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Consider gridmap collisions in navigation bake

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This commit is contained in:
rafallus
2022-01-14 09:36:59 -06:00
parent 8958e1b352
commit cc46abd73d
4 changed files with 119 additions and 12 deletions
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2
modules/gridmap/doc_classes/GridMap.xml
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@ -67,7 +67,7 @@
Returns whether or not the specified layer of the [member collision_mask] is enabled, given a [code]layer_number[/code] between 1 and 32.
</description>
</method>
<method name="get_meshes">
<method name="get_meshes" qualifiers="const">
<return type="Array" />
<description>
Returns an array of [Transform3D] and [Mesh] references corresponding to the non-empty cells in the grid. The transforms are specified in world space.

23
modules/gridmap/grid_map.cpp
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@ -35,6 +35,7 @@
#include "scene/3d/light_3d.h"
#include "scene/resources/mesh_library.h"
#include "scene/resources/physics_material.h"
#include "scene/resources/primitive_meshes.h"
#include "scene/resources/surface_tool.h"
#include "scene/scene_string_names.h"
#include "servers/navigation_server_3d.h"
@ -197,6 +198,24 @@ bool GridMap::get_collision_mask_value(int p_layer_number) const {
return get_collision_mask() & (1 << (p_layer_number - 1));
}
Array GridMap::get_collision_shapes() const {
Array shapes;
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
Octant *g = E.value;
RID body = g->static_body;
Transform3D body_xform = PhysicsServer3D::get_singleton()->body_get_state(body, PhysicsServer3D::BODY_STATE_TRANSFORM);
int nshapes = PhysicsServer3D::get_singleton()->body_get_shape_count(body);
for (int i = 0; i < nshapes; i++) {
RID shape = PhysicsServer3D::get_singleton()->body_get_shape(body, i);
Transform3D xform = PhysicsServer3D::get_singleton()->body_get_shape_transform(body, i);
shapes.push_back(body_xform * xform);
shapes.push_back(shape);
}
}
return shapes;
}
void GridMap::set_bake_navigation(bool p_bake_navigation) {
bake_navigation = p_bake_navigation;
_recreate_octant_data();
@ -930,7 +949,7 @@ Array GridMap::get_used_cells() const {
return a;
}
Array GridMap::get_meshes() {
Array GridMap::get_meshes() const {
if (mesh_library.is_null()) {
return Array();
}
@ -938,7 +957,7 @@ Array GridMap::get_meshes() {
Vector3 ofs = _get_offset();
Array meshes;
for (KeyValue<IndexKey, Cell> &E : cell_map) {
for (const KeyValue<IndexKey, Cell> &E : cell_map) {
int id = E.value.item;
if (!mesh_library->has_item(id)) {
continue;

4
modules/gridmap/grid_map.h
View File

@ -229,6 +229,8 @@ public:
void set_physics_material(Ref<PhysicsMaterial> p_material);
Ref<PhysicsMaterial> get_physics_material() const;
Array get_collision_shapes() const;
void set_bake_navigation(bool p_bake_navigation);
bool is_baking_navigation();
@ -265,7 +267,7 @@ public:
Array get_used_cells() const;
Array get_meshes();
Array get_meshes() const;
void clear_baked_meshes();
void make_baked_meshes(bool p_gen_lightmap_uv = false, float p_lightmap_uv_texel_size = 0.1);