/**************************************************************************/
/* nav_map_2d.h */
/**************************************************************************/
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/* GODOT ENGINE */
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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#pragma once
#include "2d/nav_map_iteration_2d.h"
#include "2d/nav_mesh_queries_2d.h"
#include "nav_rid_2d.h"
#include "nav_utils_2d.h"
#include "core/math/math_defs.h"
#include "core/object/worker_thread_pool.h"
#include "core/os/rw_lock.h"
#include "servers/navigation_2d/navigation_constants_2d.h"
#include <KdTree2d.h>
#include <RVOSimulator2d.h>
class NavLink2D;
class NavRegion2D;
class NavAgent2D;
class NavObstacle2D;
class NavMap2D : public NavRid2D {
/// To find the polygons edges the vertices are displaced in a grid where
/// each cell has the following cell_size.
real_t cell_size = NavigationDefaults2D::NAV_MESH_CELL_SIZE;
// For the inter-region merging to work, internal rasterization is performed.
Vector2 merge_rasterizer_cell_size = Vector2(cell_size, cell_size);
// This value is used to control sensitivity of internal rasterizer.
float merge_rasterizer_cell_scale = 0.1;
bool use_edge_connections = true;
/// This value is used to detect the near edges to connect.
real_t edge_connection_margin = NavigationDefaults2D::EDGE_CONNECTION_MARGIN;
/// This value is used to limit how far links search to find polygons to connect to.
real_t link_connection_radius = NavigationDefaults2D::LINK_CONNECTION_RADIUS;
bool map_settings_dirty = true;
/// Map regions.
LocalVector<NavRegion2D *> regions;
/// Map links.
LocalVector<NavLink2D *> links;
/// RVO avoidance world.
RVO2D::RVOSimulator2D rvo_simulation;
/// Avoidance controlled agents.
LocalVector<NavAgent2D *> active_avoidance_agents;
/// dirty flag when one of the agent's arrays are modified.
bool agents_dirty = true;
/// All the Agents (even the controlled one).
LocalVector<NavAgent2D *> agents;
/// All the avoidance obstacles (both static and dynamic).
LocalVector<NavObstacle2D *> obstacles;
/// Are rvo obstacles modified?
bool obstacles_dirty = true;
/// Change the id each time the map is updated.
uint32_t iteration_id = 0;
bool use_threads = true;
bool avoidance_use_multiple_threads = true;
bool avoidance_use_high_priority_threads = true;
// Performance Monitor
Nav2D::PerformanceData performance_data;
struct {
struct {
RWLock rwlock;
SelfList<NavRegion2D>::List list;
} regions;
struct {
RWLock rwlock;
SelfList<NavLink2D>::List list;
} links;
struct {
RWLock rwlock;
SelfList<NavAgent2D>::List list;
} agents;
struct {
RWLock rwlock;
SelfList<NavObstacle2D>::List list;
} obstacles;
} sync_dirty_requests;
struct {
struct {
RWLock rwlock;
SelfList<NavRegion2D>::List list;
} regions;
} async_dirty_requests;
int path_query_slots_max = 4;
bool use_async_iterations = true;
uint32_t iteration_slot_index = 0;
LocalVector<NavMapIteration2D> iteration_slots;
mutable RWLock iteration_slot_rwlock;
NavMapIterationBuild2D iteration_build;
WorkerThreadPool::TaskID iteration_build_thread_task_id = WorkerThreadPool::INVALID_TASK_ID;
static void _build_iteration_threaded(void *p_arg);
bool iteration_dirty = true;
bool iteration_building = false;
bool iteration_ready = false;
void _build_iteration();
void _sync_iteration();
public:
NavMap2D();
~NavMap2D();
uint32_t get_iteration_id() const { return iteration_id; }
void set_cell_size(real_t p_cell_size);
real_t get_cell_size() const {
return cell_size;
}
void set_merge_rasterizer_cell_scale(float p_value);
float get_merge_rasterizer_cell_scale() const {
return merge_rasterizer_cell_scale;
}
void set_use_edge_connections(bool p_enabled);
bool get_use_edge_connections() const {
return use_edge_connections;
}
void set_edge_connection_margin(real_t p_edge_connection_margin);
