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godot/modules/navigation/godot_navigation_server.cpp

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/*************************************************************************/
/* godot_navigation_server.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* 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 "godot_navigation_server.h"
#include "core/os/mutex.h"
#ifndef _3D_DISABLED
#include "navigation_mesh_generator.h"
#endif
/// Creates a struct for each function and a function that once called creates
/// an instance of that struct with the submitted parameters.
/// Then, that struct is stored in an array; the `sync` function consume that array.
#define COMMAND_1(F_NAME, T_0, D_0) \
struct MERGE(F_NAME, _command) : public SetCommand { \
T_0 d_0; \
MERGE(F_NAME, _command) \
(T_0 p_d_0) : \
d_0(p_d_0) {} \
virtual void exec(GodotNavigationServer *server) override { \
server->MERGE(_cmd_, F_NAME)(d_0); \
} \
}; \
void GodotNavigationServer::F_NAME(T_0 D_0) const { \
auto cmd = memnew(MERGE(F_NAME, _command)( \
D_0)); \
add_command(cmd); \
} \
void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0)
#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1) \
struct MERGE(F_NAME, _command) : public SetCommand { \
T_0 d_0; \
T_1 d_1; \
MERGE(F_NAME, _command) \
( \
T_0 p_d_0, \
T_1 p_d_1) : \
d_0(p_d_0), \
d_1(p_d_1) {} \
virtual void exec(GodotNavigationServer *server) override { \
server->MERGE(_cmd_, F_NAME)(d_0, d_1); \
} \
}; \
void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1) const { \
auto cmd = memnew(MERGE(F_NAME, _command)( \
D_0, \
D_1)); \
add_command(cmd); \
} \
void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
#define COMMAND_4(F_NAME, T_0, D_0, T_1, D_1, T_2, D_2, T_3, D_3) \
struct MERGE(F_NAME, _command) : public SetCommand { \
T_0 d_0; \
T_1 d_1; \
T_2 d_2; \
T_3 d_3; \
MERGE(F_NAME, _command) \
( \
T_0 p_d_0, \
T_1 p_d_1, \
T_2 p_d_2, \
T_3 p_d_3) : \
d_0(p_d_0), \
d_1(p_d_1), \
d_2(p_d_2), \
d_3(p_d_3) {} \
virtual void exec(GodotNavigationServer *server) override { \
server->MERGE(_cmd_, F_NAME)(d_0, d_1, d_2, d_3); \
} \
}; \
void GodotNavigationServer::F_NAME(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3) const { \
auto cmd = memnew(MERGE(F_NAME, _command)( \
D_0, \
D_1, \
D_2, \
D_3)); \
add_command(cmd); \
} \
void GodotNavigationServer::MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1, T_2 D_2, T_3 D_3)
GodotNavigationServer::GodotNavigationServer() {}
GodotNavigationServer::~GodotNavigationServer() {
flush_queries();
}
void GodotNavigationServer::add_command(SetCommand *command) const {
GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
{
MutexLock lock(commands_mutex);
mut_this->commands.push_back(command);
}
}
TypedArray<RID> GodotNavigationServer::get_maps() const {
TypedArray<RID> all_map_rids;
List<RID> maps_owned;
map_owner.get_owned_list(&maps_owned);
if (maps_owned.size()) {
for (const RID &E : maps_owned) {
all_map_rids.push_back(E);
}
}
return all_map_rids;
}
RID GodotNavigationServer::map_create() const {
GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
RID rid = map_owner.make_rid();
NavMap *space = map_owner.get_or_null(rid);
space->set_self(rid);
return rid;
}
COMMAND_2(map_set_active, RID, p_map, bool, p_active) {
NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND(map == nullptr);
if (p_active) {
if (!map_is_active(p_map)) {
active_maps.push_back(map);
active_maps_update_id.push_back(map->get_map_update_id());
}
} else {
int map_index = active_maps.find(map);
ERR_FAIL_COND(map_index < 0);
active_maps.remove_at(map_index);
active_maps_update_id.remove_at(map_index);
}
}
bool GodotNavigationServer::map_is_active(RID p_map) const {
NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, false);
return active_maps.find(map) >= 0;
}
COMMAND_2(map_set_up, RID, p_map, Vector3, p_up) {
NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND(map == nullptr);
map->set_up(p_up);
}
Vector3 GodotNavigationServer::map_get_up(RID p_map) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector3());
return map->get_up();
}
COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size) {
NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND(map == nullptr);
map->set_cell_size(p_cell_size);
}
real_t GodotNavigationServer::map_get_cell_size(RID p_map) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, 0);
return map->get_cell_size();
}
COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin) {
NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND(map == nullptr);
map->set_edge_connection_margin(p_connection_margin);
}
real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, 0);
return map->get_edge_connection_margin();
}
Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());
return map->get_path(p_origin, p_destination, p_optimize, p_navigation_layers);
}
Vector3 GodotNavigationServer::map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector3());
return map->get_closest_point_to_segment(p_from, p_to, p_use_collision);
}
Vector3 GodotNavigationServer::map_get_closest_point(RID p_map, const Vector3 &p_point) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector3());
