- Integrated NavigationServer and Navigation2DServer.

- Added Navigation Agents and Obstacles.
- Integrated Collision Avoidance.

This work has been kindly sponsored by IMVU.

1 files changed, 136 insertions, 0 deletions

diff --git a/modules/gdnavigation/nav_region.cpp b/modules/gdnavigation/nav_region.cpp
new file mode 100644
index 0000000000..03477085ce
--- /dev/null
+++ b/modules/gdnavigation/nav_region.cpp
@@ -0,0 +1,136 @@
+/*************************************************************************/
+/*  nav_region.h                                                         */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md)    */
+/*                                                                       */
+/* 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_region.h"
+
+#include "nav_map.h"
+
+/**
+	@author AndreaCatania
+*/
+
+NavRegion::NavRegion() :
+		map(NULL),
+		polygons_dirty(true) {
+}
+
+void NavRegion::set_map(NavMap *p_map) {
+	map = p_map;
+	polygons_dirty = true;
+}
+
+void NavRegion::set_transform(Transform p_transform) {
+	transform = p_transform;
+	polygons_dirty = true;
+}
+
+void NavRegion::set_mesh(Ref<NavigationMesh> p_mesh) {
+	mesh = p_mesh;
+	polygons_dirty = true;
+}
+
+bool NavRegion::sync() {
+	bool something_changed = polygons_dirty /* || something_dirty? */;
+
+	update_polygons();
+
+	return something_changed;
+}
+
+void NavRegion::update_polygons() {
+	if (!polygons_dirty) {
+		return;
+	}
+	polygons.clear();
+	polygons_dirty = false;
+
+	if (map == NULL) {
+		return;
+	}
+
+	if (mesh.is_null())
+		return;
+
+	PoolVector<Vector3> vertices = mesh->get_vertices();
+	int len = vertices.size();
+	if (len == 0)
+		return;
+
+	PoolVector<Vector3>::Read vertices_r = vertices.read();
+
+	polygons.resize(mesh->get_polygon_count());
+
+	// Build
+	for (size_t i(0); i < polygons.size(); i++) {
+
+		gd::Polygon &p = polygons[i];
+		p.owner = this;
+
+		Vector<int> mesh_poly = mesh->get_polygon(i);
+		const int *indices = mesh_poly.ptr();
+		bool valid(true);
+		p.points.resize(mesh_poly.size());
+		p.edges.resize(mesh_poly.size());
+
+		Vector3 center;
+		float sum(0);
+
+		for (int j(0); j < mesh_poly.size(); j++) {
+
+			int idx = indices[j];
+			if (idx < 0 || idx >= len) {
+				valid = false;
+				break;
+			}
+
+			Vector3 point_position = transform.xform(vertices_r[idx]);
+			p.points[j].pos = point_position;
+			p.points[j].key = map->get_point_key(point_position);
+
+			center += point_position; // Composing the center of the polygon
+
+			if (j >= 2) {
+				Vector3 epa = transform.xform(vertices_r[indices[j - 2]]);
+				Vector3 epb = transform.xform(vertices_r[indices[j - 1]]);
+
+				sum += map->get_up().dot((epb - epa).cross(point_position - epa));
+			}
+		}
+
+		if (!valid) {
+			ERR_BREAK_MSG(!valid, "The navigation mesh set in this region is not valid!");
+		}
+
+		p.clockwise = sum > 0;
+		if (mesh_poly.size() != 0) {
+			p.center = center / float(mesh_poly.size());
+		}
+	}
+}