551 lines
19 KiB
C++
551 lines
19 KiB
C++
/*************************************************************************/
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/* gd_navigation_server.cpp */
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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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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 "gd_navigation_server.h"
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#include "core/os/mutex.h"
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#ifndef _3D_DISABLED
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#include "navigation_mesh_generator.h"
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#endif
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/**
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@author AndreaCatania
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*/
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/// Creates a struct for each function and a function that once called creates
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/// an instance of that struct with the submitted parameters.
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/// Then, that struct is stored in an array; the `sync` function consume that array.
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#define COMMAND_1(F_NAME, T_0, D_0) \
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struct MERGE(F_NAME, _command) : public SetCommand { \
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T_0 d_0; \
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MERGE(F_NAME, _command) \
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(T_0 p_d_0) : \
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d_0(p_d_0) {} \
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virtual void exec(GdNavigationServer *server) { \
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server->MERGE(_cmd_, F_NAME)(d_0); \
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} \
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}; \
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void GdNavigationServer::F_NAME(T_0 D_0) const { \
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auto cmd = memnew(MERGE(F_NAME, _command)( \
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D_0)); \
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add_command(cmd); \
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} \
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void GdNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0)
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#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
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struct MERGE(F_NAME, _command) : public SetCommand { \
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T_0 d_0; \
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T_1 d_1; \
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MERGE(F_NAME, _command) \
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( \
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T_0 p_d_0, \
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T_1 p_d_1) : \
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d_0(p_d_0), \
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d_1(p_d_1) {} \
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virtual void exec(GdNavigationServer *server) { \
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server->MERGE(_cmd_, F_NAME)(d_0, d_1); \
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} \
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}; \
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void GdNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \
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auto cmd = memnew(MERGE(F_NAME, _command)( \
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D_0, \
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D_1)); \
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add_command(cmd); \
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} \
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void GdNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
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#define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \
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struct MERGE(F_NAME, _command) : public SetCommand { \
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T_0 d_0; \
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T_1 d_1; \
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T_2 d_2; \
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T_3 d_3; \
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MERGE(F_NAME, _command) \
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( \
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T_0 p_d_0, \
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T_1 p_d_1, \
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T_2 p_d_2, \
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T_3 p_d_3) : \
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d_0(p_d_0), \
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d_1(p_d_1), \
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d_2(p_d_2), \
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d_3(p_d_3) {} \
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virtual void exec(GdNavigationServer *server) { \
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server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \
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} \
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}; \
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void GdNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) const { \
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auto cmd = memnew(MERGE(F_NAME, _command)( \
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D_0, \
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D_1, \
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D_2, \
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D_3)); \
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add_command(cmd); \
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} \
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void GdNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
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GdNavigationServer::GdNavigationServer() :
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NavigationServer3D() {
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}
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GdNavigationServer::~GdNavigationServer() {
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flush_queries();
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}
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void GdNavigationServer::add_command(SetCommand *command) const {
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GdNavigationServer *mut_this = const_cast<GdNavigationServer *>(this);
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{
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MutexLock lock(commands_mutex);
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mut_this->commands.push_back(command);
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}
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}
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RID GdNavigationServer::map_create() const {
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GdNavigationServer *mut_this = const_cast<GdNavigationServer *>(this);
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MutexLock lock(mut_this->operations_mutex);
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NavMap *space = memnew(NavMap);
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RID rid = map_owner.make_rid(space);
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space->set_self(rid);
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return rid;
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}
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COMMAND_2(map_set_active, RID, p_map, bool, p_active) {
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NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND(map == nullptr);
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if (p_active) {
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if (!map_is_active(p_map)) {
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active_maps.push_back(map);
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active_maps_update_id.push_back(map->get_map_update_id());
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}
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} else {
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int map_index = active_maps.find(map);
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ERR_FAIL_COND(map_index < 0);
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active_maps.remove(map_index);
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active_maps_update_id.remove(map_index);
