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nav_map.cpp
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/**************************************************************************/
/* nav_map.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 "nav_map.h"
#include "nav_agent.h"
#include "nav_link.h"
#include "nav_obstacle.h"
#include "nav_region.h"
#include "core/config/project_settings.h"
#include "core/object/worker_thread_pool.h"
#include <Obstacle2d.h>
#define THREE_POINTS_CROSS_PRODUCT(m_a, m_b, m_c) (((m_c) - (m_a)).cross((m_b) - (m_a)))
// Helper macro
#define APPEND_METADATA(poly) \
if (r_path_types) { \
r_path_types->push_back(poly->owner->get_type()); \
} \
if (r_path_rids) { \
r_path_rids->push_back(poly->owner->get_self()); \
} \
if (r_path_owners) { \
r_path_owners->push_back(poly->owner->get_owner_id()); \
}
#ifdef DEBUG_ENABLED
#define NAVMAP_ITERATION_ZERO_ERROR_MSG() \
ERR_PRINT_ONCE("NavigationServer navigation map query failed because it was made before first map synchronization.\n\
NavigationServer 'map_changed' signal can be used to receive update notifications.\n\
NavigationServer 'map_get_iteration_id()' can be used to check if a map has finished its newest iteration.");
#else
#define NAVMAP_ITERATION_ZERO_ERROR_MSG()
#endif // DEBUG_ENABLED
void NavMap::set_up(Vector3 p_up) {
if (up == p_up) {
return;
}
up = p_up;
regenerate_polygons = true;
}
void NavMap::set_cell_size(real_t p_cell_size) {
if (cell_size == p_cell_size) {
return;
}
cell_size = p_cell_size;
_update_merge_rasterizer_cell_dimensions();
regenerate_polygons = true;
}
void NavMap::set_cell_height(real_t p_cell_height) {
if (cell_height == p_cell_height) {
return;
}
cell_height = p_cell_height;
_update_merge_rasterizer_cell_dimensions();
regenerate_polygons = true;
}
void NavMap::set_merge_rasterizer_cell_scale(float p_value) {
if (merge_rasterizer_cell_scale == p_value) {
return;
}
merge_rasterizer_cell_scale = p_value;
_update_merge_rasterizer_cell_dimensions();
regenerate_polygons = true;
}
void NavMap::set_use_edge_connections(bool p_enabled) {
if (use_edge_connections == p_enabled) {
return;
}
use_edge_connections = p_enabled;
regenerate_links = true;
}
void NavMap::set_edge_connection_margin(real_t p_edge_connection_margin) {
if (edge_connection_margin == p_edge_connection_margin) {
return;
}
edge_connection_margin = p_edge_connection_margin;
regenerate_links = true;
}
void NavMap::set_link_connection_radius(real_t p_link_connection_radius) {
if (link_connection_radius == p_link_connection_radius) {
return;
}
link_connection_radius = p_link_connection_radius;
regenerate_links = true;
}
gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
const int x = static_cast<int>(Math::floor(p_pos.x / merge_rasterizer_cell_size));
const int y = static_cast<int>(Math::floor(p_pos.y / merge_rasterizer_cell_height));
const int z = static_cast<int>(Math::floor(p_pos.z / merge_rasterizer_cell_size));
gd::PointKey p;
p.key = 0;
p.x = x;
p.y = y;
p.z = z;
return p;
}
Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers, Vector<int32_t> *r_path_types, TypedArray<RID> *r_path_rids, Vector<int64_t> *r_path_owners) const {
RWLockRead read_lock(map_rwlock);
if (iteration_id == 0) {
NAVMAP_ITERATION_ZERO_ERROR_MSG();
return Vector<Vector3>();
}
// Clear metadata outputs.
if (r_path_types) {
r_path_types->clear();
}
if (r_path_rids) {
r_path_rids->clear();
}
if (r_path_owners) {
r_path_owners->clear();
}
// Find the start poly and the end poly on this map.
