nav_region_3d.cpp 12 KB

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  1. /**************************************************************************/
  2. /* nav_region_3d.cpp */
  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. #include "nav_region_3d.h"
  31. #include "nav_map_3d.h"
  32. #include "3d/nav_mesh_queries_3d.h"
  33. #include "3d/nav_region_builder_3d.h"
  34. #include "3d/nav_region_iteration_3d.h"
  35. #include "core/config/project_settings.h"
  36. using namespace Nav3D;
  37. void NavRegion3D::set_map(NavMap3D *p_map) {
  38. if (map == p_map) {
  39. return;
  40. }
  41. cancel_async_thread_join();
  42. cancel_sync_request();
  43. if (map) {
  44. map->remove_region(this);
  45. }
  46. map = p_map;
  47. iteration_dirty = true;
  48. if (map) {
  49. map->add_region(this);
  50. request_sync();
  51. if (iteration_build_thread_task_id != WorkerThreadPool::INVALID_TASK_ID) {
  52. request_async_thread_join();
  53. }
  54. }
  55. }
  56. void NavRegion3D::set_enabled(bool p_enabled) {
  57. if (enabled == p_enabled) {
  58. return;
  59. }
  60. enabled = p_enabled;
  61. iteration_dirty = true;
  62. request_sync();
  63. }
  64. void NavRegion3D::set_use_edge_connections(bool p_enabled) {
  65. if (use_edge_connections != p_enabled) {
  66. use_edge_connections = p_enabled;
  67. iteration_dirty = true;
  68. }
  69. request_sync();
  70. }
  71. void NavRegion3D::set_transform(Transform3D p_transform) {
  72. if (transform == p_transform) {
  73. return;
  74. }
  75. transform = p_transform;
  76. iteration_dirty = true;
  77. request_sync();
  78. #ifdef DEBUG_ENABLED
  79. if (map && Math::rad_to_deg(map->get_up().angle_to(transform.basis.get_column(1))) >= 90.0f) {
  80. ERR_PRINT_ONCE("Attempted to update a navigation region transform rotated 90 degrees or more away from the current navigation map UP orientation.");
  81. }
  82. #endif // DEBUG_ENABLED
  83. }
  84. void NavRegion3D::set_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh) {
  85. #ifdef DEBUG_ENABLED
  86. if (map && p_navigation_mesh.is_valid() && !Math::is_equal_approx(double(map->get_cell_size()), double(p_navigation_mesh->get_cell_size()))) {
  87. ERR_PRINT_ONCE(vformat("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(p_navigation_mesh->get_cell_size()), double(map->get_cell_size())));
  88. }
  89. if (map && p_navigation_mesh.is_valid() && !Math::is_equal_approx(double(map->get_cell_height()), double(p_navigation_mesh->get_cell_height()))) {
  90. ERR_PRINT_ONCE(vformat("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(p_navigation_mesh->get_cell_height()), double(map->get_cell_height())));
  91. }
  92. #endif // DEBUG_ENABLED
  93. navmesh = p_navigation_mesh;
  94. iteration_dirty = true;
  95. request_sync();
  96. }
  97. Vector3 NavRegion3D::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, bool p_use_collision) const {
  98. RWLockRead read_lock(region_rwlock);
  99. return NavMeshQueries3D::polygons_get_closest_point_to_segment(
  100. get_polygons(), p_from, p_to, p_use_collision);
  101. }
  102. ClosestPointQueryResult NavRegion3D::get_closest_point_info(const Vector3 &p_point) const {
  103. RWLockRead read_lock(region_rwlock);
  104. return NavMeshQueries3D::polygons_get_closest_point_info(get_polygons(), p_point);
  105. }
  106. Vector3 NavRegion3D::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const {
  107. RWLockRead read_lock(region_rwlock);
  108. if (!get_enabled()) {
  109. return Vector3();
  110. }
  111. return NavMeshQueries3D::polygons_get_random_point(get_polygons(), p_navigation_layers, p_uniformly);
  112. }
  113. void NavRegion3D::set_navigation_layers(uint32_t p_navigation_layers) {
