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https://github.com/godotengine/godot
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305 lines
10 KiB
C++
305 lines
10 KiB
C++
/**************************************************************************/
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/* nav_region.cpp */
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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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#include "nav_region.h"
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#include "nav_map.h"
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void NavRegion::set_map(NavMap *p_map) {
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if (map == p_map) {
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return;
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}
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if (map) {
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map->remove_region(this);
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}
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map = p_map;
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polygons_dirty = true;
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connections.clear();
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if (map) {
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map->add_region(this);
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}
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}
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void NavRegion::set_enabled(bool p_enabled) {
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if (enabled == p_enabled) {
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return;
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}
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enabled = p_enabled;
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// TODO: This should not require a full rebuild as the region has not really changed.
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polygons_dirty = true;
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};
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void NavRegion::set_use_edge_connections(bool p_enabled) {
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if (use_edge_connections != p_enabled) {
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use_edge_connections = p_enabled;
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polygons_dirty = true;
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}
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}
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void NavRegion::set_transform(Transform3D p_transform) {
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if (transform == p_transform) {
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return;
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}
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transform = p_transform;
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polygons_dirty = true;
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}
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void NavRegion::set_mesh(Ref<NavigationMesh> p_mesh) {
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mesh = p_mesh;
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polygons_dirty = true;
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}
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int NavRegion::get_connections_count() const {
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if (!map) {
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return 0;
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}
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return connections.size();
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}
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Vector3 NavRegion::get_connection_pathway_start(int p_connection_id) const {
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ERR_FAIL_NULL_V(map, Vector3());
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ERR_FAIL_INDEX_V(p_connection_id, connections.size(), Vector3());
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return connections[p_connection_id].pathway_start;
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}
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Vector3 NavRegion::get_connection_pathway_end(int p_connection_id) const {
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ERR_FAIL_NULL_V(map, Vector3());
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ERR_FAIL_INDEX_V(p_connection_id, connections.size(), Vector3());
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return connections[p_connection_id].pathway_end;
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}
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Vector3 NavRegion::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const {
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if (!get_enabled()) {
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return Vector3();
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}
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const LocalVector<gd::Polygon> ®ion_polygons = get_polygons();
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if (region_polygons.is_empty()) {
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return Vector3();
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}
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if (p_uniformly) {
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real_t accumulated_area = 0;
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RBMap<real_t, uint32_t> region_area_map;
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for (uint32_t rp_index = 0; rp_index < region_polygons.size(); rp_index++) {
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const gd::Polygon ®ion_polygon = region_polygons[rp_index];
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real_t polyon_area = region_polygon.surface_area;
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if (polyon_area == 0.0) {
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continue;
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}
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region_area_map[accumulated_area] = rp_index;
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accumulated_area += polyon_area;
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}
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if (region_area_map.is_empty() || accumulated_area == 0) {
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// All polygons have no real surface / no area.
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return Vector3();
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}
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real_t region_area_map_pos = Math::random(real_t(0), accumulated_area);
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RBMap<real_t, uint32_t>::Iterator region_E = region_area_map.find_closest(region_area_map_pos);
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ERR_FAIL_COND_V(!region_E, Vector3());
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uint32_t rrp_polygon_index = region_E->value;
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ERR_FAIL_UNSIGNED_INDEX_V(rrp_polygon_index, region_polygons.size(), Vector3());
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const gd::Polygon &rr_polygon = region_polygons[rrp_polygon_index];
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real_t accumulated_polygon_area = 0;
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RBMap<real_t, uint32_t> polygon_area_map;
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for (uint32_t rpp_index = 2; rpp_index < rr_polygon.points.size(); rpp_index++) {
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real_t face_area = Face3(rr_polygon.points[0].pos, rr_polygon.points[rpp_index - 1].pos, rr_polygon.points[rpp_index].pos).get_area();
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if (face_area == 0.0) {
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continue;
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}
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polygon_area_map[accumulated_polygon_area] = rpp_index;
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accumulated_polygon_area += face_area;
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}
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if (polygon_area_map.is_empty() || accumulated_polygon_area == 0) {
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// All faces have no real surface / no area.
