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272 lines
9.8 KiB
C++
272 lines
9.8 KiB
C++
/**************************************************************************/
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/* nav_map.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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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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#ifndef NAV_MAP_H
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#define NAV_MAP_H
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#include "3d/nav_mesh_queries_3d.h"
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#include "nav_rid.h"
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#include "nav_utils.h"
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#include "core/math/math_defs.h"
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#include "core/object/worker_thread_pool.h"
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#include "servers/navigation/navigation_globals.h"
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#include <KdTree2d.h>
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#include <KdTree3d.h>
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#include <RVOSimulator2d.h>
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#include <RVOSimulator3d.h>
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class NavLink;
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class NavRegion;
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class NavAgent;
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class NavObstacle;
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class NavMap : public NavRid {
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RWLock map_rwlock;
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/// Map Up
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Vector3 up = Vector3(0, 1, 0);
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/// To find the polygons edges the vertices are displaced in a grid where
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/// each cell has the following cell_size and cell_height.
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real_t cell_size = NavigationDefaults3D::navmesh_cell_size;
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real_t cell_height = NavigationDefaults3D::navmesh_cell_height;
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// For the inter-region merging to work, internal rasterization is performed.
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float merge_rasterizer_cell_size = NavigationDefaults3D::navmesh_cell_size;
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float merge_rasterizer_cell_height = NavigationDefaults3D::navmesh_cell_height;
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// This value is used to control sensitivity of internal rasterizer.
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float merge_rasterizer_cell_scale = 1.0;
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bool use_edge_connections = true;
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/// This value is used to detect the near edges to connect.
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real_t edge_connection_margin = NavigationDefaults3D::edge_connection_margin;
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/// This value is used to limit how far links search to find polygons to connect to.
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real_t link_connection_radius = NavigationDefaults3D::link_connection_radius;
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bool map_settings_dirty = true;
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bool iteration_dirty = true;
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/// Map regions
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LocalVector<NavRegion *> regions;
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/// Map links
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LocalVector<NavLink *> links;
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LocalVector<gd::Polygon> link_polygons;
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/// Map polygons
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LocalVector<gd::Polygon> polygons;
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/// RVO avoidance worlds
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RVO2D::RVOSimulator2D rvo_simulation_2d;
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RVO3D::RVOSimulator3D rvo_simulation_3d;
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/// avoidance controlled agents
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LocalVector<NavAgent *> active_2d_avoidance_agents;
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LocalVector<NavAgent *> active_3d_avoidance_agents;
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/// dirty flag when one of the agent's arrays are modified
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bool agents_dirty = true;
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/// All the Agents (even the controlled one)
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LocalVector<NavAgent *> agents;
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/// All the avoidance obstacles (both static and dynamic)
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LocalVector<NavObstacle *> obstacles;
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/// Are rvo obstacles modified?
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bool obstacles_dirty = true;
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/// Physics delta time
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real_t deltatime = 0.0;
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/// Change the id each time the map is updated.
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uint32_t iteration_id = 0;
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bool use_threads = true;
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bool avoidance_use_multiple_threads = true;
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bool avoidance_use_high_priority_threads = true;
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// Performance Monitor
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gd::PerformanceData performance_data;
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HashMap<NavRegion *, LocalVector<gd::Edge::Connection>> region_external_connections;
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struct ConnectionPair {
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gd::Edge::Connection connections[2];
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int size = 0;
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};
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HashMap<gd::EdgeKey, ConnectionPair, gd::EdgeKey> connection_pairs_map;
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LocalVector<gd::Edge::Connection> free_edges;
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struct {
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SelfList<NavRegion>::List regions;
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SelfList<NavLink>::List links;
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SelfList<NavAgent>::List agents;
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SelfList<NavObstacle>::List obstacles;
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} sync_dirty_requests;
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LocalVector<NavMeshQueries3D::PathQuerySlot> path_query_slots;
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int path_query_slots_max = 4;
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Mutex path_query_slots_mutex;
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Semaphore path_query_slots_semaphore;
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public:
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NavMap();
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~NavMap();
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uint32_t get_iteration_id() const { return iteration_id; }
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void set_up(Vector3 p_up);
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Vector3 get_up() const {
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return up;
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}
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void set_cell_size(real_t p_cell_size);
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real_t get_cell_size() const {
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return cell_size;
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}
