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Diffstat (limited to 'modules/navigation/godot_navigation_server_2d.cpp')
| -rw-r--r-- | modules/navigation/godot_navigation_server_2d.cpp | 369 |
1 files changed, 369 insertions, 0 deletions
diff --git a/modules/navigation/godot_navigation_server_2d.cpp b/modules/navigation/godot_navigation_server_2d.cpp new file mode 100644 index 0000000000..b54729e06f --- /dev/null +++ b/modules/navigation/godot_navigation_server_2d.cpp @@ -0,0 +1,369 @@ +/**************************************************************************/ +/* godot_navigation_server_2d.cpp */ +/**************************************************************************/ +/* 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. */ +/**************************************************************************/ + +#include "godot_navigation_server_2d.h" + +#ifdef CLIPPER2_ENABLED +#include "nav_mesh_generator_2d.h" +#endif // CLIPPER2_ENABLED + +#include "servers/navigation_server_3d.h" + +#define FORWARD_0(FUNC_NAME) \ + GodotNavigationServer2D::FUNC_NAME() { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(); \ + } + +#define FORWARD_0_C(FUNC_NAME) \ + GodotNavigationServer2D::FUNC_NAME() \ + const { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(); \ + } + +#define FORWARD_1(FUNC_NAME, T_0, D_0, CONV_0) \ + GodotNavigationServer2D::FUNC_NAME(T_0 D_0) { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0)); \ + } + +#define FORWARD_1_C(FUNC_NAME, T_0, D_0, CONV_0) \ + GodotNavigationServer2D::FUNC_NAME(T_0 D_0) \ + const { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0)); \ + } + +#define FORWARD_1_R_C(CONV_R, FUNC_NAME, T_0, D_0, CONV_0) \ + GodotNavigationServer2D::FUNC_NAME(T_0 D_0) \ + const { \ + return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0))); \ + } + +#define FORWARD_2(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ + GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1) { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \ + } + +#define FORWARD_2_C(FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ + GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1) \ + const { \ + return NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1)); \ + } + +#define FORWARD_2_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, CONV_0, CONV_1) \ + GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1) \ + const { \ + return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1))); \ + } + +#define FORWARD_5_R_C(CONV_R, FUNC_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3, T_4, D_4, CONV_0, CONV_1, CONV_2, CONV_3, CONV_4) \ + GodotNavigationServer2D::FUNC_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3, T_4 D_4) \ + const { \ + return CONV_R(NavigationServer3D::get_singleton()->FUNC_NAME(CONV_0(D_0), CONV_1(D_1), CONV_2(D_2), CONV_3(D_3), CONV_4(D_4))); \ + } + +static RID rid_to_rid(const RID d) { + return d; +} + +static bool bool_to_bool(const bool d) { + return d; +} + +static int int_to_int(const int d) { + return d; +} + +static uint32_t uint32_to_uint32(const uint32_t d) { + return d; +} + +static real_t real_to_real(const real_t d) { + return d; +} + +static Vector3 v2_to_v3(const Vector2 d) { + return Vector3(d.x, 0.0, d.y); +} + +static Vector2 v3_to_v2(const Vector3 &d) { + return Vector2(d.x, d.z); +} + +static Vector<Vector3> vector_v2_to_v3(const Vector<Vector2> &d) { + Vector<Vector3> nd; + nd.resize(d.size()); + for (int i(0); i < nd.size(); i++) { + nd.write[i] = v2_to_v3(d[i]); + } + return nd; +} + +static Vector<Vector2> vector_v3_to_v2(const Vector<Vector3> &d) { + Vector<Vector2> nd; + nd.resize(d.size()); + for (int i(0); i < nd.size(); i++) { + nd.write[i] = v3_to_v2(d[i]); + } + return nd; +} + +static Transform3D trf2_to_trf3(const Transform2D &d) { + Vector3 o(v2_to_v3(d.get_origin())); + Basis b; + b.rotate(Vector3(0, -1, 0), d.get_rotation()); + b.scale(v2_to_v3(d.get_scale())); + return Transform3D(b, o); +} + +static ObjectID