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Diffstat (limited to 'scene/resources/2d/navigation_polygon.cpp')
| -rw-r--r-- | scene/resources/2d/navigation_polygon.cpp | 542 |
1 files changed, 542 insertions, 0 deletions
diff --git a/scene/resources/2d/navigation_polygon.cpp b/scene/resources/2d/navigation_polygon.cpp new file mode 100644 index 0000000000..274b13a487 --- /dev/null +++ b/scene/resources/2d/navigation_polygon.cpp @@ -0,0 +1,542 @@ +/**************************************************************************/ +/* navigation_polygon.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 "navigation_polygon.h" + +#include "core/math/geometry_2d.h" +#include "core/os/mutex.h" +#include "servers/navigation_server_2d.h" + +#include "thirdparty/misc/polypartition.h" + +#ifdef TOOLS_ENABLED +Rect2 NavigationPolygon::_edit_get_rect() const { + if (rect_cache_dirty) { + item_rect = Rect2(); + bool first = true; + + for (int i = 0; i < outlines.size(); i++) { + const Vector<Vector2> &outline = outlines[i]; + const int outline_size = outline.size(); + if (outline_size < 3) { + continue; + } + const Vector2 *p = outline.ptr(); + for (int j = 0; j < outline_size; j++) { + if (first) { + item_rect = Rect2(p[j], Vector2(0, 0)); + first = false; + } else { + item_rect.expand_to(p[j]); + } + } + } + + rect_cache_dirty = false; + } + return item_rect; +} + +bool NavigationPolygon::_edit_is_selected_on_click(const Point2 &p_point, double p_tolerance) const { + for (int i = 0; i < outlines.size(); i++) { + const Vector<Vector2> &outline = outlines[i]; + const int outline_size = outline.size(); + if (outline_size < 3) { + continue; + } + if (Geometry2D::is_point_in_polygon(p_point, Variant(outline))) { + return true; + } + } + return false; +} +#endif + +void NavigationPolygon::set_vertices(const Vector<Vector2> &p_vertices) { + { + MutexLock lock(navigation_mesh_generation); + navigation_mesh.unref(); + } + vertices = p_vertices; + rect_cache_dirty = true; +} + +Vector<Vector2> NavigationPolygon::get_vertices() const { + return vertices; +} + +void NavigationPolygon::_set_polygons(const TypedArray<Vector<int32_t>> &p_array) { + { + MutexLock lock(navigation_mesh_generation); + navigation_mesh.unref(); + } + polygons.resize(p_array.size()); + for (int i = 0; i < p_array.size(); i++) { + polygons.write[i].indices = p_array[i]; + } +} + +TypedArray<Vector<int32_t>> NavigationPolygon::_get_polygons() const { + TypedArray<Vector<int32_t>> ret; + ret.resize(polygons.size()); + for (int i = 0; i < ret.size(); i++) { + ret[i] = polygons[i].indices; + } + + return ret; +} + +void NavigationPolygon::_set_outlines(const TypedArray<Vector<Vector2>> &p_array) { + outlines.resize(p_array.size()); + for (int i = 0; i < p_array.size(); i++) { + outlines.write[i] = p_array[i]; + } + rect_cache_dirty = true; +} + +TypedArray<Vector<Vector2>> NavigationPolygon::_get_outlines() const { + TypedArray<Vector<Vector2>> ret; + ret.resize(outlines.size()); + for (int i = 0; i < ret.size(); i++) { + ret[i] = outlines[i]; + } + + return ret; +} + +void NavigationPolygon::add_polygon(const Vector<int> &p_polygon) { + Polygon polygon; + polygon.indices = p_polygon; + polygons.push_back(polygon); + { + MutexLock lock(navigation_mesh_generation); + navigation_mesh.unref(); + } +} + +void NavigationPolygon::add_outline_at_index(const Vector<Vector2> &p_outline, int p_index) { + outlines.insert(p_index, p_outline); + rect_cache_dirty = true; +} + +int NavigationPolygon::get_polygon_count() const { + return polygons.size(); +} + +Vector<int> NavigationPolygon::get_polygon(int p_idx) { + ERR_FAIL_INDEX_V(p_idx, polygons.size(), Vector<int>()); + return polygons[p_idx].indices; +} + +void