CoCalc -- godot_navigation_server

GitHub Repository: godotengine/godot
Path: blob/master/modules/navigation_2d/2d/godot_navigation_server_2d.h
¹⁰²⁷⁸ views
1
/**************************************************************************/
2
/*  godot_navigation_server_2d.h                                          */
3
/**************************************************************************/
4
/*                         This file is part of:                          */
5
/*                             GODOT ENGINE                               */
6
/*                        https://godotengine.org                         */
7
/**************************************************************************/
8
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
10
/*                                                                        */
11
/* Permission is hereby granted, free of charge, to any person obtaining  */
12
/* a copy of this software and associated documentation files (the        */
13
/* "Software"), to deal in the Software without restriction, including    */
14
/* without limitation the rights to use, copy, modify, merge, publish,    */
15
/* distribute, sublicense, and/or sell copies of the Software, and to     */
16
/* permit persons to whom the Software is furnished to do so, subject to  */
17
/* the following conditions:                                              */
18
/*                                                                        */
19
/* The above copyright notice and this permission notice shall be         */
20
/* included in all copies or substantial portions of the Software.        */
21
/*                                                                        */
22
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
23
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
24
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
25
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
26
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
27
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
28
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
29
/**************************************************************************/
30

31
#pragma once
32

33
#include "../nav_agent_2d.h"
34
#include "../nav_link_2d.h"
35
#include "../nav_map_2d.h"
36
#include "../nav_obstacle_2d.h"
37
#include "../nav_region_2d.h"
38

39
#include "core/templates/local_vector.h"
40
#include "core/templates/rid.h"
41
#include "core/templates/rid_owner.h"
42
#include "servers/navigation/navigation_path_query_parameters_2d.h"
43
#include "servers/navigation/navigation_path_query_result_2d.h"
44
#include "servers/navigation_server_2d.h"
45

46
/// The commands are functions executed during the `sync` phase.
47

48
#define MERGE_INTERNAL(A, B) A##B
49
#define MERGE(A, B) MERGE_INTERNAL(A, B)
50

51
#define COMMAND_1(F_NAME, T_0, D_0)        \
52
	virtual void F_NAME(T_0 D_0) override; \
53
	void MERGE(_cmd_, F_NAME)(T_0 D_0)
54

55
#define COMMAND_2(F_NAME, T_0, D_0, T_1, D_1)       \
56
	virtual void F_NAME(T_0 D_0, T_1 D_1) override; \
57
	void MERGE(_cmd_, F_NAME)(T_0 D_0, T_1 D_1)
58

59
class GodotNavigationServer2D;
60
#ifdef CLIPPER2_ENABLED
61
class NavMeshGenerator2D;
62
#endif // CLIPPER2_ENABLED
63

64
struct SetCommand2D {
65
	virtual ~SetCommand2D() {}
66
	virtual void exec(GodotNavigationServer2D *p_server) = 0;
67
};
68

69
// This server exposes the `NavigationServer3D` features in the 2D world.
70
class GodotNavigationServer2D : public NavigationServer2D {
71
	GDCLASS(GodotNavigationServer2D, NavigationServer2D);
72

73
	Mutex commands_mutex;
74
	/// Mutex used to make any operation threadsafe.
75
	Mutex operations_mutex;
76

77
	LocalVector<SetCommand2D *> commands;
78

79
	mutable RID_Owner<NavLink2D> link_owner;
80
	mutable RID_Owner<NavMap2D> map_owner;
81
	mutable RID_Owner<NavRegion2D> region_owner;
82
	mutable RID_Owner<NavAgent2D> agent_owner;
83
	mutable RID_Owner<NavObstacle2D> obstacle_owner;
84

85
	bool active = true;
86
	LocalVector<NavMap2D *> active_maps;
87

88
#ifdef CLIPPER2_ENABLED
89
	NavMeshGenerator2D *navmesh_generator_2d = nullptr;
90
#endif // CLIPPER2_ENABLED
91

92
	// Performance Monitor.
93
	int pm_region_count = 0;
94
	int pm_agent_count = 0;
95
	int pm_link_count = 0;
96
	int pm_polygon_count = 0;
97
	int pm_edge_count = 0;
98
	int pm_edge_merge_count = 0;
99
	int pm_edge_connection_count = 0;
100
	int pm_edge_free_count = 0;
101
	int pm_obstacle_count = 0;
102

