1/**************************************************************************/
2/* navigation_link_3d.cpp */
3/**************************************************************************/
4/* This file is part of: */
5/* GODOT ENGINE */
6/* https://godotengine.org */
7/**************************************************************************/
8/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
10/* */
11/* Permission is hereby granted, free of charge, to any person obtaining */
12/* a copy of this software and associated documentation files (the */
13/* "Software"), to deal in the Software without restriction, including */
14/* without limitation the rights to use, copy, modify, merge, publish, */
15/* distribute, sublicense, and/or sell copies of the Software, and to */
16/* permit persons to whom the Software is furnished to do so, subject to */
17/* the following conditions: */
18/* */
19/* The above copyright notice and this permission notice shall be */
20/* included in all copies or substantial portions of the Software. */
21/* */
22/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
23/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
24/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
25/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
26/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
27/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
28/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
29/**************************************************************************/
30
31#include "navigation_link_3d.h"
32
33#include "mesh_instance_3d.h"
34#include "servers/navigation_server_3d.h"
35
36#ifdef DEBUG_ENABLED
37void NavigationLink3D::_update_debug_mesh() {
38 if (!is_inside_tree()) {
39 return;
40 }
41
42 if (Engine::get_singleton()->is_editor_hint()) {
43 // don't update inside Editor as node 3d gizmo takes care of this
44 // as collisions and selections for Editor Viewport need to be updated
45 return;
46 }
47
48 if (!NavigationServer3D::get_singleton()->get_debug_navigation_enabled()) {
49 if (debug_instance.is_valid()) {
50 RS::get_singleton()->instance_set_visible(debug_instance, false);
51 }
52 return;
53 }
54
55 if (!debug_instance.is_valid()) {
56 debug_instance = RenderingServer::get_singleton()->instance_create();
57 }
58
59 if (!debug_mesh.is_valid()) {
60 debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
61 }
62
63 RID nav_map = get_world_3d()->get_navigation_map();
64 real_t search_radius = NavigationServer3D::get_singleton()->map_get_link_connection_radius(nav_map);
65 Vector3 up_vector = NavigationServer3D::get_singleton()->map_get_up(nav_map);
66 Vector3::Axis up_axis = up_vector.max_axis_index();
67
68 debug_mesh->clear_surfaces();
69
70 Vector<Vector3> lines;
71
72 // Draw line between the points.
73 lines.push_back(start_position);
74 lines.push_back(end_position);
75
76 // Draw start position search radius
77 for (int i = 0; i < 30; i++) {
78 // Create a circle
79 const float ra = Math::deg_to_rad((float)(i * 12));
80 const float rb = Math::deg_to_rad((float)((i + 1) * 12));
81 const Point2 a = Vector2(Math::sin(ra), Math::cos(ra)) * search_radius;
82 const Point2 b = Vector2(Math::sin(rb), Math::cos(rb)) * search_radius;
83
84 // Draw axis-aligned circle
85 switch (up_axis) {
86 case Vector3::AXIS_X:
87 lines.append(start_position + Vector3(0, a.x, a.y));
88 lines.append(start_position + Vector3(0, b.x, b.y));
89 break;
90 case Vector3::AXIS_Y:
91 lines.append(start_position + Vector3(a.x, 0, a.y));
92 lines.append(start_position + Vector3(b.x, 0, b.y));
93 break;
94 case Vector3::AXIS_Z:
95 lines.append(start_position + Vector3(a.x, a.y, 0));
96 lines.append(start_position + Vector3(b.x, b.y, 0));
97 break;
98 }
99 }
100
101 // Draw end position search radius
102 for (int i = 0; i < 30; i++) {
103 // Create a circle
104 const float ra = Math::deg_to_rad((float)(i * 12));
105 const float rb = Math::deg_to_rad((float)((i + 1) * 12));
106 const Point2 a = Vector2(Math::sin(ra), Math::cos(ra)) * search_radius;
107 const Point2 b = Vector2(Math::sin(rb), Math::cos(rb)) * search_radius;
108
109 // Draw axis-aligned circle
110 switch (up_axis) {
111 case Vector3::AXIS_X:
112 lines.append(end_position + Vector3(0, a.x, a.y));
113 lines.append(end_position + Vector3(0, b.x, b.y));
