/**************************************************************************/
/* nav_region_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 */
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/* 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. */
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#include "nav_region_3d.h"
#include "3d/nav_mesh_queries_3d.h"
#include "3d/nav_region_builder_3d.h"
#include "3d/nav_region_iteration_3d.h"
#include "nav_map_3d.h"
#include "core/config/project_settings.h"
using namespace Nav3D;
void NavRegion3D::set_map(NavMap3D *p_map) {
if (map == p_map) {
return;
}
cancel_async_thread_join();
cancel_sync_request();
if (map) {
map->remove_region(this);
}
map = p_map;
iteration_dirty = true;
if (map) {
map->add_region(this);
request_sync();
if (iteration_build_thread_task_id != WorkerThreadPool::INVALID_TASK_ID) {
request_async_thread_join();
}
}
}
void NavRegion3D::set_enabled(bool p_enabled) {
if (enabled == p_enabled) {
return;
}
enabled = p_enabled;
iteration_dirty = true;
request_sync();
}
void NavRegion3D::set_use_edge_connections(bool p_enabled) {
if (use_edge_connections != p_enabled) {
use_edge_connections = p_enabled;
iteration_dirty = true;
}
request_sync();
}
void NavRegion3D::set_transform(Transform3D p_transform) {
if (transform == p_transform) {
return;
}
transform = p_transform;
iteration_dirty = true;
request_sync();
#ifdef DEBUG_ENABLED
if (map && Math::rad_to_deg(map->get_up().angle_to(transform.basis.get_column(1))) >= 90.0f) {
ERR_PRINT_ONCE("Attempted to update a navigation region transform rotated 90 degrees or more away from the current navigation map UP orientation.");
}
#endif // DEBUG_ENABLED
}
void NavRegion3D::set_navigation_mesh(Ref<NavigationMesh> p_navigation_mesh) {
#ifdef DEBUG_ENABLED
if (map && p_navigation_mesh.is_valid() && GLOBAL_GET_CACHED(bool, "navigation/3d/warnings/navmesh_cell_size_mismatch")) {
const double map_cell_size = double(map->get_cell_size());
const double map_cell_height = double(map->get_cell_height());
const double navmesh_cell_size = double(p_navigation_mesh->get_cell_size());
const double navmesh_cell_height = double(p_navigation_mesh->get_cell_height());
if (map_cell_size > navmesh_cell_size) {
WARN_PRINT(vformat("A navigation mesh that uses a `cell_size` of %s was assigned to a navigation map set to a larger `cell_size` of %s.\nThis mismatch in cell size can cause rasterization errors with navigation mesh edges on the navigation map.\nThe cell size for navigation maps can be changed by using the NavigationServer map_set_cell_size() function.\nThe cell size for default navigation maps can also be changed in the project settings.\nThis warning can be toggled under 'navigation/3d/warnings/navmesh_cell_size_mismatch' in the project settings.", navmesh_cell_size, map_cell_size));
}
if (map_cell_height > navmesh_cell_height) {
WARN_PRINT(vformat("A navigation mesh that uses a `cell_height` of %s was assigned to a navigation map set to a larger `cell_height` of %s.\nThis mismatch in cell height can cause rasterization errors with navigation mesh edges on the navigation map.\nThe cell height for navigation maps can be changed by using the NavigationServer map_set_cell_height() function.\nThe cell height for default navigation maps can also be changed in the project settings.\nThis warning can be toggled under 'navigation/3d/warnings/navmesh_cell_size_mismatch' in the project settings.", navmesh_cell_height, map_cell_height));
}
}
#endif // DEBUG_ENABLED
