start_position(RID p_link) const = 0;
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/// Set the end position of the link.
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virtual void link_set_end_position(RID p_link, Vector3 p_position) = 0;
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virtual Vector3 link_get_end_position(RID p_link) const = 0;
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/// Set the enter cost of the link.
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virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) = 0;
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virtual real_t link_get_enter_cost(RID p_link) const = 0;
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/// Set the travel cost of the link.
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virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) = 0;
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virtual real_t link_get_travel_cost(RID p_link) const = 0;
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/// Set the node which manages this link.
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virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) = 0;
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virtual ObjectID link_get_owner_id(RID p_link) const = 0;
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/// Creates the agent.
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virtual RID agent_create() = 0;
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/// Put the agent in the map.
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virtual void agent_set_map(RID p_agent, RID p_map) = 0;
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virtual RID agent_get_map(RID p_agent) const = 0;
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virtual void agent_set_avoidance_enabled(RID p_agent, bool p_enabled) = 0;
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virtual bool agent_get_avoidance_enabled(RID p_agent) const = 0;
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virtual void agent_set_use_3d_avoidance(RID p_agent, bool p_enabled) = 0;
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virtual bool agent_get_use_3d_avoidance(RID p_agent) const = 0;
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/// The maximum distance (center point to
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/// center point) to other agents this agent
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/// takes into account in the navigation. The
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/// larger this number, the longer the running
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/// time of the simulation. If the number is too
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/// low, the simulation will not be safe.
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/// Must be non-negative.
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virtual void agent_set_neighbor_distance(RID p_agent, real_t p_dist) = 0;
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/// The maximum number of other agents this
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/// agent takes into account in the navigation.
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/// The larger this number, the longer the
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/// running time of the simulation. If the
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/// number is too low, the simulation will not
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/// be safe.
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virtual void agent_set_max_neighbors(RID p_agent, int p_count) = 0;
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// Sets the minimum amount of time in seconds that an agent's
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// must be able to stay on the calculated velocity while still avoiding collisions with agent's
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// if this value is set to high an agent will often fall back to using a very low velocity just to be safe
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virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon) = 0;
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/// Sets the minimum amount of time in seconds that an agent's
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// must be able to stay on the calculated velocity while still avoiding collisions with obstacle's
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// if this value is set to high an agent will often fall back to using a very low velocity just to be safe
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virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon) = 0;
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/// The radius of this agent.
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/// Must be non-negative.
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virtual void agent_set_radius(RID p_agent, real_t p_radius) = 0;
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virtual void agent_set_height(RID p_agent, real_t p_height) = 0;
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/// The maximum speed of this agent.
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/// Must be non-negative.
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virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) = 0;
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/// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly
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virtual void agent_set_velocity_forced(RID p_agent, Vector3 p_velocity) = 0;
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/// The wanted velocity for the agent as a "suggestion" to the avoidance simulation.
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/// The simulation will try to fulfil this velocity wish if possible but may change the velocity depending on other agent's and obstacles'.
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virtual void agent_set_velocity(RID p_agent, Vector3 p_velocity) = 0;
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/// Position of the agent in world space.
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virtual void agent_set_position(RID p_agent, Vector3 p_position) = 0;
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/// Returns true if the map got changed the previous frame.
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virtual bool agent_is_map_changed(RID p_agent) const = 0;
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/// Callback called at the end of the RVO process
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virtual void agent_set_avoidance_callback(RID p_agent, ObjectID p_object_id, StringName p_method, Variant p_udata = Variant()) = 0;
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virtual void agent_set_avoidance_layers(RID p_agent, uint32_t p_layers) = 0;
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virtual void agent_set_avoidance_mask(RID p_agent, uint32_t p_mask) = 0;
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virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority) = 0;
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/// Creates the obstacle.
