#ifndef PANDEMONIUM_NAVIGATION_SERVER_H #define PANDEMONIUM_NAVIGATION_SERVER_H /*************************************************************************/ /* pandemonium_navigation_server.h */ /*************************************************************************/ /* This file is part of: */ /* PANDEMONIUM 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 "servers/navigation_server.h" #include "core/containers/rid.h" #include "nav_agent.h" #include "nav_link.h" #include "nav_map.h" #include "nav_obstacle.h" #include "nav_region.h" /// The commands are functions executed during the `sync` phase. #define MERGE_INTERNAL(A, B) A##B #define MERGE(A, B) MERGE_INTERNAL(A, B) #define COMMAND_1(F_NAME, T_0, D_0) \ virtual void F_NAME(T_0 D_0); \ void MERGE(_cmd_, F_NAME)(T_0 D_0) #define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \ virtual void F_NAME(T_0 D_0, T_1 D_1); \ void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1) #define COMMAND_4_DEF(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, D_3_DEF) \ virtual void F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3 = D_3_DEF); \ void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) class PandemoniumNavigationServer; struct SetCommand { virtual ~SetCommand() {} virtual void exec(PandemoniumNavigationServer *server) = 0; }; class PandemoniumNavigationServer : public NavigationServer { Mutex commands_mutex; /// Mutex used to make any operation threadsafe. Mutex operations_mutex; LocalVector commands; mutable RID_Owner link_owner; mutable RID_Owner map_owner; mutable RID_Owner region_owner; mutable RID_Owner agent_owner; mutable RID_Owner obstacle_owner; bool active; LocalVector active_maps; LocalVector active_maps_update_id; // Performance Monitor int pm_region_count; int pm_agent_count; int pm_link_count; int pm_polygon_count; int pm_edge_count; int pm_edge_merge_count; int pm_edge_connection_count; int pm_edge_free_count; public: PandemoniumNavigationServer(); virtual ~PandemoniumNavigationServer(); void add_command(SetCommand *command) const; virtual Array get_maps() const; virtual RID map_create(); COMMAND_2(map_set_active, RID, p_map, bool, p_active); virtual bool map_is_active(RID p_map) const; COMMAND_2(map_set_up, RID, p_map, Vector3, p_up); virtual Vector3 map_get_up(RID p_map) const; COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size); virtual real_t map_get_cell_size(RID p_map) const; COMMAND_2(map_set_cell_height, RID, p_map, real_t, p_cell_height); virtual real_t map_get_cell_height(RID p_map) const; COMMAND_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled); virtual bool map_get_use_edge_connections(RID p_map) const; COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin); virtual real_t map_get_edge_connection_margin(RID p_map) const; COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius); virtual real_t map_get_link_connection_radius(RID p_map) const; virtual Vector map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers = 1) const; 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; virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const; virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const; virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const; virtual Array map_get_links(RID p_map) const; virtual Array map_get_regions(RID p_map) const; virtual Array map_get_agents(RID p_map) const; virtual Array map_get_obstacles(RID p_map) const; virtual void map_force_update(RID p_map); virtual RID region_create(); COMMAND_2(region_set_enabled, RID, p_region, bool, p_enabled); virtual bool region_get_enabled(RID p_region) const; COMMAND_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled); virtual bool region_get_use_edge_connections(RID p_region) const; COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost); virtual real_t region_get_enter_cost(RID p_region) const; COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost); virtual real_t region_get_travel_cost(RID p_region) const; COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id); virtual ObjectID region_get_owner_id(RID p_region) const; virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const; COMMAND_2(region_set_map, RID, p_region, RID, p_map); virtual RID region_get_map(RID p_region) const; COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers); virtual uint32_t region_get_navigation_layers(RID p_region) const; COMMAND_2(region_set_transform, RID, p_region, Transform, p_transform); COMMAND_2(region_set_navigation_mesh, RID, p_region, Ref, p_navigation_mesh); virtual int region_get_connections_count(RID p_region) const; virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const; virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const; virtual RID link_create(); COMMAND_2(link_set_map, RID, p_link, RID, p_map); virtual RID link_get_map(RID p_link) const; COMMAND_2(link_set_enabled, RID, p_link, bool, p_enabled); virtual bool link_get_enabled(RID p_link) const; COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional); virtual bool link_is_bidirectional(RID p_link) const; COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers); virtual uint32_t link_get_navigation_layers(RID p_link) const; COMMAND_2(link_set_start_position, RID, p_link, Vector3, p_position); virtual Vector3 link_get_start_position(RID p_link) const; COMMAND_2(link_set_end_position, RID, p_link, Vector3, p_position); virtual Vector3 link_get_end_position(RID p_link) const; COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost); virtual real_t link_get_enter_cost(RID p_link) const; COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost); virtual real_t link_get_travel_cost(RID p_link) const; COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id); virtual ObjectID link_get_owner_id(RID p_link) const; virtual RID agent_create(); COMMAND_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled); virtual bool agent_get_avoidance_enabled(RID p_agent) const; COMMAND_2(agent_set_use_3d_avoidance, RID, p_agent, bool, p_enabled); virtual bool agent_get_use_3d_avoidance(RID p_agent) const; COMMAND_2(agent_set_map, RID, p_agent, RID, p_map); virtual RID agent_get_map(RID p_agent) const; COMMAND_2(agent_set_paused, RID, p_agent, bool, p_paused); virtual bool agent_get_paused(RID p_agent) const; COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_dist); COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count); COMMAND_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon); COMMAND_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon); COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius); COMMAND_2(agent_set_height, RID, p_agent, real_t, p_height); COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed); COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity); COMMAND_2(agent_set_velocity_forced, RID, p_agent, Vector3, p_velocity); COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position); virtual bool agent_is_map_changed(RID p_agent) const; COMMAND_4_DEF(agent_set_avoidance_callback, RID, p_agent, ObjectID, p_object_id, StringName, p_method, Variant, p_udata, Variant()); COMMAND_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers); COMMAND_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask); COMMAND_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority); virtual RID obstacle_create(); COMMAND_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled); virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const; COMMAND_2(obstacle_set_use_3d_avoidance, RID, p_obstacle, bool, p_enabled); virtual bool obstacle_get_use_3d_avoidance(RID p_obstacle) const; COMMAND_2(obstacle_set_map, RID, p_obstacle, RID, p_map); virtual RID obstacle_get_map(RID p_obstacle) const; COMMAND_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius); COMMAND_2(obstacle_set_velocity, RID, p_obstacle, Vector3, p_velocity); COMMAND_2(obstacle_set_paused, RID, p_obstacle, bool, p_paused); virtual bool obstacle_get_paused(RID p_obstacle) const; COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector3, p_position); COMMAND_2(obstacle_set_height, RID, p_obstacle, real_t, p_height); virtual void obstacle_set_vertices(RID p_obstacle, const Vector &p_vertices); COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers); COMMAND_1(free, RID, p_object); virtual void set_active(bool p_active); void flush_queries(); virtual void process(real_t p_delta_time); virtual int get_process_info(ProcessInfo p_info) const; virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const; private: void internal_free_agent(RID p_object); void internal_free_obstacle(RID p_object); }; #undef COMMAND_1 #undef COMMAND_2 #undef COMMAND_2N #undef COMMAND_4_DEF #endif // PANDEMONIUM_NAVIGATION_SERVER_H