const gd::Polygon *begin_poly = nullptr;
const gd::Polygon *end_poly = nullptr;
Vector3 begin_point;
Vector3 end_point;
real_t begin_d = FLT_MAX;
real_t end_d = FLT_MAX;
// Find the initial poly and the end poly on this map.
for (const gd::Polygon &p : polygons) {
// Only consider the polygon if it in a region with compatible layers.
if ((p_navigation_layers & p.owner->get_navigation_layers()) == 0) {
continue;
}
// For each face check the distance between the origin/destination
for (size_t point_id = 2; point_id < p.points.size(); point_id++) {
const Face3 face(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
Vector3 point = face.get_closest_point_to(p_origin);
real_t distance_to_point = point.distance_to(p_origin);
if (distance_to_point < begin_d) {
begin_d = distance_to_point;
begin_poly = &p;
begin_point = point;
}
point = face.get_closest_point_to(p_destination);
distance_to_point = point.distance_to(p_destination);
if (distance_to_point < end_d) {
end_d = distance_to_point;
end_poly = &p;
end_point = point;
}
}
}
// Check for trivial cases
if (!begin_poly || !end_poly) {
return Vector<Vector3>();
}
if (begin_poly == end_poly) {
if (r_path_types) {
r_path_types->resize(2);
r_path_types->write[0] = begin_poly->owner->get_type();
r_path_types->write[1] = end_poly->owner->get_type();
}
if (r_path_rids) {
r_path_rids->resize(2);
(*r_path_rids)[0] = begin_poly->owner->get_self();
(*r_path_rids)[1] = end_poly->owner->get_self();
}
if (r_path_owners) {
r_path_owners->resize(2);
r_path_owners->write[0] = begin_poly->owner->get_owner_id();
r_path_owners->write[1] = end_poly->owner->get_owner_id();
}
Vector<Vector3> path;
path.resize(2);
path.write[0] = begin_point;
path.write[1] = end_point;
return path;
}
// List of all reachable navigation polys.
LocalVector<gd::NavigationPoly> navigation_polys;
navigation_polys.reserve(polygons.size() * 0.75);
// Add the start polygon to the reachable navigation polygons.
gd::NavigationPoly begin_navigation_poly = gd::NavigationPoly(begin_poly);
begin_navigation_poly.self_id = 0;
begin_navigation_poly.entry = begin_point;
begin_navigation_poly.back_navigation_edge_pathway_start = begin_point;
begin_navigation_poly.back_navigation_edge_pathway_end = begin_point;
navigation_polys.push_back(begin_navigation_poly);
// List of polygon IDs to visit.
List<uint32_t> to_visit;
to_visit.push_back(0);
// This is an implementation of the A* algorithm.
int least_cost_id = 0;
int prev_least_cost_id = -1;
bool found_route = false;
const gd::Polygon *reachable_end = nullptr;
real_t reachable_d = FLT_MAX;
bool is_reachable = true;
while (true) {
// Takes the current least_cost_poly neighbors (iterating over its edges) and compute the traveled_distance.
for (const gd::Edge &edge : navigation_polys[least_cost_id].poly->edges) {
// Iterate over connections in this edge, then compute the new optimized travel distance assigned to this polygon.
for (int connection_index = 0; connection_index < edge.connections.size(); connection_index++) {
const gd::Edge::Connection &connection = edge.connections[connection_index];
// Only consider the connection to another polygon if this polygon is in a region with compatible layers.
if ((p_navigation_layers & connection.polygon->owner->get_navigation_layers()) == 0) {
continue;
}
const gd::NavigationPoly &least_cost_poly = navigation_polys[least_cost_id];
real_t poly_enter_cost = 0.0;
real_t poly_travel_cost = least_cost_poly.poly->owner->get_travel_cost();
if (prev_least_cost_id != -1 && (navigation_polys[prev_least_cost_id].poly->owner->get_self() != least_cost_poly.poly->owner->get_self())) {
poly_enter_cost = least_cost_poly.poly->owner->get_enter_cost();
}
prev_least_cost_id = least_cost_id;
Vector3 pathway[2] = { connection.pathway_start, connection.pathway_end };
const Vector3 new_entry = Geometry3D::get_closest_point_to_segment(least_cost_poly.entry, pathway);
const real_t new_distance = (least_cost_poly.entry.distance_to(new_entry) * poly_travel_cost) + poly_enter_cost + least_cost_poly.traveled_distance;
int64_t already_visited_polygon_index = navigation_polys.find(gd::NavigationPoly(connection.polygon));
if (already_visited_polygon_index != -1) {
// Polygon already visited, check if we can reduce the travel cost.
