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Merge pull request #4302 from Anarchid/gridmap-navmesh

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Navmesh support for GridMaps
This commit is contained in:
Rémi Verschelde
2016-04-20 21:12:35 +02:00
parent 1ea4b8e2dc b03a892f95
commit c0ec7e933a
5 changed files with 180 additions and 14 deletions
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119
modules/gridmap/grid_map.cpp
View File

@ -35,6 +35,7 @@
#include "io/marshalls.h"
#include "scene/scene_string_names.h"
#include "os/os.h"
#include "scene/resources/mesh_library.h"
bool GridMap::_set(const StringName& p_name, const Variant& p_value) {
@ -450,6 +451,7 @@ void GridMap::set_cell_item(int p_x,int p_y,int p_z, int p_item,int p_rot){
if (theme.is_valid() && theme->has_item(p_item)) {
ii.mesh=theme->get_item_mesh(p_item);
ii.shape=theme->get_item_shape(p_item);
ii.navmesh=theme->get_item_navmesh(p_item);
}
ii.multimesh = Ref<MultiMesh>( memnew( MultiMesh ) );
ii.multimesh->set_mesh(ii.mesh);
@ -521,6 +523,52 @@ int GridMap::get_cell_item_orientation(int p_x,int p_y,int p_z) const{
}
void GridMap::_octant_enter_tree(const OctantKey &p_key){
ERR_FAIL_COND(!octant_map.has(p_key));
if(navigation){
Octant&g = *octant_map[p_key];
Vector3 ofs(cell_size*0.5*int(center_x),cell_size*0.5*int(center_y),cell_size*0.5*int(center_z));
_octant_clear_navmesh(p_key);
for(Map<int,Octant::ItemInstances>::Element *E=g.items.front();E;E=E->next()) {
Octant::ItemInstances &ii=E->get();
for(Set<IndexKey>::Element *F=ii.cells.front();F;F=F->next()) {
IndexKey ik=F->get();
Map<IndexKey,Cell>::Element *C=cell_map.find(ik);
ERR_CONTINUE(!C);
Vector3 cellpos = Vector3(ik.x,ik.y,ik.z );
Transform xform;
if (clip && ( (clip_above && cellpos[clip_axis]>clip_floor) || (!clip_above && cellpos[clip_axis]<clip_floor))) {
xform.basis.set_zero();
} else {
xform.basis.set_orthogonal_index(C->get().rot);
}
xform.set_origin( cellpos*cell_size+ofs);
xform.basis.scale(Vector3(cell_scale,cell_scale,cell_scale));
// add the item's navmesh at given xform to GridMap's Navigation ancestor
if(ii.navmesh.is_valid()){
int nm_id = navigation->navmesh_create(ii.navmesh,xform,this);
Octant::NavMesh nm;
nm.id=nm_id;
nm.xform=xform;
g.navmesh_ids[ik]=nm;
}
}
}
}
}
void GridMap::_octant_enter_world(const OctantKey &p_key) {
ERR_FAIL_COND(!octant_map.has(p_key));
@ -560,7 +608,6 @@ void GridMap::_octant_enter_world(const OctantKey &p_key) {
}
}
}
}
@ -589,9 +636,20 @@ void GridMap::_octant_transform(const OctantKey &p_key) {
}
void GridMap::_octant_clear_navmesh(const OctantKey &p_key){
Octant&g = *octant_map[p_key];
if (navigation) {
for(Map<IndexKey,Octant::NavMesh>::Element *E=g.navmesh_ids.front();E;E=E->next()) {
Octant::NavMesh *nvm = &E->get();
if(nvm && nvm->id){
navigation->navmesh_remove(E->get().id);
}
}
g.navmesh_ids.clear();
}
}
void GridMap::_octant_update(const OctantKey &p_key) {
ERR_FAIL_COND(!octant_map.has(p_key));
Octant&g = *octant_map[p_key];
if (!g.dirty)
@ -599,6 +657,7 @@ void GridMap::_octant_update(const OctantKey &p_key) {
Ref<Mesh> mesh;
_octant_clear_navmesh(p_key);
PhysicsServer::get_singleton()->body_clear_shapes(g.static_body);
if (g.collision_debug.is_valid()) {
@ -608,11 +667,16 @@ void GridMap::_octant_update(const OctantKey &p_key) {
DVector<Vector3> col_debug;
/*
* foreach item in this octant,
* set item's multimesh's instance count to number of cells which have this item
* and set said multimesh bounding box to one containing all cells which have this item
*/
for(Map<int,Octant::ItemInstances>::Element *E=g.items.front();E;E=E->next()) {
Octant::ItemInstances &ii=E->get();
ii.multimesh->set_instance_count(ii.cells.size());
ii.multimesh->set_instance_count(ii.cells.size());
AABB aabb;
AABB mesh_aabb = ii.mesh.is_null()?AABB():ii.mesh->get_aabb();
@ -622,6 +686,7 @@ void GridMap::_octant_update(const OctantKey &p_key) {
//print_line("OCTANT, CELLS: "+itos(ii.cells.size()));
int idx=0;
// foreach cell containing this item type
for(Set<IndexKey>::Element *F=ii.cells.front();F;F=F->next()) {
IndexKey ik=F->get();
Map<IndexKey,Cell>::Element *C=cell_map.find(ik);
@ -658,8 +723,9 @@ void GridMap::_octant_update(const OctantKey &p_key) {
aabb.merge_with(xform.xform(mesh_aabb));
}
// add the item's shape at given xform to octant's static_body
if (ii.shape.is_valid()) {
// add the item's shape
PhysicsServer::get_singleton()->body_add_shape(g.static_body,ii.shape->get_rid(),xform);
if (g.collision_debug.is_valid()) {
ii.shape->add_vertices_to_array(col_debug,xform);
@ -668,6 +734,17 @@ void GridMap::_octant_update(const OctantKey &p_key) {
// print_line("PHIS x: "+xform);
}
// add the item's navmesh at given xform to GridMap's Navigation ancestor
if(navigation){
if(ii.navmesh.is_valid()){
int nm_id = navigation->navmesh_create(ii.navmesh,xform,this);
Octant::NavMesh nm;
nm.id=nm_id;
nm.xform=xform;
g.navmesh_ids[ik]=nm;
}
}
idx++;
}
@ -970,12 +1047,43 @@ void GridMap::_notification(int p_what) {
}
//_queue_dirty_map(MAP_DIRTY_INSTANCES|MAP_DIRTY_TRANSFORMS);
//_update_dirty_map_callback();
//_update_area_instances();
} break;
case NOTIFICATION_ENTER_TREE: {
Spatial *c=this;
while(c) {
navigation=c->cast_to<Navigation>();
if (navigation) {
break;
}
c=c->get_parent()->cast_to<Spatial>();
}
if(navigation){
for(Map<OctantKey,Octant*>::Element *E=octant_map.front();E;E=E->next()) {
if (navigation) {
_octant_enter_tree(E->key());
}
}
}
_queue_dirty_map();
} break;
case NOTIFICATION_EXIT_TREE: {
for(Map<OctantKey,Octant*>::Element *E=octant_map.front();E;E=E->next()) {
if (navigation) {
_octant_clear_navmesh(E->key());
}
}
navigation=NULL;
} break;
}
}
@ -1734,3 +1842,4 @@ GridMap::~GridMap() {
clear();
}

