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660 lines
14 KiB
C++
660 lines
14 KiB
C++
#include "navigation2d.h"
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#define USE_ENTRY_POINT
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void Navigation2D::_navpoly_link(int p_id) {
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ERR_FAIL_COND(!navpoly_map.has(p_id));
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NavMesh &nm=navpoly_map[p_id];
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ERR_FAIL_COND(nm.linked);
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print_line("LINK");
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DVector<Vector2> vertices=nm.navpoly->get_vertices();
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int len = vertices.size();
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if (len==0)
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return;
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DVector<Vector2>::Read r=vertices.read();
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for(int i=0;i<nm.navpoly->get_polygon_count();i++) {
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//build
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List<Polygon>::Element *P=nm.polygons.push_back(Polygon());
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Polygon &p=P->get();
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p.owner=&nm;
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Vector<int> poly = nm.navpoly->get_polygon(i);
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int plen=poly.size();
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const int *indices=poly.ptr();
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bool valid=true;
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p.edges.resize(plen);
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Vector2 center;
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for(int j=0;j<plen;j++) {
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int idx = indices[j];
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if (idx<0 || idx>=len) {
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valid=false;
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break;
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}
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Polygon::Edge e;
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Vector2 ep=nm.xform.xform(r[idx]);
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center+=ep;
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e.point=_get_point(ep);
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p.edges[j]=e;
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}
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if (!valid) {
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nm.polygons.pop_back();
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ERR_CONTINUE(!valid);
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continue;
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}
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p.center=center/plen;
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//connect
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for(int j=0;j<plen;j++) {
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int next = (j+1)%plen;
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EdgeKey ek(p.edges[j].point,p.edges[next].point);
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Map<EdgeKey,Connection>::Element *C=connections.find(ek);
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if (!C) {
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Connection c;
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c.A=&p;
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c.A_edge=j;
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c.B=NULL;
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c.B_edge=-1;
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connections[ek]=c;
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} else {
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if (C->get().B!=NULL) {
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print_line(String()+_get_vertex(ek.a)+" -> "+_get_vertex(ek.b));
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}
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ERR_CONTINUE(C->get().B!=NULL); //wut
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C->get().B=&p;
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C->get().B_edge=j;
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C->get().A->edges[C->get().A_edge].C=&p;
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C->get().A->edges[C->get().A_edge].C_edge=j;;
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p.edges[j].C=C->get().A;
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p.edges[j].C_edge=C->get().A_edge;
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//connection successful.
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}
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}
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}
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nm.linked=true;
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}
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void Navigation2D::_navpoly_unlink(int p_id) {
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ERR_FAIL_COND(!navpoly_map.has(p_id));
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NavMesh &nm=navpoly_map[p_id];
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ERR_FAIL_COND(!nm.linked);
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print_line("UNLINK");
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for (List<Polygon>::Element *E=nm.polygons.front();E;E=E->next()) {
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Polygon &p=E->get();
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int ec = p.edges.size();
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Polygon::Edge *edges=p.edges.ptr();
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for(int i=0;i<ec;i++) {
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int next = (i+1)%ec;
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EdgeKey ek(edges[i].point,edges[next].point);
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Map<EdgeKey,Connection>::Element *C=connections.find(ek);
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ERR_CONTINUE(!C);
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if (C->get().B) {
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//disconnect
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C->get().B->edges[C->get().B_edge].C=NULL;
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C->get().B->edges[C->get().B_edge].C_edge=-1;
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C->get().A->edges[C->get().A_edge].C=NULL;
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C->get().A->edges[C->get().A_edge].C_edge=-1;
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if (C->get().A==&E->get()) {
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C->get().A=C->get().B;
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C->get().A_edge=C->get().B_edge;
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}
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C->get().B=NULL;
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C->get().B_edge=-1;
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} else {
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connections.erase(C);
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//erase
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}
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}
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}
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nm.polygons.clear();
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nm.linked=false;
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}
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int Navigation2D::navpoly_create(const Ref<NavigationPolygon>& p_mesh, const Matrix32& p_xform, Object *p_owner) {
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int id = last_id++;
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NavMesh nm;
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nm.linked=false;