gd::NavigationPoly &avp = navigation_polys[already_visited_polygon_index];
if (new_distance < avp.traveled_distance) {
avp.back_navigation_poly_id = least_cost_id;
avp.back_navigation_edge = connection.edge;
avp.back_navigation_edge_pathway_start = connection.pathway_start;
avp.back_navigation_edge_pathway_end = connection.pathway_end;
avp.traveled_distance = new_distance;
avp.entry = new_entry;
}
} else {
// Add the neighbor polygon to the reachable ones.
gd::NavigationPoly new_navigation_poly = gd::NavigationPoly(connection.polygon);
new_navigation_poly.self_id = navigation_polys.size();
new_navigation_poly.back_navigation_poly_id = least_cost_id;
new_navigation_poly.back_navigation_edge = connection.edge;
new_navigation_poly.back_navigation_edge_pathway_start = connection.pathway_start;
new_navigation_poly.back_navigation_edge_pathway_end = connection.pathway_end;
new_navigation_poly.traveled_distance = new_distance;
new_navigation_poly.entry = new_entry;
navigation_polys.push_back(new_navigation_poly);
// Add the neighbor polygon to the polygons to visit.
to_visit.push_back(navigation_polys.size() - 1);
}
}
}
// Removes the least cost polygon from the list of polygons to visit so we can advance.
to_visit.erase(least_cost_id);
// When the list of polygons to visit is empty at this point it means the End Polygon is not reachable
if (to_visit.size() == 0) {
// Thus use the further reachable polygon
ERR_BREAK_MSG(is_reachable == false, "It's not expect to not find the most reachable polygons");
is_reachable = false;
if (reachable_end == nullptr) {
// The path is not found and there is not a way out.
break;
}
// Set as end point the furthest reachable point.
end_poly = reachable_end;
end_d = FLT_MAX;
for (size_t point_id = 2; point_id < end_poly->points.size(); point_id++) {
Face3 f(end_poly->points[0].pos, end_poly->points[point_id - 1].pos, end_poly->points[point_id].pos);
Vector3 spoint = f.get_closest_point_to(p_destination);
real_t dpoint = spoint.distance_to(p_destination);
if (dpoint < end_d) {
end_point = spoint;
end_d = dpoint;
}
}
// Search all faces of start polygon as well.
bool closest_point_on_start_poly = false;
for (size_t point_id = 2; point_id < begin_poly->points.size(); point_id++) {
Face3 f(begin_poly->points[0].pos, begin_poly->points[point_id - 1].pos, begin_poly->points[point_id].pos);
Vector3 spoint = f.get_closest_point_to(p_destination);
real_t dpoint = spoint.distance_to(p_destination);
if (dpoint < end_d) {
end_point = spoint;
end_d = dpoint;
closest_point_on_start_poly = true;
}
}
if (closest_point_on_start_poly) {
// No point to run PostProcessing when start and end convex polygon is the same.
if (r_path_types) {
r_path_types->resize(2);
r_path_types->write[0] = begin_poly->owner->get_type();
r_path_types->write[1] = begin_poly->owner->get_type();
}
if (r_path_rids) {
r_path_rids->resize(2);
(*r_path_rids)[0] = begin_poly->owner->get_self();
(*r_path_rids)[1] = begin_poly->owner->get_self();
}
if (r_path_owners) {
r_path_owners->resize(2);
r_path_owners->write[0] = begin_poly->owner->get_owner_id();
r_path_owners->write[1] = begin_poly->owner->get_owner_id();
}
Vector<Vector3> path;
path.resize(2);
path.write[0] = begin_point;
path.write[1] = end_point;
return path;
}
// Reset open and navigation_polys
gd::NavigationPoly np = navigation_polys[0];
navigation_polys.clear();
navigation_polys.push_back(np);
to_visit.clear();
to_visit.push_back(0);
least_cost_id = 0;
prev_least_cost_id = -1;
reachable_end = nullptr;
continue;
}
// Find the polygon with the minimum cost from the list of polygons to visit.