  114. if (navigation_layers == p_navigation_layers) {
  115. return;
  116. }
  117. navigation_layers = p_navigation_layers;
  118. iteration_dirty = true;
  119. request_sync();
  120. }
  121. void NavRegion3D::set_enter_cost(real_t p_enter_cost) {
  122. real_t new_enter_cost = MAX(p_enter_cost, 0.0);
  123. if (enter_cost == new_enter_cost) {
  124. return;
  125. }
  126. enter_cost = new_enter_cost;
  127. iteration_dirty = true;
  128. request_sync();
  129. }
  130. void NavRegion3D::set_travel_cost(real_t p_travel_cost) {
  131. real_t new_travel_cost = MAX(p_travel_cost, 0.0);
  132. if (travel_cost == new_travel_cost) {
  133. return;
  134. }
  135. travel_cost = new_travel_cost;
  136. iteration_dirty = true;
  137. request_sync();
  138. }
  139. void NavRegion3D::set_owner_id(ObjectID p_owner_id) {
  140. if (owner_id == p_owner_id) {
  141. return;
  142. }
  143. owner_id = p_owner_id;
  144. iteration_dirty = true;
  145. request_sync();
  146. }
  147. void NavRegion3D::scratch_polygons() {
  148. iteration_dirty = true;
  149. request_sync();
  150. }
  151. real_t NavRegion3D::get_surface_area() const {
  152. RWLockRead read_lock(iteration_rwlock);
  153. return iteration->get_surface_area();
  154. }
  155. AABB NavRegion3D::get_bounds() const {
  156. RWLockRead read_lock(iteration_rwlock);
  157. return iteration->get_bounds();
  158. }
  159. LocalVector<Nav3D::Polygon> const &NavRegion3D::get_polygons() const {
  160. RWLockRead read_lock(iteration_rwlock);
  161. return iteration->get_navmesh_polygons();
  162. }
  163. bool NavRegion3D::sync() {
  164. bool requires_map_update = false;
  165. if (!map) {
  166. return requires_map_update;
  167. }
  168. if (iteration_dirty && !iteration_building && !iteration_ready) {
  169. _build_iteration();
  170. }
  171. if (iteration_ready) {
  172. _sync_iteration();
  173. requires_map_update = true;
  174. }
  175. return requires_map_update;
  176. }
  177. void NavRegion3D::sync_async_tasks() {
  178. if (iteration_build_thread_task_id != WorkerThreadPool::INVALID_TASK_ID) {
  179. if (WorkerThreadPool::get_singleton()->is_task_completed(iteration_build_thread_task_id)) {
  180. WorkerThreadPool::get_singleton()->wait_for_task_completion(iteration_build_thread_task_id);
  181. iteration_build_thread_task_id = WorkerThreadPool::INVALID_TASK_ID;
  182. iteration_building = false;
  183. iteration_ready = true;
  184. request_sync();
  185. }
  186. }
  187. }
  188. void NavRegion3D::_build_iteration() {
  189. if (!iteration_dirty || iteration_building || iteration_ready) {
  190. return;
  191. }
  192. iteration_dirty = false;
  193. iteration_building = true;
  194. iteration_ready = false;
  195. iteration_build.reset();
  196. if (navmesh.is_valid()) {
  197. navmesh->get_data(iteration_build.navmesh_data.vertices, iteration_build.navmesh_data.polygons);
  198. }
  199. iteration_build.map_cell_size = map->get_merge_rasterizer_cell_size();
  200. Ref<NavRegionIteration3D> new_iteration;
  201. new_iteration.instantiate();
  202. new_iteration->navigation_layers = get_navigation_layers();
  203. new_iteration->enter_cost = get_enter_cost();
  204. new_iteration->travel_cost = get_travel_cost();
  205. new_iteration->owner_object_id = get_owner_id();
  206. new_iteration->owner_type = get_type();
  207. new_iteration->owner_rid = get_self();
  208. new_iteration->enabled = get_enabled();
  209. new_iteration->transform = get_transform();
  210. new_iteration->owner_use_edge_connections = get_use_edge_connections();
  211. iteration_build.region_iteration = new_iteration;
  212. if (use_async_iterations) {
