/**************************************************************************/ /* godot_navigation_server_2d.h */ /**************************************************************************/ /* 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. */ /**************************************************************************/ #pragma once #include "../nav_agent_2d.h" #include "../nav_link_2d.h" #include "../nav_map_2d.h" #include "../nav_obstacle_2d.h" #include "../nav_region_2d.h" #include "core/templates/local_vector.h" #include "core/templates/rid.h" #include "core/templates/rid_owner.h" #include "servers/navigation/navigation_path_query_parameters_2d.h" #include "servers/navigation/navigation_path_query_result_2d.h" #include "servers/navigation_server_2d.h" /// The commands are functions executed during the `sync` phase. #define MERGE_INTERNAL(A, B) A##B #define MERGE(A, B) MERGE_INTERNAL(A, B) #define COMMAND_1(F_NAME, T_0, D_0) \ virtual void F_NAME(T_0 D_0) override; \ void MERGE(_cmd_, F_NAME)(T_0 D_0) #define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \ virtual void F_NAME(T_0 D_0, T_1 D_1) override; \ void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1) class GodotNavigationServer2D; #ifdef CLIPPER2_ENABLED class NavMeshGenerator2D; #endif // CLIPPER2_ENABLED struct SetCommand2D { virtual ~SetCommand2D() {} virtual void exec(GodotNavigationServer2D *p_server) = 0; }; // This server exposes the `NavigationServer3D` features in the 2D world. class GodotNavigationServer2D : public NavigationServer2D { GDCLASS(GodotNavigationServer2D, NavigationServer2D); Mutex commands_mutex; /// Mutex used to make any operation threadsafe. Mutex operations_mutex; LocalVector commands; mutable RID_Owner link_owner; mutable RID_Owner map_owner; mutable RID_Owner region_owner; mutable RID_Owner agent_owner; mutable RID_Owner obstacle_owner; bool active = true; LocalVector active_maps; LocalVector active_maps_iteration_id; #ifdef CLIPPER2_ENABLED NavMeshGenerator2D *navmesh_generator_2d = nullptr; #endif // CLIPPER2_ENABLED // Performance Monitor. int pm_region_count = 0; int pm_agent_count = 0; int pm_link_count = 0; int pm_polygon_count = 0; int pm_edge_count = 0; int pm_edge_merge_count = 0; int pm_edge_connection_count = 0; int pm_edge_free_count = 0; int pm_obstacle_count = 0; public: GodotNavigationServer2D(); virtual ~GodotNavigationServer2D(); void add_command(SetCommand2D *p_command); virtual TypedArray get_maps() const override; virtual RID map_create() override; COMMAND_2(map_set_active, RID, p_map, bool, p_active); virtual bool map_is_active(RID p_map) const override; COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size); virtual real_t map_get_cell_size(RID p_map) const override; COMMAND_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled); virtual bool map_get_use_edge_connections(RID p_map) const override; COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin); virtual real_t map_get_edge_connection_margin(RID p_map) const override; COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius); virtual real_t map_get_link_connection_radius(RID p_map) const override; virtual Vector map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) override; virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const override; virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const override; virtual TypedArray map_get_links(RID p_map) const override; virtual TypedArray map_get_regions(RID p_map) const override; virtual TypedArray map_get_agents(RID p_map) const override; virtual TypedArray map_get_obstacles(RID p_map) const override; virtual void map_force_update(RID p_map) override; virtual uint32_t map_get_iteration_id(RID p_map) const override; COMMAND_2(map_set_use_async_iterations, RID, p_map, bool, p_enabled); virtual bool map_get_use_async_iterations(RID p_map) const override; virtual Vector2 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const override; virtual RID region_create() override; COMMAND_2(region_set_enabled, RID, p_region, bool, p_enabled); virtual bool region_get_enabled(RID p_region) const override; COMMAND_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled); virtual bool region_get_use_edge_connections(RID p_region) const override; COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost); virtual real_t region_get_enter_cost(RID p_region) const override; COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost); virtual real_t region_get_travel_cost(RID p_region) const override; COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id); virtual ObjectID region_get_owner_id(RID p_region) const override; virtual bool region_owns_point(RID p_region, const Vector2 &p_point) const override; COMMAND_2(region_set_map, RID, p_region, RID, p_map); virtual RID region_get_map(RID p_region) const override; COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers); virtual uint32_t region_get_navigation_layers(RID p_region) const override; COMMAND_2(region_set_transform, RID, p_region, Transform2D, p_transform); virtual Transform2D region_get_transform(RID p_region) const override; COMMAND_2(region_set_navigation_polygon, RID, p_region, Ref, p_navigation_polygon); virtual int region_get_connections_count(RID p_region) const override; virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override; virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override; virtual Vector2 region_get_closest_point(RID p_region, const Vector2 &p_point) const override; virtual Vector2 region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const override; virtual Rect2 region_get_bounds(RID p_region) const override; virtual RID link_create() override; /// Set the map of this link. COMMAND_2(link_set_map, RID, p_link, RID, p_map); virtual RID link_get_map(RID p_link) const override; COMMAND_2(link_set_enabled, RID, p_link, bool, p_enabled); virtual bool link_get_enabled(RID p_link) const override; /// Set whether this link travels in both directions. COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional); virtual bool link_is_bidirectional(RID p_link) const override; /// Set the link's layers. COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers); virtual uint32_t link_get_navigation_layers(RID p_link) const override; /// Set the start position of the link. COMMAND_2(link_set_start_position, RID, p_link, Vector2, p_position); virtual Vector2 link_get_start_position(RID p_link) const override; /// Set the end position of the link. COMMAND_2(link_set_end_position, RID, p_link, Vector2, p_position); virtual Vector2 link_get_end_position(RID p_link) const