least_cost_id = -1;
real_t least_cost = FLT_MAX;
for (List<uint32_t>::Element *element = to_visit.front(); element != nullptr; element = element->next()) {
gd::NavigationPoly *np = &navigation_polys[element->get()];
real_t cost = np->traveled_distance;
cost += (np->entry.distance_to(end_point) * np->poly->owner->get_travel_cost());
if (cost < least_cost) {
least_cost_id = np->self_id;
least_cost = cost;
}
}
ERR_BREAK(least_cost_id == -1);
// Stores the further reachable end polygon, in case our goal is not reachable.
if (is_reachable) {
real_t d = navigation_polys[least_cost_id].entry.distance_to(p_destination);
if (reachable_d > d) {
reachable_d = d;
reachable_end = navigation_polys[least_cost_id].poly;
}
}
// Check if we reached the end
if (navigation_polys[least_cost_id].poly == end_poly) {
found_route = true;
break;
}
}
// We did not find a route but we have both a start polygon and an end polygon at this point.
// Usually this happens because there was not a single external or internal connected edge, e.g. our start polygon is an isolated, single convex polygon.
if (!found_route) {
end_d = FLT_MAX;
// Search all faces of the start polygon for the closest point to our target position.
for (size_t point_id = 2; point_id < begin_poly->points.size(); point_id++) {
Face3 f(begin_poly->points[0].pos, begin_poly->points[point_id - 1].pos, begin_poly->points[point_id].pos);
Vector3 spoint = f.get_closest_point_to(p_destination);
real_t dpoint = spoint.distance_to(p_destination);
if (dpoint < end_d) {
end_point = spoint;
end_d = dpoint;
}
}
if (r_path_types) {
r_path_types->resize(2);
r_path_types->write[0] = begin_poly->owner->get_type();
r_path_types->write[1] = begin_poly->owner->get_type();
}
if (r_path_rids) {
r_path_rids->resize(2);
(*r_path_rids)[0] = begin_poly->owner->get_self();
(*r_path_rids)[1] = begin_poly->owner->get_self();
}
if (r_path_owners) {
r_path_owners->resize(2);
r_path_owners->write[0] = begin_poly->owner->get_owner_id();
r_path_owners->write[1] = begin_poly->owner->get_owner_id();
}
Vector<Vector3> path;
path.resize(2);
path.write[0] = begin_point;
path.write[1] = end_point;
return path;
}
Vector<Vector3> path;
// Optimize the path.
if (p_optimize) {
// Set the apex poly/point to the end point
gd::NavigationPoly *apex_poly = &navigation_polys[least_cost_id];
Vector3 back_pathway[2] = { apex_poly->back_navigation_edge_pathway_start, apex_poly->back_navigation_edge_pathway_end };
const Vector3 back_edge_closest_point = Geometry3D::get_closest_point_to_segment(end_point, back_pathway);
if (end_point.is_equal_approx(back_edge_closest_point)) {
// The end point is basically on top of the last crossed edge, funneling around the corners would at best do nothing.
// At worst it would add an unwanted path point before the last point due to precision issues so skip to the next polygon.
if (apex_poly->back_navigation_poly_id != -1) {
apex_poly = &navigation_polys[apex_poly->back_navigation_poly_id];
}
}
Vector3 apex_point = end_point;
gd::NavigationPoly *left_poly = apex_poly;
Vector3 left_portal = apex_point;
gd::NavigationPoly *right_poly = apex_poly;
Vector3 right_portal = apex_point;
gd::NavigationPoly *p = apex_poly;
path.push_back(end_point);
APPEND_METADATA(end_poly);
while (p) {
// Set left and right points of the pathway between polygons.