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}
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}
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bool GdNavigationServer::map_is_active(RID p_map) const {
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NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, false);
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return active_maps.find(map) >= 0;
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}
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COMMAND_2(map_set_up, RID, p_map, Vector3, p_up) {
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NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_up(p_up);
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}
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Vector3 GdNavigationServer::map_get_up(RID p_map) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_up();
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}
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COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size) {
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NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_cell_size(p_cell_size);
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}
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real_t GdNavigationServer::map_get_cell_size(RID p_map) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, 0);
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return map->get_cell_size();
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}
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COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin) {
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NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->set_edge_connection_margin(p_connection_margin);
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}
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real_t GdNavigationServer::map_get_edge_connection_margin(RID p_map) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, 0);
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return map->get_edge_connection_margin();
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}
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Vector<Vector3> GdNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_layers) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());
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return map->get_path(p_origin, p_destination, p_optimize, p_layers);
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}
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Vector3 GdNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_closest_point_to_segment(p_from, p_to, p_use_collision);
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}
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Vector3 GdNavigationServer::map_get_closest_point(RID p_map, const Vector3 &p_point) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_closest_point(p_point);
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}
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Vector3 GdNavigationServer::map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, Vector3());
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return map->get_closest_point_normal(p_point);
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}
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RID GdNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const {
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const NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND_V(map == nullptr, RID());
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return map->get_closest_point_owner(p_point);
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}
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RID GdNavigationServer::region_create() const {
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GdNavigationServer *mut_this = const_cast<GdNavigationServer *>(this);
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MutexLock lock(mut_this->operations_mutex);
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NavRegion *reg = memnew(NavRegion);
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RID rid = region_owner.make_rid(reg);
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reg->set_self(rid);
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return rid;
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}
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COMMAND_2(region_set_map, RID, p_region, RID, p_map) {
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NavRegion *region = region_owner.getornull(p_region);
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ERR_FAIL_COND(region == nullptr);
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if (region->get_map() != nullptr) {
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if (region->get_map()->get_self() == p_map) {
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return; // Pointless
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}
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region->get_map()->remove_region(region);
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region->set_map(nullptr);
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}
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if (p_map.is_valid()) {
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NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND(map == nullptr);
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map->add_region(region);
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region->set_map(map);
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}
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}
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COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform) {
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NavRegion *region = region_owner.getornull(p_region);
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ERR_FAIL_COND(region == nullptr);
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region->set_transform(p_transform);
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}
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COMMAND_2(region_set_layers, RID, p_region, uint32_t, p_layers) {
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NavRegion *region = region_owner.getornull(p_region);
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ERR_FAIL_COND(region == nullptr);
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region->set_layers(p_layers);
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}
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uint32_t GdNavigationServer::region_get_layers(RID p_region) const {
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NavRegion *region = region_owner.getornull(p_region);
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ERR_FAIL_COND_V(region == nullptr, 0);
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return region->get_layers();
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}
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COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) {
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NavRegion *region = region_owner.getornull(p_region);
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ERR_FAIL_COND(region == nullptr);
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region->set_mesh(p_nav_mesh);
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}
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void GdNavigationServer::region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const {
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ERR_FAIL_COND(r_mesh.is_null());
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ERR_FAIL_COND(p_node == nullptr);
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#ifndef _3D_DISABLED
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NavigationMeshGenerator::get_singleton()->clear(r_mesh);
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NavigationMeshGenerator::get_singleton()->bake(r_mesh, p_node);
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#endif
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}
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int GdNavigationServer::region_get_connections_count(RID p_region) const {
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NavRegion *region = region_owner.getornull(p_region);
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ERR_FAIL_COND_V(!region, 0);
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return region->get_connections_count();
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}
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Vector3 GdNavigationServer::region_get_connection_pathway_start(RID p_region, int p_connection_id) const {
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NavRegion *region = region_owner.getornull(p_region);
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ERR_FAIL_COND_V(!region, Vector3());