114 break;
115 case Vector3::AXIS_Y:
116 lines.append(end_position + Vector3(a.x, 0, a.y));
117 lines.append(end_position + Vector3(b.x, 0, b.y));
118 break;
119 case Vector3::AXIS_Z:
120 lines.append(end_position + Vector3(a.x, a.y, 0));
121 lines.append(end_position + Vector3(b.x, b.y, 0));
122 break;
123 }
124 }
125
126 Array mesh_array;
127 mesh_array.resize(Mesh::ARRAY_MAX);
128 mesh_array[Mesh::ARRAY_VERTEX] = lines;
129
130 debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, mesh_array);
131
132 RS::get_singleton()->instance_set_base(debug_instance, debug_mesh->get_rid());
133 RS::get_singleton()->instance_set_scenario(debug_instance, get_world_3d()->get_scenario());
134 RS::get_singleton()->instance_set_visible(debug_instance, is_visible_in_tree());
135
136 Ref<StandardMaterial3D> link_material = NavigationServer3D::get_singleton()->get_debug_navigation_link_connections_material();
137 Ref<StandardMaterial3D> disabled_link_material = NavigationServer3D::get_singleton()->get_debug_navigation_link_connections_disabled_material();
138
139 if (enabled) {
140 RS::get_singleton()->instance_set_surface_override_material(debug_instance, 0, link_material->get_rid());
141 } else {
142 RS::get_singleton()->instance_set_surface_override_material(debug_instance, 0, disabled_link_material->get_rid());
143 }
144
145 RS::get_singleton()->instance_set_transform(debug_instance, current_global_transform);
146}
147#endif // DEBUG_ENABLED
148
149void NavigationLink3D::_bind_methods() {
150 ClassDB::bind_method(D_METHOD("set_enabled", "enabled"), &NavigationLink3D::set_enabled);
151 ClassDB::bind_method(D_METHOD("is_enabled"), &NavigationLink3D::is_enabled);
152
153 ClassDB::bind_method(D_METHOD("set_bidirectional", "bidirectional"), &NavigationLink3D::set_bidirectional);
154 ClassDB::bind_method(D_METHOD("is_bidirectional"), &NavigationLink3D::is_bidirectional);
155
156 ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationLink3D::set_navigation_layers);
157 ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationLink3D::get_navigation_layers);
158
159 ClassDB::bind_method(D_METHOD("set_navigation_layer_value", "layer_number", "value"), &NavigationLink3D::set_navigation_layer_value);
160 ClassDB::bind_method(D_METHOD("get_navigation_layer_value", "layer_number"), &NavigationLink3D::get_navigation_layer_value);
161
162 ClassDB::bind_method(D_METHOD("set_start_position", "position"), &NavigationLink3D::set_start_position);
163 ClassDB::bind_method(D_METHOD("get_start_position"), &NavigationLink3D::get_start_position);
164
165 ClassDB::bind_method(D_METHOD("set_end_position", "position"), &NavigationLink3D::set_end_position);
166 ClassDB::bind_method(D_METHOD("get_end_position"), &NavigationLink3D::get_end_position);
167
168 ClassDB::bind_method(D_METHOD("set_global_start_position", "position"), &NavigationLink3D::set_global_start_position);
169 ClassDB::bind_method(D_METHOD("get_global_start_position"), &NavigationLink3D::get_global_start_position);
170
171 ClassDB::bind_method(D_METHOD("set_global_end_position", "position"), &NavigationLink3D::set_global_end_position);
172 ClassDB::bind_method(D_METHOD("get_global_end_position"), &NavigationLink3D::get_global_end_position);
173
174 ClassDB::bind_method(D_METHOD("set_enter_cost", "enter_cost"), &NavigationLink3D::set_enter_cost);
175 ClassDB::bind_method(D_METHOD("get_enter_cost"), &NavigationLink3D::get_enter_cost);
176
177 ClassDB::bind_method(D_METHOD("set_travel_cost", "travel_cost"), &NavigationLink3D::set_travel_cost);
178 ClassDB::bind_method(D_METHOD("get_travel_cost"), &NavigationLink3D::get_travel_cost);
179
180 ADD_PROPERTY(PropertyInfo(Variant::BOOL, "enabled"), "set_enabled", "is_enabled");
181 ADD_PROPERTY(PropertyInfo(Variant::BOOL, "bidirectional"), "set_bidirectional", "is_bidirectional");
182 ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_3D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
183 ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "start_position"), "set_start_position", "get_start_position");
184 ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "end_position"), "set_end_position", "get_end_position");
185 ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "enter_cost"), "set_enter_cost", "get_enter_cost");