NavigationPolygon::clear_polygons() { + polygons.clear(); + { + MutexLock lock(navigation_mesh_generation); + navigation_mesh.unref(); + } +} + +void NavigationPolygon::clear() { + polygons.clear(); + vertices.clear(); + { + MutexLock lock(navigation_mesh_generation); + navigation_mesh.unref(); + } +} + +Ref<NavigationMesh> NavigationPolygon::get_navigation_mesh() { + MutexLock lock(navigation_mesh_generation); + + if (navigation_mesh.is_null()) { + navigation_mesh.instantiate(); + Vector<Vector3> verts; + { + verts.resize(get_vertices().size()); + Vector3 *w = verts.ptrw(); + + const Vector2 *r = get_vertices().ptr(); + + for (int i(0); i < get_vertices().size(); i++) { + w[i] = Vector3(r[i].x, 0.0, r[i].y); + } + } + navigation_mesh->set_vertices(verts); + + for (int i(0); i < get_polygon_count(); i++) { + navigation_mesh->add_polygon(get_polygon(i)); + } + navigation_mesh->set_cell_size(cell_size); // Needed to not fail the cell size check on the server + } + + return navigation_mesh; +} + +void NavigationPolygon::add_outline(const Vector<Vector2> &p_outline) { + outlines.push_back(p_outline); + rect_cache_dirty = true; +} + +int NavigationPolygon::get_outline_count() const { + return outlines.size(); +} + +void NavigationPolygon::set_outline(int p_idx, const Vector<Vector2> &p_outline) { + ERR_FAIL_INDEX(p_idx, outlines.size()); + outlines.write[p_idx] = p_outline; + rect_cache_dirty = true; +} + +void NavigationPolygon::remove_outline(int p_idx) { + ERR_FAIL_INDEX(p_idx, outlines.size()); + outlines.remove_at(p_idx); + rect_cache_dirty = true; +} + +Vector<Vector2> NavigationPolygon::get_outline(int p_idx) const { + ERR_FAIL_INDEX_V(p_idx, outlines.size(), Vector<Vector2>()); + return outlines[p_idx]; +} + +void NavigationPolygon::clear_outlines() { + outlines.clear(); + rect_cache_dirty = true; +} + +#ifndef DISABLE_DEPRECATED +void NavigationPolygon::make_polygons_from_outlines() { + WARN_PRINT("Function make_polygons_from_outlines() is deprecated." + "\nUse NavigationServer2D.parse_source_geometry_data() and NavigationServer2D.bake_from_source_geometry_data() instead."); + + { + MutexLock lock(navigation_mesh_generation); + navigation_mesh.unref(); + } + List<TPPLPoly> in_poly, out_poly; + + Vector2 outside_point(-1e10, -1e10); + + for (int i = 0; i < outlines.size(); i++) { + Vector<Vector2> ol = outlines[i]; + int olsize = ol.size(); + if (olsize < 3) { + continue; + } + const Vector2 *r = ol.ptr(); + for (int j = 0; j < olsize; j++) { + outside_point = outside_point.max(r[j]); + } + } + + outside_point += Vector2(0.7239784, 0.819238); //avoid precision issues + + for (int i = 0; i < outlines.size(); i++) { + Vector<Vector2> ol = outlines[i]; + int olsize = ol.size(); + if (olsize < 3) { + continue; + } + const Vector2 *r = ol.ptr(); + + int interscount = 0; + //test if this is an outer outline + for (int k = 0; k < outlines.size(); k++) { + if (i == k) { + continue; //no self intersect + } + + Vector<Vector2> ol2 = outlines[k]; + int olsize2 = ol2.size(); + if (olsize2 < 3) { + continue; + } + const Vector2 *r2 = ol2.ptr(); + + for (int l = 0; l < olsize2; l++) { + if (Geometry2D::segment_intersects_segment(r[0], outside_point, r2[l], r2[(l + 1) % olsize2], nullptr)) { + interscount++; + } + } + } + + bool outer = (interscount % 2) == 0; + + TPPLPoly tp; + tp.Init(olsize); + for (int j = 0; j < olsize; j++) { + tp[j] = r[j]; + } + + if (outer) { + tp.SetOrientation(TPPL_ORIENTATION_CCW); + } else { + tp.SetOrientation(TPPL_ORIENTATION_CW); + tp.SetHole(true); + } + + in_poly.push_back(tp); + } + + TPPLPartition tpart; + if (tpart.ConvexPartition_HM(&in_poly, &out_poly) == 0) { //failed! + ERR_PRINT("NavigationPolygon: Convex partition failed! Failed to convert outlines to a