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godot/scene/3d/navigation.cpp
Rémi Verschelde a7f49ac9a1 Update copyright statements to 2020 
Happy new year to the wonderful Godot community!

We're starting a new decade with a well-established, non-profit, free
and open source game engine, and tons of further improvements in the
pipeline from hundreds of contributors.

Godot will keep getting better, and we're looking forward to all the
games that the community will keep developing and releasing with it.
2020-01-01 11:16:22 +01:00

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/*************************************************************************/
/* navigation.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 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 "navigation.h"
#define USE_ENTRY_POINT
void Navigation::_navmesh_link(int p_id) {
ERR_FAIL_COND(!navmesh_map.has(p_id));
NavMesh &nm = navmesh_map[p_id];
ERR_FAIL_COND(nm.linked);
ERR_FAIL_COND(nm.navmesh.is_null());
PoolVector<Vector3> vertices = nm.navmesh->get_vertices();
int len = vertices.size();
if (len == 0)
return;
PoolVector<Vector3>::Read r = vertices.read();
for (int i = 0; i < nm.navmesh->get_polygon_count(); i++) {
//build
List<Polygon>::Element *P = nm.polygons.push_back(Polygon());
Polygon &p = P->get();
p.owner = &nm;
Vector<int> poly = nm.navmesh->get_polygon(i);
int plen = poly.size();
const int *indices = poly.ptr();
bool valid = true;
p.edges.resize(plen);
Vector3 center;
float sum = 0;
for (int j = 0; j < plen; j++) {
int idx = indices[j];
if (idx < 0 || idx >= len) {
valid = false;
break;
}
Polygon::Edge e;
Vector3 ep = nm.xform.xform(r[idx]);
center += ep;
e.point = _get_point(ep);
p.edges.write[j] = e;
if (j >= 2) {
Vector3 epa = nm.xform.xform(r[indices[j - 2]]);
Vector3 epb = nm.xform.xform(r[indices[j - 1]]);
sum += up.dot((epb - epa).cross(ep - epa));
}
}
p.clockwise = sum > 0;
if (!valid) {
nm.polygons.pop_back();
ERR_CONTINUE(!valid);
}
p.center = center;
if (plen != 0) {
p.center /= plen;
}
//connect
for (int j = 0; j < plen; j++) {
int next = (j + 1) % plen;
EdgeKey ek(p.edges[j].point, p.edges[next].point);
Map<EdgeKey, Connection>::Element *C = connections.find(ek);
if (!C) {
Connection c;
c.A = &p;
c.A_edge = j;
c.B = NULL;
c.B_edge = -1;
connections[ek] = c;
} else {
if (C->get().B != NULL) {
ConnectionPending pending;
pending.polygon = &p;
pending.edge = j;
p.edges.write[j].P = C->get().pending.push_back(pending);
continue;
}
C->get().B = &p;
C->get().B_edge = j;
C->get().A->edges.write[C->get().A_edge].C = &p;
C->get().A->edges.write[C->get().A_edge].C_edge = j;
p.edges.write[j].C = C->get().A;
p.edges.write[j].C_edge = C->get().A_edge;
//connection successful.
