249 lines
9.2 KiB
C++
249 lines
9.2 KiB
C++
/**************************************************************************/
|
|
/* nav_map_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 "2d/nav_map_iteration_2d.h"
|
|
#include "2d/nav_mesh_queries_2d.h"
|
|
#include "nav_rid_2d.h"
|
|
#include "nav_utils_2d.h"
|
|
|
|
#include "core/math/math_defs.h"
|
|
#include "core/object/worker_thread_pool.h"
|
|
#include "servers/navigation/navigation_globals.h"
|
|
|
|
#include <KdTree2d.h>
|
|
#include <RVOSimulator2d.h>
|
|
|
|
class NavLink2D;
|
|
class NavRegion2D;
|
|
class NavAgent2D;
|
|
class NavObstacle2D;
|
|
|
|
class NavMap2D : public NavRid2D {
|
|
/// To find the polygons edges the vertices are displaced in a grid where
|
|
/// each cell has the following cell_size.
|
|
real_t cell_size = NavigationDefaults2D::navmesh_cell_size;
|
|
|
|
// For the inter-region merging to work, internal rasterization is performed.
|
|
Vector2 merge_rasterizer_cell_size = Vector2(cell_size, cell_size);
|
|
|
|
// This value is used to control sensitivity of internal rasterizer.
|
|
float merge_rasterizer_cell_scale = 1.0;
|
|
|
|
bool use_edge_connections = true;
|
|
/// This value is used to detect the near edges to connect.
|
|
real_t edge_connection_margin = NavigationDefaults2D::edge_connection_margin;
|
|
|
|
/// This value is used to limit how far links search to find polygons to connect to.
|
|
real_t link_connection_radius = NavigationDefaults2D::link_connection_radius;
|
|
|
|
bool map_settings_dirty = true;
|
|
|
|
/// Map regions.
|
|
LocalVector<NavRegion2D *> regions;
|
|
|
|
/// Map links.
|
|
LocalVector<NavLink2D *> links;
|
|
|
|
/// RVO avoidance world.
|
|
RVO2D::RVOSimulator2D rvo_simulation;
|
|
|
|
/// Avoidance controlled agents.
|
|
LocalVector<NavAgent2D *> active_avoidance_agents;
|
|
|
|
/// dirty flag when one of the agent's arrays are modified.
|
|
bool agents_dirty = true;
|
|
|
|
/// All the Agents (even the controlled one).
|
|
LocalVector<NavAgent2D *> agents;
|
|
|
|
/// All the avoidance obstacles (both static and dynamic).
|
|
LocalVector<NavObstacle2D *> obstacles;
|
|
|
|
/// Are rvo obstacles modified?
|
|
bool obstacles_dirty = true;
|
|
|
|
/// Change the id each time the map is updated.
|
|
uint32_t iteration_id = 0;
|
|
|
|
bool use_threads = true;
|
|
bool avoidance_use_multiple_threads = true;
|
|
bool avoidance_use_high_priority_threads = true;
|
|
|
|
// Performance Monitor
|
|
nav_2d::PerformanceData performance_data;
|
|
|
|
struct {
|
|
SelfList<NavRegion2D>::List regions;
|
|
SelfList<NavLink2D>::List links;
|
|
SelfList<NavAgent2D>::List agents;
|
|
SelfList<NavObstacle2D>::List obstacles;
|
|
} sync_dirty_requests;
|
|
|
|
int path_query_slots_max = 4;
|
|
|
|
bool use_async_iterations = true;
|
|
|
|
uint32_t iteration_slot_index = 0;
|
|
LocalVector<NavMapIteration2D> iteration_slots;
|
|
mutable RWLock iteration_slot_rwlock;
|
|
|
|
NavMapIterationBuild2D iteration_build;
|
|
bool iteration_build_use_threads = false;
|
|
WorkerThreadPool::TaskID iteration_build_thread_task_id = WorkerThreadPool::INVALID_TASK_ID;
|
|
static void _build_iteration_threaded(void *p_arg);
|
|
|
|
bool iteration_dirty = true;
|
|
bool iteration_building = false;
|
|
bool iteration_ready = false;
|
|
|
|
void _build_iteration();
|
|
void _sync_iteration();
|
|
|
|
public:
|
|
NavMap2D();
|
|
~NavMap2D();
|
|
|
|
uint32_t get_iteration_id() const { return iteration_id; }
|
|
|
|
void set_cell_size(real_t p_cell_size);
|
|
real_t get_cell_size() const {
|
|
return cell_size;
|
|
}
|
|
|
|
void set_merge_rasterizer_cell_scale(float p_value);
|
|
float get_merge_rasterizer_cell_scale() const {
|
|
return merge_rasterizer_cell_scale;
|
|
}
|
|
|
|
void set_use_edge_connections(bool p_enabled);
|
|
bool get_use_edge_connections() const {
|
|
return use_edge_connections;
|
|
}
|
|
|
|
void set_edge_connection_margin(real_t p_edge_connection_margin);
|
|
real_t get_edge_connection_margin() const {
|
|