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virtual RID obstacle_create() = 0;
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virtual void obstacle_set_map(RID p_obstacle, RID p_map) = 0;
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virtual RID obstacle_get_map(RID p_obstacle) const = 0;
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virtual void obstacle_set_height(RID p_obstacle, real_t p_height) = 0;
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virtual void obstacle_set_position(RID p_obstacle, Vector3 p_position) = 0;
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virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector3> &p_vertices) = 0;
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virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers) = 0;
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/// Destroy the `RID`
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virtual void free(RID p_object) = 0;
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/// Control activation of this server.
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virtual void set_active(bool p_active) = 0;
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/// Process the collision avoidance agents.
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/// The result of this process is needed by the physics server,
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/// so this must be called in the main thread.
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/// Note: This function is not thread safe.
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virtual void process(real_t delta_time) = 0;
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/// Returns a customized navigation path using a query parameters object
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void query_path(const Ref<NavigationPathQueryParameters3D> &p_query_parameters, Ref<NavigationPathQueryResult3D> p_query_result) const;
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virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const = 0;
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virtual void init();
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virtual void finish();
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enum ProcessInfo {
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INFO_ACTIVE_MAPS,
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INFO_REGION_COUNT,
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INFO_AGENT_COUNT,
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INFO_LINK_COUNT,
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INFO_POLYGON_COUNT,
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INFO_EDGE_COUNT,
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INFO_EDGE_MERGE_COUNT,
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INFO_EDGE_CONNECTION_COUNT,
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INFO_EDGE_FREE_COUNT,
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};
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virtual int get_process_info(ProcessInfo p_info) const = 0;
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NavigationServer();
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virtual ~NavigationServer();
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void set_debug_enabled(bool p_enabled);
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bool get_debug_enabled() const;
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#ifdef DEBUG_ENABLED
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void set_debug_navigation_enabled(bool p_enabled);
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bool get_debug_navigation_enabled() const;
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void set_debug_avoidance_enabled(bool p_enabled);
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bool get_debug_avoidance_enabled() const;
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void set_debug_navigation_edge_connection_color(const Color &p_color);
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Color get_debug_navigation_edge_connection_color() const;
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void set_debug_navigation_geometry_edge_color(const Color &p_color);
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Color get_debug_navigation_geometry_edge_color() const;
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void set_debug_navigation_geometry_face_color(const Color &p_color);
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Color get_debug_navigation_geometry_face_color() const;
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void set_debug_navigation_geometry_edge_disabled_color(const Color &p_color);
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Color get_debug_navigation_geometry_edge_disabled_color() const;
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void set_debug_navigation_geometry_face_disabled_color(const Color &p_color);
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Color get_debug_navigation_geometry_face_disabled_color() const;
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void set_debug_navigation_link_connection_color(const Color &p_color);
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Color get_debug_navigation_link_connection_color() const;
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void set_debug_navigation_link_connection_disabled_color(const Color &p_color);
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Color get_debug_navigation_link_connection_disabled_color() const;
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void set_debug_navigation_agent_path_color(const Color &p_color);