id_to_id(const ObjectID &id) { + return id; +} + +static Callable callable_to_callable(const Callable &c) { + return c; +} + +static Ref<NavigationMesh> poly_to_mesh(Ref<NavigationPolygon> d) { + if (d.is_valid()) { + return d->get_navigation_mesh(); + } else { + return Ref<NavigationMesh>(); + } +} + +void GodotNavigationServer2D::init() { +#ifdef CLIPPER2_ENABLED + navmesh_generator_2d = memnew(NavMeshGenerator2D); + ERR_FAIL_NULL_MSG(navmesh_generator_2d, "Failed to init NavMeshGenerator2D."); +#endif // CLIPPER2_ENABLED +} + +void GodotNavigationServer2D::sync() { +#ifdef CLIPPER2_ENABLED + if (navmesh_generator_2d) { + navmesh_generator_2d->sync(); + } +#endif // CLIPPER2_ENABLED +} + +void GodotNavigationServer2D::finish() { +#ifdef CLIPPER2_ENABLED + if (navmesh_generator_2d) { + navmesh_generator_2d->finish(); + memdelete(navmesh_generator_2d); + navmesh_generator_2d = nullptr; + } +#endif // CLIPPER2_ENABLED +} + +void GodotNavigationServer2D::parse_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, Node *p_root_node, const Callable &p_callback) { + ERR_FAIL_COND_MSG(!Thread::is_main_thread(), "The SceneTree can only be parsed on the main thread. Call this function from the main thread or use call_deferred()."); + ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation polygon."); + ERR_FAIL_NULL_MSG(p_root_node, "No parsing root node specified."); + ERR_FAIL_COND_MSG(!p_root_node->is_inside_tree(), "The root node needs to be inside the SceneTree."); + +#ifdef CLIPPER2_ENABLED + ERR_FAIL_NULL(NavMeshGenerator2D::get_singleton()); + NavMeshGenerator2D::get_singleton()->parse_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_root_node, p_callback); +#endif // CLIPPER2_ENABLED +} + +void GodotNavigationServer2D::bake_from_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback) { + ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation polygon."); + ERR_FAIL_COND_MSG(!p_source_geometry_data.is_valid(), "Invalid NavigationMeshSourceGeometryData2D."); + +#ifdef CLIPPER2_ENABLED + ERR_FAIL_NULL(NavMeshGenerator2D::get_singleton()); + NavMeshGenerator2D::get_singleton()->bake_from_source_geometry_data(p_navigation_mesh, p_source_geometry_data, p_callback); +#endif // CLIPPER2_ENABLED +} + +void GodotNavigationServer2D::bake_from_source_geometry_data_async(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback) { + ERR_FAIL_COND_MSG(!p_navigation_mesh.is_valid(), "Invalid navigation mesh."); + ERR_FAIL_COND_MSG(!p_source_geometry_data.is_valid(), "Invalid NavigationMeshSourceGeometryData2D."); + +#ifdef CLIPPER2_ENABLED + ERR_FAIL_NULL(NavMeshGenerator2D::get_singleton()); + NavMeshGenerator2D::get_singleton()->bake_from_source_geometry_data_async(p_navigation_mesh, p_source_geometry_data, p_callback); +#endif // CLIPPER2_ENABLED +} + +GodotNavigationServer2D::GodotNavigationServer2D() {} + +GodotNavigationServer2D::~GodotNavigationServer2D() {} + +TypedArray<RID> FORWARD_0_C(get_maps); + +TypedArray<RID> FORWARD_1_C(map_get_links, RID, p_map, rid_to_rid); + +TypedArray<RID> FORWARD_1_C(map_get_regions, RID, p_map, rid_to_rid); + +TypedArray<RID> FORWARD_1_C(map_get_agents, RID, p_map, rid_to_rid); + +TypedArray<RID> FORWARD_1_C(map_get_obstacles, RID, p_map, rid_to_rid); + +RID FORWARD_1_C(region_get_map, RID, p_region, rid_to_rid); + +RID FORWARD_1_C(agent_get_map, RID, p_agent, rid_to_rid); + +RID FORWARD_0(map_create); + +void FORWARD_2(map_set_active, RID, p_map, bool, p_active, rid_to_rid, bool_to_bool); + +bool FORWARD_1_C(map_is_active, RID, p_map, rid_to_rid); + +void GodotNavigationServer2D::map_force_update(RID p_map) { + NavigationServer3D::get_singleton()->map_force_update(p_map); +} + +void FORWARD_2(map_set_cell_size, RID, p_map, real_t, p_cell_size, rid_to_rid, real_to_real); +real_t FORWARD_1_C(map_get_cell_size, RID, p_map, rid_to_rid); + +void FORWARD_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled, rid_to_rid, bool_to_bool); +bool FORWARD_1_C(map_get_use_edge_connections, RID, p_map, rid_to_rid); + +void