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https://github.com/godotengine/godot
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d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
364 lines
16 KiB
C++
364 lines
16 KiB
C++
/**************************************************************************/
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/* navigation_server_3d.h */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#ifndef NAVIGATION_SERVER_3D_H
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#define NAVIGATION_SERVER_3D_H
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#include "core/object/class_db.h"
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#include "core/templates/rid.h"
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#include "scene/3d/navigation_region_3d.h"
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#include "servers/navigation/navigation_path_query_parameters_3d.h"
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#include "servers/navigation/navigation_path_query_result_3d.h"
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/// This server uses the concept of internal mutability.
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/// All the constant functions can be called in multithread because internally
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/// the server takes care to schedule the functions access.
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///
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/// Note: All the `set` functions are commands executed during the `sync` phase,
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/// don't expect that a change is immediately propagated.
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class NavigationServer3D : public Object {
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GDCLASS(NavigationServer3D, Object);
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static NavigationServer3D *singleton;
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protected:
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static void _bind_methods();
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public:
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/// Thread safe, can be used across many threads.
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static const NavigationServer3D *get_singleton();
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/// MUST be used in single thread!
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static NavigationServer3D *get_singleton_mut();
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virtual TypedArray<RID> get_maps() const = 0;
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/// Create a new map.
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virtual RID map_create() const = 0;
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/// Set map active.
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virtual void map_set_active(RID p_map, bool p_active) const = 0;
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/// Returns true if the map is active.
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virtual bool map_is_active(RID p_map) const = 0;
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/// Set the map UP direction.
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virtual void map_set_up(RID p_map, Vector3 p_up) const = 0;
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/// Returns the map UP direction.
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virtual Vector3 map_get_up(RID p_map) const = 0;
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/// Set the map cell size used to weld the navigation mesh polygons.
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virtual void map_set_cell_size(RID p_map, real_t p_cell_size) const = 0;
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/// Returns the map cell size.
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virtual real_t map_get_cell_size(RID p_map) const = 0;
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/// Set the map edge connection margin used to weld the compatible region edges.
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virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) const = 0;
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/// Returns the edge connection margin of this map.
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virtual real_t map_get_edge_connection_margin(RID p_map) const = 0;
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/// Set the map link connection radius used to attach links to the nav mesh.
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virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) const = 0;
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/// Returns the link connection radius of this map.
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virtual real_t map_get_link_connection_radius(RID p_map) const = 0;
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/// Returns the navigation path to reach the destination from the origin.
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virtual Vector<Vector3> map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const = 0;
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virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const = 0;
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virtual Vector3 map_get_closest_point(RID p_map, const Vector3 &p_point) const = 0;
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virtual Vector3 map_get_closest_point_normal(RID p_map, const Vector3 &p_point) const = 0;
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virtual RID map_get_closest_point_owner(RID p_map, const Vector3 &p_point) const = 0;
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virtual TypedArray<RID> map_get_links(RID p_map) const = 0;
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virtual TypedArray<RID> map_get_regions(RID p_map) const = 0;
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virtual TypedArray<RID> map_get_agents(RID p_map) const = 0;
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virtual void map_force_update(RID p_map) = 0;
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/// Creates a new region.
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virtual RID region_create() const = 0;
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/// Set the enter_cost of a region
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virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) const = 0;
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virtual real_t region_get_enter_cost(RID p_region) const = 0;
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/// Set the travel_cost of a region
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virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) const = 0;
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virtual real_t region_get_travel_cost(RID p_region) const = 0;
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/// Set the node which manages this region.
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virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) const = 0;
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virtual ObjectID region_get_owner_id(RID p_region) const = 0;
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virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const = 0;
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/// Set the map of this region.
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virtual void region_set_map(RID p_region, RID p_map) const = 0;
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virtual RID region_get_map(RID p_region) const = 0;
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/// Set the region's layers
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virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) const = 0;
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virtual uint32_t region_get_navigation_layers(RID p_region) const = 0;
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/// Set the global transformation of this region.
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virtual void region_set_transform(RID p_region, Transform3D p_transform) const = 0;
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/// Set the navigation mesh of this region.
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virtual void region_set_navigation_mesh(RID p_region, Ref<NavigationMesh> p_navigation_mesh) const = 0;
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/// Bake the navigation mesh.
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virtual void region_bake_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh, Node *p_root_node) const = 0;
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/// Get a list of a region's connection to other regions.
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virtual int region_get_connections_count(RID p_region) const = 0;
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virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const = 0;
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virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0;
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/// Creates a new link between locations in the nav map.
