diff options
Diffstat (limited to 'modules/navigation/nav_map.cpp')
| -rw-r--r-- | modules/navigation/nav_map.cpp | 57 |
1 files changed, 48 insertions, 9 deletions
diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp index 6429513b53..9482da39ef 100644 --- a/modules/navigation/nav_map.cpp +++ b/modules/navigation/nav_map.cpp @@ -67,6 +67,7 @@ void NavMap::set_cell_size(real_t p_cell_size) { return; } cell_size = p_cell_size; + _update_merge_rasterizer_cell_dimensions(); regenerate_polygons = true; } @@ -75,6 +76,16 @@ void NavMap::set_cell_height(real_t p_cell_height) { return; } cell_height = p_cell_height; + _update_merge_rasterizer_cell_dimensions(); + regenerate_polygons = true; +} + +void NavMap::set_merge_rasterizer_cell_scale(float p_value) { + if (merge_rasterizer_cell_scale == p_value) { + return; + } + merge_rasterizer_cell_scale = p_value; + _update_merge_rasterizer_cell_dimensions(); regenerate_polygons = true; } @@ -103,9 +114,9 @@ void NavMap::set_link_connection_radius(real_t p_link_connection_radius) { } gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const { - const int x = static_cast<int>(Math::floor(p_pos.x / cell_size)); - const int y = static_cast<int>(Math::floor(p_pos.y / cell_height)); - const int z = static_cast<int>(Math::floor(p_pos.z / cell_size)); + const int x = static_cast<int>(Math::floor(p_pos.x / merge_rasterizer_cell_size)); + const int y = static_cast<int>(Math::floor(p_pos.y / merge_rasterizer_cell_height)); + const int z = static_cast<int>(Math::floor(p_pos.z / merge_rasterizer_cell_size)); gd::PointKey p; p.key = 0; @@ -116,7 +127,11 @@ gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const { } Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers, Vector<int32_t> *r_path_types, TypedArray<RID> *r_path_rids, Vector<int64_t> *r_path_owners) const { - ERR_FAIL_COND_V_MSG(map_update_id == 0, Vector<Vector3>(), "NavigationServer map query failed because it was made before first map synchronization."); + RWLockRead read_lock(map_rwlock); + if (map_update_id == 0) { + ERR_FAIL_V_MSG(Vector<Vector3>(), "NavigationServer map query failed because it was made before first map synchronization."); + } + // Clear metadata outputs. if (r_path_types) { r_path_types->clear(); @@ -576,7 +591,11 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p } Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const { - ERR_FAIL_COND_V_MSG(map_update_id == 0, Vector3(), "NavigationServer map query failed because it was made before first map synchronization."); + RWLockRead read_lock(map_rwlock); + if (map_update_id == 0) { + ERR_FAIL_V_MSG(Vector3(), "NavigationServer map query failed because it was made before first map synchronization."); + } + bool use_collision = p_use_collision; Vector3 closest_point; real_t closest_point_d = FLT_MAX; @@ -624,24 +643,35 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector } Vector3 NavMap::get_closest_point(const Vector3 &p_point) const { - ERR_FAIL_COND_V_MSG(map_update_id == 0, Vector3(), "NavigationServer map query failed because it was made before first map synchronization."); + RWLockRead read_lock(map_rwlock); + if (map_update_id == 0) { + ERR_FAIL_V_MSG(Vector3(), "NavigationServer map query failed because it was made before first map synchronization."); + } gd::ClosestPointQueryResult cp = get_closest_point_info(p_point); return cp.point; } Vector3 NavMap::get_closest_point_normal(const Vector3 &p_point) const { - ERR_FAIL_COND_V_MSG(map_update_id == 0, Vector3(), "NavigationServer map query failed because it was made before first map synchronization."); + RWLockRead read_lock(map_rwlock); + if (map_update_id == 0) { + ERR_FAIL_V_MSG(Vector3(), "NavigationServer map query failed because it was made before first map synchronization."); + } gd::ClosestPointQueryResult cp = get_closest_point_info(p_point); return cp.normal; } RID NavMap::get_closest_point_owner(const Vector3 &p_point) const { - ERR_FAIL_COND_V_MSG(map_update_id == 0, RID(), "NavigationServer map query failed because it was made before first map synchronization."); + RWLockRead read_lock(map_rwlock); + if (map_update_id == 0) { + ERR_FAIL_V_MSG(RID(), "NavigationServer map query failed because it was made before first map synchronization."); + } gd::ClosestPointQueryResult cp = get_closest_point_info(p_point); return cp.owner; } gd::ClosestPointQueryResult NavMap::get_closest_point_info(const Vector3 &p_point) const { + RWLockRead read_lock(map_rwlock); + gd::ClosestPointQueryResult result; real_t closest_point_ds = FLT_MAX; @@ -770,6 +800,8 @@ void NavMap::remove_agent_as_controlled(NavAgent *agent) { } Vector3 NavMap::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const { + RWLockRead read_lock(map_rwlock); + const LocalVector<NavRegion *> map_regions = get_regions(); if (map_regions.is_empty()) { @@ -834,6 +866,8 @@ Vector3 NavMap::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) } void NavMap::sync() { + RWLockWrite write_lock(map_rwlock); + // Performance Monitor int _new_pm_region_count = regions.size(); int _new_pm_agent_count = agents.size(); @@ -923,7 +957,7 @@ void NavMap::sync() { connections[ek].push_back(new_connection); } else { // The edge is already connected with another edge, skip. - ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to merge a navigation mesh polygon edge with another already-merged edge. This is usually caused by crossing edges, overlapping polygons, or a mismatch of the NavigationMesh / NavigationPolygon baked 'cell_size' and navigation map 'cell_size'."); + ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to merge a navigation mesh polygon edge with another already-merged edge. This is usually caused by crossing edges, overlapping polygons, or a mismatch of the NavigationMesh / NavigationPolygon baked 'cell_size' and navigation map 'cell_size'. If you're certain none of above is the case, change 'navigation/3d/merge_rasterizer_cell_scale' to 0.001."); } } } @@ -1365,6 +1399,11 @@ void NavMap::clip_path(const LocalVector<gd::NavigationPoly> &p_navigation_polys } } +void NavMap::_update_merge_rasterizer_cell_dimensions() { + merge_rasterizer_cell_size = cell_size * merge_rasterizer_cell_scale; + merge_rasterizer_cell_height = cell_height * merge_rasterizer_cell_scale; +} + NavMap::NavMap() { avoidance_use_multiple_threads = GLOBAL_GET("navigation/avoidance/thread_model/avoidance_use_multiple_threads"); avoidance_use_high_priority_threads = GLOBAL_GET("navigation/avoidance/thread_model/avoidance_use_high_priority_threads"); |