103
public:
104
	GodotNavigationServer2D();
105
	virtual ~GodotNavigationServer2D();
106

107
	void add_command(SetCommand2D *p_command);
108

109
	virtual TypedArray<RID> get_maps() const override;
110

111
	virtual RID map_create() override;
112
	COMMAND_2(map_set_active, RID, p_map, bool, p_active);
113
	virtual bool map_is_active(RID p_map) const override;
114

115
	COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size);
116
	virtual real_t map_get_cell_size(RID p_map) const override;
117

118
	COMMAND_2(map_set_merge_rasterizer_cell_scale, RID, p_map, float, p_value);
119
	virtual float map_get_merge_rasterizer_cell_scale(RID p_map) const override;
120

121
	COMMAND_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled);
122
	virtual bool map_get_use_edge_connections(RID p_map) const override;
123

124
	COMMAND_2(map_set_edge_connection_margin, RID, p_map, real_t, p_connection_margin);
125
	virtual real_t map_get_edge_connection_margin(RID p_map) const override;
126

127
	COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius);
128
	virtual real_t map_get_link_connection_radius(RID p_map) const override;
129

130
	virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) override;
131

132
	virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const override;
133

134
	virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const override;
135

136
	virtual TypedArray<RID> map_get_links(RID p_map) const override;
137
	virtual TypedArray<RID> map_get_regions(RID p_map) const override;
138
	virtual TypedArray<RID> map_get_agents(RID p_map) const override;
139
	virtual TypedArray<RID> map_get_obstacles(RID p_map) const override;
140

141
	virtual void map_force_update(RID p_map) override;
142
	virtual uint32_t map_get_iteration_id(RID p_map) const override;
143

144
	COMMAND_2(map_set_use_async_iterations, RID, p_map, bool, p_enabled);
145
	virtual bool map_get_use_async_iterations(RID p_map) const override;
146

147
	virtual Vector2 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const override;
148

149
	virtual RID region_create() override;
150
	virtual uint32_t region_get_iteration_id(RID p_region) const override;
151

152
	COMMAND_2(region_set_use_async_iterations, RID, p_region, bool, p_enabled);
153
	virtual bool region_get_use_async_iterations(RID p_region) const override;
154

155
	COMMAND_2(region_set_enabled, RID, p_region, bool, p_enabled);
156
	virtual bool region_get_enabled(RID p_region) const override;
157

158
	COMMAND_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled);
159
	virtual bool region_get_use_edge_connections(RID p_region) const override;
160

161
	COMMAND_2(region_set_enter_cost, RID, p_region, real_t, p_enter_cost);
162
	virtual real_t region_get_enter_cost(RID p_region) const override;
163
	COMMAND_2(region_set_travel_cost, RID, p_region, real_t, p_travel_cost);
164
	virtual real_t region_get_travel_cost(RID p_region) const override;
165

166
	COMMAND_2(region_set_owner_id, RID, p_region, ObjectID, p_owner_id);
167
	virtual ObjectID region_get_owner_id(RID p_region) const override;
168

169
	virtual bool region_owns_point(RID p_region, const Vector2 &p_point) const override;
170

171
	COMMAND_2(region_set_map, RID, p_region, RID, p_map);
172
	virtual RID region_get_map(RID p_region) const override;
173
	COMMAND_2(region_set_navigation_layers, RID, p_region, uint32_t, p_navigation_layers);
174
	virtual uint32_t region_get_navigation_layers(RID p_region) const override;
175
	COMMAND_2(region_set_transform, RID, p_region, Transform2D, p_transform);
176
	virtual Transform2D region_get_transform(RID p_region) const override;
177
	COMMAND_2(region_set_navigation_polygon, RID, p_region, Ref<NavigationPolygon>, p_navigation_polygon);
178
	virtual int region_get_connections_count(RID p_region) const override;
179
	virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override;
180
	virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override;
181
	virtual Vector2 region_get_closest_point(RID p_region, const Vector2 &p_point) const override;
182
	virtual Vector2 region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const override;
183
	virtual Rect2 region_get_bounds(RID p_region) const override;
184

185
	virtual RID link_create() override;
186
	virtual uint32_t link_get_iteration_id(RID p_link) const override;
187