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Color get_debug_navigation_agent_path_color() const;
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void set_debug_navigation_avoidance_agents_radius_color(const Color &p_color);
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Color get_debug_navigation_avoidance_agents_radius_color() const;
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void set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color);
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Color get_debug_navigation_avoidance_obstacles_radius_color() const;
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void set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color);
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Color get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const;
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void set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color);
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Color get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const;
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void set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color);
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Color get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const;
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void set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color);
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Color get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const;
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void set_debug_navigation_enable_edge_connections(const bool p_value);
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bool get_debug_navigation_enable_edge_connections() const;
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void set_debug_navigation_enable_edge_connections_xray(const bool p_value);
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bool get_debug_navigation_enable_edge_connections_xray() const;
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void set_debug_navigation_enable_edge_lines(const bool p_value);
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bool get_debug_navigation_enable_edge_lines() const;
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void set_debug_navigation_enable_edge_lines_xray(const bool p_value);
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bool get_debug_navigation_enable_edge_lines_xray() const;
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void set_debug_navigation_enable_geometry_face_random_color(const bool p_value);
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bool get_debug_navigation_enable_geometry_face_random_color() const;
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void set_debug_navigation_enable_link_connections(const bool p_value);
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bool get_debug_navigation_enable_link_connections() const;
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void set_debug_navigation_enable_link_connections_xray(const bool p_value);
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bool get_debug_navigation_enable_link_connections_xray() const;
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void set_debug_navigation_enable_agent_paths(const bool p_value);
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bool get_debug_navigation_enable_agent_paths() const;
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void set_debug_navigation_enable_agent_paths_xray(const bool p_value);
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bool get_debug_navigation_enable_agent_paths_xray() const;
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void set_debug_navigation_agent_path_point_size(float p_point_size);
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float get_debug_navigation_agent_path_point_size() const;
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void set_debug_navigation_avoidance_enable_agents_radius(const bool p_value);
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bool get_debug_navigation_avoidance_enable_agents_radius() const;
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void set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value);
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bool get_debug_navigation_avoidance_enable_obstacles_radius() const;
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void set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value);
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bool get_debug_navigation_avoidance_enable_obstacles_static() const;
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Ref<SpatialMaterial> get_debug_navigation_geometry_face_material();
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Ref<SpatialMaterial> get_debug_navigation_geometry_edge_material();
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Ref<SpatialMaterial> get_debug_navigation_geometry_face_disabled_material();
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Ref<SpatialMaterial> get_debug_navigation_geometry_edge_disabled_material();
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Ref<SpatialMaterial> get_debug_navigation_edge_connections_material();
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Ref<SpatialMaterial> get_debug_navigation_link_connections_material();
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Ref<SpatialMaterial> get_debug_navigation_link_connections_disabled_material();
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Ref<SpatialMaterial> get_debug_navigation_agent_path_line_material();