  213. iteration_build_thread_task_id = WorkerThreadPool::get_singleton()->add_native_task(&NavRegion3D::_build_iteration_threaded, &iteration_build, true, SNAME("NavRegionBuilder3D"));
  214. request_async_thread_join();
  215. } else {
  216. NavRegionBuilder3D::build_iteration(iteration_build);
  217. iteration_building = false;
  218. iteration_ready = true;
  219. }
  220. }
  221. void NavRegion3D::_build_iteration_threaded(void *p_arg) {
  222. NavRegionIterationBuild3D *_iteration_build = static_cast<NavRegionIterationBuild3D *>(p_arg);
  223. NavRegionBuilder3D::build_iteration(*_iteration_build);
  224. }
  225. void NavRegion3D::_sync_iteration() {
  226. if (iteration_building || !iteration_ready) {
  227. return;
  228. }
  229. performance_data.pm_polygon_count = iteration_build.performance_data.pm_polygon_count;
  230. performance_data.pm_edge_count = iteration_build.performance_data.pm_edge_count;
  231. performance_data.pm_edge_merge_count = iteration_build.performance_data.pm_edge_merge_count;
  232. RWLockWrite write_lock(iteration_rwlock);
  233. ERR_FAIL_COND(iteration.is_null());
  234. iteration = Ref<NavRegionIteration3D>();
  235. DEV_ASSERT(iteration.is_null());
  236. iteration = iteration_build.region_iteration;
  237. iteration_build.region_iteration = Ref<NavRegionIteration3D>();
  238. DEV_ASSERT(iteration_build.region_iteration.is_null());
  239. iteration_id = iteration_id % UINT32_MAX + 1;
  240. iteration_ready = false;
  241. cancel_async_thread_join();
  242. }
  243. Ref<NavRegionIteration3D> NavRegion3D::get_iteration() {
  244. RWLockRead read_lock(iteration_rwlock);
  245. return iteration;
  246. }
  247. void NavRegion3D::request_async_thread_join() {
  248. DEV_ASSERT(map);
  249. if (map && !async_list_element.in_list()) {
  250. map->add_region_async_thread_join_request(&async_list_element);
  251. }
  252. }
  253. void NavRegion3D::cancel_async_thread_join() {
  254. if (map && async_list_element.in_list()) {
  255. map->remove_region_async_thread_join_request(&async_list_element);
  256. }
  257. }
  258. void NavRegion3D::request_sync() {
  259. if (map && !sync_dirty_request_list_element.in_list()) {
  260. map->add_region_sync_dirty_request(&sync_dirty_request_list_element);
  261. }
  262. }
  263. void NavRegion3D::cancel_sync_request() {
  264. if (map && sync_dirty_request_list_element.in_list()) {
  265. map->remove_region_sync_dirty_request(&sync_dirty_request_list_element);
  266. }
  267. }
  268. void NavRegion3D::set_use_async_iterations(bool p_enabled) {
  269. if (use_async_iterations == p_enabled) {
  270. return;
  271. }
  272. #ifdef THREADS_ENABLED
  273. use_async_iterations = p_enabled;
  274. #endif
  275. }
  276. bool NavRegion3D::get_use_async_iterations() const {
  277. return use_async_iterations;
  278. }
  279. NavRegion3D::NavRegion3D() :
  280. sync_dirty_request_list_element(this), async_list_element(this) {
  281. type = NavigationUtilities::PathSegmentType::PATH_SEGMENT_TYPE_REGION;
  282. iteration_build.region = this;
  283. iteration.instantiate();
  284. #ifdef THREADS_ENABLED
  285. use_async_iterations = GLOBAL_GET("navigation/world/region_use_async_iterations");
  286. #else
  287. use_async_iterations = false;
  288. #endif
  289. }
  290. NavRegion3D::~NavRegion3D() {
  291. cancel_async_thread_join();
  292. cancel_sync_request();
  293. if (iteration_build_thread_task_id != WorkerThreadPool::INVALID_TASK_ID) {
  294. WorkerThreadPool::get_singleton()->wait_for_task_completion(iteration_build_thread_task_id);
  295. iteration_build_thread_task_id = WorkerThreadPool::INVALID_TASK_ID;
  296. }
  297. iteration_build.region = nullptr;
  298. iteration_build.region_iteration = Ref<NavRegionIteration3D>();
  299. iteration = Ref<NavRegionIteration3D>();
  300. }