FORWARD_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin, rid_to_rid, real_to_real); +real_t FORWARD_1_C(map_get_edge_connection_margin, RID, p_map, rid_to_rid); + +void FORWARD_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius, rid_to_rid, real_to_real); +real_t FORWARD_1_C(map_get_link_connection_radius, RID, p_map, rid_to_rid); + +Vector<Vector2> FORWARD_5_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2, p_origin, Vector2, p_destination, bool, p_optimize, uint32_t, p_layers, rid_to_rid, v2_to_v3, v2_to_v3, bool_to_bool, uint32_to_uint32); + +Vector2 FORWARD_2_R_C(v3_to_v2, map_get_closest_point, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); +RID FORWARD_2_C(map_get_closest_point_owner, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3); + +RID FORWARD_0(region_create); + +void FORWARD_2(region_set_enabled, RID, p_region, bool, p_enabled, rid_to_rid, bool_to_bool); +bool FORWARD_1_C(region_get_enabled, RID, p_region, rid_to_rid); +void FORWARD_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled, rid_to_rid, bool_to_bool); +bool FORWARD_1_C(region_get_use_edge_connections, RID, p_region, rid_to_rid); + +void FORWARD_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost, rid_to_rid, real_to_real); +real_t FORWARD_1_C(region_get_enter_cost, RID, p_region, rid_to_rid); +void FORWARD_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost, rid_to_rid, real_to_real); +real_t FORWARD_1_C(region_get_travel_cost, RID, p_region, rid_to_rid); +void FORWARD_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id, rid_to_rid, id_to_id); +ObjectID FORWARD_1_C(region_get_owner_id, RID, p_region, rid_to_rid); +bool FORWARD_2_C(region_owns_point, RID, p_region, const Vector2 &, p_point, rid_to_rid, v2_to_v3); + +void FORWARD_2(region_set_map, RID, p_region, RID, p_map, rid_to_rid, rid_to_rid); +void FORWARD_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); +uint32_t FORWARD_1_C(region_get_navigation_layers, RID, p_region, rid_to_rid); +void FORWARD_2(region_set_transform, RID, p_region, Transform2D, p_transform, rid_to_rid, trf2_to_trf3); + +void GodotNavigationServer2D::region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon) { + NavigationServer3D::get_singleton()->region_set_navigation_mesh(p_region, poly_to_mesh(p_navigation_polygon)); +} + +int FORWARD_1_C(region_get_connections_count, RID, p_region, rid_to_rid); +Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_start, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); +Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_end, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int); + +RID FORWARD_0(link_create); + +void FORWARD_2(link_set_map, RID, p_link, RID, p_map, rid_to_rid, rid_to_rid); +RID FORWARD_1_C(link_get_map, RID, p_link, rid_to_rid); +void FORWARD_2(link_set_enabled, RID, p_link, bool, p_enabled, rid_to_rid, bool_to_bool); +bool FORWARD_1_C(link_get_enabled, RID, p_link, rid_to_rid); +void FORWARD_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional, rid_to_rid, bool_to_bool); +bool FORWARD_1_C(link_is_bidirectional, RID, p_link, rid_to_rid); +void FORWARD_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers, rid_to_rid, uint32_to_uint32); +uint32_t FORWARD_1_C(link_get_navigation_layers, RID, p_link, rid_to_rid); +void FORWARD_2(link_set_start_position, RID, p_link, Vector2, p_position, rid_to_rid, v2_to_v3); +Vector2 FORWARD_1_R_C(v3_to_v2, link_get_start_position, RID, p_link, rid_to_rid); +void FORWARD_2(link_set_end_position, RID, p_link, Vector2, p_position, rid_to_rid, v2_to_v3); +Vector2 FORWARD_1_R_C(v3_to_v2, link_get_end_position, RID, p_link, rid_to_rid); +void FORWARD_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost, rid_to_rid, real_to_real); +real_t FORWARD_1_C(link_get_enter_cost, RID, p_link, rid_to_rid); +void FORWARD_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost, rid_to_rid, real_to_real); +real_t FORWARD_1_C(link_get_travel_cost, RID, p_link, rid_to_rid); +void