godot/modules/navigation/godot_navigation_server_2d.h
smix8 64a56245d8 Add NavigationServer random point queries
Adds query functions to get random points on navigation mesh to the NavigationServer.
2023-12-08 00:18:05 +01:00

237 lines
13 KiB
C++

/**************************************************************************/
/* godot_navigation_server_2d.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 */
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/* 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 */
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/**************************************************************************/
#ifndef GODOT_NAVIGATION_SERVER_2D_H
#define GODOT_NAVIGATION_SERVER_2D_H
#include "nav_agent.h"
#include "nav_link.h"
#include "nav_map.h"
#include "nav_obstacle.h"
#include "nav_region.h"
#include "servers/navigation_server_2d.h"
#ifdef CLIPPER2_ENABLED
class NavMeshGenerator2D;
#endif // CLIPPER2_ENABLED
// This server exposes the `NavigationServer3D` features in the 2D world.
class GodotNavigationServer2D : public NavigationServer2D {
GDCLASS(GodotNavigationServer2D, NavigationServer2D);
#ifdef CLIPPER2_ENABLED
NavMeshGenerator2D *navmesh_generator_2d = nullptr;
#endif // CLIPPER2_ENABLED
public:
GodotNavigationServer2D();
virtual ~GodotNavigationServer2D();
virtual TypedArray<RID> get_maps() const override;
virtual RID map_create() override;
virtual void map_set_active(RID p_map, bool p_active) override;
virtual bool map_is_active(RID p_map) const override;
virtual void map_set_cell_size(RID p_map, real_t p_cell_size) override;
virtual real_t map_get_cell_size(RID p_map) const override;
virtual void map_set_use_edge_connections(RID p_map, bool p_enabled) override;
virtual bool map_get_use_edge_connections(RID p_map) const override;
virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) override;
virtual real_t map_get_edge_connection_margin(RID p_map) const override;
virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) override;
virtual real_t map_get_link_connection_radius(RID p_map) const override;
virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const override;
virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const override;
virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const override;
virtual TypedArray<RID> map_get_links(RID p_map) const override;
virtual TypedArray<RID> map_get_regions(RID p_map) const override;
virtual TypedArray<RID> map_get_agents(RID p_map) const override;
virtual TypedArray<RID> map_get_obstacles(RID p_map) const override;
virtual void map_force_update(RID p_map) override;
virtual Vector2 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const override;
virtual RID region_create() override;
virtual void region_set_enabled(RID p_region, bool p_enabled) override;
virtual bool region_get_enabled(RID p_region) const override;
virtual void region_set_use_edge_connections(RID p_region, bool p_enabled) override;
virtual bool region_get_use_edge_connections(RID p_region) const override;
virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) override;
virtual real_t region_get_enter_cost(RID p_region) const override;
virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) override;
virtual real_t region_get_travel_cost(RID p_region) const override;
virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) override;
virtual ObjectID region_get_owner_id(RID p_region) const override;
virtual bool region_owns_point(RID p_region, const Vector2 &p_point) const override;
virtual void region_set_map(RID p_region, RID p_map) override;
virtual RID region_get_map(RID p_region) const override;
virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) override;
virtual uint32_t region_get_navigation_layers(RID p_region) const override;
virtual void region_set_transform(RID p_region, Transform2D p_transform) override;
virtual void region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon) override;
virtual int region_get_connections_count(RID p_region) const override;
virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override;
virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override;
virtual Vector2 region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const override;
virtual RID link_create() override;
/// Set the map of this link.
virtual void link_set_map(RID p_link, RID p_map) override;
virtual RID link_get_map(RID p_link) const override;
virtual void link_set_enabled(RID p_link, bool p_enabled) override;
virtual bool link_get_enabled(RID p_link) const override;
/// Set whether this link travels in both directions.
virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) override;
virtual bool link_is_bidirectional(RID p_link) const override;
/// Set the link's layers.
virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) override;
virtual uint32_t link_get_navigation_layers(RID p_link) const override;
/// Set the start position of the link.
