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godot/modules/gridmap/grid_map.cpp
Thaddeus Crews e1e2277f5a
Merge pull request #108530 from mihe/physics-debug-perf 
Fix performance regression when rendering collision shapes
2025-07-15 08:04:25 -05:00

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/**************************************************************************/
/* grid_map.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 */
/* permit persons to whom the Software is furnished to do so, subject to */
/* 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. */
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/**************************************************************************/
#include "grid_map.h"
#include "core/io/marshalls.h"
#include "core/templates/a_hash_map.h"
#include "scene/resources/3d/mesh_library.h"
#include "scene/resources/3d/primitive_meshes.h"
#include "scene/resources/surface_tool.h"
#include "servers/rendering_server.h"
#ifndef PHYSICS_3D_DISABLED
#include "core/math/convex_hull.h"
#include "scene/resources/3d/box_shape_3d.h"
#include "scene/resources/3d/capsule_shape_3d.h"
#include "scene/resources/3d/concave_polygon_shape_3d.h"
#include "scene/resources/3d/convex_polygon_shape_3d.h"
#include "scene/resources/3d/cylinder_shape_3d.h"
#include "scene/resources/3d/height_map_shape_3d.h"
#include "scene/resources/3d/shape_3d.h"
#include "scene/resources/3d/sphere_shape_3d.h"
#include "scene/resources/physics_material.h"
#endif // PHYSICS_3D_DISABLED
#ifndef NAVIGATION_3D_DISABLED
#include "scene/resources/3d/navigation_mesh_source_geometry_data_3d.h"
#include "servers/navigation_server_3d.h"
Callable GridMap::_navmesh_source_geometry_parsing_callback;
RID GridMap::_navmesh_source_geometry_parser;
#endif // NAVIGATION_3D_DISABLED
bool GridMap::_set(const StringName &p_name, const Variant &p_value) {
String name = p_name;
if (name == "data") {
Dictionary d = p_value;
if (d.has("cells")) {
Vector<int> cells = d["cells"];
int amount = cells.size();
const int *r = cells.ptr();
ERR_FAIL_COND_V(amount % 3, false); // not even
cell_map.clear();
for (int i = 0; i < amount / 3; i++) {
IndexKey ik;
ik.key = decode_uint64((const uint8_t *)&r[i * 3]);
Cell cell;
cell.cell = decode_uint32((const uint8_t *)&r[i * 3 + 2]);
cell_map[ik] = cell;
}
}
_recreate_octant_data();
} else if (name == "baked_meshes") {
clear_baked_meshes();
Array meshes = p_value;
RID scenario;
if (is_inside_tree()) {
scenario = get_world_3d()->get_scenario();
}
for (int i = 0; i < meshes.size(); i++) {
BakedMesh bm;
bm.mesh = meshes[i];
ERR_CONTINUE(bm.mesh.is_null());
bm.instance = RS::get_singleton()->instance_create();
RS::get_singleton()->instance_set_base(bm.instance, bm.mesh->get_rid());
RS::get_singleton()->instance_attach_object_instance_id(bm.instance, get_instance_id());
if (is_inside_tree()) {
RS::get_singleton()->instance_set_scenario(bm.instance, scenario);
RS::get_singleton()->instance_set_transform(bm.instance, get_global_transform());
}
baked_meshes.push_back(bm);
}
_recreate_octant_data();
} else {
return false;
}
return true;
}
bool GridMap::_get(const StringName &p_name, Variant &r_ret) const {
String name = p_name;
if (name == "data") {
Dictionary d;
Vector<int> cells;
cells.resize(cell_map.size() * 3);
{
int *w = cells.ptrw();
int i = 0;
for (const KeyValue<IndexKey, Cell> &E : cell_map) {
encode_uint64(E.key.key, (uint8_t *)&w[i * 3]);
encode_uint32(E.value.cell, (uint8_t *)&w[i * 3 + 2]);
i++;
}
}
d["cells"] = cells;
r_ret = d;
} else if (name == "baked_meshes") {
Array ret;
ret.resize(baked_meshes.size());
for (int i = 0; i < baked_meshes.size(); i++) {
ret[i] = baked_meshes[i].mesh;
}
r_ret = ret;
} else {
return false;
}
return true;
}
void GridMap::_get_property_list(List<PropertyInfo> *p_list) const {
if (baked_meshes.size()) {
p_list->push_back(PropertyInfo(Variant::ARRAY, "baked_meshes", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_STORAGE));
}
p_list->push_back(PropertyInfo(Variant::DICTIONARY, "data", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_STORAGE));
}
#ifndef PHYSICS_3D_DISABLED
void GridMap::set_collision_layer(uint32_t p_layer) {
collision_layer = p_layer;
_update_physics_bodies_collision_properties();
}
uint32_t GridMap::get_collision_layer() const {
return collision_layer;
}
