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Diffstat (limited to 'modules/navigation/godot_navigation_server_2d.h')
| -rw-r--r-- | modules/navigation/godot_navigation_server_2d.h | 234 |
1 files changed, 234 insertions, 0 deletions
diff --git a/modules/navigation/godot_navigation_server_2d.h b/modules/navigation/godot_navigation_server_2d.h new file mode 100644 index 0000000000..337f5f40d8 --- /dev/null +++ b/modules/navigation/godot_navigation_server_2d.h @@ -0,0 +1,234 @@ +/**************************************************************************/ +/* 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. */ +/**************************************************************************/ + +#ifndef GODOT_NAVIGATION_SERVER_2D_H +#define GODOT_NAVIGATION_SERVER_2D_H + +#include "nav_agent.h" +#include "nav_link.h" +#include "nav_map.h" +#include "nav_obstacle.h" +#include "nav_region.h" + +#include "servers/navigation_server_2d.h" + +#ifdef CLIPPER2_ENABLED +class NavMeshGenerator2D; +#endif // CLIPPER2_ENABLED + +// This server exposes the `NavigationServer3D` features in the 2D world. +class GodotNavigationServer2D : public NavigationServer2D { + GDCLASS(GodotNavigationServer2D, NavigationServer2D); + +#ifdef CLIPPER2_ENABLED + NavMeshGenerator2D *navmesh_generator_2d = nullptr; +#endif // CLIPPER2_ENABLED + +public: + GodotNavigationServer2D(); + virtual ~GodotNavigationServer2D(); + + virtual TypedArray<RID> get_maps() const override; + + virtual RID map_create() override; + virtual void map_set_active(RID p_map, bool p_active) override; + virtual bool map_is_active(RID p_map) const override; + virtual void map_set_cell_size(RID p_map, real_t p_cell_size) override; + virtual real_t map_get_cell_size(RID p_map) const override; + virtual void map_set_use_edge_connections(RID p_map, bool p_enabled) override; + virtual bool map_get_use_edge_connections(RID p_map) const override; + virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) override; + virtual real_t map_get_edge_connection_margin(RID p_map) const override; + virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) override; + virtual real_t map_get_link_connection_radius(RID p_map) const override; + virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const 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<RID> map_get_links(RID p_map) const override; + virtual TypedArray<RID> map_get_regions(RID p_map) const override; + virtual TypedArray<RID> map_get_agents(RID p_map) const override; + virtual TypedArray<RID> map_get_obstacles(RID p_map) const override; + virtual void map_force_update(RID p_map) override; + + virtual RID region_create() override; + virtual void region_set_enabled(RID p_region, bool p_enabled) override; + virtual bool region_get_enabled(RID p_region) const override; + virtual void region_set_use_edge_connections(RID p_region, bool p_enabled) override; + virtual bool region_get_use_edge_connections(RID p_region) const override; + virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) override; + virtual real_t region_get_enter_cost(RID p_region) const override; + virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) override; + virtual real_t region_get_travel_cost(RID p_region) const override; + virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) override; + 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; + virtual void region_set_map(RID p_region, RID p_map) override; + virtual RID region_get_map(RID p_region) const override; + virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) override; + virtual uint32_t region_get_navigation_layers(RID p_region) const override; + virtual void region_set_transform(RID p_region, Transform2D p_transform) override; + virtual void region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon) override; + 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 RID link_create() override; + + /// Set the map of this link. + virtual void link_set_map(RID p_link, RID p_map) override; + virtual RID link_get_map(RID p_link) const override; + + virtual void link_set_enabled(RID p_link, bool p_enabled) override; + virtual bool link_get_enabled(RID p_link) const override; + + /// Set whether this link travels in both directions. + virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) override; + virtual bool link_is_bidirectional(RID p_link) const override; + + /// Set the link's layers. + virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) override; + virtual uint32_t link_get_navigation_layers(RID p_link) const override; + + /// Set the start position of the link. + virtual void link_set_start_position(RID p_link, Vector2 p_position) override; + virtual Vector2 link_get_start_position(RID p_link) const override; + + /// Set the end position of the link. + virtual void link_set_end_position(RID p_link, Vector2 p_position) override; + virtual Vector2 link_get_end_position(RID p_link) const override; + + /// Set the enter cost of the link. + virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) override; + virtual real_t link_get_enter_cost(RID p_link) const override; + + /// Set the travel cost of the link. + virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) override; + virtual real_t link_get_travel_cost(RID p_link) const override; + + /// Set the node which manages this link. + virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) override; + 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. + virtual void agent_set_map(RID p_agent, RID p_map) override; + virtual RID agent_get_map(RID p_agent) const override; + + virtual void agent_set_paused(RID p_agent, bool p_paused) override; + virtual bool agent_get_paused(RID p_agent) const override; + + virtual void agent_set_avoidance_enabled(RID p_agent, bool p_enabled) override; + 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. + virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) 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. + virtual void agent_set_max_neighbors(RID p_agent, int p_count) 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. + + virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon) override; + virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon) override; + + /// The radius of this agent. + /// Must be non-negative. + virtual void agent_set_radius(RID p_agent, real_t p_radius) override; + + /// The maximum speed of this agent. + /// Must be non-negative. + virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) override; + + /// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly + virtual void agent_set_velocity_forced(RID p_agent, Vector2 p_velocity) override; + + /// 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'. + virtual void agent_set_velocity(RID p_agent, Vector2 p_velocity) override; + + /// Position of the agent in world space. + virtual void agent_set_position(RID p_agent, Vector2 p_position) 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 + virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback) override; + + virtual void agent_set_avoidance_layers(RID p_agent, uint32_t p_layers) override; + virtual void agent_set_avoidance_mask(RID p_agent, uint32_t p_mask) override; + virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority) override; + + virtual RID obstacle_create() override; + virtual void obstacle_set_avoidance_enabled(RID p_obstacle, bool p_enabled) override; + virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const override; + virtual void obstacle_set_map(RID p_obstacle, RID p_map) override; + virtual RID obstacle_get_map(RID p_obstacle) const override; + virtual void obstacle_set_paused(RID p_obstacle, bool p_paused) override; + virtual bool obstacle_get_paused(RID p_obstacle) const override; + virtual void obstacle_set_radius(RID p_obstacle, real_t p_radius) override; + virtual void obstacle_set_velocity(RID p_obstacle, Vector2 p_velocity) override; + virtual void obstacle_set_position(RID p_obstacle, Vector2 p_position) override; + virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector2> &p_vertices) override; + virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers) override; + + virtual void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const override; + + virtual void init() override; + virtual void sync() override; + virtual void finish() override; + virtual void free(RID p_object) override; + + virtual void 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 = Callable()) override; + virtual void bake_from_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) override; + virtual void bake_from_source_geometry_data_async(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) override; +}; + +#endif // GODOT_NAVIGATION_SERVER_2D_H |