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nm.navpoly=p_mesh;
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nm.xform=p_xform;
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nm.owner=p_owner;
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navpoly_map[id]=nm;
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_navpoly_link(id);
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return id;
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}
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void Navigation2D::navpoly_set_transform(int p_id, const Matrix32& p_xform){
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ERR_FAIL_COND(!navpoly_map.has(p_id));
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NavMesh &nm=navpoly_map[p_id];
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if (nm.xform==p_xform)
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return; //bleh
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_navpoly_unlink(p_id);
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nm.xform=p_xform;
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_navpoly_link(p_id);
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}
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void Navigation2D::navpoly_remove(int p_id){
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ERR_FAIL_COND(!navpoly_map.has(p_id));
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_navpoly_unlink(p_id);
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navpoly_map.erase(p_id);
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}
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#if 0
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void Navigation2D::_clip_path(Vector<Vector2>& path, Polygon *from_poly, const Vector2& p_to_point, Polygon* p_to_poly) {
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Vector2 from = path[path.size()-1];
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if (from.distance_to(p_to_point)<CMP_EPSILON)
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return;
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Plane cut_plane;
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cut_plane.normal = (from-p_to_point).cross(up);
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if (cut_plane.normal==Vector2())
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return;
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cut_plane.normal.normalize();
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cut_plane.d = cut_plane.normal.dot(from);
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while(from_poly!=p_to_poly) {
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int pe = from_poly->prev_edge;
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Vector2 a = _get_vertex(from_poly->edges[pe].point);
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Vector2 b = _get_vertex(from_poly->edges[(pe+1)%from_poly->edges.size()].point);
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from_poly=from_poly->edges[pe].C;
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ERR_FAIL_COND(!from_poly);
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if (a.distance_to(b)>CMP_EPSILON) {
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Vector2 inters;
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if (cut_plane.intersects_segment(a,b,&inters)) {
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if (inters.distance_to(p_to_point)>CMP_EPSILON && inters.distance_to(path[path.size()-1])>CMP_EPSILON) {
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path.push_back(inters);
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}
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}
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}
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}
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}
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#endif
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Vector<Vector2> Navigation2D::get_simple_path(const Vector2& p_start, const Vector2& p_end, bool p_optimize) {
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Polygon *begin_poly=NULL;
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Polygon *end_poly=NULL;
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Vector2 begin_point;
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Vector2 end_point;
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float begin_d=1e20;
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float end_d=1e20;
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//look for point inside triangle
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for (Map<int,NavMesh>::Element*E=navpoly_map.front();E;E=E->next()) {
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if (!E->get().linked)
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continue;
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for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
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Polygon &p=F->get();
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if (begin_d || end_d) {
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for(int i=2;i<p.edges.size();i++) {
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if (begin_d>0) {
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if (Geometry::is_point_in_triangle(p_start,_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point))) {
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begin_poly=&p;
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begin_point=p_start;
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begin_d=0;
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if (end_d==0)
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break;
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}
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}
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if (end_d>0) {
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if (Geometry::is_point_in_triangle(p_end,_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point))) {
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end_poly=&p;
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end_point=p_end;
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end_d=0;
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if (begin_d==0)
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break;
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}
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}
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}
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}
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p.prev_edge=-1;
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}
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}
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//start or end not inside triangle.. look for closest segment :|
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if (begin_d || end_d) {
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for (Map<int,NavMesh>::Element*E=navpoly_map.front();E;E=E->next()) {
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if (!E->get().linked)
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continue;
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for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
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Polygon &p=F->get();
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int es = p.edges.size();
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for(int i=0;i<es;i++) {
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Vector2 edge[2]={
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_get_vertex(p.edges[i].point),
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_get_vertex(p.edges[(i+1)%es].point)
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};
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if (begin_d>0) {
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Vector2 spoint=Geometry::get_closest_point_to_segment_2d(p_start,edge);
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float d = spoint.distance_to(p_start);
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if (d<begin_d) {
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begin_poly=&p;
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begin_point=spoint;
