CoCalc -- navigation_server

GitHub Repository: godotengine/godot
Path: blob/master/servers/navigation_2d/navigation_server_2d.h
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/**************************************************************************/
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/*  navigation_server_2d.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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#pragma once
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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/resources/2d/navigation_mesh_source_geometry_data_2d.h"
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#include "scene/resources/2d/navigation_polygon.h"
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#include "servers/navigation_2d/navigation_path_query_parameters_2d.h"
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#include "servers/navigation_2d/navigation_path_query_result_2d.h"
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#ifdef CLIPPER2_ENABLED
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class NavMeshGenerator2D;
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#endif // CLIPPER2_ENABLED
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struct NavMeshGeometryParser2D {
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	RID self;
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	Callable callback;
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};
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class NavigationServer2D : public Object {
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	GDCLASS(NavigationServer2D, Object);
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	static NavigationServer2D *singleton;
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protected:
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	static void _bind_methods();
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public:
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	static NavigationServer2D *get_singleton();
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	virtual TypedArray<RID> get_maps() const = 0;
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	/* MAP API */
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	virtual RID map_create() = 0;
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	virtual void map_set_active(RID p_map, bool p_active) = 0;
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	virtual bool map_is_active(RID p_map) const = 0;
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	virtual void map_set_cell_size(RID p_map, real_t p_cell_size) = 0;
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	virtual real_t map_get_cell_size(RID p_map) const = 0;
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	virtual void map_set_merge_rasterizer_cell_scale(RID p_map, float p_value) = 0;
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	virtual float map_get_merge_rasterizer_cell_scale(RID p_map) const = 0;
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	virtual void map_set_use_edge_connections(RID p_map, bool p_enabled) = 0;
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	virtual bool map_get_use_edge_connections(RID p_map) const = 0;
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	virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) = 0;
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	virtual real_t map_get_edge_connection_margin(RID p_map) const = 0;
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	virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) = 0;
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	virtual real_t map_get_link_connection_radius(RID p_map) const = 0;
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	virtual Vector<Vector2> map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) = 0;
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	virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const = 0;
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	virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &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 TypedArray<RID> map_get_obstacles(RID p_map) const = 0;
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	virtual void map_force_update(RID p_map) = 0;
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	virtual uint32_t map_get_iteration_id(RID p_map) const = 0;
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	virtual void map_set_use_async_iterations(RID p_map, bool p_enabled) = 0;
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	virtual bool map_get_use_async_iterations(RID p_map) const = 0;
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	virtual Vector2 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const = 0;
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	/* REGION API */
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	virtual RID region_create() = 0;
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	virtual uint32_t region_get_iteration_id(RID p_region) const = 0;
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	virtual void region_set_use_async_iterations(RID p_region, bool p_enabled) = 0;
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	virtual bool region_get_use_async_iterations(RID p_region) const = 0;
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	virtual void region_set_enabled(RID p_region, bool p_enabled) = 0;
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	virtual bool region_get_enabled(RID p_region) const = 0;
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	virtual void region_set_use_edge_connections(RID p_region, bool p_enabled) = 0;
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	virtual bool region_get_use_edge_connections(RID p_region) const = 0;
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	virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) = 0;
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	virtual real_t region_get_enter_cost(RID p_region) const = 0;
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	virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) = 0;
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	virtual real_t region_get_travel_cost(RID p_region) const = 0;
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	virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) = 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 Vector2 &p_point) const = 0;
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	virtual void region_set_map(RID p_region, RID p_map) = 0;
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	virtual RID region_get_map(RID p_region) const = 0;
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	virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) = 0;
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	virtual uint32_t region_get_navigation_layers(RID p_region) const = 0;
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	virtual void region_set_transform(RID p_region, Transform2D p_transform) = 0;
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	virtual Transform2D region_get_transform(RID p_region) const = 0;