override; /// Set the enter cost of the link. COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost); virtual real_t link_get_enter_cost(RID p_link) const override; /// Set the travel cost of the link. COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost); virtual real_t link_get_travel_cost(RID p_link) const override; /// Set the node which manages this link. COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id); virtual ObjectID link_get_owner_id(RID p_link) const override; /// Creates the agent. virtual RID agent_create() override; /// Put the agent in the map. COMMAND_2(agent_set_map, RID, p_agent, RID, p_map); virtual RID agent_get_map(RID p_agent) const override; COMMAND_2(agent_set_paused, RID, p_agent, bool, p_paused); virtual bool agent_get_paused(RID p_agent) const override; COMMAND_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled); virtual bool agent_get_avoidance_enabled(RID p_agent) const override; /// The maximum distance (center point to /// center point) to other agents this agent /// takes into account in the navigation. The /// larger this number, the longer the running /// time of the simulation. If the number is too /// low, the simulation will not be safe. /// Must be non-negative. COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance); virtual real_t agent_get_neighbor_distance(RID p_agent) const override; /// The maximum number of other agents this /// agent takes into account in the navigation. /// The larger this number, the longer the /// running time of the simulation. If the /// number is too low, the simulation will not /// be safe. COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count); virtual int agent_get_max_neighbors(RID p_agent) const override; /// The minimal amount of time for which this /// agent's velocities that are computed by the /// simulation are safe with respect to other /// agents. The larger this number, the sooner /// this agent will respond to the presence of /// other agents, but the less freedom this /// agent has in choosing its velocities. /// Must be positive. COMMAND_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon); virtual real_t agent_get_time_horizon_agents(RID p_agent) const override; COMMAND_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon); virtual real_t agent_get_time_horizon_obstacles(RID p_agent) const override; /// The radius of this agent. /// Must be non-negative. COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius); virtual real_t agent_get_radius(RID p_agent) const override; /// The maximum speed of this agent. /// Must be non-negative. COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed); virtual real_t agent_get_max_speed(RID p_agent) const override; /// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly COMMAND_2(agent_set_velocity_forced, RID, p_agent, Vector2, p_velocity); /// The wanted velocity for the agent as a "suggestion" to the avoidance simulation. /// The simulation will try to fulfill this velocity wish if possible but may change the velocity depending on other agent's and obstacles'. COMMAND_2(agent_set_velocity, RID, p_agent, Vector2, p_velocity); virtual Vector2 agent_get_velocity(RID p_agent) const override; /// Position of the agent in world space. COMMAND_2(agent_set_position, RID, p_agent, Vector2, p_position); virtual Vector2 agent_get_position(RID p_agent) const override; /// Returns true if the map got changed the previous frame. virtual bool agent_is_map_changed(RID p_agent) const override; /// Callback called at the end of the RVO process COMMAND_2(agent_set_avoidance_callback, RID, p_agent, Callable, p_callback); virtual bool agent_has_avoidance_callback(RID p_agent) const override; COMMAND_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers); virtual uint32_t agent_get_avoidance_layers(RID p_agent) const override; COMMAND_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask); virtual uint32_t agent_get_avoidance_mask(RID p_agent) const override; COMMAND_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority); virtual real_t agent_get_avoidance_priority(RID p_agent) const override; virtual RID obstacle_create() override; COMMAND_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled); virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const override; COMMAND_2(obstacle_set_map, RID, p_obstacle, RID, p_map); virtual RID obstacle_get_map(RID p_obstacle) const override; COMMAND_2(obstacle_set_paused, RID, p_obstacle, bool, p_paused); virtual bool obstacle_get_paused(RID p_obstacle) const override; COMMAND_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius); virtual real_t obstacle_get_radius(RID p_obstacle) const override; COMMAND_2(obstacle_set_velocity, RID, p_obstacle, Vector2, p_velocity); virtual Vector2 obstacle_get_velocity(RID p_obstacle) const override; COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector2, p_position); virtual Vector2 obstacle_get_position(RID p_obstacle) const override; COMMAND_2(obstacle_set_vertices, RID, p_obstacle, const Vector &, p_vertices); virtual Vector obstacle_get_vertices(RID p_obstacle) const override; COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers); virtual uint32_t obstacle_get_avoidance_layers(RID p_obstacle) const override; virtual void query_path(const Ref &p_query_parameters, Ref p_query_result, const Callable &p_callback = Callable()) override; COMMAND_1(free, RID, p_object); virtual void set_active(bool p_active) override; void flush_queries(); virtual void process(double p_delta_time) override; virtual void physics_process(double p_delta_time) override; virtual void init() override; virtual void sync() override; virtual void finish() override; virtual int get_process_info(ProcessInfo p_info) const override; virtual void parse_source_geometry_data(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) override; virtual void bake_from_source_geometry_data(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, const Callable &p_callback = Callable()) override; virtual void bake_from_source_geometry_data_async(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, const Callable &p_callback = Callable()) override; virtual bool is_baking_navigation_polygon(Ref p_navigation_polygon) const override; virtual RID source_geometry_parser_create() override; virtual void source_geometry_parser_set_callback(RID p_parser, const Callable &p_callback) override; virtual Vector simplify_path(const Vector &p_path, real_t p_epsilon) override; private: void internal_free_agent(RID p_object); void internal_free_obstacle(RID p_object); }; #undef COMMAND_1 #undef COMMAND_2