Rename GdNavigationServer to GodotNavigationServer

And rename `gdnavigation` module to simply `navigation`.

modules/navigation/nav_utils.h

@@ -0,0 +1,140 @@
+/*************************************************************************/
+/*  nav_utils.h                                                          */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* 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.                */
+/*************************************************************************/
+
+#ifndef NAV_UTILS_H
+#define NAV_UTILS_H
+
+#include "core/math/vector3.h"
+
+#include <vector>
+
+/**
+	@author AndreaCatania
+*/
+
+class NavRegion;
+
+namespace gd {
+struct Polygon;
+
+union PointKey {
+	struct {
+		int64_t x : 21;
+		int64_t y : 22;
+		int64_t z : 21;
+	};
+
+	uint64_t key = 0;
+	bool operator<(const PointKey &p_key) const { return key < p_key.key; }
+};
+
+struct EdgeKey {
+	PointKey a;
+	PointKey b;
+
+	bool operator<(const EdgeKey &p_key) const {
+		return (a.key == p_key.a.key) ? (b.key < p_key.b.key) : (a.key < p_key.a.key);
+	}
+
+	EdgeKey(const PointKey &p_a = PointKey(), const PointKey &p_b = PointKey()) :
+			a(p_a),
+			b(p_b) {
+		if (a.key > b.key) {
+			SWAP(a, b);
+		}
+	}
+};
+
+struct Point {
+	Vector3 pos;
+	PointKey key;
+};
+
+struct Edge {
+	/// This edge ID
+	int this_edge = -1;
+
+	/// The gateway in the edge, as, in some case, the whole edge might not be navigable.
+	struct Connection {
+		Polygon *polygon = nullptr;
+		int edge = -1;
+		Vector3 pathway_start;
+		Vector3 pathway_end;
+	};
+	Vector<Connection> connections;
+};
+
+struct Polygon {
+	NavRegion *owner;
+
+	/// The points of this `Polygon`
+	std::vector<Point> points;
+
+	/// Are the points clockwise ?
+	bool clockwise;
+
+	/// The edges of this `Polygon`
+	std::vector<Edge> edges;
+
+	/// The center of this `Polygon`
+	Vector3 center;
+};
+
+struct NavigationPoly {
+	uint32_t self_id = 0;
+	/// This poly.
+	const Polygon *poly;
+
+	/// Those 4 variables are used to travel the path backwards.
+	int back_navigation_poly_id = -1;
+	uint32_t back_navigation_edge = UINT32_MAX;
+	Vector3 back_navigation_edge_pathway_start;
+	Vector3 back_navigation_edge_pathway_end;
+
+	/// The entry location of this poly.
+	Vector3 entry;
+	/// The distance to the destination.
+	float traveled_distance = 0.0;
+
+	NavigationPoly(const Polygon *p_poly) :
+			poly(p_poly) {}
+
+	bool operator==(const NavigationPoly &other) const {
+		return this->poly == other.poly;
+	}
+
+	bool operator!=(const NavigationPoly &other) const {
+		return !operator==(other);
+	}
+};
+
+} // namespace gd
+
+#endif // NAV_UTILS_H