real_t get_edge_connection_margin() const {
return edge_connection_margin;
}
void set_link_connection_radius(real_t p_link_connection_radius);
real_t get_link_connection_radius() const {
return link_connection_radius;
}
Nav2D::PointKey get_point_key(const Vector2 &p_pos) const;
const Vector2 &get_merge_rasterizer_cell_size() const;
void query_path(NavMeshQueries2D::NavMeshPathQueryTask2D &p_query_task);
Vector2 get_closest_point(const Vector2 &p_point) const;
Nav2D::ClosestPointQueryResult get_closest_point_info(const Vector2 &p_point) const;
RID get_closest_point_owner(const Vector2 &p_point) const;
void add_region(NavRegion2D *p_region);
void remove_region(NavRegion2D *p_region);
const LocalVector<NavRegion2D *> &get_regions() const {
return regions;
}
void add_link(NavLink2D *p_link);
void remove_link(NavLink2D *p_link);
const LocalVector<NavLink2D *> &get_links() const {
return links;
}
bool has_agent(NavAgent2D *p_agent) const;
void add_agent(NavAgent2D *p_agent);
void remove_agent(NavAgent2D *p_agent);
const LocalVector<NavAgent2D *> &get_agents() const {
return agents;
}
void set_agent_as_controlled(NavAgent2D *p_agent);
void remove_agent_as_controlled(NavAgent2D *p_agent);
bool has_obstacle(NavObstacle2D *p_obstacle) const;
void add_obstacle(NavObstacle2D *p_obstacle);
void remove_obstacle(NavObstacle2D *p_obstacle);
const LocalVector<NavObstacle2D *> &get_obstacles() const {
return obstacles;
}
Vector2 get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const;
void sync();
void step(double p_delta_time);
void dispatch_callbacks();
// Performance Monitor
int get_pm_region_count() const { return performance_data.pm_region_count; }
int get_pm_agent_count() const { return performance_data.pm_agent_count; }
int get_pm_link_count() const { return performance_data.pm_link_count; }
int get_pm_polygon_count() const { return performance_data.pm_polygon_count; }
int get_pm_edge_count() const { return performance_data.pm_edge_count; }
int get_pm_edge_merge_count() const { return performance_data.pm_edge_merge_count; }
int get_pm_edge_connection_count() const { return performance_data.pm_edge_connection_count; }
int get_pm_edge_free_count() const { return performance_data.pm_edge_free_count; }
int get_pm_obstacle_count() const { return performance_data.pm_obstacle_count; }
int get_region_connections_count(NavRegion2D *p_region) const;
Vector2 get_region_connection_pathway_start(NavRegion2D *p_region, int p_connection_id) const;
Vector2 get_region_connection_pathway_end(NavRegion2D *p_region, int p_connection_id) const;
void add_region_async_thread_join_request(SelfList<NavRegion2D> *p_async_request);
void remove_region_async_thread_join_request(SelfList<NavRegion2D> *p_async_request);
void add_region_sync_dirty_request(SelfList<NavRegion2D> *p_sync_request);
void add_link_sync_dirty_request(SelfList<NavLink2D> *p_sync_request);
void add_agent_sync_dirty_request(SelfList<NavAgent2D> *p_sync_request);
void add_obstacle_sync_dirty_request(SelfList<NavObstacle2D> *p_sync_request);
void remove_region_sync_dirty_request(SelfList<NavRegion2D> *p_sync_request);
void remove_link_sync_dirty_request(SelfList<NavLink2D> *p_sync_request);
void remove_agent_sync_dirty_request(SelfList<NavAgent2D> *p_sync_request);
void remove_obstacle_sync_dirty_request(SelfList<NavObstacle2D> *p_sync_request);
void set_use_async_iterations(bool p_enabled);
bool get_use_async_iterations() const;
private:
void _sync_dirty_map_update_requests();
void _sync_dirty_avoidance_update_requests();
void _sync_async_tasks();
void compute_single_step(uint32_t p_index, NavAgent2D **p_agent);
void compute_single_avoidance_step(uint32_t p_index, NavAgent2D **p_agent);
void _sync_avoidance();
void _update_rvo_simulation();
void _update_rvo_obstacles_tree();
void _update_rvo_agents_tree();
void _update_merge_rasterizer_cell_dimensions();
};