27
modules/gridmap/grid_map.h
View File

@ -32,6 +32,7 @@
#include "scene/resources/mesh_library.h"
#include "scene/3d/spatial.h"
#include "scene/3d/navigation.h"
#include "scene/resources/multimesh.h"
//heh heh, godotsphir!! this shares no code and the design is completely different with previous projects i've done..
@ -67,6 +68,9 @@ class GridMap : public Spatial {
IndexKey() { key=0; }
};
/**
* @brief A Cell is a single cell in the cube map space; it is defined by its coordinates and the populating Item, identified by int id.
*/
union Cell {
struct {
@ -79,16 +83,24 @@ class GridMap : public Spatial {
Cell() { item=0; rot=0; layer=0; }
};
/**
* @brief An Octant is a prism containing Cells, and possibly belonging to an Area.
* A GridMap can have multiple Octants.
*/
struct Octant {
struct ItemInstances {
struct NavMesh {
int id;
Transform xform;
};
struct ItemInstances {
Set<IndexKey> cells;
Ref<Mesh> mesh;
Ref<Shape> shape;
Ref<MultiMesh> multimesh;
RID multimesh_instance;
Ref<NavigationMesh> navmesh;
};
Ref<Mesh> baked;
@ -98,9 +110,8 @@ class GridMap : public Spatial {
bool dirty;
RID static_body;
Map<int,ItemInstances> items;
Map<IndexKey,NavMesh> navmesh_ids;
};
union OctantKey {
@ -131,7 +142,7 @@ class GridMap : public Spatial {
bool center_x,center_y,center_z;
bool bake;
float cell_scale;
Navigation *navigation;
bool clip;
bool clip_above;
@ -140,7 +151,9 @@ class GridMap : public Spatial {
Vector3::Axis clip_axis;
/**
* @brief An Area is something like a room: it has doors, and Octants can choose to belong to it.
*/
struct Area {
String name;
@ -188,10 +201,12 @@ class GridMap : public Spatial {
}
void _octant_enter_world(const OctantKey &p_key);
void _octant_enter_tree(const OctantKey &p_key);
void _octant_exit_world(const OctantKey &p_key);
void _octant_update(const OctantKey &p_key);
void _octant_transform(const OctantKey &p_key);
void _octant_clear_baked(const OctantKey &p_key);
void _octant_clear_navmesh(const GridMap::OctantKey&);
void _octant_bake(const OctantKey &p_key,const Ref<TriangleMesh>& p_tmesh=RES(),const Vector<BakeLight> &p_lights=Vector<BakeLight>(),List<Vector3> *r_prebake=NULL);
bool awaiting_update;