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virtual RID link_create() const = 0;
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/// Set the map of this link.
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virtual void link_set_map(RID p_link, RID p_map) const = 0;
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virtual RID link_get_map(RID p_link) const = 0;
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/// Set whether this link travels in both directions.
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virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) const = 0;
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virtual bool link_is_bidirectional(RID p_link) const = 0;
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/// Set the link's layers.
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virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) const = 0;
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virtual uint32_t link_get_navigation_layers(RID p_link) const = 0;
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/// Set the start location of the link.
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virtual void link_set_start_location(RID p_link, Vector3 p_location) const = 0;
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virtual Vector3 link_get_start_location(RID p_link) const = 0;
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/// Set the end location of the link.
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virtual void link_set_end_location(RID p_link, Vector3 p_location) const = 0;
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virtual Vector3 link_get_end_location(RID p_link) const = 0;
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/// Set the enter cost of the link.
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virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) const = 0;
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virtual real_t link_get_enter_cost(RID p_link) const = 0;
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/// Set the travel cost of the link.
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virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) const = 0;
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virtual real_t link_get_travel_cost(RID p_link) const = 0;
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/// Set the node which manages this link.
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virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) const = 0;
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virtual ObjectID link_get_owner_id(RID p_link) const = 0;
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/// Creates the agent.
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virtual RID agent_create() const = 0;
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/// Put the agent in the map.
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virtual void agent_set_map(RID p_agent, RID p_map) const = 0;
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virtual RID agent_get_map(RID p_agent) const = 0;
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/// The maximum distance (center point to
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/// center point) to other agents this agent
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/// takes into account in the navigation. The
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/// larger this number, the longer the running
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/// time of the simulation. If the number is too
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/// low, the simulation will not be safe.
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/// Must be non-negative.
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virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) const = 0;
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/// The maximum number of other agents this
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/// agent takes into account in the navigation.
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/// The larger this number, the longer the
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/// running time of the simulation. If the
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/// number is too low, the simulation will not
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/// be safe.
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virtual void agent_set_max_neighbors(RID p_agent, int p_count) const = 0;
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/// The minimal amount of time for which this
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/// agent's velocities that are computed by the
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/// simulation are safe with respect to other
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/// agents. The larger this number, the sooner
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/// this agent will respond to the presence of
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/// other agents, but the less freedom this
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/// agent has in choosing its velocities.
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/// Must be positive.
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virtual void agent_set_time_horizon(RID p_agent, real_t p_time) const = 0;
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/// The radius of this agent.
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/// Must be non-negative.
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virtual void agent_set_radius(RID p_agent, real_t p_radius) const = 0;
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/// The maximum speed of this agent.
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/// Must be non-negative.
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virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) const = 0;
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/// Current velocity of the agent
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virtual void agent_set_velocity(RID p_agent, Vector3 p_velocity) const = 0;
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/// The new target velocity.
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virtual void agent_set_target_velocity(RID p_agent, Vector3 p_velocity) const = 0;
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/// Position of the agent in world space.
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virtual void agent_set_position(RID p_agent, Vector3 p_position) const = 0;
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/// Agent ignore the Y axis and avoid collisions by moving only on the horizontal plane
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virtual void agent_set_ignore_y(RID p_agent, bool p_ignore) const = 0;
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/// Returns true if the map got changed the previous frame.
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virtual bool agent_is_map_changed(RID p_agent) const = 0;
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/// Callback called at the end of the RVO process
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virtual void agent_set_callback(RID p_agent, ObjectID p_object_id, StringName p_method, Variant p_udata = Variant()) const = 0;
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/// Destroy the `RID`
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virtual void free(RID p_object) const = 0;
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/// Control activation of this server.
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virtual void set_active(bool p_active) const = 0;
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/// Process the collision avoidance agents.
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/// The result of this process is needed by the physics server,
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/// so this must be called in the main thread.
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/// Note: This function is not thread safe.