}
}
}
nm.linked = true;
}
void Navigation::_navmesh_unlink(int p_id) {
ERR_FAIL_COND(!navmesh_map.has(p_id));
NavMesh &nm = navmesh_map[p_id];
ERR_FAIL_COND(!nm.linked);
for (List<Polygon>::Element *E = nm.polygons.front(); E; E = E->next()) {
Polygon &p = E->get();
int ec = p.edges.size();
Polygon::Edge *edges = p.edges.ptrw();
for (int i = 0; i < ec; i++) {
int next = (i + 1) % ec;
EdgeKey ek(edges[i].point, edges[next].point);
Map<EdgeKey, Connection>::Element *C = connections.find(ek);
ERR_CONTINUE(!C);
if (edges[i].P) {
C->get().pending.erase(edges[i].P);
edges[i].P = NULL;
} else if (C->get().B) {
//disconnect
C->get().B->edges.write[C->get().B_edge].C = NULL;
C->get().B->edges.write[C->get().B_edge].C_edge = -1;
C->get().A->edges.write[C->get().A_edge].C = NULL;
C->get().A->edges.write[C->get().A_edge].C_edge = -1;
if (C->get().A == &E->get()) {
C->get().A = C->get().B;
C->get().A_edge = C->get().B_edge;
}
C->get().B = NULL;
C->get().B_edge = -1;
if (C->get().pending.size()) {
//reconnect if something is pending
ConnectionPending cp = C->get().pending.front()->get();
C->get().pending.pop_front();
C->get().B = cp.polygon;
C->get().B_edge = cp.edge;
C->get().A->edges.write[C->get().A_edge].C = cp.polygon;
C->get().A->edges.write[C->get().A_edge].C_edge = cp.edge;
cp.polygon->edges.write[cp.edge].C = C->get().A;
cp.polygon->edges.write[cp.edge].C_edge = C->get().A_edge;
cp.polygon->edges.write[cp.edge].P = NULL;
}
} else {
connections.erase(C);
//erase
}
}
}
nm.polygons.clear();
nm.linked = false;
}
int Navigation::navmesh_add(const Ref<NavigationMesh> &p_mesh, const Transform &p_xform, Object *p_owner) {
int id = last_id++;
NavMesh nm;
nm.linked = false;
nm.navmesh = p_mesh;
nm.xform = p_xform;
nm.owner = p_owner;
navmesh_map[id] = nm;
_navmesh_link(id);
return id;
}
void Navigation::navmesh_set_transform(int p_id, const Transform &p_xform) {
ERR_FAIL_COND(!navmesh_map.has(p_id));
NavMesh &nm = navmesh_map[p_id];
if (nm.xform == p_xform)
return; //bleh
_navmesh_unlink(p_id);
nm.xform = p_xform;
_navmesh_link(p_id);
}
void Navigation::navmesh_remove(int p_id) {
ERR_FAIL_COND_MSG(!navmesh_map.has(p_id), "Trying to remove nonexisting navmesh with id: " + itos(p_id));
_navmesh_unlink(p_id);
navmesh_map.erase(p_id);
}
void Navigation::_clip_path(Vector<Vector3> &path, Polygon *from_poly, const Vector3 &p_to_point, Polygon *p_to_poly) {
Vector3 from = path[path.size() - 1];
if (from.distance_to(p_to_point) < CMP_EPSILON)
return;
Plane cut_plane;
cut_plane.normal = (from - p_to_point).cross(up);
if (cut_plane.normal == Vector3())
return;
cut_plane.normal.normalize();
cut_plane.d = cut_plane.normal.dot(from);
while (from_poly != p_to_poly) {
int pe = from_poly->prev_edge;
Vector3 a = _get_vertex(from_poly->edges[pe].point);
Vector3 b = _get_vertex(from_poly->edges[(pe + 1) % from_poly->edges.size()].point);
from_poly = from_poly->edges[pe].C;
ERR_FAIL_COND(!from_poly);
if (a.distance_to(b) > CMP_EPSILON) {
Vector3 inters;
if (cut_plane.intersects_segment(a, b, &inters)) {
if (inters.distance_to(p_to_point) > CMP_EPSILON && inters.distance_to(path[path.size() - 1]) > CMP_EPSILON) {