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	virtual void region_set_navigation_polygon(RID p_region, Ref<NavigationPolygon> p_navigation_polygon) = 0;
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	virtual int region_get_connections_count(RID p_region) const = 0;
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	virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const = 0;
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	virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0;
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	virtual Vector2 region_get_closest_point(RID p_region, const Vector2 &p_point) const = 0;
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	virtual Vector2 region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const = 0;
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	virtual Rect2 region_get_bounds(RID p_region) const = 0;
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	/* LINK API */
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	virtual RID link_create() = 0;
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	virtual uint32_t link_get_iteration_id(RID p_link) const = 0;
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	virtual void link_set_map(RID p_link, RID p_map) = 0;
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	virtual RID link_get_map(RID p_link) const = 0;
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	virtual void link_set_enabled(RID p_link, bool p_enabled) = 0;
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	virtual bool link_get_enabled(RID p_link) const = 0;
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	virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) = 0;
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	virtual bool link_is_bidirectional(RID p_link) const = 0;
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	virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) = 0;
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	virtual uint32_t link_get_navigation_layers(RID p_link) const = 0;
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	virtual void link_set_start_position(RID p_link, Vector2 p_position) = 0;
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	virtual Vector2 link_get_start_position(RID p_link) const = 0;
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	virtual void link_set_end_position(RID p_link, Vector2 p_position) = 0;
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	virtual Vector2 link_get_end_position(RID p_link) const = 0;
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	virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) = 0;
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	virtual real_t link_get_enter_cost(RID p_link) const = 0;
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	virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) = 0;
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	virtual real_t link_get_travel_cost(RID p_link) const = 0;
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	virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) = 0;
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	virtual ObjectID link_get_owner_id(RID p_link) const = 0;
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	/* AGENT API */
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	virtual RID agent_create() = 0;
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	virtual void agent_set_map(RID p_agent, RID p_map) = 0;
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	virtual RID agent_get_map(RID p_agent) const = 0;
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	virtual void agent_set_paused(RID p_agent, bool p_paused) = 0;
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	virtual bool agent_get_paused(RID p_agent) const = 0;
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	virtual void agent_set_avoidance_enabled(RID p_agent, bool p_enabled) = 0;
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	virtual bool agent_get_avoidance_enabled(RID p_agent) const = 0;
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	virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) = 0;
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	virtual real_t agent_get_neighbor_distance(RID p_agent) const = 0;
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	virtual void agent_set_max_neighbors(RID p_agent, int p_count) = 0;
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	virtual int agent_get_max_neighbors(RID p_agent) const = 0;
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	virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon) = 0;
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	virtual real_t agent_get_time_horizon_agents(RID p_agent) const = 0;
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	virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon) = 0;
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	virtual real_t agent_get_time_horizon_obstacles(RID p_agent) const = 0;
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	virtual void agent_set_radius(RID p_agent, real_t p_radius) = 0;
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	virtual real_t agent_get_radius(RID p_agent) const = 0;
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	virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) = 0;
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	virtual real_t agent_get_max_speed(RID p_agent) const = 0;
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	virtual void agent_set_velocity_forced(RID p_agent, Vector2 p_velocity) = 0;
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	virtual void agent_set_velocity(RID p_agent, Vector2 p_velocity) = 0;
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	virtual Vector2 agent_get_velocity(RID p_agent) const = 0;
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	virtual void agent_set_position(RID p_agent, Vector2 p_position) = 0;
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	virtual Vector2 agent_get_position(RID p_agent) const = 0;
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	virtual bool agent_is_map_changed(RID p_agent) const = 0;
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	virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback) = 0;
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	virtual bool agent_has_avoidance_callback(RID p_agent) const = 0;
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	virtual void agent_set_avoidance_layers(RID p_agent, uint32_t p_layers) = 0;
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	virtual uint32_t agent_get_avoidance_layers(RID p_agent) const = 0;
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	virtual void agent_set_avoidance_mask(RID p_agent, uint32_t p_mask) = 0;
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	virtual uint32_t agent_get_avoidance_mask(RID p_agent) const = 0;
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	virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority) = 0;