Vector3 left = p->back_navigation_edge_pathway_start;
Vector3 right = p->back_navigation_edge_pathway_end;
if (THREE_POINTS_CROSS_PRODUCT(apex_point, left, right).dot(up) < 0) {
SWAP(left, right);
}
bool skip = false;
if (THREE_POINTS_CROSS_PRODUCT(apex_point, left_portal, left).dot(up) >= 0) {
//process
if (left_portal == apex_point || THREE_POINTS_CROSS_PRODUCT(apex_point, left, right_portal).dot(up) > 0) {
left_poly = p;
left_portal = left;
} else {
clip_path(navigation_polys, path, apex_poly, right_portal, right_poly, r_path_types, r_path_rids, r_path_owners);
apex_point = right_portal;
p = right_poly;
left_poly = p;
apex_poly = p;
left_portal = apex_point;
right_portal = apex_point;
path.push_back(apex_point);
APPEND_METADATA(apex_poly->poly);
skip = true;
}
}
if (!skip && THREE_POINTS_CROSS_PRODUCT(apex_point, right_portal, right).dot(up) <= 0) {
//process
if (right_portal == apex_point || THREE_POINTS_CROSS_PRODUCT(apex_point, right, left_portal).dot(up) < 0) {
right_poly = p;
right_portal = right;
} else {
clip_path(navigation_polys, path, apex_poly, left_portal, left_poly, r_path_types, r_path_rids, r_path_owners);
apex_point = left_portal;
p = left_poly;
right_poly = p;
apex_poly = p;
right_portal = apex_point;
left_portal = apex_point;
path.push_back(apex_point);
APPEND_METADATA(apex_poly->poly);
}
}
// Go to the previous polygon.
if (p->back_navigation_poly_id != -1) {
p = &navigation_polys[p->back_navigation_poly_id];
} else {
// The end
p = nullptr;
}
}
// If the last point is not the begin point, add it to the list.
if (path[path.size() - 1] != begin_point) {
path.push_back(begin_point);
APPEND_METADATA(begin_poly);
}
path.reverse();
if (r_path_types) {
r_path_types->reverse();
}
if (r_path_rids) {
r_path_rids->reverse();
}
if (r_path_owners) {
r_path_owners->reverse();
}
} else {
path.push_back(end_point);
APPEND_METADATA(end_poly);
// Add mid points
int np_id = least_cost_id;
while (np_id != -1 && navigation_polys[np_id].back_navigation_poly_id != -1) {
if (navigation_polys[np_id].back_navigation_edge != -1) {
int prev = navigation_polys[np_id].back_navigation_edge;
int prev_n = (navigation_polys[np_id].back_navigation_edge + 1) % navigation_polys[np_id].poly->points.size();
Vector3 point = (navigation_polys[np_id].poly->points[prev].pos + navigation_polys[np_id].poly->points[prev_n].pos) * 0.5;
path.push_back(point);
APPEND_METADATA(navigation_polys[np_id].poly);
} else {
path.push_back(navigation_polys[np_id].entry);
APPEND_METADATA(navigation_polys[np_id].poly);
}
np_id = navigation_polys[np_id].back_navigation_poly_id;
}
path.push_back(begin_point);
APPEND_METADATA(begin_poly);
path.reverse();
if (r_path_types) {
r_path_types->reverse();
}
if (r_path_rids) {
r_path_rids->reverse();
}
if (r_path_owners) {
r_path_owners->reverse();
}
}
// Ensure post conditions (path arrays MUST match in size).
CRASH_COND(r_path_types && path.size() != r_path_types->size());
CRASH_COND(r_path_rids && path.size() != r_path_rids->size());
CRASH_COND(r_path_owners && path.size() != r_path_owners->size());
return path;
}
Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
RWLockRead read_lock(map_rwlock);
if (iteration_id == 0) {
NAVMAP_ITERATION_ZERO_ERROR_MSG();
return Vector3();
}
bool use_collision = p_use_collision;
Vector3 closest_point;
real_t closest_point_d = FLT_MAX;
for (const gd::Polygon &p : polygons) {
// For each face check the distance to the segment
for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
const Face3 f(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
Vector3 inters;
if (f.intersects_segment(p_from, p_to, &inters)) {
const real_t d = p_from.distance_to(inters);
if (use_collision == false) {
closest_point = inters;
use_collision = true;
closest_point_d = d;
} else if (closest_point_d > d) {
closest_point = inters;
closest_point_d = d;
}
}
// If segment does not itersect face, check the distance from segment's endpoints.