188
	/// Set the map of this link.
189
	COMMAND_2(link_set_map, RID, p_link, RID, p_map);
190
	virtual RID link_get_map(RID p_link) const override;
191
	COMMAND_2(link_set_enabled, RID, p_link, bool, p_enabled);
192
	virtual bool link_get_enabled(RID p_link) const override;
193

194
	/// Set whether this link travels in both directions.
195
	COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional);
196
	virtual bool link_is_bidirectional(RID p_link) const override;
197

198
	/// Set the link's layers.
199
	COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers);
200
	virtual uint32_t link_get_navigation_layers(RID p_link) const override;
201

202
	/// Set the start position of the link.
203
	COMMAND_2(link_set_start_position, RID, p_link, Vector2, p_position);
204
	virtual Vector2 link_get_start_position(RID p_link) const override;
205

206
	/// Set the end position of the link.
207
	COMMAND_2(link_set_end_position, RID, p_link, Vector2, p_position);
208
	virtual Vector2 link_get_end_position(RID p_link) const override;
209

210
	/// Set the enter cost of the link.
211
	COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost);
212
	virtual real_t link_get_enter_cost(RID p_link) const override;
213

214
	/// Set the travel cost of the link.
215
	COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost);
216
	virtual real_t link_get_travel_cost(RID p_link) const override;
217

218
	/// Set the node which manages this link.
219
	COMMAND_2(link_set_owner_id, RID, p_link, ObjectID, p_owner_id);
220
	virtual ObjectID link_get_owner_id(RID p_link) const override;
221

222
	/// Creates the agent.
223
	virtual RID agent_create() override;
224

225
	/// Put the agent in the map.
226
	COMMAND_2(agent_set_map, RID, p_agent, RID, p_map);
227
	virtual RID agent_get_map(RID p_agent) const override;
228

229
	COMMAND_2(agent_set_paused, RID, p_agent, bool, p_paused);
230
	virtual bool agent_get_paused(RID p_agent) const override;
231

232
	COMMAND_2(agent_set_avoidance_enabled, RID, p_agent, bool, p_enabled);
233
	virtual bool agent_get_avoidance_enabled(RID p_agent) const override;
234

235
	/// The maximum distance (center point to
236
	/// center point) to other agents this agent
237
	/// takes into account in the navigation. The
238
	/// larger this number, the longer the running
239
	/// time of the simulation. If the number is too
240
	/// low, the simulation will not be safe.
241
	/// Must be non-negative.
242
	COMMAND_2(agent_set_neighbor_distance, RID, p_agent, real_t, p_distance);
243
	virtual real_t agent_get_neighbor_distance(RID p_agent) const override;
244

245
	/// The maximum number of other agents this
246
	/// agent takes into account in the navigation.
247
	/// The larger this number, the longer the
248
	/// running time of the simulation. If the
249
	/// number is too low, the simulation will not
250
	/// be safe.
251
	COMMAND_2(agent_set_max_neighbors, RID, p_agent, int, p_count);
252
	virtual int agent_get_max_neighbors(RID p_agent) const override;
253

254
	/// The minimal amount of time for which this
255
	/// agent's velocities that are computed by the
256
	/// simulation are safe with respect to other
257
	/// agents. The larger this number, the sooner
258
	/// this agent will respond to the presence of
259
	/// other agents, but the less freedom this
260
	/// agent has in choosing its velocities.
261
	/// Must be positive.
262
	COMMAND_2(agent_set_time_horizon_agents, RID, p_agent, real_t, p_time_horizon);
263
	virtual real_t agent_get_time_horizon_agents(RID p_agent) const override;
264
	COMMAND_2(agent_set_time_horizon_obstacles, RID, p_agent, real_t, p_time_horizon);
265
	virtual real_t agent_get_time_horizon_obstacles(RID p_agent) const override;
266

267
	/// The radius of this agent.
268
	/// Must be non-negative.
269
	COMMAND_2(agent_set_radius, RID, p_agent, real_t, p_radius);
270
	virtual real_t agent_get_radius(RID p_agent) const override;
271

272
	/// The maximum speed of this agent.
273
	/// Must be non-negative.
274
	COMMAND_2(agent_set_max_speed, RID, p_agent, real_t, p_max_speed);
275
	virtual real_t agent_get_max_speed(RID p_agent) const override;
276

277
	/// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly
278
	COMMAND_2(agent_set_velocity_forced, RID, p_agent, Vector2, p_velocity);
279