path.push_back(inters);
}
}
}
}
}
Vector<Vector3> Navigation::get_simple_path(const Vector3 &p_start, const Vector3 &p_end, bool p_optimize) {
Polygon *begin_poly = NULL;
Polygon *end_poly = NULL;
Vector3 begin_point;
Vector3 end_point;
float begin_d = 1e20;
float end_d = 1e20;
for (Map<int, NavMesh>::Element *E = navmesh_map.front(); E; E = E->next()) {
if (!E->get().linked)
continue;
for (List<Polygon>::Element *F = E->get().polygons.front(); F; F = F->next()) {
Polygon &p = F->get();
for (int i = 2; i < p.edges.size(); i++) {
Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
Vector3 spoint = f.get_closest_point_to(p_start);
float dpoint = spoint.distance_to(p_start);
if (dpoint < begin_d) {
begin_d = dpoint;
begin_poly = &p;
begin_point = spoint;
}
spoint = f.get_closest_point_to(p_end);
dpoint = spoint.distance_to(p_end);
if (dpoint < end_d) {
end_d = dpoint;
end_poly = &p;
end_point = spoint;
}
}
p.prev_edge = -1;
}
}
if (!begin_poly || !end_poly) {
return Vector<Vector3>(); //no path
}
if (begin_poly == end_poly) {
Vector<Vector3> path;
path.resize(2);
path.write[0] = begin_point;
path.write[1] = end_point;
return path;
}
bool found_route = false;
List<Polygon *> open_list;
for (int i = 0; i < begin_poly->edges.size(); i++) {
if (begin_poly->edges[i].C) {
begin_poly->edges[i].C->prev_edge = begin_poly->edges[i].C_edge;
#ifdef USE_ENTRY_POINT
Vector3 edge[2] = {
_get_vertex(begin_poly->edges[i].point),
_get_vertex(begin_poly->edges[(i + 1) % begin_poly->edges.size()].point)
};
Vector3 entry = Geometry::get_closest_point_to_segment(begin_poly->entry, edge);
begin_poly->edges[i].C->distance = begin_point.distance_to(entry);
begin_poly->edges[i].C->entry = entry;
#else
begin_poly->edges[i].C->distance = begin_poly->center.distance_to(begin_poly->edges[i].C->center);
#endif
open_list.push_back(begin_poly->edges[i].C);
}
}
while (!found_route) {
if (open_list.size() == 0) {
break;
}
//check open list
List<Polygon *>::Element *least_cost_poly = NULL;
float least_cost = 1e30;
//this could be faster (cache previous results)
for (List<Polygon *>::Element *E = open_list.front(); E; E = E->next()) {
Polygon *p = E->get();
float cost = p->distance;
#ifdef USE_ENTRY_POINT
cost += p->entry.distance_to(end_point);
#else
cost += p->center.distance_to(end_point);
#endif
if (cost < least_cost) {
least_cost_poly = E;
least_cost = cost;
}
}
Polygon *p = least_cost_poly->get();
//open the neighbours for search
if (p == end_poly) {
//oh my reached end! stop algorithm
found_route = true;
break;
}
for (int i = 0; i < p->edges.size(); i++) {
Polygon::Edge &e = p->edges.write[i];
if (!e.C)
continue;
#ifdef USE_ENTRY_POINT
Vector3 edge[2] = {
_get_vertex(p->edges[i].point),
_get_vertex(p->edges[(i + 1) % p->edges.size()].point)
};
Vector3 entry = Geometry::get_closest_point_to_segment(p->entry, edge);
float distance = p->entry.distance_to(entry) + p->distance;
#else
float distance = p->center.distance_to(e.C->center) + p->distance;
#endif
if (e.C->prev_edge != -1) {
//oh this was visited already, can we win the cost?