return map->get_closest_point(p_point);
}
Vector3 GodotNavigationServer::map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector3());
return map->get_closest_point_normal(p_point);
}
RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, RID());
return map->get_closest_point_owner(p_point);
}
TypedArray<RID> GodotNavigationServer::map_get_regions(RID p_map) const {
TypedArray<RID> regions_rids;
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, regions_rids);
const LocalVector<NavRegion *> regions = map->get_regions();
regions_rids.resize(regions.size());
for (uint32_t i = 0; i < regions.size(); i++) {
regions_rids[i] = regions[i]->get_self();
}
return regions_rids;
}
TypedArray<RID> GodotNavigationServer::map_get_agents(RID p_map) const {
TypedArray<RID> agents_rids;
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, agents_rids);
const LocalVector<RvoAgent *> agents = map->get_agents();
agents_rids.resize(agents.size());
for (uint32_t i = 0; i < agents.size(); i++) {
agents_rids[i] = agents[i]->get_self();
}
return agents_rids;
}
RID GodotNavigationServer::region_get_map(RID p_region) const {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(region == nullptr, RID());
if (region->get_map()) {
return region->get_map()->get_self();
}
return RID();
}
RID GodotNavigationServer::agent_get_map(RID p_agent) const {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND_V(agent == nullptr, RID());
if (agent->get_map()) {
return agent->get_map()->get_self();
}
return RID();
}
RID GodotNavigationServer::region_create() const {
GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
RID rid = region_owner.make_rid();
NavRegion *reg = region_owner.get_or_null(rid);
reg->set_self(rid);
return rid;
}
COMMAND_2(region_set_map, RID, p_region, RID, p_map) {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND(region == nullptr);
if (region->get_map() != nullptr) {
if (region->get_map()->get_self() == p_map) {
return; // Pointless
}
region->get_map()->remove_region(region);
region->set_map(nullptr);
}
if (p_map.is_valid()) {
NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND(map == nullptr);
map->add_region(region);
region->set_map(map);
}
}
COMMAND_2(region_set_transform, RID, p_region, Transform3D, p_transform) {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND(region == nullptr);
region->set_transform(p_transform);
}
COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost) {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND(region == nullptr);
ERR_FAIL_COND(p_enter_cost < 0.0);
region->set_enter_cost(p_enter_cost);
}
real_t GodotNavigationServer::region_get_enter_cost(RID p_region) const {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(region == nullptr, 0);
return region->get_enter_cost();
}
COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost) {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND(region == nullptr);
ERR_FAIL_COND(p_travel_cost < 0.0);
region->set_travel_cost(p_travel_cost);
}
real_t GodotNavigationServer::region_get_travel_cost(RID p_region) const {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(region == nullptr, 0);
return region->get_travel_cost();
}
bool GodotNavigationServer::region_owns_point(RID p_region, const Vector3 &p_point) const {
const NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(region == nullptr, false);
if (region->get_map()) {
RID closest_point_owner = map_get_closest_point_owner(region->get_map()->get_self(), p_point);
return closest_point_owner == region->get_self();
}
return false;
}
COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers) {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND(region == nullptr);
region->set_navigation_layers(p_navigation_layers);
}
uint32_t GodotNavigationServer::region_get_navigation_layers(RID p_region) const {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(region == nullptr, 0);
return region->get_navigation_layers();
}
COMMAND_2(region_set_navmesh, RID, p_region, Ref<NavigationMesh>, p_nav_mesh) {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND(region == nullptr);
region->set_mesh(p_nav_mesh);
}
void GodotNavigationServer::region_bake_navmesh(Ref<NavigationMesh> r_mesh, Node *p_node) const {
ERR_FAIL_COND(r_mesh.is_null());
ERR_FAIL_COND(p_node == nullptr);
#ifndef _3D_DISABLED
NavigationMeshGenerator::get_singleton()->clear(r_mesh);
NavigationMeshGenerator::get_singleton()->bake(r_mesh, p_node);
#endif
}
int GodotNavigationServer::region_get_connections_count(RID p_region) const {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(!region, 0);
return region->get_connections_count();
}
Vector3 GodotNavigationServer::region_get_connection_pathway_start(RID p_region, int p_connection_id) const {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(!region, Vector3());
return region->get_connection_pathway_start(p_connection_id);
}
Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, int p_connection_id) const {
NavRegion *region = region_owner.get_or_null(p_region);
ERR_FAIL_COND_V(!region, Vector3());
return region->get_connection_pathway_end(p_connection_id);
}
