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Add navigation path query parameter limits

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Adds navigation path query parameter limits.
This commit is contained in:
smix8 2025-02-08 22:08:04 +01:00
parent 591e70ff78
commit cbd446ac29
23 changed files with 698 additions and 0 deletions
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143
modules/navigation_3d/3d/nav_mesh_queries_3d.cpp
View file

@ -34,6 +34,7 @@
#include "../nav_map_3d.h"
#include "nav_region_iteration_3d.h"
#include "core/math/geometry_2d.h"
#include "core/math/geometry_3d.h"
#include "servers/navigation/navigation_utilities.h"
@ -210,6 +211,10 @@ void NavMeshQueries3D::map_query_path(NavMap3D *map, const Ref<NavigationPathQue
query_task.metadata_flags = (int64_t)p_query_parameters->get_metadata_flags();
query_task.simplify_path = p_query_parameters->get_simplify_path();
query_task.simplify_epsilon = p_query_parameters->get_simplify_epsilon();
query_task.path_return_max_length = p_query_parameters->get_path_return_max_length();
query_task.path_return_max_radius = p_query_parameters->get_path_return_max_radius();
query_task.path_search_max_polygons = p_query_parameters->get_path_search_max_polygons();
query_task.path_search_max_distance = p_query_parameters->get_path_search_max_distance();
query_task.status = NavMeshPathQueryTask3D::TaskStatus::QUERY_STARTED;
map->query_path(query_task);
@ -219,6 +224,7 @@ void NavMeshQueries3D::map_query_path(NavMap3D *map, const Ref<NavigationPathQue
query_task.path_meta_point_types,
query_task.path_meta_point_rids,
query_task.path_meta_point_owners);
p_query_result->set_path_length(query_task.path_length);
if (query_task.callback.is_valid()) {
if (emit_callback(query_task.callback)) {
@ -347,11 +353,24 @@ void NavMeshQueries3D::_query_task_build_path_corridor(NavMeshPathQueryTask3D &p
const HashMap<const NavBaseIteration3D *, LocalVector<LocalVector<Nav3D::Connection>>> &navbases_polygons_external_connections = p_map_iteration.navbases_polygons_external_connections;
// True if we reached the max polygon search count or distance from the begin position.
bool path_search_max_reached = false;
const float path_search_max_distance_sqr = p_query_task.path_search_max_distance * p_query_task.path_search_max_distance;
bool has_path_search_max_distance = path_search_max_distance_sqr > 0.0;
int processed_polygon_count = 0;
bool has_path_search_max_polygons = p_query_task.path_search_max_polygons > 0;
bool has_path_search_max = p_query_task.path_search_max_polygons > 0 || path_search_max_distance_sqr > 0.0;
while (true) {
const NavigationPoly &least_cost_poly = navigation_polys[least_cost_id];
const NavBaseIteration3D *least_cost_navbase = least_cost_poly.poly->owner;
processed_polygon_count += 1;
const uint32_t navbase_local_polygon_id = least_cost_poly.poly->id;
const LocalVector<LocalVector<Connection>> &navbase_polygons_to_connections = least_cost_poly.poly->owner->get_internal_connections();
@ -368,6 +387,16 @@ void NavMeshQueries3D::_query_task_build_path_corridor(NavMeshPathQueryTask3D &p
_query_task_search_polygon_connections(p_query_task, connection, least_cost_id, least_cost_poly, poly_enter_cost, end_point);
}
if (has_path_search_max && !path_search_max_reached) {
if (has_path_search_max_polygons && processed_polygon_count >= p_query_task.path_search_max_polygons) {
path_search_max_reached = true;
traversable_polys.clear();
} else if (has_path_search_max_distance && begin_point.distance_squared_to(least_cost_poly.entry) > path_search_max_distance_sqr) {
path_search_max_reached = true;
traversable_polys.clear();
}
}
poly_enter_cost = 0;
// When the heap of traversable polygons is empty at this point it means the end polygon is
// unreachable.