186 ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "travel_cost"), "set_travel_cost", "get_travel_cost");
187}
188
189#ifndef DISABLE_DEPRECATED
190bool NavigationLink3D::_set(const StringName &p_name, const Variant &p_value) {
191 if (p_name == "start_location") {
192 set_start_position(p_value);
193 return true;
194 }
195 if (p_name == "end_location") {
196 set_end_position(p_value);
197 return true;
198 }
199 return false;
200}
201
202bool NavigationLink3D::_get(const StringName &p_name, Variant &r_ret) const {
203 if (p_name == "start_location") {
204 r_ret = get_start_position();
205 return true;
206 }
207 if (p_name == "end_location") {
208 r_ret = get_end_position();
209 return true;
210 }
211 return false;
212}
213#endif // DISABLE_DEPRECATED
214
215void NavigationLink3D::_notification(int p_what) {
216 switch (p_what) {
217 case NOTIFICATION_ENTER_TREE: {
218 if (enabled) {
219 NavigationServer3D::get_singleton()->link_set_map(link, get_world_3d()->get_navigation_map());
220 }
221 current_global_transform = get_global_transform();
222 NavigationServer3D::get_singleton()->link_set_start_position(link, current_global_transform.xform(start_position));
223 NavigationServer3D::get_singleton()->link_set_end_position(link, current_global_transform.xform(end_position));
224
225#ifdef DEBUG_ENABLED
226 _update_debug_mesh();
227#endif // DEBUG_ENABLED
228 } break;
229
230 case NOTIFICATION_TRANSFORM_CHANGED: {
231 set_physics_process_internal(true);
232 } break;
233
234 case NOTIFICATION_INTERNAL_PHYSICS_PROCESS: {
235 set_physics_process_internal(false);
236 if (is_inside_tree()) {
237 Transform3D new_global_transform = get_global_transform();
238 if (current_global_transform != new_global_transform) {
239 current_global_transform = new_global_transform;
240 NavigationServer3D::get_singleton()->link_set_start_position(link, current_global_transform.xform(start_position));
241 NavigationServer3D::get_singleton()->link_set_end_position(link, current_global_transform.xform(end_position));
242#ifdef DEBUG_ENABLED
243 if (debug_instance.is_valid()) {
244 RS::get_singleton()->instance_set_transform(debug_instance, current_global_transform);
245 }
246#endif // DEBUG_ENABLED
247 }
248 }
249 } break;
250
251 case NOTIFICATION_EXIT_TREE: {
252 NavigationServer3D::get_singleton()->link_set_map(link, RID());
253
254#ifdef DEBUG_ENABLED
255 if (debug_instance.is_valid()) {
256 RS::get_singleton()->instance_set_scenario(debug_instance, RID());
257 RS::get_singleton()->instance_set_visible(debug_instance, false);
258 }
259#endif // DEBUG_ENABLED
260 } break;
261 }
262}
263
264NavigationLink3D::NavigationLink3D() {
265 link = NavigationServer3D::get_singleton()->link_create();
266 NavigationServer3D::get_singleton()->link_set_owner_id(link, get_instance_id());
267
268 set_notify_transform(true);
269}
270
271NavigationLink3D::~NavigationLink3D() {
272 ERR_FAIL_NULL(NavigationServer3D::get_singleton());
273 NavigationServer3D::get_singleton()->free(link);
274 link = RID();
275
276#ifdef DEBUG_ENABLED
277 ERR_FAIL_NULL(RenderingServer::get_singleton());
278 if (debug_instance.is_valid()) {
279 RenderingServer::get_singleton()->free(debug_instance);
280 }
281 if (debug_mesh.is_valid()) {
282 RenderingServer::get_singleton()->free(debug_mesh->get_rid());
283 }
284#endif // DEBUG_ENABLED
285}
286
287void NavigationLink3D::set_enabled(bool p_enabled) {
288 if (enabled == p_enabled) {
289 return;
290 }
291
292 enabled = p_enabled;
293
294 NavigationServer3D::get_singleton()->link_set_enabled(link, enabled);
295
296#ifdef DEBUG_ENABLED
297 if (debug_instance.is_valid() && debug_mesh.is_valid()) {
298 if (enabled) {
299 Ref<StandardMaterial3D> link_material = NavigationServer3D::get_singleton()->get_debug_navigation_link_connections_material();
300 RS::get_singleton()->instance_set_surface_override_material(debug_instance, 0, link_material->get_rid());
301 } else {
302 Ref<StandardMaterial3D> disabled_link_material = NavigationServer3D::get_singleton()->get_debug_navigation_link_connections_disabled_material();
303 RS::get_singleton()->instance_set_surface_override_material(debug_instance, 0, disabled_link_material->get_rid());
304 }
305 }
306#endif // DEBUG_ENABLED
307
308 update_gizmos();
309}
310
311void NavigationLink3D::set_bidirectional(bool p_bidirectional) {
