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- /**************************************************************************/
- /* nav_region_3d.cpp */
- /**************************************************************************/
- /* This file is part of: */
- /* GODOT ENGINE */
- /* https://godotengine.org */
- /**************************************************************************/
- /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
- /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
- /* */
- /* Permission is hereby granted, free of charge, to any person obtaining */
- /* a copy of this software and associated documentation files (the */
- /* "Software"), to deal in the Software without restriction, including */
- /* without limitation the rights to use, copy, modify, merge, publish, */
- /* distribute, sublicense, and/or sell copies of the Software, and to */
- /* permit persons to whom the Software is furnished to do so, subject to */
- /* the following conditions: */
- /* */
- /* The above copyright notice and this permission notice shall be */
- /* included in all copies or substantial portions of the Software. */
- /* */
- /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
- /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
- /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
- /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
- /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
- /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
- /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
- /**************************************************************************/
- #include "nav_region_3d.h"
- #include "nav_map_3d.h"
- #include "3d/nav_mesh_queries_3d.h"
- #include "3d/nav_region_builder_3d.h"
- #include "3d/nav_region_iteration_3d.h"
- #include "core/config/project_settings.h"
- using namespace Nav3D;
- void NavRegion3D::set_map(NavMap3D *p_map) {
- if (map == p_map) {
- return;
- }
- cancel_async_thread_join();
- cancel_sync_request();
- if (map) {
- map->remove_region(this);
- }
- map = p_map;
- iteration_dirty = true;
- if (map) {
- map->add_region(this);
- request_sync();
- if (iteration_build_thread_task_id != WorkerThreadPool::INVALID_TASK_ID) {
- request_async_thread_join();
- }
- }
- }
- void NavRegion3D::set_enabled(bool p_enabled) {
- if (enabled == p_enabled) {
- return;
- }
- enabled = p_enabled;
- iteration_dirty = true;
- request_sync();
- }
- void NavRegion3D::set_use_edge_connections(bool p_enabled) {
- if (use_edge_connections != p_enabled) {
- use_edge_connections = p_enabled;
- iteration_dirty = true;
- }
- request_sync();
- }
- void NavRegion3D::set_transform(Transform3D p_transform) {
- if (transform == p_transform) {
- return;
- }
- transform = p_transform;
- iteration_dirty = true;
- request_sync();
- #ifdef DEBUG_ENABLED
- if (map && Math::rad_to_deg(map->get_up().angle_to(transform.basis.get_column(1))) >= 90.0f) {
- ERR_PRINT_ONCE("Attempted to update a navigation region transform rotated 90 degrees or more away from the current navigation map UP orientation.");
- }
- #endif // DEBUG_ENABLED
- }
- void NavRegion3D::set_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh) {
- #ifdef DEBUG_ENABLED
- if (map && p_navigation_mesh.is_valid() && !Math::is_equal_approx(double(map->get_cell_size()), double(p_navigation_mesh->get_cell_size()))) {
- 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())));
- }
- if (map && p_navigation_mesh.is_valid() && !Math::is_equal_approx(double(map->get_cell_height()), double(p_navigation_mesh->get_cell_height()))) {
- 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())));
- }
- #endif // DEBUG_ENABLED
- navmesh = p_navigation_mesh;