@ -497,6 +526,7 @@ void NavMeshQueries3D::query_task_map_iteration_get_path(NavMeshPathQueryTask3D
p_query_task.path_clear();
_query_task_push_back_point_with_metadata(p_query_task, p_query_task.begin_position, p_query_task.begin_polygon);
_query_task_push_back_point_with_metadata(p_query_task, p_query_task.end_position, p_query_task.end_polygon);
_query_task_process_path_result_limits(p_query_task);
p_query_task.status = NavMeshPathQueryTask3D::TaskStatus::QUERY_FINISHED;
return;
}
@ -504,6 +534,7 @@ void NavMeshQueries3D::query_task_map_iteration_get_path(NavMeshPathQueryTask3D
_query_task_build_path_corridor(p_query_task, p_map_iteration);
if (p_query_task.status == NavMeshPathQueryTask3D::TaskStatus::QUERY_FINISHED || p_query_task.status == NavMeshPathQueryTask3D::TaskStatus::QUERY_FAILED) {
_query_task_process_path_result_limits(p_query_task);
return;
}
@ -530,6 +561,8 @@ void NavMeshQueries3D::query_task_map_iteration_get_path(NavMeshPathQueryTask3D
_query_task_simplified_path_points(p_query_task);
}
_query_task_process_path_result_limits(p_query_task);
#ifdef DEBUG_ENABLED
// Ensure post conditions as path meta arrays if used MUST match in array size with the path points.
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES)) {
@ -548,6 +581,116 @@ void NavMeshQueries3D::query_task_map_iteration_get_path(NavMeshPathQueryTask3D
p_query_task.status = NavMeshPathQueryTask3D::TaskStatus::QUERY_FINISHED;
}
float NavMeshQueries3D::_calculate_path_length(const LocalVector<Vector3> &p_path, uint32_t p_start_index, uint32_t p_end_index) {
const uint32_t path_size = p_path.size();
if (path_size < 2) {
return 0.0;
}
ERR_FAIL_COND_V(p_start_index >= p_end_index, 0.0);
ERR_FAIL_COND_V(p_start_index >= path_size - 1, 0.0);
ERR_FAIL_COND_V(p_end_index >= path_size, 0.0);
const Vector3 *path_ptr = p_path.ptr();
float path_length = 0.0;
for (uint32_t i = p_start_index; i < p_end_index; i++) {
const Vector3 &vertex1 = path_ptr[i];
const Vector3 &vertex2 = path_ptr[i + 1];
float edge_length = vertex1.distance_to(vertex2);
path_length += edge_length;
}
return path_length;
}
void NavMeshQueries3D::_query_task_process_path_result_limits(NavMeshPathQueryTask3D &p_query_task) {
if (p_query_task.path_points.size() < 2) {
return;
}
bool check_max_length = p_query_task.path_return_max_length > 0.0;
bool check_max_radius = p_query_task.path_return_max_radius > 0.0;
if (!check_max_length && !check_max_radius) {
p_query_task.path_length = _calculate_path_length(p_query_task.path_points, 0, p_query_task.path_points.size() - 1);
return;
}
LocalVector<Vector3> &path = p_query_task.path_points;
const float max_length = p_query_task.path_return_max_length;
const float max_radius = p_query_task.path_return_max_radius;
const float max_radius_sqr = max_radius * max_radius;
const Vector3 &start_pos = path[0];
float accumulated_path_length = 0.0;
Vector3 *path_ptrw = path.ptr();
uint32_t path_max_size = path.size();
bool path_max_reached = false;
for (uint32_t i = 0; i < path.size() - 1; i++) {
uint32_t next_index = i + 1;
const Vector3 &vertex1 = path_ptrw[i];
Vector3 &vertex2 = path_ptrw[next_index];
float edge_length = (vertex2 - vertex1).length();
if (check_max_radius && start_pos.distance_squared_to(vertex2) > max_radius_sqr) {
// Path point segment goes over max radius, clip it.