FORWARD_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id, rid_to_rid, id_to_id); +ObjectID FORWARD_1_C(link_get_owner_id, RID, p_link, rid_to_rid); + +RID GodotNavigationServer2D::agent_create() { + RID agent = NavigationServer3D::get_singleton()->agent_create(); + return agent; +} + +void FORWARD_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled, rid_to_rid, bool_to_bool); +bool FORWARD_1_C(agent_get_avoidance_enabled, RID, p_agent, rid_to_rid); +void FORWARD_2(agent_set_map, RID, p_agent, RID, p_map, rid_to_rid, rid_to_rid); +void FORWARD_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_dist, rid_to_rid, real_to_real); +void FORWARD_2(agent_set_max_neighbors, RID, p_agent, int, p_count, rid_to_rid, int_to_int); +void FORWARD_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon, rid_to_rid, real_to_real); +void FORWARD_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon, rid_to_rid, real_to_real); +void FORWARD_2(agent_set_radius, RID, p_agent, real_t, p_radius, rid_to_rid, real_to_real); +void FORWARD_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed, rid_to_rid, real_to_real); +void FORWARD_2(agent_set_velocity_forced, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3); +void FORWARD_2(agent_set_velocity, RID, p_agent, Vector2, p_velocity, rid_to_rid, v2_to_v3); +void FORWARD_2(agent_set_position, RID, p_agent, Vector2, p_position, rid_to_rid, v2_to_v3); + +bool FORWARD_1_C(agent_is_map_changed, RID, p_agent, rid_to_rid); +void FORWARD_2(agent_set_paused, RID, p_agent, bool, p_paused, rid_to_rid, bool_to_bool); +bool FORWARD_1_C(agent_get_paused, RID, p_agent, rid_to_rid); + +void FORWARD_1(free, RID, p_object, rid_to_rid); +void FORWARD_2(agent_set_avoidance_callback, RID, p_agent, Callable, p_callback, rid_to_rid, callable_to_callable); + +void FORWARD_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers, rid_to_rid, uint32_to_uint32); +void FORWARD_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask, rid_to_rid, uint32_to_uint32); +void FORWARD_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority, rid_to_rid, real_to_real); + +RID GodotNavigationServer2D::obstacle_create() { + RID obstacle = NavigationServer3D::get_singleton()->obstacle_create(); + return obstacle; +} +void FORWARD_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled, rid_to_rid, bool_to_bool); +bool FORWARD_1_C(obstacle_get_avoidance_enabled, RID, p_obstacle, rid_to_rid); +void FORWARD_2(obstacle_set_map, RID, p_obstacle, RID, p_map, rid_to_rid, rid_to_rid); +RID FORWARD_1_C(obstacle_get_map, RID, p_obstacle, rid_to_rid); +void FORWARD_2(obstacle_set_paused, RID, p_obstacle, bool, p_paused, rid_to_rid, bool_to_bool); +bool FORWARD_1_C(obstacle_get_paused, RID, p_obstacle, rid_to_rid); +void FORWARD_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius, rid_to_rid, real_to_real); +void FORWARD_2(obstacle_set_velocity, RID, p_obstacle, Vector2, p_velocity, rid_to_rid, v2_to_v3); +void FORWARD_2(obstacle_set_position, RID, p_obstacle, Vector2, p_position, rid_to_rid, v2_to_v3); +void FORWARD_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers, rid_to_rid, uint32_to_uint32); + +void GodotNavigationServer2D::obstacle_set_vertices(RID p_obstacle, const Vector<Vector2> &p_vertices) { + NavigationServer3D::get_singleton()->obstacle_set_vertices(p_obstacle, vector_v2_to_v3(p_vertices)); +} + +void GodotNavigationServer2D::query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const { + ERR_FAIL_COND(!p_query_parameters.is_valid()); + ERR_FAIL_COND(!p_query_result.is_valid()); + + const NavigationUtilities::PathQueryResult _query_result = NavigationServer3D::get_singleton()->_query_path(p_query_parameters->get_parameters()); + + p_query_result->set_path(vector_v3_to_v2(_query_result.path)); + p_query_result->set_path_types(_query_result.path_types); + p_query_result->set_path_rids(_query_result.path_rids); + p_query_result->set_path_owner_ids(_query_result.path_owner_ids); +} |