else if (!use_collision) {
const Vector3 p_from_closest = f.get_closest_point_to(p_from);
const real_t d_p_from = p_from.distance_to(p_from_closest);
if (closest_point_d > d_p_from) {
closest_point = p_from_closest;
closest_point_d = d_p_from;
}
const Vector3 p_to_closest = f.get_closest_point_to(p_to);
const real_t d_p_to = p_to.distance_to(p_to_closest);
if (closest_point_d > d_p_to) {
closest_point = p_to_closest;
closest_point_d = d_p_to;
}
}
}
}
return closest_point;
}
Vector3 NavMap::get_closest_point(const Vector3 &p_point) const {
RWLockRead read_lock(map_rwlock);
if (iteration_id == 0) {
NAVMAP_ITERATION_ZERO_ERROR_MSG();
return Vector3();
}
gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
return cp.point;
}
Vector3 NavMap::get_closest_point_normal(const Vector3 &p_point) const {
RWLockRead read_lock(map_rwlock);
if (iteration_id == 0) {
NAVMAP_ITERATION_ZERO_ERROR_MSG();
return Vector3();
}
gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
return cp.normal;
}
RID NavMap::get_closest_point_owner(const Vector3 &p_point) const {
RWLockRead read_lock(map_rwlock);
if (iteration_id == 0) {
NAVMAP_ITERATION_ZERO_ERROR_MSG();
return RID();
}
gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
return cp.owner;
}
gd::ClosestPointQueryResult NavMap::get_closest_point_info(const Vector3 &p_point) const {
RWLockRead read_lock(map_rwlock);
gd::ClosestPointQueryResult result;
real_t closest_point_ds = FLT_MAX;
for (const gd::Polygon &p : polygons) {
// For each face check the distance to the point
for (size_t point_id = 2; point_id < p.points.size(); point_id += 1) {
const Face3 f(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
const Vector3 inters = f.get_closest_point_to(p_point);
const real_t ds = inters.distance_squared_to(p_point);
if (ds < closest_point_ds) {
result.point = inters;
result.normal = f.get_plane().normal;
result.owner = p.owner->get_self();
closest_point_ds = ds;
}
}
}
return result;
}
void NavMap::add_region(NavRegion *p_region) {
regions.push_back(p_region);
regenerate_links = true;
}
void NavMap::remove_region(NavRegion *p_region) {
int64_t region_index = regions.find(p_region);
if (region_index >= 0) {
regions.remove_at_unordered(region_index);
regenerate_links = true;
}
}
void NavMap::add_link(NavLink *p_link) {
links.push_back(p_link);
regenerate_links = true;
}
void NavMap::remove_link(NavLink *p_link) {
int64_t link_index = links.find(p_link);
if (link_index >= 0) {
links.remove_at_unordered(link_index);
regenerate_links = true;
}
}
bool NavMap::has_agent(NavAgent *agent) const {
return agents.has(agent);
}
void NavMap::add_agent(NavAgent *agent) {
if (!has_agent(agent)) {
agents.push_back(agent);
agents_dirty = true;
}
}
void NavMap::remove_agent(NavAgent *agent) {
remove_agent_as_controlled(agent);
int64_t agent_index = agents.find(agent);
if (agent_index >= 0) {
agents.remove_at_unordered(agent_index);
agents_dirty = true;
}
}
bool NavMap::has_obstacle(NavObstacle *obstacle) const {
return obstacles.has(obstacle);
}
void NavMap::add_obstacle(NavObstacle *obstacle) {
if (obstacle->get_paused()) {
// No point in adding a paused obstacle, it will add itself when unpaused again.