valid NavigationMesh." + "\nNavigationPolygon outlines can not overlap vertices or edges inside same outline or with other outlines or have any intersections." + "\nAdd the outmost and largest outline first. To add holes inside this outline add the smaller outlines with same winding order."); + return; + } + + polygons.clear(); + vertices.clear(); + + HashMap<Vector2, int> points; + for (List<TPPLPoly>::Element *I = out_poly.front(); I; I = I->next()) { + TPPLPoly &tp = I->get(); + + struct Polygon p; + + for (int64_t i = 0; i < tp.GetNumPoints(); i++) { + HashMap<Vector2, int>::Iterator E = points.find(tp[i]); + if (!E) { + E = points.insert(tp[i], vertices.size()); + vertices.push_back(tp[i]); + } + p.indices.push_back(E->value); + } + + polygons.push_back(p); + } + + emit_changed(); +} +#endif // DISABLE_DEPRECATED + +void NavigationPolygon::set_cell_size(real_t p_cell_size) { + cell_size = p_cell_size; + get_navigation_mesh()->set_cell_size(cell_size); +} + +real_t NavigationPolygon::get_cell_size() const { + return cell_size; +} + +void NavigationPolygon::set_border_size(real_t p_value) { + ERR_FAIL_COND(p_value < 0.0); + border_size = p_value; +} + +real_t NavigationPolygon::get_border_size() const { + return border_size; +} + +void NavigationPolygon::set_parsed_geometry_type(ParsedGeometryType p_geometry_type) { + ERR_FAIL_INDEX(p_geometry_type, PARSED_GEOMETRY_MAX); + parsed_geometry_type = p_geometry_type; + notify_property_list_changed(); +} + +NavigationPolygon::ParsedGeometryType NavigationPolygon::get_parsed_geometry_type() const { + return parsed_geometry_type; +} + +void NavigationPolygon::set_parsed_collision_mask(uint32_t p_mask) { + parsed_collision_mask = p_mask; +} + +uint32_t NavigationPolygon::get_parsed_collision_mask() const { + return parsed_collision_mask; +} + +void NavigationPolygon::set_parsed_collision_mask_value(int p_layer_number, bool p_value) { + ERR_FAIL_COND_MSG(p_layer_number < 1, "Collision layer number must be between 1 and 32 inclusive."); + ERR_FAIL_COND_MSG(p_layer_number > 32, "Collision layer number must be between 1 and 32 inclusive."); + uint32_t mask = get_parsed_collision_mask(); + if (p_value) { + mask |= 1 << (p_layer_number - 1); + } else { + mask &= ~(1 << (p_layer_number - 1)); + } + set_parsed_collision_mask(mask); +} + +bool NavigationPolygon::get_parsed_collision_mask_value(int p_layer_number) const { + ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Collision layer number must be between 1 and 32 inclusive."); + ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Collision layer number must be between 1 and 32 inclusive."); + return get_parsed_collision_mask() & (1 << (p_layer_number - 1)); +} + +void NavigationPolygon::set_source_geometry_mode(SourceGeometryMode p_geometry_mode) { + ERR_FAIL_INDEX(p_geometry_mode, SOURCE_GEOMETRY_MAX); + source_geometry_mode = p_geometry_mode; + notify_property_list_changed(); +} + +NavigationPolygon::SourceGeometryMode NavigationPolygon::get_source_geometry_mode() const { + return source_geometry_mode; +} + +void NavigationPolygon::set_source_geometry_group_name(const StringName &p_group_name) { + source_geometry_group_name = p_group_name; +} + +StringName NavigationPolygon::get_source_geometry_group_name() const { + return source_geometry_group_name; +} + +void NavigationPolygon::set_agent_radius(real_t p_value) { + ERR_FAIL_COND(p_value < 0); + agent_radius = p_value; +} + +real_t NavigationPolygon::get_agent_radius() const { + return agent_radius; +} + +void NavigationPolygon::set_baking_rect(const Rect2 &p_rect) { + baking_rect = p_rect; + emit_changed(); +} + +Rect2 NavigationPolygon::get_baking_rect() const { + return baking_rect; +} + +void NavigationPolygon::set_baking_rect_offset(const