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begin_d=d;
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}
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}
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if (end_d>0) {
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Vector2 spoint=Geometry::get_closest_point_to_segment_2d(p_end,edge);
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float d = spoint.distance_to(p_end);
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if (d<end_d) {
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end_poly=&p;
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end_point=spoint;
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end_d=d;
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}
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}
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}
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}
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}
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}
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if (!begin_poly || !end_poly) {
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//print_line("No Path Path");
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return Vector<Vector2>(); //no path
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}
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if (begin_poly==end_poly) {
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Vector<Vector2> path;
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path.resize(2);
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path[0]=begin_point;
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path[1]=end_point;
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//print_line("Direct Path");
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return path;
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}
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bool found_route=false;
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List<Polygon*> open_list;
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begin_poly->entry=p_start;
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for(int i=0;i<begin_poly->edges.size();i++) {
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if (begin_poly->edges[i].C) {
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begin_poly->edges[i].C->prev_edge=begin_poly->edges[i].C_edge;
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#ifdef USE_ENTRY_POINT
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Vector2 edge[2]={
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_get_vertex(begin_poly->edges[i].point),
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_get_vertex(begin_poly->edges[(i+1)%begin_poly->edges.size()].point)
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};
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Vector2 entry = Geometry::get_closest_point_to_segment_2d(begin_poly->entry,edge);
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begin_poly->edges[i].C->distance = begin_poly->entry.distance_to(entry);
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begin_poly->edges[i].C->entry=entry;
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#else
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begin_poly->edges[i].C->distance=begin_poly->center.distance_to(begin_poly->edges[i].C->center);
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#endif
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open_list.push_back(begin_poly->edges[i].C);
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if (begin_poly->edges[i].C==end_poly) {
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found_route=true;
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}
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}
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}
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while(!found_route) {
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if (open_list.size()==0) {
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// print_line("NOU OPEN LIST");
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break;
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}
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//check open list
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List<Polygon*>::Element *least_cost_poly=NULL;
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float least_cost=1e30;
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//this could be faster (cache previous results)
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for (List<Polygon*>::Element *E=open_list.front();E;E=E->next()) {
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Polygon *p=E->get();
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float cost=p->distance;
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cost+=p->center.distance_to(end_point);
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if (cost<least_cost) {
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least_cost_poly=E;
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least_cost=cost;
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}
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}
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Polygon *p=least_cost_poly->get();
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//open the neighbours for search
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int es = p->edges.size();
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for(int i=0;i<es;i++) {
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Polygon::Edge &e=p->edges[i];
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if (!e.C)
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continue;
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#ifdef USE_ENTRY_POINT
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Vector2 edge[2]={
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_get_vertex(p->edges[i].point),
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_get_vertex(p->edges[(i+1)%es].point)
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};
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Vector2 edge_entry = Geometry::get_closest_point_to_segment_2d(p->entry,edge);
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float distance = p->entry.distance_to(edge_entry) + p->distance;
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#else
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float distance = p->center.distance_to(e.C->center) + p->distance;
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#endif
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if (e.C->prev_edge!=-1) {
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//oh this was visited already, can we win the cost?
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if (e.C->distance>distance) {
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e.C->prev_edge=e.C_edge;
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e.C->distance=distance;
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#ifdef USE_ENTRY_POINT
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e.C->entry=edge_entry;
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#endif
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}
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} else {
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//add to open neighbours
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e.C->prev_edge=e.C_edge;
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e.C->distance=distance;
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#ifdef USE_ENTRY_POINT
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e.C->entry=edge_entry;
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#endif
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open_list.push_back(e.C);
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if (e.C==end_poly) {
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//oh my reached end! stop algorithm
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found_route=true;
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break;
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}
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}
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}
