Sara/behaviour-tree-test
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Allow Navigation to be more flexible

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This commit is contained in:
Gilles Roudière 2021-03-15 12:45:28 +01:00
parent 6eef187a81
commit ac7073f586
18 changed files with 504 additions and 332 deletions
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70
scene/2d/navigation_region_2d.cpp
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@ -364,8 +364,10 @@ void NavigationRegion2D::set_enabled(bool p_enabled) {
if (!enabled) {
NavigationServer2D::get_singleton()->region_set_map(region, RID());
NavigationServer2D::get_singleton()->disconnect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
} else {
NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map());
NavigationServer2D::get_singleton()->connect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
}
if (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint()) {
@ -401,6 +403,7 @@ void NavigationRegion2D::_notification(int p_what) {
case NOTIFICATION_ENTER_TREE: {
if (enabled) {
NavigationServer2D::get_singleton()->region_set_map(region, get_world_2d()->get_navigation_map());
NavigationServer2D::get_singleton()->connect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
}
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
@ -408,12 +411,14 @@ void NavigationRegion2D::_notification(int p_what) {
} break;
case NOTIFICATION_EXIT_TREE: {
NavigationServer2D::get_singleton()->region_set_map(region, RID());
if (enabled) {
NavigationServer2D::get_singleton()->disconnect("map_changed", callable_mp(this, &NavigationRegion2D::_map_changed));
}
} break;
case NOTIFICATION_DRAW: {
if (is_inside_tree() && (Engine::get_singleton()->is_editor_hint() || get_tree()->is_debugging_navigation_hint()) && navpoly.is_valid()) {
Vector<Vector2> verts = navpoly->get_vertices();
int vsize = verts.size();
if (vsize < 3) {
if (verts.size() < 3) {
return;
}
@ -423,33 +428,47 @@ void NavigationRegion2D::_notification(int p_what) {
} else {
color = get_tree()->get_debug_navigation_disabled_color();
}
Vector<Color> colors;
Vector<Vector2> vertices;
vertices.resize(vsize);
colors.resize(vsize);
{
const Vector2 *vr = verts.ptr();
for (int i = 0; i < vsize; i++) {
vertices.write[i] = vr[i];
colors.write[i] = color;
}
}
Color doors_color = color.lightened(0.2);
Vector<int> indices;
RandomPCG rand;
for (int i = 0; i < navpoly->get_polygon_count(); i++) {
// An array of vertices for this polygon.
Vector<int> polygon = navpoly->get_polygon(i);
for (int j = 2; j < polygon.size(); j++) {
int kofs[3] = { 0, j - 1, j };
for (int k = 0; k < 3; k++) {
int idx = polygon[kofs[k]];
ERR_FAIL_INDEX(idx, vsize);
indices.push_back(idx);
}
Vector<Vector2> vertices;
vertices.resize(polygon.size());
for (int j = 0; j < polygon.size(); j++) {
ERR_FAIL_INDEX(polygon[j], verts.size());
vertices.write[j] = verts[polygon[j]];
}
// Generate the polygon color, slightly randomly modified from the settings one.
Color random_variation_color;
random_variation_color.set_hsv(color.get_h() + rand.random(-1.0, 1.0) * 0.05, color.get_s(), color.get_v() + rand.random(-1.0, 1.0) * 0.1);
random_variation_color.a = color.a;
Vector<Color> colors;
colors.push_back(random_variation_color);
RS::get_singleton()->canvas_item_add_polygon(get_canvas_item(), vertices, colors);
}
// Draw the region
Transform2D xform = get_global_transform();
const NavigationServer2D *ns = NavigationServer2D::get_singleton();
float radius = ns->map_get_edge_connection_margin(get_world_2d()->get_navigation_map()) / 2.0;
for (int i = 0; i < ns->region_get_connections_count(region); i++) {
// Two main points
Vector2 a = ns->region_get_connection_pathway_start(region, i);
a = xform.affine_inverse().xform(a);
Vector2 b = ns->region_get_connection_pathway_end(region, i);
b = xform.affine_inverse().xform(b);
draw_line(a, b, doors_color);
// Draw a circle to illustrate the margins.
float angle = (b - a).angle();
draw_arc(a, radius, angle + Math_PI / 2.0, angle - Math_PI / 2.0 + Math_TAU, 10, doors_color);
draw_arc(b, radius, angle - Math_PI / 2.0, angle + Math_PI / 2.0, 10, doors_color);
}
RS::get_singleton()->canvas_item_add_triangle_array(get_canvas_item(), indices, vertices, colors);
}
} break;
}
@ -484,6 +503,11 @@ void NavigationRegion2D::_navpoly_changed() {
update();
}
}
void NavigationRegion2D::_map_changed(RID p_map) {
if (enabled && get_world_2d()->get_navigation_map() == p_map) {
update();
}
}
String NavigationRegion2D::get_configuration_warning() const {
if (!is_visible_in_tree() || !is_inside_tree()) {