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Added node for Navigation links

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This commit is contained in:
Josh Jones
2022-01-30 15:39:52 -08:00
parent 4808d01b2b
commit 3dd59013f4
34 changed files with 2563 additions and 49 deletions
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171
modules/navigation/godot_navigation_server.cpp
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@@ -210,6 +210,20 @@ real_t GodotNavigationServer::map_get_edge_connection_margin(RID p_map) const {
return map->get_edge_connection_margin();
}
COMMAND_2(map_set_link_connection_radius, RID, p_map, real_t, p_connection_radius) {
NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND(map == nullptr);
map->set_link_connection_radius(p_connection_radius);
}
real_t GodotNavigationServer::map_get_link_connection_radius(RID p_map) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, 0);
return map->get_link_connection_radius();
}
Vector<Vector3> GodotNavigationServer::map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers) const {
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, Vector<Vector3>());
@@ -245,6 +259,20 @@ RID GodotNavigationServer::map_get_closest_point_owner(RID p_map, const Vector3
return map->get_closest_point_owner(p_point);
}
TypedArray<RID> GodotNavigationServer::map_get_links(RID p_map) const {
TypedArray<RID> link_rids;
const NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND_V(map == nullptr, link_rids);
const LocalVector<NavLink *> links = map->get_links();
link_rids.resize(links.size());
for (uint32_t i = 0; i < links.size(); i++) {
link_rids[i] = links[i]->get_self();
}
return link_rids;
}
TypedArray<RID> GodotNavigationServer::map_get_regions(RID p_map) const {
TypedArray<RID> regions_rids;
const NavMap *map = map_owner.get_or_null(p_map);
@@ -417,6 +445,131 @@ Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, i
return region->get_connection_pathway_end(p_connection_id);
}
RID GodotNavigationServer::link_create() const {
GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
RID rid = link_owner.make_rid();
NavLink *link = link_owner.get_or_null(rid);
link->set_self(rid);
return rid;
}
COMMAND_2(link_set_map, RID, p_link, RID, p_map) {
NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND(link == nullptr);
if (link->get_map() != nullptr) {
if (link->get_map()->get_self() == p_map) {
return; // Pointless
}
link->get_map()->remove_link(link);
link->set_map(nullptr);
}
if (p_map.is_valid()) {
NavMap *map = map_owner.get_or_null(p_map);
ERR_FAIL_COND(map == nullptr);
map->add_link(link);
link->set_map(map);
}
}
RID GodotNavigationServer::link_get_map(const RID p_link) const {
const NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND_V(link == nullptr, RID());
if (link->get_map()) {
return link->get_map()->get_self();
}
return RID();
}
COMMAND_2(link_set_bidirectional, RID, p_link, bool, p_bidirectional) {
NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_bidirectional(p_bidirectional);
}
bool GodotNavigationServer::link_is_bidirectional(RID p_link) const {
const NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND_V(link == nullptr, false);
return link->is_bidirectional();
}
COMMAND_2(link_set_navigation_layers, RID, p_link, uint32_t, p_navigation_layers) {
NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_navigation_layers(p_navigation_layers);
}
uint32_t GodotNavigationServer::link_get_navigation_layers(const RID p_link) const {
const NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND_V(link == nullptr, 0);
return link->get_navigation_layers();
}
COMMAND_2(link_set_start_location, RID, p_link, Vector3, p_location) {
NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_start_location(p_location);
}
Vector3 GodotNavigationServer::link_get_start_location(RID p_link) const {
const NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND_V(link == nullptr, Vector3());
return link->get_start_location();
}
COMMAND_2(link_set_end_location, RID, p_link, Vector3, p_location) {
NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_end_location(p_location);
}
Vector3 GodotNavigationServer::link_get_end_location(RID p_link) const {
const NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND_V(link == nullptr, Vector3());
return link->get_end_location();
}
COMMAND_2(link_set_enter_cost, RID, p_link, real_t, p_enter_cost) {
NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_enter_cost(p_enter_cost);
}
real_t GodotNavigationServer::link_get_enter_cost(const RID p_link) const {
const NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND_V(link == nullptr, 0);
return link->get_enter_cost();
}
COMMAND_2(link_set_travel_cost, RID, p_link, real_t, p_travel_cost) {
NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND(link == nullptr);
link->set_travel_cost(p_travel_cost);
}
real_t GodotNavigationServer::link_get_travel_cost(const RID p_link) const {
const NavLink *link = link_owner.get_or_null(p_link);
ERR_FAIL_COND_V(link == nullptr, 0);
return link->get_travel_cost();
}
RID GodotNavigationServer::agent_create() const {
GodotNavigationServer *mut_this = const_cast<GodotNavigationServer *>(this);
MutexLock lock(mut_this->operations_mutex);
@@ -549,6 +702,13 @@ COMMAND_1(free, RID, p_object) {
regions[i]->set_map(nullptr);
}
// Removes any assigned links
LocalVector<NavLink *> links = map->get_links();
for (uint32_t i = 0; i < links.size(); i++) {
map->remove_link(links[i]);
links[i]->set_map(nullptr);
}
// Remove any assigned agent
LocalVector<RvoAgent *> agents = map->get_agents();
for (uint32_t i = 0; i < agents.size(); i++) {
@@ -572,6 +732,17 @@ COMMAND_1(free, RID, p_object) {
region_owner.free(p_object);
} else if (link_owner.owns(p_object)) {
NavLink *link = link_owner.get_or_null(p_object);
// Removes this link from the map if assigned
if (link->get_map() != nullptr) {
link->get_map()->remove_link(link);
link->set_map(nullptr);
}
link_owner.free(p_object);
} else if (agent_owner.owns(p_object)) {
RvoAgent *agent = agent_owner.get_or_null(p_object);