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return Vector3();
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}
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real_t polygon_area_map_pos = Math::random(real_t(0), accumulated_polygon_area);
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RBMap<real_t, uint32_t>::Iterator polygon_E = polygon_area_map.find_closest(polygon_area_map_pos);
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ERR_FAIL_COND_V(!polygon_E, Vector3());
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uint32_t rrp_face_index = polygon_E->value;
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ERR_FAIL_UNSIGNED_INDEX_V(rrp_face_index, rr_polygon.points.size(), Vector3());
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const Face3 face(rr_polygon.points[0].pos, rr_polygon.points[rrp_face_index - 1].pos, rr_polygon.points[rrp_face_index].pos);
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Vector3 face_random_position = face.get_random_point_inside();
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return face_random_position;
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} else {
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uint32_t rrp_polygon_index = Math::random(int(0), region_polygons.size() - 1);
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const gd::Polygon &rr_polygon = region_polygons[rrp_polygon_index];
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uint32_t rrp_face_index = Math::random(int(2), rr_polygon.points.size() - 1);
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const Face3 face(rr_polygon.points[0].pos, rr_polygon.points[rrp_face_index - 1].pos, rr_polygon.points[rrp_face_index].pos);
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Vector3 face_random_position = face.get_random_point_inside();
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return face_random_position;
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}
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}
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bool NavRegion::sync() {
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bool something_changed = polygons_dirty /* || something_dirty? */;
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update_polygons();
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return something_changed;
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}
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void NavRegion::update_polygons() {
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if (!polygons_dirty) {
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return;
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}
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polygons.clear();
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surface_area = 0.0;
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polygons_dirty = false;
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if (map == nullptr) {
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return;
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}
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if (mesh.is_null()) {
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return;
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}
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#ifdef DEBUG_ENABLED
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if (!Math::is_equal_approx(double(map->get_cell_size()), double(mesh->get_cell_size()))) {
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ERR_PRINT_ONCE(vformat("Navigation map synchronization error. 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(mesh->get_cell_size()), double(map->get_cell_size())));
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}
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if (!Math::is_equal_approx(double(map->get_cell_height()), double(mesh->get_cell_height()))) {
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ERR_PRINT_ONCE(vformat("Navigation map synchronization error. 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(mesh->get_cell_height()), double(map->get_cell_height())));
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}
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if (map && Math::rad_to_deg(map->get_up().angle_to(transform.basis.get_column(1))) >= 90.0f) {
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ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to update a navigation region transform rotated 90 degrees or more away from the current navigation map UP orientation.");
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}
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#endif // DEBUG_ENABLED
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Vector<Vector3> vertices = mesh->get_vertices();
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int len = vertices.size();
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if (len == 0) {
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return;
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}
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const Vector3 *vertices_r = vertices.ptr();
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polygons.resize(mesh->get_polygon_count());
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real_t _new_region_surface_area = 0.0;
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// Build
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int navigation_mesh_polygon_index = 0;
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for (gd::Polygon &polygon : polygons) {
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polygon.owner = this;
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polygon.surface_area = 0.0;
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Vector<int> navigation_mesh_polygon = mesh->get_polygon(navigation_mesh_polygon_index);
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navigation_mesh_polygon_index += 1;
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int navigation_mesh_polygon_size = navigation_mesh_polygon.size();
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if (navigation_mesh_polygon_size < 3) {
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continue;
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}
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const int *indices = navigation_mesh_polygon.ptr();
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bool valid(true);
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polygon.points.resize(navigation_mesh_polygon_size);
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polygon.edges.resize(navigation_mesh_polygon_size);
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real_t _new_polygon_surface_area = 0.0;
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for (int j(2); j < navigation_mesh_polygon_size; j++) {
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const Face3 face = Face3(
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transform.xform(vertices_r[indices[0]]),
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transform.xform(vertices_r[indices[j - 1]]),
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transform.xform(vertices_r[indices[j]]));
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_new_polygon_surface_area += face.get_area();
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}
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polygon.surface_area = _new_polygon_surface_area;
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_new_region_surface_area += _new_polygon_surface_area;
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Vector3 polygon_center;
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real_t sum(0);
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for (int j(0); j < navigation_mesh_polygon_size; j++) {
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int idx = indices[j];
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if (idx < 0 || idx >= len) {
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valid = false;
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break;
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}
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Vector3 point_position = transform.xform(vertices_r[idx]);
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polygon.points[j].pos = point_position;
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polygon.points[j].key = map->get_point_key(point_position);
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polygon_center += point_position; // Composing the center of the polygon
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if (j >= 2) {
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Vector3 epa = transform.xform(vertices_r[indices[j - 2]]);
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Vector3 epb = transform.xform(vertices_r[indices[j - 1]]);
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sum += map->get_up().dot((epb - epa).cross(point_position - epa));
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}
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}
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if (!valid) {
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ERR_BREAK_MSG(!valid, "The navigation mesh set in this region is not valid!");
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}
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polygon.clockwise = sum > 0;
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if (!navigation_mesh_polygon.is_empty()) {
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polygon.center = polygon_center / real_t(navigation_mesh_polygon.size());
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}
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}
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surface_area = _new_region_surface_area;
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}
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