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void set_cell_height(real_t p_cell_height);
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real_t get_cell_height() const { return cell_height; }
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void set_merge_rasterizer_cell_scale(float p_value);
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float get_merge_rasterizer_cell_scale() const {
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return merge_rasterizer_cell_scale;
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}
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void set_use_edge_connections(bool p_enabled);
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bool get_use_edge_connections() const {
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return use_edge_connections;
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}
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void set_edge_connection_margin(real_t p_edge_connection_margin);
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real_t get_edge_connection_margin() const {
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return edge_connection_margin;
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}
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void set_link_connection_radius(real_t p_link_connection_radius);
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real_t get_link_connection_radius() const {
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return link_connection_radius;
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}
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gd::PointKey get_point_key(const Vector3 &p_pos) const;
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void query_path(NavMeshQueries3D::NavMeshPathQueryTask3D &p_query_task);
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Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const;
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Vector3 get_closest_point(const Vector3 &p_point) const;
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Vector3 get_closest_point_normal(const Vector3 &p_point) const;
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gd::ClosestPointQueryResult get_closest_point_info(const Vector3 &p_point) const;
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RID get_closest_point_owner(const Vector3 &p_point) const;
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void add_region(NavRegion *p_region);
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void remove_region(NavRegion *p_region);
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const LocalVector<NavRegion *> &get_regions() const {
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return regions;
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}
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void add_link(NavLink *p_link);
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void remove_link(NavLink *p_link);
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const LocalVector<NavLink *> &get_links() const {
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return links;
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}
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bool has_agent(NavAgent *agent) const;
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void add_agent(NavAgent *agent);
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void remove_agent(NavAgent *agent);
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const LocalVector<NavAgent *> &get_agents() const {
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return agents;
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}
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void set_agent_as_controlled(NavAgent *agent);
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void remove_agent_as_controlled(NavAgent *agent);
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bool has_obstacle(NavObstacle *obstacle) const;
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void add_obstacle(NavObstacle *obstacle);
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void remove_obstacle(NavObstacle *obstacle);
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const LocalVector<NavObstacle *> &get_obstacles() const {
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return obstacles;
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}
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Vector3 get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const;
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void sync();
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void step(real_t p_deltatime);
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void dispatch_callbacks();
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// Performance Monitor
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int get_pm_region_count() const { return performance_data.pm_region_count; }
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int get_pm_agent_count() const { return performance_data.pm_agent_count; }
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int get_pm_link_count() const { return performance_data.pm_link_count; }
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int get_pm_polygon_count() const { return performance_data.pm_polygon_count; }
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int get_pm_edge_count() const { return performance_data.pm_edge_count; }
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int get_pm_edge_merge_count() const { return performance_data.pm_edge_merge_count; }
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int get_pm_edge_connection_count() const { return performance_data.pm_edge_connection_count; }
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int get_pm_edge_free_count() const { return performance_data.pm_edge_free_count; }
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int get_pm_obstacle_count() const { return performance_data.pm_obstacle_count; }
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int get_region_connections_count(NavRegion *p_region) const;
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Vector3 get_region_connection_pathway_start(NavRegion *p_region, int p_connection_id) const;
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Vector3 get_region_connection_pathway_end(NavRegion *p_region, int p_connection_id) const;
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void add_region_sync_dirty_request(SelfList<NavRegion> *p_sync_request);
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void add_link_sync_dirty_request(SelfList<NavLink> *p_sync_request);
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void add_agent_sync_dirty_request(SelfList<NavAgent> *p_sync_request);
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void add_obstacle_sync_dirty_request(SelfList<NavObstacle> *p_sync_request);
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void remove_region_sync_dirty_request(SelfList<NavRegion> *p_sync_request);
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void remove_link_sync_dirty_request(SelfList<NavLink> *p_sync_request);
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void remove_agent_sync_dirty_request(SelfList<NavAgent> *p_sync_request);
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void remove_obstacle_sync_dirty_request(SelfList<NavObstacle> *p_sync_request);
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private:
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void _sync_dirty_map_update_requests();
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void _sync_dirty_avoidance_update_requests();
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void compute_single_step(uint32_t index, NavAgent **agent);
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void compute_single_avoidance_step_2d(uint32_t index, NavAgent **agent);
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void compute_single_avoidance_step_3d(uint32_t index, NavAgent **agent);
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void _sync_avoidance();
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void _update_rvo_simulation();
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void _update_rvo_obstacles_tree_2d();
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void _update_rvo_agents_tree_2d();
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void _update_rvo_agents_tree_3d();
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void _update_merge_rasterizer_cell_dimensions();
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};
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#endif // NAV_MAP_H
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