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	virtual real_t agent_get_avoidance_priority(RID p_agent) const = 0;
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	/* OBSTACLE API */
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	virtual RID obstacle_create() = 0;
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	virtual void obstacle_set_avoidance_enabled(RID p_obstacle, bool p_enabled) = 0;
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	virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const = 0;
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	virtual void obstacle_set_map(RID p_obstacle, RID p_map) = 0;
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	virtual RID obstacle_get_map(RID p_obstacle) const = 0;
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	virtual void obstacle_set_paused(RID p_obstacle, bool p_paused) = 0;
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	virtual bool obstacle_get_paused(RID p_obstacle) const = 0;
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	virtual void obstacle_set_radius(RID p_obstacle, real_t p_radius) = 0;
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	virtual real_t obstacle_get_radius(RID p_obstacle) const = 0;
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	virtual void obstacle_set_velocity(RID p_obstacle, Vector2 p_velocity) = 0;
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	virtual Vector2 obstacle_get_velocity(RID p_obstacle) const = 0;
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	virtual void obstacle_set_position(RID p_obstacle, Vector2 p_position) = 0;
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	virtual Vector2 obstacle_get_position(RID p_obstacle) const = 0;
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	virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector2> &p_vertices) = 0;
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	virtual Vector<Vector2> obstacle_get_vertices(RID p_obstacle) const = 0;
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	virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers) = 0;
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	virtual uint32_t obstacle_get_avoidance_layers(RID p_obstacle) const = 0;
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	/* QUERY API */
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	virtual void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result, const Callable &p_callback = Callable()) = 0;
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	/* NAVMESH BAKE API */
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	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()) = 0;
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	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()) = 0;
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	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()) = 0;
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	virtual bool is_baking_navigation_polygon(Ref<NavigationPolygon> p_navigation_polygon) const = 0;
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protected:
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	static RWLock geometry_parser_rwlock;
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	static RID_Owner<NavMeshGeometryParser2D> geometry_parser_owner;
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	static LocalVector<NavMeshGeometryParser2D *> generator_parsers;
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public:
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	virtual RID source_geometry_parser_create() = 0;
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	virtual void source_geometry_parser_set_callback(RID p_parser, const Callable &p_callback) = 0;
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	virtual Vector<Vector2> simplify_path(const Vector<Vector2> &p_path, real_t p_epsilon) = 0;
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	/* SERVER API */
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	virtual void set_active(bool p_active) = 0;
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	virtual void process(double p_delta_time) = 0;
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	virtual void physics_process(double p_delta_time) = 0;
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	virtual void init() = 0;
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	virtual void sync() = 0;
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	virtual void finish() = 0;
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	virtual void free_rid(RID p_rid) = 0;
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#ifndef DISABLE_DEPRECATED
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	[[deprecated("Use `free_rid()` instead.")]] void free(RID p_rid) { free_rid(p_rid); }
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#endif // DISABLE_DEPRECATED
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	NavigationServer2D();
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	~NavigationServer2D() override;
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	/* DEBUG API */
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	enum ProcessInfo {
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		INFO_ACTIVE_MAPS,
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		INFO_REGION_COUNT,
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		INFO_AGENT_COUNT,
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		INFO_LINK_COUNT,
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		INFO_POLYGON_COUNT,
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		INFO_EDGE_COUNT,
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		INFO_EDGE_MERGE_COUNT,
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		INFO_EDGE_CONNECTION_COUNT,
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		INFO_EDGE_FREE_COUNT,
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		INFO_OBSTACLE_COUNT,
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	};
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	virtual int get_process_info(ProcessInfo p_info) const = 0;
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	void set_debug_enabled(bool p_enabled);
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	bool get_debug_enabled() const;
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protected:
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#ifndef DISABLE_DEPRECATED
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	Vector<Vector2> _map_get_path_bind_compat_100129(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const;
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	void _query_path_bind_compat_100129(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const;
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	static void _bind_compatibility_methods();
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#endif
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private:
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	bool debug_enabled = false;
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#ifdef DEBUG_ENABLED
