142 lines
7.2 KiB
C++
142 lines
7.2 KiB
C++
/**************************************************************************/
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/* nav_mesh_queries_2d.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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#pragma once
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#include "../nav_utils_2d.h"
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#include "servers/navigation/navigation_path_query_parameters_2d.h"
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#include "servers/navigation/navigation_path_query_result_2d.h"
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#include "servers/navigation/navigation_utilities.h"
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using namespace NavigationUtilities;
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class NavMap2D;
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struct NavMapIteration2D;
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class NavMeshQueries2D {
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public:
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struct PathQuerySlot {
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LocalVector<nav_2d::NavigationPoly> path_corridor;
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Heap<nav_2d::NavigationPoly *, nav_2d::NavPolyTravelCostGreaterThan, nav_2d::NavPolyHeapIndexer> traversable_polys;
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bool in_use = false;
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uint32_t slot_index = 0;
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};
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struct NavMeshPathQueryTask2D {
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enum TaskStatus {
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QUERY_STARTED,
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QUERY_FINISHED,
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QUERY_FAILED,
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CALLBACK_DISPATCHED,
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CALLBACK_FAILED,
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};
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// Parameters.
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Vector2 start_position;
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Vector2 target_position;
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uint32_t navigation_layers;
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BitField<PathMetadataFlags> metadata_flags = PathMetadataFlags::PATH_INCLUDE_ALL;
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PathfindingAlgorithm pathfinding_algorithm = PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
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PathPostProcessing path_postprocessing = PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
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bool simplify_path = false;
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real_t simplify_epsilon = 0.0;
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bool exclude_regions = false;
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bool include_regions = false;
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LocalVector<RID> excluded_regions;
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LocalVector<RID> included_regions;
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// Path building.
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Vector2 begin_position;
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Vector2 end_position;
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const nav_2d::Polygon *begin_polygon = nullptr;
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const nav_2d::Polygon *end_polygon = nullptr;
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uint32_t least_cost_id = 0;
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// Map.
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NavMap2D *map = nullptr;
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PathQuerySlot *path_query_slot = nullptr;
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// Path points.
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LocalVector<Vector2> path_points;
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LocalVector<int32_t> path_meta_point_types;
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LocalVector<RID> path_meta_point_rids;
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LocalVector<int64_t> path_meta_point_owners;
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Ref<NavigationPathQueryParameters2D> query_parameters;
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Ref<NavigationPathQueryResult2D> query_result;
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Callable callback;
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NavMeshPathQueryTask2D::TaskStatus status = NavMeshPathQueryTask2D::TaskStatus::QUERY_STARTED;
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void path_clear() {
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path_points.clear();
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path_meta_point_types.clear();
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path_meta_point_rids.clear();
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path_meta_point_owners.clear();
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}
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void path_reverse() {
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path_points.invert();
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path_meta_point_types.invert();
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path_meta_point_rids.invert();
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path_meta_point_owners.invert();
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}
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};
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static bool emit_callback(const Callable &p_callback);
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static Vector2 polygons_get_random_point(const LocalVector<nav_2d::Polygon> &p_polygons, uint32_t p_navigation_layers, bool p_uniformly);
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static Vector2 polygons_get_closest_point(const LocalVector<nav_2d::Polygon> &p_polygons, const Vector2 &p_point);
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static nav_2d::ClosestPointQueryResult polygons_get_closest_point_info(const LocalVector<nav_2d::Polygon> &p_polygons, const Vector2 &p_point);
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static RID polygons_get_closest_point_owner(const LocalVector<nav_2d::Polygon> &p_polygons, const Vector2 &p_point);
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static Vector2 map_iteration_get_closest_point(const NavMapIteration2D &p_map_iteration, const Vector2 &p_point);
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static RID map_iteration_get_closest_point_owner(const NavMapIteration2D &p_map_iteration, const Vector2 &p_point);
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static nav_2d::ClosestPointQueryResult map_iteration_get_closest_point_info(const NavMapIteration2D &p_map_iteration, const Vector2 &p_point);
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static Vector2 map_iteration_get_random_point(const NavMapIteration2D &p_map_iteration, uint32_t p_navigation_layers, bool p_uniformly);
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static void map_query_path(NavMap2D *p_map, const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result, const Callable &p_callback);
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static void query_task_map_iteration_get_path(NavMeshPathQueryTask2D &p_query_task, const NavMapIteration2D &p_map_iteration);
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static void _query_task_push_back_point_with_metadata(NavMeshPathQueryTask2D &p_query_task, const Vector2 &p_point, const nav_2d::Polygon *p_point_polygon);
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static void _query_task_find_start_end_positions(NavMeshPathQueryTask2D &p_query_task, const NavMapIteration2D &p_map_iteration);
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static void _query_task_build_path_corridor(NavMeshPathQueryTask2D &p_query_task);
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static void _query_task_post_process_corridorfunnel(NavMeshPathQueryTask2D &p_query_task);
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static void _query_task_post_process_edgecentered(NavMeshPathQueryTask2D &p_query_task);
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static void _query_task_post_process_nopostprocessing(NavMeshPathQueryTask2D &p_query_task);
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static void _query_task_clip_path(NavMeshPathQueryTask2D &p_query_task, const nav_2d::NavigationPoly *p_from_poly, const Vector2 &p_to_point, const nav_2d::NavigationPoly *p_to_poly);
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static void _query_task_simplified_path_points(NavMeshPathQueryTask2D &p_query_task);
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static bool _query_task_is_connection_owner_usable(const NavMeshPathQueryTask2D &p_query_task, const NavBaseIteration2D *p_owner);
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static void simplify_path_segment(int p_start_inx, int p_end_inx, const LocalVector<Vector2> &p_points, real_t p_epsilon, LocalVector<uint32_t> &r_simplified_path_indices);
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static LocalVector<uint32_t> get_simplified_path_indices(const LocalVector<Vector2> &p_path, real_t p_epsilon);
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};
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