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return region->get_connection_pathway_start(p_connection_id);
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}
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Vector3 GdNavigationServer::region_get_connection_pathway_end(RID p_region, int p_connection_id) const {
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NavRegion *region = region_owner.getornull(p_region);
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ERR_FAIL_COND_V(!region, Vector3());
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return region->get_connection_pathway_end(p_connection_id);
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}
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RID GdNavigationServer::agent_create() const {
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GdNavigationServer *mut_this = const_cast<GdNavigationServer *>(this);
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MutexLock lock(mut_this->operations_mutex);
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RvoAgent *agent = memnew(RvoAgent());
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RID rid = agent_owner.make_rid(agent);
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agent->set_self(rid);
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return rid;
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}
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COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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if (agent->get_map()) {
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if (agent->get_map()->get_self() == p_map) {
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return; // Pointless
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}
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agent->get_map()->remove_agent(agent);
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}
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agent->set_map(nullptr);
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if (p_map.is_valid()) {
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NavMap *map = map_owner.getornull(p_map);
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ERR_FAIL_COND(map == nullptr);
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agent->set_map(map);
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map->add_agent(agent);
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if (agent->has_callback()) {
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map->set_agent_as_controlled(agent);
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}
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}
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}
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COMMAND_2(agent_set_neighbor_dist, RID, p_agent, real_t, p_dist) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->neighborDist_ = p_dist;
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}
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COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->maxNeighbors_ = p_count;
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}
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COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->timeHorizon_ = p_time;
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}
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COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->radius_ = p_radius;
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}
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COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->maxSpeed_ = p_max_speed;
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}
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COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->velocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
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}
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COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->prefVelocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
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}
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COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->position_ = RVO::Vector3(p_position.x, p_position.y, p_position.z);
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}
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COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->get_agent()->ignore_y_ = p_ignore;
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}
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bool GdNavigationServer::agent_is_map_changed(RID p_agent) const {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND_V(agent == nullptr, false);
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return agent->is_map_changed();
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}
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COMMAND_4(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata) {
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RvoAgent *agent = agent_owner.getornull(p_agent);
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ERR_FAIL_COND(agent == nullptr);
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agent->set_callback(p_receiver == nullptr ? ObjectID() : p_receiver->get_instance_id(), p_method, p_udata);
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if (agent->get_map()) {
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if (p_receiver == nullptr) {
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agent->get_map()->remove_agent_as_controlled(agent);
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} else {
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agent->get_map()->set_agent_as_controlled(agent);
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}
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}
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}
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COMMAND_1(free, RID, p_object) {
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if (map_owner.owns(p_object)) {
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NavMap *map = map_owner.getornull(p_object);
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// Removes any assigned region
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std::vector<NavRegion *> regions = map->get_regions();
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for (size_t i(0); i < regions.size(); i++) {
|
|
map->remove_region(regions[i]);
|
|
regions[i]->set_map(nullptr);
|
|
}
|
|
|
|
// Remove any assigned agent
|
|
std::vector<RvoAgent *> agents = map->get_agents();
|
|
for (size_t i(0); i < agents.size(); i++) {
|
|
map->remove_agent(agents[i]);
|
|
agents[i]->set_map(nullptr);
|
|
}
|
|
|
|
int map_index = active_maps.find(map);
|
|
active_maps.remove(map_index);
|
|
active_maps_update_id.remove(map_index);
|
|
map_owner.free(p_object);
|
|
memdelete(map);
|
|
|
|
} else if (region_owner.owns(p_object)) {
|
|
NavRegion *region = region_owner.getornull(p_object);
|
|
|
|
// Removes this region from the map if assigned
|
|
if (region->get_map() != nullptr) {
|
|
region->get_map()->remove_region(region);
|
|
region->set_map(nullptr);
|
|
}
|
|
|
|
region_owner.free(p_object);
|
|
memdelete(region);
|
|
|
|
} else if (agent_owner.owns(p_object)) {
|
|
RvoAgent *agent = agent_owner.getornull(p_object);
|
|
|
|
// Removes this agent from the map if assigned
|
|
if (agent->get_map() != nullptr) {
|
|
agent->get_map()->remove_agent(agent);
|
|
agent->set_map(nullptr);
|
|
}
|
|
|
|
agent_owner.free(p_object);
|
|
memdelete(agent);
|
|
|
|
} else {
|
|
ERR_FAIL_COND("Invalid ID.");
|
|
}
|
|
}
|
|
|
|
void GdNavigationServer::set_active(bool p_active) const {
|
|
GdNavigationServer *mut_this = const_cast<GdNavigationServer *>(this);
|
|
MutexLock lock(mut_this->operations_mutex);
|
|
mut_this->active = p_active;
|
|
}
|
|
|
|
void GdNavigationServer::flush_queries() {
|
|
// In c++ we can't be sure that this is performed in the main thread
|
|
// even with mutable functions.
|
|
MutexLock lock(commands_mutex);
|
|
MutexLock lock2(operations_mutex);
|
|
for (size_t i(0); i < commands.size(); i++) {
|
|
commands[i]->exec(this);
|
|
memdelete(commands[i]);
|
|
}
|
|
commands.clear();
|
|
}
|
|
|
|
void GdNavigationServer::process(real_t p_delta_time) {
|
|
flush_queries();
|
|
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
// In c++ we can't be sure that this is performed in the main thread
|
|
// even with mutable functions.
|
|
MutexLock lock(operations_mutex);
|
|
for (uint32_t i(0); i < active_maps.size(); i++) {
|
|
active_maps[i]->sync();
|
|
active_maps[i]->step(p_delta_time);
|
|
active_maps[i]->dispatch_callbacks();
|
|
|
|
// Emit a signal if a map changed.
|
|
const uint32_t new_map_update_id = active_maps[i]->get_map_update_id();
|
|
if (new_map_update_id != active_maps_update_id[i]) {
|
|
emit_signal("map_changed", active_maps[i]->get_self());
|
|
active_maps_update_id[i] = new_map_update_id;
|
|
}
|
|
}
|
|
}
|
|
|
|
#undef COMMAND_1
|
|
#undef COMMAND_2
|
|
#undef COMMAND_4
|