if (e.C->distance > distance) {
e.C->prev_edge = e.C_edge;
e.C->distance = distance;
#ifdef USE_ENTRY_POINT
e.C->entry = entry;
#endif
}
} else {
//add to open neighbours
e.C->prev_edge = e.C_edge;
e.C->distance = distance;
#ifdef USE_ENTRY_POINT
e.C->entry = entry;
#endif
open_list.push_back(e.C);
}
}
open_list.erase(least_cost_poly);
}
if (found_route) {
Vector<Vector3> path;
if (p_optimize) {
//string pulling
Polygon *apex_poly = end_poly;
Vector3 apex_point = end_point;
Vector3 portal_left = apex_point;
Vector3 portal_right = apex_point;
Polygon *left_poly = end_poly;
Polygon *right_poly = end_poly;
Polygon *p = end_poly;
path.push_back(end_point);
while (p) {
Vector3 left;
Vector3 right;
#define CLOCK_TANGENT(m_a, m_b, m_c) (((m_a) - (m_c)).cross((m_a) - (m_b)))
if (p == begin_poly) {
left = begin_point;
right = begin_point;
} else {
int prev = p->prev_edge;
int prev_n = (p->prev_edge + 1) % p->edges.size();
left = _get_vertex(p->edges[prev].point);
right = _get_vertex(p->edges[prev_n].point);
//if (CLOCK_TANGENT(apex_point,left,(left+right)*0.5).dot(up) < 0){
if (p->clockwise) {
SWAP(left, right);
}
}
bool skip = false;
if (CLOCK_TANGENT(apex_point, portal_left, left).dot(up) >= 0) {
//process
if (portal_left == apex_point || CLOCK_TANGENT(apex_point, left, portal_right).dot(up) > 0) {
left_poly = p;
portal_left = left;
} else {
_clip_path(path, apex_poly, portal_right, right_poly);
apex_point = portal_right;
p = right_poly;
left_poly = p;
apex_poly = p;
portal_left = apex_point;
portal_right = apex_point;
path.push_back(apex_point);
skip = true;
}
}
if (!skip && CLOCK_TANGENT(apex_point, portal_right, right).dot(up) <= 0) {
//process
if (portal_right == apex_point || CLOCK_TANGENT(apex_point, right, portal_left).dot(up) < 0) {
right_poly = p;
portal_right = right;
} else {
_clip_path(path, apex_poly, portal_left, left_poly);
apex_point = portal_left;
p = left_poly;
right_poly = p;
apex_poly = p;
portal_right = apex_point;
portal_left = apex_point;
path.push_back(apex_point);
}
}
if (p != begin_poly)
p = p->edges[p->prev_edge].C;
else
p = NULL;
}
if (path[path.size() - 1] != begin_point)
path.push_back(begin_point);
path.invert();
} else {
//midpoints
Polygon *p = end_poly;
path.push_back(end_point);
while (true) {
int prev = p->prev_edge;
#ifdef USE_ENTRY_POINT
Vector3 point = p->entry;
#else
int prev_n = (p->prev_edge + 1) % p->edges.size();
Vector3 point = (_get_vertex(p->edges[prev].point) + _get_vertex(p->edges[prev_n].point)) * 0.5;
#endif
path.push_back(point);
p = p->edges[prev].C;
if (p == begin_poly)
break;
}
path.push_back(begin_point);
path.invert();
}
return path;
}
return Vector<Vector3>();
}
Vector3 Navigation::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool &p_use_collision) {
bool use_collision = p_use_collision;
Vector3 closest_point;
float closest_point_d = 1e20;
for (Map<int, NavMesh>::Element *E = navmesh_map.front(); E; E = E->next()) {
if (!E->get().linked)
continue;
for (List<Polygon>::Element *F = E->get().polygons.front(); F; F = F->next()) {
Polygon &p = F->get();
for (int i = 2; i < p.edges.size(); i++) {
Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
Vector3 inters;
if (f.intersects_segment(p_from, p_to, &inters)) {
if (!use_collision) {
closest_point = inters;
use_collision = true;
closest_point_d = p_from.distance_to(inters);
} else if (closest_point_d > inters.distance_to(p_from)) {
closest_point = inters;
closest_point_d = p_from.distance_to(inters);
}
}
}
if (!use_collision) {
for (int i = 0; i < p.edges.size(); i++) {
Vector3 a, b;
Geometry::get_closest_points_between_segments(p_from, p_to, _get_vertex(p.edges[i].point), _get_vertex(p.edges[(i + 1) % p.edges.size()].point), a, b);