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if (found_route)
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break;
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open_list.erase(least_cost_poly);
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}
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if (found_route) {
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Vector<Vector2> path;
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if (p_optimize) {
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//string pulling
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Polygon *apex_poly=end_poly;
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Vector2 apex_point=end_point;
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Vector2 portal_left=apex_point;
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Vector2 portal_right=apex_point;
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Polygon *left_poly=end_poly;
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Polygon *right_poly=end_poly;
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Polygon *p=end_poly;
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path.push_back(end_point);
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while(p) {
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Vector2 left;
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Vector2 right;
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//#define CLOCK_TANGENT(m_a,m_b,m_c) ( ((m_a)-(m_c)).cross((m_a)-(m_b)) )
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#define CLOCK_TANGENT(m_a,m_b,m_c) ((((m_a).x - (m_c).x) * ((m_b).y - (m_c).y) - ((m_b).x - (m_c).x) * ((m_a).y - (m_c).y)))
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if (p==begin_poly) {
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left=begin_point;
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right=begin_point;
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} else {
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int prev = p->prev_edge;
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int prev_n = (p->prev_edge+1)%p->edges.size();
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left = _get_vertex(p->edges[prev].point);
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right = _get_vertex(p->edges[prev_n].point);
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if (CLOCK_TANGENT(apex_point,left,(left+right)*0.5) < 0){
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SWAP(left,right);
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}
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}
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bool skip=false;
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if (CLOCK_TANGENT(apex_point,portal_left,left) >= 0){
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//process
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if (portal_left==apex_point || CLOCK_TANGENT(apex_point,left,portal_right) > 0) {
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left_poly=p;
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portal_left=left;
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} else {
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//_clip_path(path,apex_poly,portal_right,right_poly);
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apex_point=portal_right;
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p=right_poly;
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left_poly=p;
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apex_poly=p;
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portal_left=apex_point;
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portal_right=apex_point;
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path.push_back(apex_point);
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skip=true;
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}
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}
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if (!skip && CLOCK_TANGENT(apex_point,portal_right,right) <= 0){
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//process
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if (portal_right==apex_point || CLOCK_TANGENT(apex_point,right,portal_left) < 0) {
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right_poly=p;
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portal_right=right;
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} else {
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//_clip_path(path,apex_poly,portal_left,left_poly);
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apex_point=portal_left;
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p=left_poly;
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right_poly=p;
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apex_poly=p;
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portal_right=apex_point;
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portal_left=apex_point;
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path.push_back(apex_point);
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}
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}
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if (p!=begin_poly)
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p=p->edges[p->prev_edge].C;
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else
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p=NULL;
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}
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if (path[path.size()-1]!=begin_point)
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path.push_back(begin_point);
|
|
|
|
path.invert();
|
|
|
|
|
|
|
|
|
|
} else {
|
|
//midpoints
|
|
Polygon *p=end_poly;
|
|
|
|
path.push_back(end_point);
|
|
while(true) {
|
|
int prev = p->prev_edge;
|
|
int prev_n = (p->prev_edge+1)%p->edges.size();
|
|
Vector2 point = (_get_vertex(p->edges[prev].point) + _get_vertex(p->edges[prev_n].point))*0.5;
|
|
path.push_back(point);
|
|
p = p->edges[prev].C;
|
|
if (p==begin_poly)
|
|
break;
|
|
}
|
|
|
|
path.push_back(begin_point);
|
|
|
|
|
|
path.invert();;
|
|
}
|
|
|
|
return path;
|
|
}
|
|
|
|
|
|
return Vector<Vector2>();
|
|
|
|
}
|
|
|
|
|
|
Vector2 Navigation2D::get_closest_point(const Vector2& p_point) {
|
|
|
|
Vector2 closest_point=Vector2();
|
|
float closest_point_d=1e20;
|
|
|
|
for (Map<int,NavMesh>::Element*E=navpoly_map.front();E;E=E->next()) {
|
|
|
|
if (!E->get().linked)
|
|
continue;
|
|
for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
|
|
|
|
Polygon &p=F->get();
|
|
for(int i=2;i<p.edges.size();i++) {
|
|
|
|
if (Geometry::is_point_in_triangle(p_point,_get_vertex(p.edges[0].point),_get_vertex(p.edges[i-1].point),_get_vertex(p.edges[i].point))) {
|
|
|
|
return p_point; //inside triangle, nothing else to discuss
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
for (Map<int,NavMesh>::Element*E=navpoly_map.front();E;E=E->next()) {
|
|
|
|
if (!E->get().linked)
|
|
continue;
|
|
for(List<Polygon>::Element *F=E->get().polygons.front();F;F=F->next()) {
|
|
|
|
Polygon &p=F->get();
|
|
int es = p.edges.size();
|
|
for(int i=0;i<es;i++) {
|
|
|
|
Vector2 edge[2]={
|
|
_get_vertex(p.edges[i].point),
|
|
_get_vertex(p.edges[(i+1)%es].point)
|
|
};
|
|
|
|
|
|
Vector2 spoint=Geometry::get_closest_point_to_segment_2d(p_point,edge);
|
|
float d = spoint.distance_squared_to(p_point);
|
|
if (d<closest_point_d) {
|
|
|
|
closest_point=spoint;
|
|
closest_point_d=d;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return closest_point;
|
|
|
|
}
|
|
|
|
|
|
void Navigation2D::_bind_methods() {
|
|
|
|
ObjectTypeDB::bind_method(_MD("navpoly_create","mesh:NavigationPolygon","xform","owner"),&Navigation2D::navpoly_create,DEFVAL(Variant()));
|
|
ObjectTypeDB::bind_method(_MD("navpoly_set_transform","id","xform"),&Navigation2D::navpoly_set_transform);
|
|
ObjectTypeDB::bind_method(_MD("navpoly_remove","id"),&Navigation2D::navpoly_remove);
|
|
|
|
ObjectTypeDB::bind_method(_MD("get_simple_path","start","end","optimize"),&Navigation2D::get_simple_path,DEFVAL(true));
|
|
ObjectTypeDB::bind_method(_MD("get_closest_point","to_point"),&Navigation2D::get_closest_point);
|
|
|
|
}
|
|
|
|
Navigation2D::Navigation2D() {
|
|
|
|
ERR_FAIL_COND( sizeof(Point)!=8 );
|
|
cell_size=1; // one pixel
|
|
last_id=1;
|
|
|
|
}
|