return;
}
if (!has_obstacle(obstacle)) {
obstacles.push_back(obstacle);
obstacles_dirty = true;
}
}
void NavMap::remove_obstacle(NavObstacle *obstacle) {
int64_t obstacle_index = obstacles.find(obstacle);
if (obstacle_index >= 0) {
obstacles.remove_at_unordered(obstacle_index);
obstacles_dirty = true;
}
}
void NavMap::set_agent_as_controlled(NavAgent *agent) {
remove_agent_as_controlled(agent);
if (agent->get_paused()) {
// No point in adding a paused agent, it will add itself when unpaused again.
return;
}
if (agent->get_use_3d_avoidance()) {
int64_t agent_3d_index = active_3d_avoidance_agents.find(agent);
if (agent_3d_index < 0) {
active_3d_avoidance_agents.push_back(agent);
agents_dirty = true;
}
} else {
int64_t agent_2d_index = active_2d_avoidance_agents.find(agent);
if (agent_2d_index < 0) {
active_2d_avoidance_agents.push_back(agent);
agents_dirty = true;
}
}
}
void NavMap::remove_agent_as_controlled(NavAgent *agent) {
int64_t agent_3d_index = active_3d_avoidance_agents.find(agent);
if (agent_3d_index >= 0) {
active_3d_avoidance_agents.remove_at_unordered(agent_3d_index);
agents_dirty = true;
}
int64_t agent_2d_index = active_2d_avoidance_agents.find(agent);
if (agent_2d_index >= 0) {
active_2d_avoidance_agents.remove_at_unordered(agent_2d_index);
agents_dirty = true;
}
}
Vector3 NavMap::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const {
RWLockRead read_lock(map_rwlock);
const LocalVector<NavRegion *> map_regions = get_regions();
if (map_regions.is_empty()) {
return Vector3();
}
LocalVector<const NavRegion *> accessible_regions;
for (const NavRegion *region : map_regions) {
if (!region->get_enabled() || (p_navigation_layers & region->get_navigation_layers()) == 0) {
continue;
}
accessible_regions.push_back(region);
}
if (accessible_regions.is_empty()) {
// All existing region polygons are disabled.
return Vector3();
}
if (p_uniformly) {
real_t accumulated_region_surface_area = 0;
RBMap<real_t, uint32_t> accessible_regions_area_map;
for (uint32_t accessible_region_index = 0; accessible_region_index < accessible_regions.size(); accessible_region_index++) {
const NavRegion *region = accessible_regions[accessible_region_index];
real_t region_surface_area = region->get_surface_area();
if (region_surface_area == 0.0f) {
continue;
}
accessible_regions_area_map[accumulated_region_surface_area] = accessible_region_index;
accumulated_region_surface_area += region_surface_area;
}
if (accessible_regions_area_map.is_empty() || accumulated_region_surface_area == 0) {
// All faces have no real surface / no area.
return Vector3();
}
real_t random_accessible_regions_area_map = Math::random(real_t(0), accumulated_region_surface_area);
RBMap<real_t, uint32_t>::Iterator E = accessible_regions_area_map.find_closest(random_accessible_regions_area_map);
ERR_FAIL_COND_V(!E, Vector3());
uint32_t random_region_index = E->value;
ERR_FAIL_UNSIGNED_INDEX_V(random_region_index, accessible_regions.size(), Vector3());
const NavRegion *random_region = accessible_regions[random_region_index];
ERR_FAIL_NULL_V(random_region, Vector3());
return random_region->get_random_point(p_navigation_layers, p_uniformly);
} else {
uint32_t random_region_index = Math::random(int(0), accessible_regions.size() - 1);
const NavRegion *random_region = accessible_regions[random_region_index];
ERR_FAIL_NULL_V(random_region, Vector3());
return random_region->get_random_point(p_navigation_layers, p_uniformly);
}
}
void NavMap::sync() {
RWLockWrite write_lock(map_rwlock);
// Performance Monitor
int _new_pm_region_count = regions.size();
int _new_pm_agent_count = agents.size();
int _new_pm_link_count = links.size();
int _new_pm_polygon_count = pm_polygon_count;
int _new_pm_edge_count = pm_edge_count;
int _new_pm_edge_merge_count = pm_edge_merge_count;
int _new_pm_edge_connection_count = pm_edge_connection_count;
int _new_pm_edge_free_count = pm_edge_free_count;
int _new_pm_obstacle_count = obstacles.size();
// Check if we need to update the links.