Vector2 &p_rect_offset) { + baking_rect_offset = p_rect_offset; + emit_changed(); +} + +Vector2 NavigationPolygon::get_baking_rect_offset() const { + return baking_rect_offset; +} + +void NavigationPolygon::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationPolygon::set_vertices); + ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationPolygon::get_vertices); + + ClassDB::bind_method(D_METHOD("add_polygon", "polygon"), &NavigationPolygon::add_polygon); + ClassDB::bind_method(D_METHOD("get_polygon_count"), &NavigationPolygon::get_polygon_count); + ClassDB::bind_method(D_METHOD("get_polygon", "idx"), &NavigationPolygon::get_polygon); + ClassDB::bind_method(D_METHOD("clear_polygons"), &NavigationPolygon::clear_polygons); + ClassDB::bind_method(D_METHOD("get_navigation_mesh"), &NavigationPolygon::get_navigation_mesh); + + ClassDB::bind_method(D_METHOD("add_outline", "outline"), &NavigationPolygon::add_outline); + ClassDB::bind_method(D_METHOD("add_outline_at_index", "outline", "index"), &NavigationPolygon::add_outline_at_index); + ClassDB::bind_method(D_METHOD("get_outline_count"), &NavigationPolygon::get_outline_count); + ClassDB::bind_method(D_METHOD("set_outline", "idx", "outline"), &NavigationPolygon::set_outline); + ClassDB::bind_method(D_METHOD("get_outline", "idx"), &NavigationPolygon::get_outline); + ClassDB::bind_method(D_METHOD("remove_outline", "idx"), &NavigationPolygon::remove_outline); + ClassDB::bind_method(D_METHOD("clear_outlines"), &NavigationPolygon::clear_outlines); +#ifndef DISABLE_DEPRECATED + ClassDB::bind_method(D_METHOD("make_polygons_from_outlines"), &NavigationPolygon::make_polygons_from_outlines); +#endif // DISABLE_DEPRECATED + + ClassDB::bind_method(D_METHOD("_set_polygons", "polygons"), &NavigationPolygon::_set_polygons); + ClassDB::bind_method(D_METHOD("_get_polygons"), &NavigationPolygon::_get_polygons); + + ClassDB::bind_method(D_METHOD("_set_outlines", "outlines"), &NavigationPolygon::_set_outlines); + ClassDB::bind_method(D_METHOD("_get_outlines"), &NavigationPolygon::_get_outlines); + + ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &NavigationPolygon::set_cell_size); + ClassDB::bind_method(D_METHOD("get_cell_size"), &NavigationPolygon::get_cell_size); + + ClassDB::bind_method(D_METHOD("set_border_size", "border_size"), &NavigationPolygon::set_border_size); + ClassDB::bind_method(D_METHOD("get_border_size"), &NavigationPolygon::get_border_size); + + ClassDB::bind_method(D_METHOD("set_parsed_geometry_type", "geometry_type"), &NavigationPolygon::set_parsed_geometry_type); + ClassDB::bind_method(D_METHOD("get_parsed_geometry_type"), &NavigationPolygon::get_parsed_geometry_type); + + ClassDB::bind_method(D_METHOD("set_parsed_collision_mask", "mask"), &NavigationPolygon::set_parsed_collision_mask); + ClassDB::bind_method(D_METHOD("get_parsed_collision_mask"), &NavigationPolygon::get_parsed_collision_mask); + + ClassDB::bind_method(D_METHOD("set_parsed_collision_mask_value", "layer_number", "value"), &NavigationPolygon::set_parsed_collision_mask_value); + ClassDB::bind_method(D_METHOD("get_parsed_collision_mask_value", "layer_number"), &NavigationPolygon::get_parsed_collision_mask_value); + + ClassDB::bind_method(D_METHOD("set_source_geometry_mode", "geometry_mode"), &NavigationPolygon::set_source_geometry_mode); + ClassDB::bind_method(D_METHOD("get_source_geometry_mode"), &NavigationPolygon::get_source_geometry_mode); + + ClassDB::bind_method(D_METHOD("set_source_geometry_group_name", "group_name"), &NavigationPolygon::set_source_geometry_group_name); + ClassDB::bind_method(D_METHOD("get_source_geometry_group_name"), &NavigationPolygon::get_source_geometry_group_name); + + ClassDB::bind_method(D_METHOD("set