312 if (bidirectional == p_bidirectional) {
313 return;
314 }
315
316 bidirectional = p_bidirectional;
317
318 NavigationServer3D::get_singleton()->link_set_bidirectional(link, bidirectional);
319}
320
321void NavigationLink3D::set_navigation_layers(uint32_t p_navigation_layers) {
322 if (navigation_layers == p_navigation_layers) {
323 return;
324 }
325
326 navigation_layers = p_navigation_layers;
327
328 NavigationServer3D::get_singleton()->link_set_navigation_layers(link, navigation_layers);
329}
330
331void NavigationLink3D::set_navigation_layer_value(int p_layer_number, bool p_value) {
332 ERR_FAIL_COND_MSG(p_layer_number < 1, "Navigation layer number must be between 1 and 32 inclusive.");
333 ERR_FAIL_COND_MSG(p_layer_number > 32, "Navigation layer number must be between 1 and 32 inclusive.");
334
335 uint32_t _navigation_layers = get_navigation_layers();
336
337 if (p_value) {
338 _navigation_layers |= 1 << (p_layer_number - 1);
339 } else {
340 _navigation_layers &= ~(1 << (p_layer_number - 1));
341 }
342
343 set_navigation_layers(_navigation_layers);
344}
345
346bool NavigationLink3D::get_navigation_layer_value(int p_layer_number) const {
347 ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Navigation layer number must be between 1 and 32 inclusive.");
348 ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Navigation layer number must be between 1 and 32 inclusive.");
349
350 return get_navigation_layers() & (1 << (p_layer_number - 1));
351}
352
353void NavigationLink3D::set_start_position(Vector3 p_position) {
354 if (start_position.is_equal_approx(p_position)) {
355 return;
356 }
357
358 start_position = p_position;
359
360 if (!is_inside_tree()) {
361 return;
362 }
363
364 NavigationServer3D::get_singleton()->link_set_start_position(link, current_global_transform.xform(start_position));
365
366#ifdef DEBUG_ENABLED
367 _update_debug_mesh();
368#endif // DEBUG_ENABLED
369
370 update_gizmos();
371 update_configuration_warnings();
372}
373
374void NavigationLink3D::set_end_position(Vector3 p_position) {
375 if (end_position.is_equal_approx(p_position)) {
376 return;
377 }
378
379 end_position = p_position;
380
381 if (!is_inside_tree()) {
382 return;
383 }
384
385 NavigationServer3D::get_singleton()->link_set_end_position(link, current_global_transform.xform(end_position));
386
387#ifdef DEBUG_ENABLED
388 _update_debug_mesh();
389#endif // DEBUG_ENABLED
390
391 update_gizmos();
392 update_configuration_warnings();
393}
394
395void NavigationLink3D::set_global_start_position(Vector3 p_position) {
396 if (is_inside_tree()) {
397 set_start_position(to_local(p_position));
398 } else {
399 set_start_position(p_position);
400 }
401}
402
403Vector3 NavigationLink3D::get_global_start_position() const {
404 if (is_inside_tree()) {
405 return to_global(start_position);
406 } else {
407 return start_position;
408 }
409}
410
411void NavigationLink3D::set_global_end_position(Vector3 p_position) {
412 if (is_inside_tree()) {
413 set_end_position(to_local(p_position));
414 } else {
415 set_end_position(p_position);
416 }
417}
418
419Vector3 NavigationLink3D::get_global_end_position() const {
420 if (is_inside_tree()) {
421 return to_global(end_position);
422 } else {
423 return end_position;
424 }
425}
426
427void NavigationLink3D::set_enter_cost(real_t p_enter_cost) {
428 ERR_FAIL_COND_MSG(p_enter_cost < 0.0, "The enter_cost must be positive.");
429 if (Math::is_equal_approx(enter_cost, p_enter_cost)) {
430 return;
431 }
432
433 enter_cost = p_enter_cost;
434
435 NavigationServer3D::get_singleton()->link_set_enter_cost(link, enter_cost);
436}
437
438void NavigationLink3D::set_travel_cost(real_t p_travel_cost) {
439 ERR_FAIL_COND_MSG(p_travel_cost < 0.0, "The travel_cost must be positive.");
440 if (Math::is_equal_approx(travel_cost, p_travel_cost)) {
441 return;
442 }
443
444 travel_cost = p_travel_cost;
445
446 NavigationServer3D::get_singleton()->link_set_travel_cost(link, travel_cost);
447}
448
449PackedStringArray NavigationLink3D::get_configuration_warnings() const {
450 PackedStringArray warnings = Node::get_configuration_warnings();
451
452 if (start_position.is_equal_approx(end_position)) {
453 warnings.push_back(RTR("NavigationLink3D start position should be different than the end position to be useful."));
454 }
455
456 return warnings;
457}
458