- iteration_dirty = true;
- request_sync();
- }
- Vector3 NavRegion3D::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, bool p_use_collision) const {
- RWLockRead read_lock(region_rwlock);
- return NavMeshQueries3D::polygons_get_closest_point_to_segment(
- get_polygons(), p_from, p_to, p_use_collision);
- }
- ClosestPointQueryResult NavRegion3D::get_closest_point_info(const Vector3 &p_point) const {
- RWLockRead read_lock(region_rwlock);
- return NavMeshQueries3D::polygons_get_closest_point_info(get_polygons(), p_point);
- }
- Vector3 NavRegion3D::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const {
- RWLockRead read_lock(region_rwlock);
- if (!get_enabled()) {
- return Vector3();
- }
- return NavMeshQueries3D::polygons_get_random_point(get_polygons(), p_navigation_layers, p_uniformly);
- }
- void NavRegion3D::set_navigation_layers(uint32_t p_navigation_layers) {
- if (navigation_layers == p_navigation_layers) {
- return;
- }
- navigation_layers = p_navigation_layers;
- iteration_dirty = true;
- request_sync();
- }
- void NavRegion3D::set_enter_cost(real_t p_enter_cost) {
- real_t new_enter_cost = MAX(p_enter_cost, 0.0);
- if (enter_cost == new_enter_cost) {
- return;
- }
- enter_cost = new_enter_cost;
- iteration_dirty = true;
- request_sync();
- }
- void NavRegion3D::set_travel_cost(real_t p_travel_cost) {
- real_t new_travel_cost = MAX(p_travel_cost, 0.0);
- if (travel_cost == new_travel_cost) {
- return;
- }
- travel_cost = new_travel_cost;
- iteration_dirty = true;
- request_sync();
- }
- void NavRegion3D::set_owner_id(ObjectID p_owner_id) {
- if (owner_id == p_owner_id) {
- return;
- }
- owner_id = p_owner_id;
- iteration_dirty = true;
- request_sync();
- }
- void NavRegion3D::scratch_polygons() {
- iteration_dirty = true;
- request_sync();
- }
- real_t NavRegion3D::get_surface_area() const {
- RWLockRead read_lock(iteration_rwlock);
- return iteration->get_surface_area();
- }
- AABB NavRegion3D::get_bounds() const {
- RWLockRead read_lock(iteration_rwlock);
- return iteration->get_bounds();
- }
- LocalVector<Nav3D::Polygon> const &NavRegion3D::get_polygons() const {
- RWLockRead read_lock(iteration_rwlock);
- return iteration->get_navmesh_polygons();
- }
- bool NavRegion3D::sync() {
- bool requires_map_update = false;
- if (!map) {
- return requires_map_update;
- }
- if (iteration_dirty && !iteration_building && !iteration_ready) {
- _build_iteration();
- }
- if (iteration_ready) {
- _sync_iteration();
- requires_map_update = true;
- }
- return requires_map_update;
- }
- void NavRegion3D::sync_async_tasks() {
- if (iteration_build_thread_task_id != WorkerThreadPool::INVALID_TASK_ID) {
- if (WorkerThreadPool::get_singleton()->is_task_completed(iteration_build_thread_task_id)) {
- WorkerThreadPool::get_singleton()->wait_for_task_completion(iteration_build_thread_task_id);
- iteration_build_thread_task_id = WorkerThreadPool::INVALID_TASK_ID;
- iteration_building = false;
- iteration_ready = true;
- request_sync();
- }
- }
- }
- void NavRegion3D::_build_iteration() {
- if (!iteration_dirty || iteration_building || iteration_ready) {
- return;
- }
- iteration_dirty = false;
- iteration_building = true;
- iteration_ready = false;
- iteration_build.reset();
- if (navmesh.is_valid()) {
- navmesh->get_data(iteration_build.navmesh_data.vertices, iteration_build.navmesh_data.polygons);
- }
- iteration_build.map_cell_size = map->get_merge_rasterizer_cell_size();
- Ref<NavRegionIteration3D> new_iteration;
- new_iteration.instantiate();
- new_iteration->navigation_layers = get_navigation_layers();
- new_iteration->enter_cost = get_enter_cost();
- new_iteration->travel_cost = get_travel_cost();
- new_iteration->owner_object_id = get_owner_id();
- new_iteration->owner_type = get_type();