float d = a.distance_to(b);
if (d < closest_point_d) {
closest_point_d = d;
closest_point = b;
}
}
}
}
}
return closest_point;
}
Vector3 Navigation::get_closest_point(const Vector3 &p_point) {
Vector3 closest_point;
float closest_point_d = 1e20;
for (Map<int, NavMesh>::Element *E = navmesh_map.front(); E; E = E->next()) {
if (!E->get().linked)
continue;
for (List<Polygon>::Element *F = E->get().polygons.front(); F; F = F->next()) {
Polygon &p = F->get();
for (int i = 2; i < p.edges.size(); i++) {
Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
Vector3 inters = f.get_closest_point_to(p_point);
float d = inters.distance_to(p_point);
if (d < closest_point_d) {
closest_point = inters;
closest_point_d = d;
}
}
}
}
return closest_point;
}
Vector3 Navigation::get_closest_point_normal(const Vector3 &p_point) {
Vector3 closest_point;
Vector3 closest_normal;
float closest_point_d = 1e20;
for (Map<int, NavMesh>::Element *E = navmesh_map.front(); E; E = E->next()) {
if (!E->get().linked)
continue;
for (List<Polygon>::Element *F = E->get().polygons.front(); F; F = F->next()) {
Polygon &p = F->get();
for (int i = 2; i < p.edges.size(); i++) {
Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
Vector3 inters = f.get_closest_point_to(p_point);
float d = inters.distance_to(p_point);
if (d < closest_point_d) {
closest_point = inters;
closest_point_d = d;
closest_normal = f.get_plane().normal;
}
}
}
}
return closest_normal;
}
Object *Navigation::get_closest_point_owner(const Vector3 &p_point) {
Vector3 closest_point;
Object *owner = NULL;
float closest_point_d = 1e20;
for (Map<int, NavMesh>::Element *E = navmesh_map.front(); E; E = E->next()) {
if (!E->get().linked)
continue;
for (List<Polygon>::Element *F = E->get().polygons.front(); F; F = F->next()) {
Polygon &p = F->get();
for (int i = 2; i < p.edges.size(); i++) {
Face3 f(_get_vertex(p.edges[0].point), _get_vertex(p.edges[i - 1].point), _get_vertex(p.edges[i].point));
Vector3 inters = f.get_closest_point_to(p_point);
float d = inters.distance_to(p_point);
if (d < closest_point_d) {
closest_point = inters;
closest_point_d = d;
owner = E->get().owner;
}
}
}
}
return owner;
}
void Navigation::set_up_vector(const Vector3 &p_up) {
up = p_up;
}
Vector3 Navigation::get_up_vector() const {
return up;
}
void Navigation::_bind_methods() {
ClassDB::bind_method(D_METHOD("navmesh_add", "mesh", "xform", "owner"), &Navigation::navmesh_add, DEFVAL(Variant()));
ClassDB::bind_method(D_METHOD("navmesh_set_transform", "id", "xform"), &Navigation::navmesh_set_transform);
ClassDB::bind_method(D_METHOD("navmesh_remove", "id"), &Navigation::navmesh_remove);
ClassDB::bind_method(D_METHOD("get_simple_path", "start", "end", "optimize"), &Navigation::get_simple_path, DEFVAL(true));
ClassDB::bind_method(D_METHOD("get_closest_point_to_segment", "start", "end", "use_collision"), &Navigation::get_closest_point_to_segment, DEFVAL(false));
ClassDB::bind_method(D_METHOD("get_closest_point", "to_point"), &Navigation::get_closest_point);
ClassDB::bind_method(D_METHOD("get_closest_point_normal", "to_point"), &Navigation::get_closest_point_normal);
ClassDB::bind_method(D_METHOD("get_closest_point_owner", "to_point"), &Navigation::get_closest_point_owner);
ClassDB::bind_method(D_METHOD("set_up_vector", "up"), &Navigation::set_up_vector);
ClassDB::bind_method(D_METHOD("get_up_vector"), &Navigation::get_up_vector);
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "up_vector"), "set_up_vector", "get_up_vector");
}
Navigation::Navigation() {
ERR_FAIL_COND(sizeof(Point) != 8);
cell_size = 0.01; //one centimeter
last_id = 1;
up = Vector3(0, 1, 0);
}
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