return edge_connection_margin;
|
|
}
|
|
|
|
void set_link_connection_radius(real_t p_link_connection_radius);
|
|
real_t get_link_connection_radius() const {
|
|
return link_connection_radius;
|
|
}
|
|
|
|
nav_2d::PointKey get_point_key(const Vector2 &p_pos) const;
|
|
Vector2 get_merge_rasterizer_cell_size() const;
|
|
|
|
void query_path(NavMeshQueries2D::NavMeshPathQueryTask2D &p_query_task);
|
|
|
|
Vector2 get_closest_point(const Vector2 &p_point) const;
|
|
nav_2d::ClosestPointQueryResult get_closest_point_info(const Vector2 &p_point) const;
|
|
RID get_closest_point_owner(const Vector2 &p_point) const;
|
|
|
|
void add_region(NavRegion2D *p_region);
|
|
void remove_region(NavRegion2D *p_region);
|
|
const LocalVector<NavRegion2D *> &get_regions() const {
|
|
return regions;
|
|
}
|
|
|
|
void add_link(NavLink2D *p_link);
|
|
void remove_link(NavLink2D *p_link);
|
|
const LocalVector<NavLink2D *> &get_links() const {
|
|
return links;
|
|
}
|
|
|
|
bool has_agent(NavAgent2D *p_agent) const;
|
|
void add_agent(NavAgent2D *p_agent);
|
|
void remove_agent(NavAgent2D *p_agent);
|
|
const LocalVector<NavAgent2D *> &get_agents() const {
|
|
return agents;
|
|
}
|
|
|
|
void set_agent_as_controlled(NavAgent2D *p_agent);
|
|
void remove_agent_as_controlled(NavAgent2D *p_agent);
|
|
|
|
bool has_obstacle(NavObstacle2D *p_obstacle) const;
|
|
void add_obstacle(NavObstacle2D *p_obstacle);
|
|
void remove_obstacle(NavObstacle2D *p_obstacle);
|
|
const LocalVector<NavObstacle2D *> &get_obstacles() const {
|
|
return obstacles;
|
|
}
|
|
|
|
Vector2 get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const;
|
|
|
|
void sync();
|
|
void step(double p_delta_time);
|
|
void dispatch_callbacks();
|
|
|
|
// Performance Monitor
|
|
int get_pm_region_count() const { return performance_data.pm_region_count; }
|
|
int get_pm_agent_count() const { return performance_data.pm_agent_count; }
|
|
int get_pm_link_count() const { return performance_data.pm_link_count; }
|
|
int get_pm_polygon_count() const { return performance_data.pm_polygon_count; }
|
|
int get_pm_edge_count() const { return performance_data.pm_edge_count; }
|
|
int get_pm_edge_merge_count() const { return performance_data.pm_edge_merge_count; }
|
|
int get_pm_edge_connection_count() const { return performance_data.pm_edge_connection_count; }
|
|
int get_pm_edge_free_count() const { return performance_data.pm_edge_free_count; }
|
|
int get_pm_obstacle_count() const { return performance_data.pm_obstacle_count; }
|
|
|
|
int get_region_connections_count(NavRegion2D *p_region) const;
|
|
Vector2 get_region_connection_pathway_start(NavRegion2D *p_region, int p_connection_id) const;
|
|
Vector2 get_region_connection_pathway_end(NavRegion2D *p_region, int p_connection_id) const;
|
|
|
|
void add_region_sync_dirty_request(SelfList<NavRegion2D> *p_sync_request);
|
|
void add_link_sync_dirty_request(SelfList<NavLink2D> *p_sync_request);
|
|
void add_agent_sync_dirty_request(SelfList<NavAgent2D> *p_sync_request);
|
|
void add_obstacle_sync_dirty_request(SelfList<NavObstacle2D> *p_sync_request);
|
|
|
|
void remove_region_sync_dirty_request(SelfList<NavRegion2D> *p_sync_request);
|
|
void remove_link_sync_dirty_request(SelfList<NavLink2D> *p_sync_request);
|
|
void remove_agent_sync_dirty_request(SelfList<NavAgent2D> *p_sync_request);
|
|
void remove_obstacle_sync_dirty_request(SelfList<NavObstacle2D> *p_sync_request);
|
|
|
|
void set_use_async_iterations(bool p_enabled);
|
|
bool get_use_async_iterations() const;
|
|
|
|
private:
|
|
void _sync_dirty_map_update_requests();
|
|
void _sync_dirty_avoidance_update_requests();
|
|
|
|
void compute_single_step(uint32_t p_index, NavAgent2D **p_agent);
|
|
|
|
void compute_single_avoidance_step(uint32_t p_index, NavAgent2D **p_agent);
|
|
|
|
void _sync_avoidance();
|
|
void _update_rvo_simulation();
|
|
void _update_rvo_obstacles_tree();
|
|
void _update_rvo_agents_tree();
|
|
|
|
void _update_merge_rasterizer_cell_dimensions();
|
|
};
|