RID GodotNavigationServer::agent_create() const {
GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
RID rid = agent_owner.make_rid();
RvoAgent *agent = agent_owner.get_or_null(rid);
agent->set_self(rid);
return rid;
}
COMMAND_2(agent_set_map, RID, p_agent, RID, p_map) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
if (agent->get_map()) {
if (agent->get_map()->get_self() == p_map) {
return; // Pointless
}
agent->get_map()->remove_agent(agent);
}
agent->set_map(nullptr);
if (p_map.is_valid()) {
NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND(map == nullptr);
agent->set_map(map);
map->add_agent(agent);
if (agent->has_callback()) {
map->set_agent_as_controlled(agent);
}
}
}
COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->neighborDist_ = p_distance;
}
COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->maxNeighbors_ = p_count;
}
COMMAND_2(agent_set_time_horizon, RID, p_agent, real_t, p_time) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->timeHorizon_ = p_time;
}
COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->radius_ = p_radius;
}
COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->maxSpeed_ = p_max_speed;
}
COMMAND_2(agent_set_velocity, RID, p_agent, Vector3, p_velocity) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->velocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
}
COMMAND_2(agent_set_target_velocity, RID, p_agent, Vector3, p_velocity) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->prefVelocity_ = RVO::Vector3(p_velocity.x, p_velocity.y, p_velocity.z);
}
COMMAND_2(agent_set_position, RID, p_agent, Vector3, p_position) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->position_ = RVO::Vector3(p_position.x, p_position.y, p_position.z);
}
COMMAND_2(agent_set_ignore_y, RID, p_agent, bool, p_ignore) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->get_agent()->ignore_y_ = p_ignore;
}
bool GodotNavigationServer::agent_is_map_changed(RID p_agent) const {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND_V(agent == nullptr, false);
return agent->is_map_changed();
}
COMMAND_4(agent_set_callback, RID, p_agent, Object *, p_receiver, StringName, p_method, Variant, p_udata) {
RvoAgent *agent = agent_owner.get_or_null(p_agent);
ERR_FAIL_COND(agent == nullptr);
agent->set_callback(p_receiver == nullptr ? ObjectID() : p_receiver->get_instance_id(), p_method, p_udata);
if (agent->get_map()) {
if (p_receiver == nullptr) {
agent->get_map()->remove_agent_as_controlled(agent);
} else {
agent->get_map()->set_agent_as_controlled(agent);
}
}
}
COMMAND_1(free, RID, p_object) {
if (map_owner.owns(p_object)) {
NavMap *map = map_owner.get_or_null(p_object);
// Removes any assigned region
LocalVector<NavRegion *> regions = map->get_regions();
for (uint32_t i = 0; i < regions.size(); i++) {
map->remove_region(regions[i]);
regions[i]->set_map(nullptr);
}
// Remove any assigned agent
LocalVector<RvoAgent *> agents = map->get_agents();
for (uint32_t i = 0; i < agents.size(); i++) {
map->remove_agent(agents[i]);
agents[i]->set_map(nullptr);
}
int map_index = active_maps.find(map);
active_maps.remove_at(map_index);
active_maps_update_id.remove_at(map_index);
map_owner.free(p_object);
} else if (region_owner.owns(p_object)) {
NavRegion *region = region_owner.get_or_null(p_object);
// Removes this region from the map if assigned
if (region->get_map() != nullptr) {
region->get_map()->remove_region(region);
region->set_map(nullptr);
}
region_owner.free(p_object);
} else if (agent_owner.owns(p_object)) {
RvoAgent *agent = agent_owner.get_or_null(p_object);
// Removes this agent from the map if assigned
if (agent->get_map() != nullptr) {
agent->get_map()->remove_agent(agent);
agent->set_map(nullptr);
}
agent_owner.free(p_object);
} else {
ERR_FAIL_COND("Invalid ID.");
}
}
void GodotNavigationServer::set_active(bool p_active) const {
GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
mut_this->active = p_active;
}
void GodotNavigationServer::flush_queries() {
// In c++ we can't be sure that this is performed in the main thread
// even with mutable functions.
MutexLock lock(commands_mutex);
MutexLock lock2(operations_mutex);
for (size_t i(0); i < commands.size(); i++) {
commands[i]->exec(this);
memdelete(commands[i]);
}
commands.clear();
}
void GodotNavigationServer::map_force_update(RID p_map) {
NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND(map == nullptr);
flush_queries();
map->sync();
}
void GodotNavigationServer::process(real_t p_delta_time) {
flush_queries();
if (!active) {
return;
}
// In c++ we can't be sure that this is performed in the main thread
// even with mutable functions.
MutexLock lock(operations_mutex);
for (uint32_t i(0); i < active_maps.size(); i++) {
active_maps[i]->sync();
active_maps[i]->step(p_delta_time);
active_maps[i]->dispatch_callbacks();
// Emit a signal if a map changed.
const uint32_t new_map_update_id = active_maps[i]->get_map_update_id();
if (new_map_update_id != active_maps_update_id[i]) {
emit_signal(SNAME("map_changed"), active_maps[i]->get_self());
active_maps_update_id[i] = new_map_update_id;
}
}
}
#undef COMMAND_1
#undef COMMAND_2
#undef COMMAND_4
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