if (regenerate_polygons) {
for (NavRegion *region : regions) {
region->scratch_polygons();
}
regenerate_links = true;
}
for (NavRegion *region : regions) {
if (region->sync()) {
regenerate_links = true;
}
}
for (NavLink *link : links) {
if (link->check_dirty()) {
regenerate_links = true;
}
}
if (regenerate_links) {
_new_pm_polygon_count = 0;
_new_pm_edge_count = 0;
_new_pm_edge_merge_count = 0;
_new_pm_edge_connection_count = 0;
_new_pm_edge_free_count = 0;
// Remove regions connections.
for (NavRegion *region : regions) {
region->get_connections().clear();
}
// Resize the polygon count.
int count = 0;
for (const NavRegion *region : regions) {
if (!region->get_enabled()) {
continue;
}
count += region->get_polygons().size();
}
polygons.resize(count);
// Copy all region polygons in the map.
count = 0;
for (const NavRegion *region : regions) {
if (!region->get_enabled()) {
continue;
}
const LocalVector<gd::Polygon> &polygons_source = region->get_polygons();
for (uint32_t n = 0; n < polygons_source.size(); n++) {
polygons[count + n] = polygons_source[n];
}
count += region->get_polygons().size();
}
_new_pm_polygon_count = polygons.size();
// Group all edges per key.
HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey> connections;
for (gd::Polygon &poly : polygons) {
for (uint32_t p = 0; p < poly.points.size(); p++) {
int next_point = (p + 1) % poly.points.size();
gd::EdgeKey ek(poly.points[p].key, poly.points[next_point].key);
HashMap<gd::EdgeKey, Vector<gd::Edge::Connection>, gd::EdgeKey>::Iterator connection = connections.find(ek);
if (!connection) {
connections[ek] = Vector<gd::Edge::Connection>();
_new_pm_edge_count += 1;
}
if (connections[ek].size() <= 1) {
// Add the polygon/edge tuple to this key.
gd::Edge::Connection new_connection;
new_connection.polygon = &poly;
new_connection.edge = p;
new_connection.pathway_start = poly.points[p].pos;
new_connection.pathway_end = poly.points[next_point].pos;
connections[ek].push_back(new_connection);
} else {
// The edge is already connected with another edge, skip.
ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to merge a navigation mesh polygon edge with another already-merged edge. This is usually caused by crossing edges, overlapping polygons, or a mismatch of the NavigationMesh / NavigationPolygon baked 'cell_size' and navigation map 'cell_size'. If you're certain none of above is the case, change 'navigation/3d/merge_rasterizer_cell_scale' to 0.001.");
}
}
}
Vector<gd::Edge::Connection> free_edges;
for (KeyValue<gd::EdgeKey, Vector<gd::Edge::Connection>> &E : connections) {
if (E.value.size() == 2) {
// Connect edge that are shared in different polygons.
gd::Edge::Connection &c1 = E.value.write[0];
gd::Edge::Connection &c2 = E.value.write[1];
c1.polygon->edges[c1.edge].connections.push_back(c2);
c2.polygon->edges[c2.edge].connections.push_back(c1);
// Note: The pathway_start/end are full for those connection and do not need to be modified.
_new_pm_edge_merge_count += 1;
} else {
CRASH_COND_MSG(E.value.size() != 1, vformat("Number of connection != 1. Found: %d", E.value.size()));
if (use_edge_connections && E.value[0].polygon->owner->get_use_edge_connections()) {
free_edges.push_back(E.value[0]);
}
}
}
// Find the compatible near edges.
//
// Note:
// Considering that the edges must be compatible (for obvious reasons)
// to be connected, create new polygons to remove that small gap is
// not really useful and would result in wasteful computation during
// connection, integration and path finding.