godot/modules/navigation/nav_utils.h

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/**************************************************************************/
/* nav_utils.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 NAV_UTILS_H
#define NAV_UTILS_H
#include "core/math/vector3.h"
#include "core/templates/hash_map.h"
#include "core/templates/hashfuncs.h"
#include "core/templates/local_vector.h"
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class NavBase;
namespace gd {
struct Polygon;
union PointKey {
struct {
int64_t x : 21;
int64_t y : 22;
int64_t z : 21;
};
uint64_t key = 0;
};
struct EdgeKey {
PointKey a;
PointKey b;
static uint32_t hash(const EdgeKey &p_val) {
return hash_one_uint64(p_val.a.key) ^ hash_one_uint64(p_val.b.key);
}
bool operator==(const EdgeKey &p_key) const {
return (a.key == p_key.a.key) && (b.key == p_key.b.key);
}
EdgeKey(const PointKey &p_a = PointKey(), const PointKey &p_b = PointKey()) :
a(p_a),
b(p_b) {
if (a.key > b.key) {
SWAP(a, b);
}
}
};
struct Point {
Vector3 pos;
PointKey key;
};
struct Edge {
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/// The gateway in the edge, as, in some case, the whole edge might not be navigable.
struct Connection {
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/// Polygon that this connection leads to.
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Polygon *polygon = nullptr;
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/// Edge of the source polygon where this connection starts from.
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int edge = -1;
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/// Point on the edge where the gateway leading to the poly starts.
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Vector3 pathway_start;
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/// Point on the edge where the gateway leading to the poly ends.
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Vector3 pathway_end;
};
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/// Connections from this edge to other polygons.
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Vector<Connection> connections;
};
struct Polygon {
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/// Navigation region or link that contains this polygon.
const NavBase *owner = nullptr;
/// The points of this `Polygon`
LocalVector<Point> points;
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/// Are the points clockwise?
bool clockwise;
/// The edges of this `Polygon`
LocalVector<Edge> edges;
/// The center of this `Polygon`
Vector3 center;
real_t surface_area = 0.0;
};
struct NavigationPoly {
uint32_t self_id = 0;
/// This poly.
const Polygon *poly;
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/// Those 4 variables are used to travel the path backwards.
int back_navigation_poly_id = -1;
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int back_navigation_edge = -1;
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Vector3 back_navigation_edge_pathway_start;
Vector3 back_navigation_edge_pathway_end;
/// The entry position of this poly.
Vector3 entry;
/// The distance to the destination.
real_t traveled_distance = 0.0;
NavigationPoly() { poly = nullptr; }
NavigationPoly(const Polygon *p_poly) :
poly(p_poly) {}
bool operator==(const NavigationPoly &other) const {
return poly == other.poly;
}
bool operator!=(const NavigationPoly &other) const {
return !operator==(other);
}
};
struct ClosestPointQueryResult {
Vector3 point;
Vector3 normal;
RID owner;
};
} // namespace gd
#endif // NAV_UTILS_H