navmesh = p_navigation_mesh;
iteration_dirty = true;
request_sync();
}
Vector3 NavRegion3D::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, bool p_use_collision) const {
RWLockRead read_lock(region_rwlock);
return NavMeshQueries3D::polygons_get_closest_point_to_segment(
get_polygons(), p_from, p_to, p_use_collision);
}
ClosestPointQueryResult NavRegion3D::get_closest_point_info(const Vector3 &p_point) const {
RWLockRead read_lock(region_rwlock);
return NavMeshQueries3D::polygons_get_closest_point_info(get_polygons(), p_point);
}
Vector3 NavRegion3D::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const {
RWLockRead read_lock(region_rwlock);
if (!get_enabled()) {
return Vector3();
}
return NavMeshQueries3D::polygons_get_random_point(get_polygons(), p_navigation_layers, p_uniformly);
}
void NavRegion3D::set_navigation_layers(uint32_t p_navigation_layers) {
if (navigation_layers == p_navigation_layers) {
return;
}
navigation_layers = p_navigation_layers;
iteration_dirty = true;
request_sync();
}
void NavRegion3D::set_enter_cost(real_t p_enter_cost) {
real_t new_enter_cost = MAX(p_enter_cost, 0.0);
if (enter_cost == new_enter_cost) {
return;
}
enter_cost = new_enter_cost;
iteration_dirty = true;
request_sync();
}
void NavRegion3D::set_travel_cost(real_t p_travel_cost) {
real_t new_travel_cost = MAX(p_travel_cost, 0.0);
if (travel_cost == new_travel_cost) {
return;
}
travel_cost = new_travel_cost;
iteration_dirty = true;
request_sync();
}
void NavRegion3D::set_owner_id(ObjectID p_owner_id) {
if (owner_id == p_owner_id) {
return;
}
owner_id = p_owner_id;
iteration_dirty = true;
request_sync();
}
void NavRegion3D::scratch_polygons() {
iteration_dirty = true;
request_sync();
}
real_t NavRegion3D::get_surface_area() const {
RWLockRead read_lock(iteration_rwlock);
return iteration->get_surface_area();
}
AABB NavRegion3D::get_bounds() const {
RWLockRead read_lock(iteration_rwlock);
return iteration->get_bounds();
}
LocalVector<Nav3D::Polygon> const &NavRegion3D::get_polygons() const {
RWLockRead read_lock(iteration_rwlock);
return iteration->get_navmesh_polygons();
}
bool NavRegion3D::sync() {
bool requires_map_update = false;
if (!map) {
return requires_map_update;
}
if (iteration_dirty && !iteration_building && !iteration_ready) {
_build_iteration();
}
if (iteration_ready) {
_sync_iteration();
requires_map_update = true;
}
return requires_map_update;
}
void NavRegion3D::sync_async_tasks() {
if (iteration_build_thread_task_id != WorkerThreadPool::INVALID_TASK_ID) {
if (WorkerThreadPool::get_singleton()->is_task_completed(iteration_build_thread_task_id)) {
WorkerThreadPool::get_singleton()->wait_for_task_completion(iteration_build_thread_task_id);
iteration_build_thread_task_id = WorkerThreadPool::INVALID_TASK_ID;
iteration_building = false;
iteration_ready = true;
request_sync();
}
}
}
void NavRegion3D::_build_iteration() {
if (!iteration_dirty || iteration_building || iteration_ready) {
return;
}
iteration_dirty = false;
iteration_building = true;
iteration_ready = false;
iteration_build.reset();
if (navmesh.is_valid()) {
navmesh->get_data(iteration_build.navmesh_data.vertices, iteration_build.navmesh_data.polygons);
}
iteration_build.map_cell_size = map->get_merge_rasterizer_cell_size();
Ref<NavRegionIteration3D> new_iteration;
new_iteration.instantiate();
new_iteration->navigation_layers = get_navigation_layers();
new_iteration->enter_cost = get_enter_cost();
new_iteration->travel_cost = get_travel_cost();
new_iteration->owner_object_id = get_owner_id();