Vector3 intersect_positon, intersect_normal;
bool intersected = Geometry3D::segment_intersects_sphere(vertex2, vertex1, start_pos, max_radius, &intersect_positon, &intersect_normal);
if (intersected) {
edge_length = (intersect_positon - vertex1).length();
path_ptrw[next_index] = intersect_positon;
path_max_size = next_index + 1;
path_max_reached = true;
}
}
if (check_max_length && accumulated_path_length + edge_length > max_length) {
// Path point segment goes over max length, clip it.
edge_length = max_length - accumulated_path_length;
Vector3 edge_direction = vertex1.direction_to(vertex2);
path_ptrw[next_index] = vertex1 + (edge_direction * edge_length);
path_max_size = next_index + 1;
p_query_task.path_length = accumulated_path_length + edge_length;
path_max_reached = true;
}
accumulated_path_length += edge_length;
if (path_max_reached) {
break;
}
}
p_query_task.path_length = accumulated_path_length;
if (path_max_size < path.size()) {
p_query_task.path_points.resize(path_max_size);
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_TYPES)) {
p_query_task.path_meta_point_types.resize(path_max_size);
}
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_RIDS)) {
p_query_task.path_meta_point_rids.resize(path_max_size);
}
if (p_query_task.metadata_flags.has_flag(PathMetadataFlags::PATH_INCLUDE_OWNERS)) {
p_query_task.path_meta_point_owners.resize(path_max_size);
}
}
}
void NavMeshQueries3D::_query_task_simplified_path_points(NavMeshPathQueryTask3D &p_query_task) {
if (!p_query_task.simplify_path || p_query_task.path_points.size() <= 2) {
return;

11
modules/navigation_3d/3d/nav_mesh_queries_3d.h
View file

@ -34,6 +34,7 @@
#include "core/templates/a_hash_map.h"
#include "servers/navigation/navigation_globals.h"
#include "servers/navigation/navigation_path_query_parameters_3d.h"
#include "servers/navigation/navigation_path_query_result_3d.h"
#include "servers/navigation/navigation_utilities.h"
@ -71,11 +72,17 @@ public:
PathPostProcessing path_postprocessing = PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
bool simplify_path = false;
real_t simplify_epsilon = 0.0;
bool exclude_regions = false;
bool include_regions = false;
LocalVector<RID> excluded_regions;
LocalVector<RID> included_regions;
float path_return_max_length = 0.0;
float path_return_max_radius = 0.0;
int path_search_max_polygons = NavigationDefaults3D::path_search_max_polygons;
float path_search_max_distance = 0.0;
// Path building.
Vector3 begin_position;
Vector3 end_position;
@ -93,6 +100,7 @@ public:
LocalVector<int32_t> path_meta_point_types;
LocalVector<RID> path_meta_point_rids;
LocalVector<int64_t> path_meta_point_owners;
float path_length = 0.0;
Ref<NavigationPathQueryParameters3D> query_parameters;
Ref<NavigationPathQueryResult3D> query_result;
@ -143,9 +151,12 @@ public:
static void _query_task_clip_path(NavMeshPathQueryTask3D &p_query_task, const Nav3D::NavigationPoly *from_poly, const Vector3 &p_to_point, const Nav3D::NavigationPoly *p_to_poly);
static void _query_task_simplified_path_points(NavMeshPathQueryTask3D &p_query_task);
static bool _query_task_is_connection_owner_usable(const NavMeshPathQueryTask3D &p_query_task, const NavBaseIteration3D *p_owner);
static void _query_task_process_path_result_limits(NavMeshPathQueryTask3D &p_query_task);
static void _query_task_search_polygon_connections(NavMeshPathQueryTask3D &p_query_task, const Nav3D::Connection &p_connection, uint32_t p_least_cost_id, const Nav3D::NavigationPoly &p_least_cost_poly, real_t p_poly_enter_cost, const Vector3 &p_end_point);
static void simplify_path_segment(int p_start_inx, int p_end_inx, const LocalVector<Vector3> &p_points, real_t p_epsilon, LocalVector<uint32_t> &r_simplified_path_indices);
static LocalVector<uint32_t> get_simplified_path_indices(const LocalVector<Vector3> &p_path, real_t p_epsilon);
static float _calculate_path_length(const LocalVector<Vector3> &p_path, uint32_t p_start_index, uint32_t p_end_index);
};