_agent_radius", "agent_radius"), &NavigationPolygon::set_agent_radius); + ClassDB::bind_method(D_METHOD("get_agent_radius"), &NavigationPolygon::get_agent_radius); + + ClassDB::bind_method(D_METHOD("set_baking_rect", "rect"), &NavigationPolygon::set_baking_rect); + ClassDB::bind_method(D_METHOD("get_baking_rect"), &NavigationPolygon::get_baking_rect); + ClassDB::bind_method(D_METHOD("set_baking_rect_offset", "rect_offset"), &NavigationPolygon::set_baking_rect_offset); + ClassDB::bind_method(D_METHOD("get_baking_rect_offset"), &NavigationPolygon::get_baking_rect_offset); + + ClassDB::bind_method(D_METHOD("clear"), &NavigationPolygon::clear); + + ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR2_ARRAY, "vertices", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "set_vertices", "get_vertices"); + ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "polygons", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_polygons", "_get_polygons"); + ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "outlines", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NO_EDITOR | PROPERTY_USAGE_INTERNAL), "_set_outlines", "_get_outlines"); + + ADD_GROUP("Geometry", ""); + ADD_PROPERTY(PropertyInfo(Variant::INT, "parsed_geometry_type", PROPERTY_HINT_ENUM, "Mesh Instances,Static Colliders,Meshes and Static Colliders"), "set_parsed_geometry_type", "get_parsed_geometry_type"); + ADD_PROPERTY(PropertyInfo(Variant::INT, "parsed_collision_mask", PROPERTY_HINT_LAYERS_2D_PHYSICS), "set_parsed_collision_mask", "get_parsed_collision_mask"); + ADD_PROPERTY_DEFAULT("parsed_collision_mask", 0xFFFFFFFF); + ADD_PROPERTY(PropertyInfo(Variant::INT, "source_geometry_mode", PROPERTY_HINT_ENUM, "Root Node Children,Group With Children,Group Explicit"), "set_source_geometry_mode", "get_source_geometry_mode"); + ADD_PROPERTY(PropertyInfo(Variant::STRING, "source_geometry_group_name"), "set_source_geometry_group_name", "get_source_geometry_group_name"); + ADD_PROPERTY_DEFAULT("source_geometry_group_name", StringName("navigation_polygon_source_geometry_group")); + ADD_GROUP("Cells", ""); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell_size", PROPERTY_HINT_RANGE, "1.0,50.0,1.0,or_greater,suffix:px"), "set_cell_size", "get_cell_size"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "border_size", PROPERTY_HINT_RANGE, "0.0,500.0,1.0,or_greater,suffix:px"), "set_border_size", "get_border_size"); + ADD_GROUP("Agents", "agent_"); + ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_radius", PROPERTY_HINT_RANGE, "0.0,500.0,0.01,or_greater,suffix:px"), "set_agent_radius", "get_agent_radius"); + ADD_GROUP("Filters", ""); + ADD_PROPERTY(PropertyInfo(Variant::RECT2, "baking_rect"), "set_baking_rect", "get_baking_rect"); + ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "baking_rect_offset"), "set_baking_rect_offset", "get_baking_rect_offset"); + + BIND_ENUM_CONSTANT(PARSED_GEOMETRY_MESH_INSTANCES); + BIND_ENUM_CONSTANT(PARSED_GEOMETRY_STATIC_COLLIDERS); + BIND_ENUM_CONSTANT(PARSED_GEOMETRY_BOTH); + BIND_ENUM_CONSTANT(PARSED_GEOMETRY_MAX); + + BIND_ENUM_CONSTANT(SOURCE_GEOMETRY_ROOT_NODE_CHILDREN); + BIND_ENUM_CONSTANT(SOURCE_GEOMETRY_GROUPS_WITH_CHILDREN); + BIND_ENUM_CONSTANT(SOURCE_GEOMETRY_GROUPS_EXPLICIT); + BIND_ENUM_CONSTANT(SOURCE_GEOMETRY_MAX); +} + +void NavigationPolygon::_validate_property(PropertyInfo &p_property) const { + if (p_property.name == "parsed_collision_mask") { + if (parsed_geometry_type == PARSED_GEOMETRY_MESH_INSTANCES) { + p_property.usage = PROPERTY_USAGE_NONE; + return; + } + } + + if (p_property.name == "parsed_source_group_name") { + if (source_geometry_mode == SOURCE_GEOMETRY_ROOT_NODE_CHILDREN) { + p_property.usage = PROPERTY_USAGE_NONE; + return; + } + } +} |