new_iteration->owner_type = get_type();
new_iteration->owner_rid = get_self();
new_iteration->enabled = get_enabled();
new_iteration->transform = get_transform();
new_iteration->owner_use_edge_connections = get_use_edge_connections();
iteration_build.region_iteration = new_iteration;
if (use_async_iterations) {
iteration_build_thread_task_id = WorkerThreadPool::get_singleton()->add_native_task(&NavRegion3D::_build_iteration_threaded, &iteration_build, true, SNAME("NavRegionBuilder3D"));
request_async_thread_join();
} else {
NavRegionBuilder3D::build_iteration(iteration_build);
iteration_building = false;
iteration_ready = true;
}
}
void NavRegion3D::_build_iteration_threaded(void *p_arg) {
NavRegionIterationBuild3D *_iteration_build = static_cast<NavRegionIterationBuild3D *>(p_arg);
NavRegionBuilder3D::build_iteration(*_iteration_build);
}
void NavRegion3D::_sync_iteration() {
if (iteration_building || !iteration_ready) {
return;
}
performance_data.pm_polygon_count = iteration_build.performance_data.pm_polygon_count;
performance_data.pm_edge_count = iteration_build.performance_data.pm_edge_count;
performance_data.pm_edge_merge_count = iteration_build.performance_data.pm_edge_merge_count;
RWLockWrite write_lock(iteration_rwlock);
ERR_FAIL_COND(iteration.is_null());
iteration = Ref<NavRegionIteration3D>();
DEV_ASSERT(iteration.is_null());
iteration = iteration_build.region_iteration;
iteration_build.region_iteration = Ref<NavRegionIteration3D>();
DEV_ASSERT(iteration_build.region_iteration.is_null());
iteration_id = iteration_id % UINT32_MAX + 1;
iteration_ready = false;
cancel_async_thread_join();
}
Ref<NavRegionIteration3D> NavRegion3D::get_iteration() {
RWLockRead read_lock(iteration_rwlock);
return iteration;
}
void NavRegion3D::request_async_thread_join() {
DEV_ASSERT(map);
if (map && !async_list_element.in_list()) {
map->add_region_async_thread_join_request(&async_list_element);
}
}
void NavRegion3D::cancel_async_thread_join() {
if (map && async_list_element.in_list()) {
map->remove_region_async_thread_join_request(&async_list_element);
}
}
void NavRegion3D::request_sync() {
if (map && !sync_dirty_request_list_element.in_list()) {
map->add_region_sync_dirty_request(&sync_dirty_request_list_element);
}
}
void NavRegion3D::cancel_sync_request() {
if (map && sync_dirty_request_list_element.in_list()) {
map->remove_region_sync_dirty_request(&sync_dirty_request_list_element);
}
}
void NavRegion3D::set_use_async_iterations(bool p_enabled) {
if (use_async_iterations == p_enabled) {
return;
}
#ifdef THREADS_ENABLED
use_async_iterations = p_enabled;
#endif
}
bool NavRegion3D::get_use_async_iterations() const {
return use_async_iterations;
}
NavRegion3D::NavRegion3D() :
sync_dirty_request_list_element(this), async_list_element(this) {
type = NavigationEnums3D::PathSegmentType::PATH_SEGMENT_TYPE_REGION;
iteration_build.region = this;
iteration.instantiate();
#ifdef THREADS_ENABLED
use_async_iterations = GLOBAL_GET("navigation/world/region_use_async_iterations");
#else
use_async_iterations = false;
#endif
}
NavRegion3D::~NavRegion3D() {
cancel_async_thread_join();
cancel_sync_request();
if (iteration_build_thread_task_id != WorkerThreadPool::INVALID_TASK_ID) {
WorkerThreadPool::get_singleton()->wait_for_task_completion(iteration_build_thread_task_id);
iteration_build_thread_task_id = WorkerThreadPool::INVALID_TASK_ID;
}
iteration_build.region = nullptr;
iteration_build.region_iteration = Ref<NavRegionIteration3D>();
iteration = Ref<NavRegionIteration3D>();
}