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/**************************************************************************/
/* nav_map.h */
/**************************************************************************/
/* This file is part of: */
/* REDOT ENGINE */
/* https://redotengine.org */
/**************************************************************************/
/* Copyright (c) 2024-present Redot Engine contributors */
/* (see REDOT_AUTHORS.md) */
/* 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 NAV_MAP_H
#define NAV_MAP_H
#include "nav_rid.h"
#include "nav_utils.h"
#include "core/math/math_defs.h"
#include "core/object/worker_thread_pool.h"
#include "servers/navigation/navigation_globals.h"
#include <KdTree2d.h>
#include <KdTree3d.h>
#include <RVOSimulator2d.h>
#include <RVOSimulator3d.h>
class NavLink;
class NavRegion;
class NavAgent;
class NavObstacle;
class NavMap : public NavRid {
RWLock map_rwlock;
/// Map Up
Vector3 up = Vector3(0, 1, 0);
/// To find the polygons edges the vertices are displaced in a grid where
/// each cell has the following cell_size and cell_height.
real_t cell_size = NavigationDefaults3D::navmesh_cell_size;
real_t cell_height = NavigationDefaults3D::navmesh_cell_height;
// For the inter-region merging to work, internal rasterization is performed.
float merge_rasterizer_cell_size = NavigationDefaults3D::navmesh_cell_size;
float merge_rasterizer_cell_height = NavigationDefaults3D::navmesh_cell_height;
// This value is used to control sensitivity of internal rasterizer.
float merge_rasterizer_cell_scale = 1.0;
bool use_edge_connections = true;
/// This value is used to detect the near edges to connect.
real_t edge_connection_margin = NavigationDefaults3D::edge_connection_margin;
/// This value is used to limit how far links search to find polygons to connect to.
real_t link_connection_radius = NavigationDefaults3D::link_connection_radius;
bool regenerate_polygons = true;
bool regenerate_links = true;
/// Map regions
LocalVector<NavRegion *> regions;
/// Map links
LocalVector<NavLink *> links;
LocalVector<gd::Polygon> link_polygons;
/// Map polygons
LocalVector<gd::Polygon> polygons;
/// RVO avoidance worlds
RVO2D::RVOSimulator2D rvo_simulation_2d;
RVO3D::RVOSimulator3D rvo_simulation_3d;
/// avoidance controlled agents
LocalVector<NavAgent *> active_2d_avoidance_agents;
LocalVector<NavAgent *> active_3d_avoidance_agents;
/// dirty flag when one of the agent's arrays are modified
bool agents_dirty = true;
/// All the Agents (even the controlled one)
LocalVector<NavAgent *> agents;
/// All the avoidance obstacles (both static and dynamic)
LocalVector<NavObstacle *> obstacles;
/// Are rvo obstacles modified?
bool obstacles_dirty = true;
/// Physics delta time
real_t deltatime = 0.0;
/// Change the id each time the map is updated.
uint32_t iteration_id = 0;
bool use_threads = true;
bool avoidance_use_multiple_threads = true;
bool avoidance_use_high_priority_threads = true;
// Performance Monitor
gd::PerformanceData performance_data;
HashMap<NavRegion *, LocalVector<gd::Edge::Connection>> region_external_connections;
struct ConnectionPair {
gd::Edge::Connection connections[2];
int size = 0;
};
HashMap<gd::EdgeKey, ConnectionPair, gd::EdgeKey> connection_pairs_map;
LocalVector<gd::Edge::Connection> free_edges;
public:
NavMap();
~NavMap();
uint32_t get_iteration_id() const { return iteration_id; }
void set_up(Vector3 p_up);
Vector3 get_up() const {
return up;
}
void set_cell_size(real_t p_cell_size);
real_t get_cell_size() const {
return cell_size;
}
void set_cell_height(real_t p_cell_height);
real_t get_cell_height() const { return cell_height; }
void set_merge_rasterizer_cell_scale(float p_value);
float get_merge_rasterizer_cell_scale() const {
return merge_rasterizer_cell_scale;
}
void set_use_edge_connections(bool p_enabled);
bool get_use_edge_connections() const {
return use_edge_connections;
}
void set_edge_connection_margin(real_t p_edge_connection_margin);
real_t get_edge_connection_margin() const {
return edge_connection_margin;
}
void set_link_connection_radius(real_t p_link_connection_radius);
real_t get_link_connection_radius() const {
return link_connection_radius;
}
gd::PointKey get_point_key(const Vector3 &p_pos) const;
Vector<Vector3> 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;
Vector3 get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const;
Vector3 get_closest_point(const Vector3 &p_point) const;
Vector3 get_closest_point_normal(const Vector3 &p_point) const;
gd::ClosestPointQueryResult get_closest_point_info(const Vector3 &p_point) const;
RID get_closest_point_owner(const Vector3 &p_point) const;
void add_region(NavRegion *p_region);
void remove_region(NavRegion *p_region);
const LocalVector<NavRegion *> &get_regions() const {
return regions;
}
void add_link(NavLink *p_link);
void remove_link(NavLink *p_link);
const LocalVector<NavLink *> &get_links() const {
return links;
}
bool has_agent(NavAgent *agent) const;
void add_agent(NavAgent *agent);
void remove_agent(NavAgent *agent);
const LocalVector<NavAgent *> &get_agents() const {
return agents;
}
void set_agent_as_controlled(NavAgent *agent);
void remove_agent_as_controlled(NavAgent *agent);
bool has_obstacle(NavObstacle *obstacle) const;
void add_obstacle(NavObstacle *obstacle);
void remove_obstacle(NavObstacle *obstacle);
const LocalVector<NavObstacle *> &get_obstacles() const {
return obstacles;
}
Vector3 get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const;
void sync();
void step(real_t p_deltatime);
void dispatch_callbacks();
// Performance Monitor
int get_pm_region_count() const { return performance_data.pm_region_count; }
int get_pm_agent_count() const { return performance_data.pm_agent_count; }
int get_pm_link_count() const { return performance_data.pm_link_count; }
int get_pm_polygon_count() const { return performance_data.pm_polygon_count; }
int get_pm_edge_count() const { return performance_data.pm_edge_count; }
int get_pm_edge_merge_count() const { return performance_data.pm_edge_merge_count; }
int get_pm_edge_connection_count() const { return performance_data.pm_edge_connection_count; }
int get_pm_edge_free_count() const { return performance_data.pm_edge_free_count; }
int get_pm_obstacle_count() const { return performance_data.pm_obstacle_count; }
int get_region_connections_count(NavRegion *p_region) const;
Vector3 get_region_connection_pathway_start(NavRegion *p_region, int p_connection_id) const;
Vector3 get_region_connection_pathway_end(NavRegion *p_region, int p_connection_id) const;
private:
void compute_single_step(uint32_t index, NavAgent **agent);
void compute_single_avoidance_step_2d(uint32_t index, NavAgent **agent);
void compute_single_avoidance_step_3d(uint32_t index, NavAgent **agent);
void _update_rvo_simulation();
void _update_rvo_obstacles_tree_2d();
void _update_rvo_agents_tree_2d();
void _update_rvo_agents_tree_3d();
void _update_merge_rasterizer_cell_dimensions();
};
#endif // NAV_MAP_H
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