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virtual void process(real_t delta_time) = 0;
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/// Returns a customized navigation path using a query parameters object
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void query_path(const Ref<NavigationPathQueryParameters3D> &p_query_parameters, Ref<NavigationPathQueryResult3D> p_query_result) const;
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virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const = 0;
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NavigationServer3D();
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virtual ~NavigationServer3D();
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#ifdef DEBUG_ENABLED
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private:
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bool debug_enabled = false;
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bool debug_dirty = true;
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void _emit_navigation_debug_changed_signal();
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Color debug_navigation_edge_connection_color = Color(1.0, 0.0, 1.0, 1.0);
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Color debug_navigation_geometry_edge_color = Color(0.5, 1.0, 1.0, 1.0);
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Color debug_navigation_geometry_face_color = Color(0.5, 1.0, 1.0, 0.4);
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Color debug_navigation_geometry_edge_disabled_color = Color(0.5, 0.5, 0.5, 1.0);
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Color debug_navigation_geometry_face_disabled_color = Color(0.5, 0.5, 0.5, 0.4);
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Color debug_navigation_link_connection_color = Color(1.0, 0.5, 1.0, 1.0);
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Color debug_navigation_link_connection_disabled_color = Color(0.5, 0.5, 0.5, 1.0);
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bool debug_navigation_enable_edge_connections = true;
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bool debug_navigation_enable_edge_connections_xray = true;
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bool debug_navigation_enable_edge_lines = true;
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bool debug_navigation_enable_edge_lines_xray = true;
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bool debug_navigation_enable_geometry_face_random_color = true;
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bool debug_navigation_enable_link_connections = true;
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bool debug_navigation_enable_link_connections_xray = true;
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Ref<StandardMaterial3D> debug_navigation_geometry_edge_material;
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Ref<StandardMaterial3D> debug_navigation_geometry_face_material;
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Ref<StandardMaterial3D> debug_navigation_geometry_edge_disabled_material;
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Ref<StandardMaterial3D> debug_navigation_geometry_face_disabled_material;
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Ref<StandardMaterial3D> debug_navigation_edge_connections_material;
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Ref<StandardMaterial3D> debug_navigation_link_connections_material;
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Ref<StandardMaterial3D> debug_navigation_link_connections_disabled_material;
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public:
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void set_debug_enabled(bool p_enabled);
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bool get_debug_enabled() const;
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void set_debug_navigation_edge_connection_color(const Color &p_color);
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Color get_debug_navigation_edge_connection_color() const;
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void set_debug_navigation_geometry_edge_color(const Color &p_color);
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Color get_debug_navigation_geometry_edge_color() const;
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void set_debug_navigation_geometry_face_color(const Color &p_color);
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Color get_debug_navigation_geometry_face_color() const;
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void set_debug_navigation_geometry_edge_disabled_color(const Color &p_color);
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Color get_debug_navigation_geometry_edge_disabled_color() const;
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void set_debug_navigation_geometry_face_disabled_color(const Color &p_color);
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Color get_debug_navigation_geometry_face_disabled_color() const;
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void set_debug_navigation_link_connection_color(const Color &p_color);
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Color get_debug_navigation_link_connection_color() const;
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void set_debug_navigation_link_connection_disabled_color(const Color &p_color);
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Color get_debug_navigation_link_connection_disabled_color() const;
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void set_debug_navigation_enable_edge_connections(const bool p_value);
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bool get_debug_navigation_enable_edge_connections() const;
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void set_debug_navigation_enable_edge_connections_xray(const bool p_value);
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bool get_debug_navigation_enable_edge_connections_xray() const;
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void set_debug_navigation_enable_edge_lines(const bool p_value);
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bool get_debug_navigation_enable_edge_lines() const;
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void set_debug_navigation_enable_edge_lines_xray(const bool p_value);
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bool get_debug_navigation_enable_edge_lines_xray() const;
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void set_debug_navigation_enable_geometry_face_random_color(const bool p_value);
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bool get_debug_navigation_enable_geometry_face_random_color() const;
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void set_debug_navigation_enable_link_connections(const bool p_value);
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bool get_debug_navigation_enable_link_connections() const;
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void set_debug_navigation_enable_link_connections_xray(const bool p_value);
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bool get_debug_navigation_enable_link_connections_xray() const;
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Ref<StandardMaterial3D> get_debug_navigation_geometry_face_material();
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Ref<StandardMaterial3D> get_debug_navigation_geometry_edge_material();
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Ref<StandardMaterial3D> get_debug_navigation_geometry_face_disabled_material();
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Ref<StandardMaterial3D> get_debug_navigation_geometry_edge_disabled_material();
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Ref<StandardMaterial3D> get_debug_navigation_edge_connections_material();
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Ref<StandardMaterial3D> get_debug_navigation_link_connections_material();
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Ref<StandardMaterial3D> get_debug_navigation_link_connections_disabled_material();
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#endif // DEBUG_ENABLED
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};
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typedef NavigationServer3D *(*NavigationServer3DCallback)();
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/// Manager used for the server singleton registration
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class NavigationServer3DManager {
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static NavigationServer3DCallback create_callback;
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public:
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static void set_default_server(NavigationServer3DCallback p_callback);
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static NavigationServer3D *new_default_server();
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};
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#endif // NAVIGATION_SERVER_3D_H
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