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Ref<SpatialMaterial> get_debug_navigation_agent_path_point_material();
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|
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Ref<SpatialMaterial> get_debug_navigation_avoidance_agents_radius_material();
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|
Ref<SpatialMaterial> get_debug_navigation_avoidance_obstacles_radius_material();
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|
|
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Ref<SpatialMaterial> get_debug_navigation_avoidance_static_obstacle_pushin_face_material();
|
|
Ref<SpatialMaterial> get_debug_navigation_avoidance_static_obstacle_pushout_face_material();
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Ref<SpatialMaterial> get_debug_navigation_avoidance_static_obstacle_pushin_edge_material();
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Ref<SpatialMaterial> get_debug_navigation_avoidance_static_obstacle_pushout_edge_material();
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protected:
|
|
bool _debug_enabled;
|
|
bool _debug_dirty;
|
|
|
|
bool _debug_navigation_enabled;
|
|
bool _navigation_debug_dirty;
|
|
void _emit_navigation_debug_changed_signal();
|
|
|
|
bool _debug_avoidance_enabled;
|
|
bool _avoidance_debug_dirty;
|
|
void _emit_avoidance_debug_changed_signal();
|
|
|
|
Color _debug_navigation_edge_connection_color;
|
|
Color _debug_navigation_geometry_edge_color;
|
|
Color _debug_navigation_geometry_face_color;
|
|
Color _debug_navigation_geometry_edge_disabled_color;
|
|
Color _debug_navigation_geometry_face_disabled_color;
|
|
Color _debug_navigation_link_connection_color;
|
|
Color _debug_navigation_link_connection_disabled_color;
|
|
Color _debug_navigation_agent_path_color;
|
|
|
|
float _debug_navigation_agent_path_point_size;
|
|
|
|
Color _debug_navigation_avoidance_agents_radius_color;
|
|
Color _debug_navigation_avoidance_obstacles_radius_color;
|
|
|
|
Color _debug_navigation_avoidance_static_obstacle_pushin_face_color;
|
|
Color _debug_navigation_avoidance_static_obstacle_pushout_face_color;
|
|
Color _debug_navigation_avoidance_static_obstacle_pushin_edge_color;
|
|
Color _debug_navigation_avoidance_static_obstacle_pushout_edge_color;
|
|
|
|
bool _debug_navigation_enable_edge_connections;
|
|
bool _debug_navigation_enable_edge_connections_xray;
|
|
bool _debug_navigation_enable_edge_lines;
|
|
bool _debug_navigation_enable_edge_lines_xray;
|
|
bool _debug_navigation_enable_geometry_face_random_color;
|
|
bool _debug_navigation_enable_link_connections;
|
|
bool _debug_navigation_enable_link_connections_xray;
|
|
bool _debug_navigation_enable_agent_paths;
|
|
bool _debug_navigation_enable_agent_paths_xray;
|
|
|
|
bool _debug_navigation_avoidance_enable_agents_radius;
|
|
bool _debug_navigation_avoidance_enable_obstacles_radius;
|
|
bool _debug_navigation_avoidance_enable_obstacles_static;
|
|
|
|
Ref<SpatialMaterial> _debug_navigation_geometry_edge_material;
|
|
Ref<SpatialMaterial> _debug_navigation_geometry_face_material;
|
|
Ref<SpatialMaterial> _debug_navigation_geometry_edge_disabled_material;
|
|
Ref<SpatialMaterial> _debug_navigation_geometry_face_disabled_material;
|
|
Ref<SpatialMaterial> _debug_navigation_edge_connections_material;
|
|
Ref<SpatialMaterial> _debug_navigation_link_connections_material;
|
|
Ref<SpatialMaterial> _debug_navigation_link_connections_disabled_material;
|
|
Ref<SpatialMaterial> _debug_navigation_avoidance_agents_radius_material;
|
|
Ref<SpatialMaterial> _debug_navigation_avoidance_obstacles_radius_material;
|
|
|
|
Ref<SpatialMaterial> _debug_navigation_avoidance_static_obstacle_pushin_face_material;
|
|
Ref<SpatialMaterial> _debug_navigation_avoidance_static_obstacle_pushout_face_material;
|
|
Ref<SpatialMaterial> _debug_navigation_avoidance_static_obstacle_pushin_edge_material;
|
|
Ref<SpatialMaterial> _debug_navigation_avoidance_static_obstacle_pushout_edge_material;
|
|
|
|
Ref<SpatialMaterial> _debug_navigation_agent_path_line_material;
|
|
Ref<SpatialMaterial> _debug_navigation_agent_path_point_material;
|
|
|
|
#endif // DEBUG_ENABLED
|
|
};
|
|
|
|
VARIANT_ENUM_CAST(NavigationServer::ProcessInfo);
|
|
|
|
typedef NavigationServer *(*CreateNavigationServerCallback)();
|
|
|
|
/// Manager used for the server singleton registration
|
|
|
|
class NavigationServerManager {
|
|
struct ClassInfo {
|
|
String name;
|
|
CreateNavigationServerCallback create_callback;
|
|
|
|
ClassInfo() :
|
|
name(""),
|
|
create_callback(nullptr) {}
|
|
|
|
ClassInfo(String p_name, CreateNavigationServerCallback p_create_callback) :
|
|
name(p_name),
|
|
create_callback(p_create_callback) {}
|
|
|
|
ClassInfo(const ClassInfo &p_ci) :
|
|
name(p_ci.name),
|
|
create_callback(p_ci.create_callback) {}
|
|
|
|
ClassInfo operator=(const ClassInfo &p_ci) {
|
|
name = p_ci.name;
|
|
create_callback = p_ci.create_callback;
|
|
return *this;
|
|
}
|
|
};
|
|
|
|
static Vector<ClassInfo> navigation_servers;
|
|
static int default_server_id;
|
|
static int default_server_priority;
|
|
|
|
public:
|
|
static const String setting_property_name;
|
|
|
|
private:
|
|
static void on_servers_changed();
|
|
|
|
public:
|
|
static void register_server(const String &p_name, CreateNavigationServerCallback p_create_callback);
|
|
static void set_default_server(const String &p_name, int p_priority = 0);
|
|
static int find_server_id(const String &p_name);
|
|
static int get_servers_count();
|
|
static String get_server_name(int p_id);
|
|
static NavigationServer *new_default_server();
|
|
static NavigationServer *new_server(const String &p_name);
|
|
};
|
|
|
|
#endif
|