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	bool debug_dirty = true;
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	bool debug_navigation_enabled = false;
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	bool navigation_debug_dirty = true;
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	void _emit_navigation_debug_changed_signal();
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	bool debug_avoidance_enabled = false;
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	bool avoidance_debug_dirty = true;
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	void _emit_avoidance_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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	Color debug_navigation_agent_path_color = Color(1.0, 0.0, 0.0, 1.0);
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	real_t debug_navigation_agent_path_point_size = 4.0;
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	Color debug_navigation_avoidance_agents_radius_color = Color(1.0, 1.0, 0.0, 0.25);
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	Color debug_navigation_avoidance_obstacles_radius_color = Color(1.0, 0.5, 0.0, 0.25);
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	Color debug_navigation_avoidance_static_obstacle_pushin_face_color = Color(1.0, 0.0, 0.0, 0.0);
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	Color debug_navigation_avoidance_static_obstacle_pushout_face_color = Color(1.0, 1.0, 0.0, 0.5);
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	Color debug_navigation_avoidance_static_obstacle_pushin_edge_color = Color(1.0, 0.0, 0.0, 1.0);
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	Color debug_navigation_avoidance_static_obstacle_pushout_edge_color = Color(1.0, 1.0, 0.0, 1.0);
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	bool debug_navigation_enable_edge_connections = true;
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	bool debug_navigation_enable_edge_lines = 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_agent_paths = true;
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	bool debug_navigation_avoidance_enable_agents_radius = true;
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	bool debug_navigation_avoidance_enable_obstacles_radius = true;
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	bool debug_navigation_avoidance_enable_obstacles_static = true;
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public:
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	void set_debug_navigation_enabled(bool p_enabled);
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	bool get_debug_navigation_enabled() const;
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	void set_debug_avoidance_enabled(bool p_enabled);
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	bool get_debug_avoidance_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_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_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_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_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_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_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_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_agent_path_color(const Color &p_color);
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	Color get_debug_navigation_agent_path_color() const;
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	void set_debug_navigation_enable_agent_paths(const bool p_value);
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	bool get_debug_navigation_enable_agent_paths() const;
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	void set_debug_navigation_agent_path_point_size(real_t p_point_size);
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	real_t get_debug_navigation_agent_path_point_size() const;
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	void set_debug_navigation_avoidance_enable_agents_radius(const bool p_value);
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	bool get_debug_navigation_avoidance_enable_agents_radius() const;
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	void set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value);
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	bool get_debug_navigation_avoidance_enable_obstacles_radius() const;
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	void set_debug_navigation_avoidance_agents_radius_color(const Color &p_color);
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	Color get_debug_navigation_avoidance_agents_radius_color() const;
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	void set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color);
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	Color get_debug_navigation_avoidance_obstacles_radius_color() const;
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	void set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color);
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	Color get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const;
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	void set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color);
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	Color get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const;
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	void set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color);
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	Color get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const;
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	void set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color);
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	Color get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const;
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	void set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value);
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	bool get_debug_navigation_avoidance_enable_obstacles_static() const;
431
#endif // DEBUG_ENABLED
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};
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typedef NavigationServer2D *(*NavigationServer2DCallback)();
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/// Manager used for the server singleton registration
437
class NavigationServer2DManager {
438
	static NavigationServer2DCallback create_callback;
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public:
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	static void set_default_server(NavigationServer2DCallback p_callback);
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	static NavigationServer2D *new_default_server();
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	static void initialize_server();
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	static void finalize_server();
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};
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VARIANT_ENUM_CAST(NavigationServer2D::ProcessInfo);
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