280
	/// The wanted velocity for the agent as a "suggestion" to the avoidance simulation.
281
	/// The simulation will try to fulfill this velocity wish if possible but may change the velocity depending on other agent's and obstacles'.
282
	COMMAND_2(agent_set_velocity, RID, p_agent, Vector2, p_velocity);
283
	virtual Vector2 agent_get_velocity(RID p_agent) const override;
284

285
	/// Position of the agent in world space.
286
	COMMAND_2(agent_set_position, RID, p_agent, Vector2, p_position);
287
	virtual Vector2 agent_get_position(RID p_agent) const override;
288

289
	/// Returns true if the map got changed the previous frame.
290
	virtual bool agent_is_map_changed(RID p_agent) const override;
291

292
	/// Callback called at the end of the RVO process
293
	COMMAND_2(agent_set_avoidance_callback, RID, p_agent, Callable, p_callback);
294
	virtual bool agent_has_avoidance_callback(RID p_agent) const override;
295

296
	COMMAND_2(agent_set_avoidance_layers, RID, p_agent, uint32_t, p_layers);
297
	virtual uint32_t agent_get_avoidance_layers(RID p_agent) const override;
298

299
	COMMAND_2(agent_set_avoidance_mask, RID, p_agent, uint32_t, p_mask);
300
	virtual uint32_t agent_get_avoidance_mask(RID p_agent) const override;
301

302
	COMMAND_2(agent_set_avoidance_priority, RID, p_agent, real_t, p_priority);
303
	virtual real_t agent_get_avoidance_priority(RID p_agent) const override;
304

305
	virtual RID obstacle_create() override;
306
	COMMAND_2(obstacle_set_avoidance_enabled, RID, p_obstacle, bool, p_enabled);
307
	virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const override;
308
	COMMAND_2(obstacle_set_map, RID, p_obstacle, RID, p_map);
309
	virtual RID obstacle_get_map(RID p_obstacle) const override;
310
	COMMAND_2(obstacle_set_paused, RID, p_obstacle, bool, p_paused);
311
	virtual bool obstacle_get_paused(RID p_obstacle) const override;
312
	COMMAND_2(obstacle_set_radius, RID, p_obstacle, real_t, p_radius);
313
	virtual real_t obstacle_get_radius(RID p_obstacle) const override;
314
	COMMAND_2(obstacle_set_velocity, RID, p_obstacle, Vector2, p_velocity);
315
	virtual Vector2 obstacle_get_velocity(RID p_obstacle) const override;
316
	COMMAND_2(obstacle_set_position, RID, p_obstacle, Vector2, p_position);
317
	virtual Vector2 obstacle_get_position(RID p_obstacle) const override;
318
	COMMAND_2(obstacle_set_vertices, RID, p_obstacle, const Vector<Vector2> &, p_vertices);
319
	virtual Vector<Vector2> obstacle_get_vertices(RID p_obstacle) const override;
320
	COMMAND_2(obstacle_set_avoidance_layers, RID, p_obstacle, uint32_t, p_layers);
321
	virtual uint32_t obstacle_get_avoidance_layers(RID p_obstacle) const override;
322

323
	virtual void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result, const Callable &p_callback = Callable()) override;
324

325
	COMMAND_1(free, RID, p_object);
326

327
	virtual void set_active(bool p_active) override;
328

329
	void flush_queries();
330

331
	virtual void process(double p_delta_time) override;
332
	virtual void physics_process(double p_delta_time) override;
333
	virtual void init() override;
334
	virtual void sync() override;
335
	virtual void finish() override;
336

337
	virtual int get_process_info(ProcessInfo p_info) const override;
338

339
	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;
340
	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;
341
	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;
342
	virtual bool is_baking_navigation_polygon(Ref<NavigationPolygon> p_navigation_polygon) const override;
343

344
	virtual RID source_geometry_parser_create() override;
345
	virtual void source_geometry_parser_set_callback(RID p_parser, const Callable &p_callback) override;
346

347
	virtual Vector<Vector2> simplify_path(const Vector<Vector2> &p_path, real_t p_epsilon) override;
348

349
private:
350
	void internal_free_agent(RID p_object);
351
	void internal_free_obstacle(RID p_object);
352
};
353

354
#undef COMMAND_1
355
#undef COMMAND_2
356

357
Product

Resources

Company
