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/**************************************************************************/
/* nav_region.cpp */
/**************************************************************************/
/* 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. */
/**************************************************************************/
#include "nav_region.h"
#include "nav_map.h"
#include "3d/nav_mesh_queries_3d.h"
void NavRegion::set_map(NavMap *p_map) {
if (map == p_map) {
return;
}
if (map) {
map->remove_region(this);
}
map = p_map;
polygons_dirty = true;
if (map) {
map->add_region(this);
}
}
void NavRegion::set_enabled(bool p_enabled) {
if (enabled == p_enabled) {
return;
}
enabled = p_enabled;
// TODO: This should not require a full rebuild as the region has not really changed.
polygons_dirty = true;
}
void NavRegion::set_use_edge_connections(bool p_enabled) {
if (use_edge_connections != p_enabled) {
use_edge_connections = p_enabled;
polygons_dirty = true;
}
}
void NavRegion::set_transform(Transform3D p_transform) {
if (transform == p_transform) {
return;
}
transform = p_transform;
polygons_dirty = true;
#ifdef DEBUG_ENABLED
if (map && Math::rad_to_deg(map->get_up().angle_to(transform.basis.get_column(1))) >= 90.0f) {
ERR_PRINT_ONCE("Attempted to update a navigation region transform rotated 90 degrees or more away from the current navigation map UP orientation.");
}
#endif // DEBUG_ENABLED
}
void NavRegion::set_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh) {
#ifdef DEBUG_ENABLED
if (map && p_navigation_mesh.is_valid() && !Math::is_equal_approx(double(map->get_cell_size()), double(p_navigation_mesh->get_cell_size()))) {
ERR_PRINT_ONCE(vformat("Attempted to update a navigation region with a navigation mesh that uses a `cell_size` of %s while assigned to a navigation map set to a `cell_size` of %s. The cell size for navigation maps can be changed by using the NavigationServer map_set_cell_size() function. The cell size for default navigation maps can also be changed in the ProjectSettings.", double(p_navigation_mesh->get_cell_size()), double(map->get_cell_size())));
}
if (map && p_navigation_mesh.is_valid() && !Math::is_equal_approx(double(map->get_cell_height()), double(p_navigation_mesh->get_cell_height()))) {
ERR_PRINT_ONCE(vformat("Attempted to update a navigation region with a navigation mesh that uses a `cell_height` of %s while assigned to a navigation map set to a `cell_height` of %s. The cell height for navigation maps can be changed by using the NavigationServer map_set_cell_height() function. The cell height for default navigation maps can also be changed in the ProjectSettings.", double(p_navigation_mesh->get_cell_height()), double(map->get_cell_height())));
}
#endif // DEBUG_ENABLED
RWLockWrite write_lock(navmesh_rwlock);
pending_navmesh_vertices.clear();
pending_navmesh_polygons.clear();
if (p_navigation_mesh.is_valid()) {
p_navigation_mesh->get_data(pending_navmesh_vertices, pending_navmesh_polygons);
}
polygons_dirty = true;
}
Vector3 NavRegion::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, bool p_use_collision) const {
RWLockRead read_lock(region_rwlock);
return NavMeshQueries3D::polygons_get_closest_point_to_segment(
get_polygons(), p_from, p_to, p_use_collision);
}
gd::ClosestPointQueryResult NavRegion::get_closest_point_info(const Vector3 &p_point) const {
RWLockRead read_lock(region_rwlock);
return NavMeshQueries3D::polygons_get_closest_point_info(get_polygons(), p_point);
}
Vector3 NavRegion::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const {
RWLockRead read_lock(region_rwlock);
if (!get_enabled()) {
return Vector3();
}
return NavMeshQueries3D::polygons_get_random_point(get_polygons(), p_navigation_layers, p_uniformly);
}
bool NavRegion::sync() {
RWLockWrite write_lock(region_rwlock);
bool something_changed = polygons_dirty /* || something_dirty? */;
update_polygons();
return something_changed;
}
void NavRegion::update_polygons() {
if (!polygons_dirty) {
return;
}
polygons.clear();
surface_area = 0.0;
polygons_dirty = false;
if (map == nullptr) {
return;
}
RWLockRead read_lock(navmesh_rwlock);
if (pending_navmesh_vertices.is_empty() || pending_navmesh_polygons.is_empty()) {
return;
}
int len = pending_navmesh_vertices.size();
if (len == 0) {
return;
}
const Vector3 *vertices_r = pending_navmesh_vertices.ptr();
polygons.resize(pending_navmesh_polygons.size());
real_t _new_region_surface_area = 0.0;
// Build
int navigation_mesh_polygon_index = 0;
for (gd::Polygon &polygon : polygons) {
polygon.owner = this;
polygon.surface_area = 0.0;
Vector<int> navigation_mesh_polygon = pending_navmesh_polygons[navigation_mesh_polygon_index];
navigation_mesh_polygon_index += 1;
int navigation_mesh_polygon_size = navigation_mesh_polygon.size();
if (navigation_mesh_polygon_size < 3) {
continue;
}
const int *indices = navigation_mesh_polygon.ptr();
bool valid(true);
polygon.points.resize(navigation_mesh_polygon_size);
polygon.edges.resize(navigation_mesh_polygon_size);
real_t _new_polygon_surface_area = 0.0;
for (int j(2); j < navigation_mesh_polygon_size; j++) {
const Face3 face = Face3(
transform.xform(vertices_r[indices[0]]),
transform.xform(vertices_r[indices[j - 1]]),
transform.xform(vertices_r[indices[j]]));
_new_polygon_surface_area += face.get_area();
}
polygon.surface_area = _new_polygon_surface_area;
_new_region_surface_area += _new_polygon_surface_area;
for (int j(0); j < navigation_mesh_polygon_size; j++) {
int idx = indices[j];
if (idx < 0 || idx >= len) {
valid = false;
break;
}
Vector3 point_position = transform.xform(vertices_r[idx]);
polygon.points[j].pos = point_position;
polygon.points[j].key = map->get_point_key(point_position);
}
if (!valid) {
ERR_BREAK_MSG(!valid, "The navigation mesh set in this region is not valid!");
}
}
surface_area = _new_region_surface_area;
}
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