virtual void link_set_start_position(RID p_link, Vector2 p_position) override;
virtual Vector2 link_get_start_position(RID p_link) const override;
/// Set the end position of the link.
virtual void link_set_end_position(RID p_link, Vector2 p_position) override;
virtual Vector2 link_get_end_position(RID p_link) const override;
/// Set the enter cost of the link.
virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) override;
virtual real_t link_get_enter_cost(RID p_link) const override;
/// Set the travel cost of the link.
virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) override;
virtual real_t link_get_travel_cost(RID p_link) const override;
/// Set the node which manages this link.
virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) override;
virtual ObjectID link_get_owner_id(RID p_link) const override;
/// Creates the agent.
virtual RID agent_create() override;
/// Put the agent in the map.
virtual void agent_set_map(RID p_agent, RID p_map) override;
virtual RID agent_get_map(RID p_agent) const override;
virtual void agent_set_paused(RID p_agent, bool p_paused) override;
virtual bool agent_get_paused(RID p_agent) const override;
virtual void agent_set_avoidance_enabled(RID p_agent, bool p_enabled) override;
virtual bool agent_get_avoidance_enabled(RID p_agent) const override;
/// The maximum distance (center point to
/// center point) to other agents this agent
/// takes into account in the navigation. The
/// larger this number, the longer the running
/// time of the simulation. If the number is too
/// low, the simulation will not be safe.
/// Must be non-negative.
virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) override;
/// The maximum number of other agents this
/// agent takes into account in the navigation.
/// The larger this number, the longer the
/// running time of the simulation. If the
/// number is too low, the simulation will not
/// be safe.
virtual void agent_set_max_neighbors(RID p_agent, int p_count) override;
/// The minimal amount of time for which this
/// agent's velocities that are computed by the
/// simulation are safe with respect to other
/// agents. The larger this number, the sooner
/// this agent will respond to the presence of
/// other agents, but the less freedom this
/// agent has in choosing its velocities.
/// Must be positive.
virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon) override;
virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon) override;
/// The radius of this agent.
/// Must be non-negative.
virtual void agent_set_radius(RID p_agent, real_t p_radius) override;
/// The maximum speed of this agent.
/// Must be non-negative.
virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) override;
/// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly
virtual void agent_set_velocity_forced(RID p_agent, Vector2 p_velocity) override;
/// The wanted velocity for the agent as a "suggestion" to the avoidance simulation.
/// The simulation will try to fulfill this velocity wish if possible but may change the velocity depending on other agent's and obstacles'.
virtual void agent_set_velocity(RID p_agent, Vector2 p_velocity) override;
/// Position of the agent in world space.
virtual void agent_set_position(RID p_agent, Vector2 p_position) override;
/// Returns true if the map got changed the previous frame.
virtual bool agent_is_map_changed(RID p_agent) const override;
/// Callback called at the end of the RVO process
virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback) override;
virtual void agent_set_avoidance_layers(RID p_agent, uint32_t p_layers) override;
virtual void agent_set_avoidance_mask(RID p_agent, uint32_t p_mask) override;
virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority) override;
virtual RID obstacle_create() override;
virtual void obstacle_set_avoidance_enabled(RID p_obstacle, bool p_enabled) override;
virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const override;
virtual void obstacle_set_map(RID p_obstacle, RID p_map) override;
virtual RID obstacle_get_map(RID p_obstacle) const override;
virtual void obstacle_set_paused(RID p_obstacle, bool p_paused) override;
virtual bool obstacle_get_paused(RID p_obstacle) const override;
virtual void obstacle_set_radius(RID p_obstacle, real_t p_radius) override;
virtual void obstacle_set_velocity(RID p_obstacle, Vector2 p_velocity) override;
virtual void obstacle_set_position(RID p_obstacle, Vector2 p_position) override;
virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector2> &p_vertices) override;
virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers) override;
virtual void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const override;
virtual void init() override;
virtual void sync() override;
virtual void finish() override;
virtual void free(RID p_object) override;
virtual void parse_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) override;
virtual void bake_from_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
virtual void bake_from_source_geometry_data_async(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) override;
};
#endif // GODOT_NAVIGATION_SERVER_2D_H