- new_iteration->owner_rid = get_self();
- new_iteration->enabled = get_enabled();
- new_iteration->transform = get_transform();
- new_iteration->owner_use_edge_connections = get_use_edge_connections();
- iteration_build.region_iteration = new_iteration;
- if (use_async_iterations) {
- iteration_build_thread_task_id = WorkerThreadPool::get_singleton()->add_native_task(&NavRegion3D::_build_iteration_threaded, &iteration_build, true, SNAME("NavRegionBuilder3D"));
- request_async_thread_join();
- } else {
- NavRegionBuilder3D::build_iteration(iteration_build);
- iteration_building = false;
- iteration_ready = true;
- }
- }
- void NavRegion3D::_build_iteration_threaded(void *p_arg) {
- NavRegionIterationBuild3D *_iteration_build = static_cast<NavRegionIterationBuild3D *>(p_arg);
- NavRegionBuilder3D::build_iteration(*_iteration_build);
- }
- void NavRegion3D::_sync_iteration() {
- if (iteration_building || !iteration_ready) {
- return;
- }
- performance_data.pm_polygon_count = iteration_build.performance_data.pm_polygon_count;
- performance_data.pm_edge_count = iteration_build.performance_data.pm_edge_count;
- performance_data.pm_edge_merge_count = iteration_build.performance_data.pm_edge_merge_count;
- RWLockWrite write_lock(iteration_rwlock);
- ERR_FAIL_COND(iteration.is_null());
- iteration = Ref<NavRegionIteration3D>();
- DEV_ASSERT(iteration.is_null());
- iteration = iteration_build.region_iteration;
- iteration_build.region_iteration = Ref<NavRegionIteration3D>();
- DEV_ASSERT(iteration_build.region_iteration.is_null());
- iteration_id = iteration_id % UINT32_MAX + 1;
- iteration_ready = false;
- cancel_async_thread_join();
- }
- Ref<NavRegionIteration3D> NavRegion3D::get_iteration() {
- RWLockRead read_lock(iteration_rwlock);
- return iteration;
- }
- void NavRegion3D::request_async_thread_join() {
- DEV_ASSERT(map);
- if (map && !async_list_element.in_list()) {
- map->add_region_async_thread_join_request(&async_list_element);
- }
- }
- void NavRegion3D::cancel_async_thread_join() {
- if (map && async_list_element.in_list()) {
- map->remove_region_async_thread_join_request(&async_list_element);
- }
- }
- void NavRegion3D::request_sync() {
- if (map && !sync_dirty_request_list_element.in_list()) {
- map->add_region_sync_dirty_request(&sync_dirty_request_list_element);
- }
- }
- void NavRegion3D::cancel_sync_request() {
- if (map && sync_dirty_request_list_element.in_list()) {
- map->remove_region_sync_dirty_request(&sync_dirty_request_list_element);
- }
- }
- void NavRegion3D::set_use_async_iterations(bool p_enabled) {
- if (use_async_iterations == p_enabled) {
- return;
- }
- #ifdef THREADS_ENABLED
- use_async_iterations = p_enabled;
- #endif
- }
- bool NavRegion3D::get_use_async_iterations() const {
- return use_async_iterations;
- }
- NavRegion3D::NavRegion3D() :
- sync_dirty_request_list_element(this), async_list_element(this) {
- type = NavigationUtilities::PathSegmentType::PATH_SEGMENT_TYPE_REGION;
- iteration_build.region = this;
- iteration.instantiate();
- #ifdef THREADS_ENABLED
- use_async_iterations = GLOBAL_GET("navigation/world/region_use_async_iterations");
- #else
- use_async_iterations = false;
- #endif
- }
- NavRegion3D::~NavRegion3D() {
- cancel_async_thread_join();
- cancel_sync_request();
- if (iteration_build_thread_task_id != WorkerThreadPool::INVALID_TASK_ID) {
- WorkerThreadPool::get_singleton()->wait_for_task_completion(iteration_build_thread_task_id);
- iteration_build_thread_task_id = WorkerThreadPool::INVALID_TASK_ID;
- }
- iteration_build.region = nullptr;
- iteration_build.region_iteration = Ref<NavRegionIteration3D>();
- iteration = Ref<NavRegionIteration3D>();
- }
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