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146 lines
2.6 KiB
C++
146 lines
2.6 KiB
C++
#ifndef NAVIGATION_H
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#define NAVIGATION_H
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#include "scene/3d/spatial.h"
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#include "scene/3d/navigation_mesh.h"
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class Navigation : public Spatial {
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OBJ_TYPE( Navigation, Spatial);
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union Point {
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struct {
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int64_t x:21;
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int64_t y:22;
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int64_t z:21;
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};
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uint64_t key;
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bool operator<(const Point& p_key) const { return key < p_key.key; }
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};
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struct EdgeKey {
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Point a;
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Point b;
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bool operator<(const EdgeKey& p_key) const {
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return (a.key==p_key.a.key)?(b.key<p_key.b.key):(a.key<p_key.a.key);
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};
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EdgeKey(const Point& p_a=Point(),const Point& p_b=Point()) {
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a=p_a;
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b=p_b;
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if (a.key > b.key) {
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SWAP(a,b);
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}
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}
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};
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struct NavMesh;
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struct Polygon {
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struct Edge {
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Point point;
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Polygon *C; //connection
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int C_edge;
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Edge() { C=NULL; C_edge=-1; }
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};
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Vector<Edge> edges;
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Vector3 center;
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float distance;
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int prev_edge;
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NavMesh *owner;
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};
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struct Connection {
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Polygon *A;
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int A_edge;
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Polygon *B;
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int B_edge;
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Connection() { A=NULL; B=NULL; A_edge=-1; B_edge=-1;}
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};
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Map<EdgeKey,Connection> connections;
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struct NavMesh {
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Object *owner;
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Transform xform;
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bool linked;
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Ref<NavigationMesh> navmesh;
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List<Polygon> polygons;
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};
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_FORCE_INLINE_ Point _get_point(const Vector3& p_pos) const {
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int x = int(Math::floor(p_pos.x/cell_size));
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int y = int(Math::floor(p_pos.y/cell_size));
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int z = int(Math::floor(p_pos.z/cell_size));
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Point p;
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p.key=0;
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p.x=x;
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p.y=y;
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p.z=z;
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return p;
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}
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_FORCE_INLINE_ Vector3 _get_vertex(const Point& p_point) const {
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return Vector3(p_point.x,p_point.y,p_point.z)*cell_size;
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}
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void _navmesh_link(int p_id);
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void _navmesh_unlink(int p_id);
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float cell_size;
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Map<int,NavMesh> navmesh_map;
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int last_id;
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Vector3 up;
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void _clip_path(Vector<Vector3>& path,Polygon *from_poly, const Vector3& p_to_point, Polygon* p_to_poly);
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protected:
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static void _bind_methods();
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public:
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void set_up_vector(const Vector3& p_up);
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Vector3 get_up_vector() const;
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//API should be as dynamic as possible
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int navmesh_create(const Ref<NavigationMesh>& p_mesh,const Transform& p_xform,Object* p_owner=NULL);
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void navmesh_set_transform(int p_id, const Transform& p_xform);
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void navmesh_remove(int p_id);
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Vector<Vector3> get_simple_path(const Vector3& p_start, const Vector3& p_end,bool p_optimize=true);
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Vector3 get_closest_point_to_segment(const Vector3& p_from,const Vector3& p_to,const bool& p_use_collision=false);
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Vector3 get_closest_point(const Vector3& p_point);
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Vector3 get_closest_point_normal(const Vector3& p_point);
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Navigation();
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};
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#endif // NAVIGATION_H
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