void GridMap::set_collision_mask(uint32_t p_mask) {
collision_mask = p_mask;
_update_physics_bodies_collision_properties();
}
uint32_t GridMap::get_collision_mask() const {
return collision_mask;
}
void GridMap::set_collision_layer_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Collision layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Collision layer number must be between 1 and 32 inclusive.");
uint32_t collision_layer_new = get_collision_layer();
if (p_value) {
collision_layer_new |= 1 << (p_layer_number - 1);
} else {
collision_layer_new &= ~(1 << (p_layer_number - 1));
}
set_collision_layer(collision_layer_new);
}
bool GridMap::get_collision_layer_value(int p_layer_number) const {
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Collision layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Collision layer number must be between 1 and 32 inclusive.");
return get_collision_layer() & (1 << (p_layer_number - 1));
}
void GridMap::set_collision_mask_value(int p_layer_number, bool p_value) {
ERR_FAIL_COND_MSG(p_layer_number < 1, "Collision layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_MSG(p_layer_number > 32, "Collision layer number must be between 1 and 32 inclusive.");
uint32_t mask = get_collision_mask();
if (p_value) {
mask |= 1 << (p_layer_number - 1);
} else {
mask &= ~(1 << (p_layer_number - 1));
}
set_collision_mask(mask);
}
void GridMap::set_collision_priority(real_t p_priority) {
collision_priority = p_priority;
_update_physics_bodies_collision_properties();
}
real_t GridMap::get_collision_priority() const {
return collision_priority;
}
void GridMap::set_physics_material(Ref<PhysicsMaterial> p_material) {
physics_material = p_material;
_update_physics_bodies_characteristics();
}
Ref<PhysicsMaterial> GridMap::get_physics_material() const {
return physics_material;
}
bool GridMap::get_collision_mask_value(int p_layer_number) const {
ERR_FAIL_COND_V_MSG(p_layer_number < 1, false, "Collision layer number must be between 1 and 32 inclusive.");
ERR_FAIL_COND_V_MSG(p_layer_number > 32, false, "Collision layer number must be between 1 and 32 inclusive.");
return get_collision_mask() & (1 << (p_layer_number - 1));
}
Array GridMap::get_collision_shapes() const {
Array shapes;
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
Octant *g = E.value;
RID body = g->static_body;
Transform3D body_xform = PhysicsServer3D::get_singleton()->body_get_state(body, PhysicsServer3D::BODY_STATE_TRANSFORM);
int nshapes = PhysicsServer3D::get_singleton()->body_get_shape_count(body);
for (int i = 0; i < nshapes; i++) {
RID shape = PhysicsServer3D::get_singleton()->body_get_shape(body, i);
Transform3D xform = PhysicsServer3D::get_singleton()->body_get_shape_transform(body, i);
shapes.push_back(body_xform * xform);
shapes.push_back(shape);
}
}
return shapes;
}
#endif // PHYSICS_3D_DISABLED
void GridMap::set_bake_navigation(bool p_bake_navigation) {
bake_navigation = p_bake_navigation;
_recreate_octant_data();
}
bool GridMap::is_baking_navigation() {
return bake_navigation;
}
#ifndef NAVIGATION_3D_DISABLED
void GridMap::set_navigation_map(RID p_navigation_map) {
map_override = p_navigation_map;
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
Octant &g = *octant_map[E.key];
for (KeyValue<IndexKey, Octant::NavigationCell> &F : g.navigation_cell_ids) {
if (F.value.region.is_valid()) {
NavigationServer3D::get_singleton()->region_set_map(F.value.region, map_override);
}
}
}
}
RID GridMap::get_navigation_map() const {
if (map_override.is_valid()) {
return map_override;
} else if (is_inside_tree()) {
return get_world_3d()->get_navigation_map();
}
return RID();
}
#endif // NAVIGATION_3D_DISABLED
void GridMap::set_mesh_library(const Ref<MeshLibrary> &p_mesh_library) {
if (mesh_library.is_valid()) {
mesh_library->disconnect_changed(callable_mp(this, &GridMap::_recreate_octant_data));
}
mesh_library = p_mesh_library;
if (mesh_library.is_valid()) {
mesh_library->connect_changed(callable_mp(this, &GridMap::_recreate_octant_data));
}
_recreate_octant_data();
emit_signal(CoreStringName(changed));
}
Ref<MeshLibrary> GridMap::get_mesh_library() const {
return mesh_library;
}
void GridMap::set_cell_size(const Vector3 &p_size) {
ERR_FAIL_COND(p_size.x < 0.001 || p_size.y < 0.001 || p_size.z < 0.001);
cell_size = p_size;
_recreate_octant_data();
emit_signal(SNAME("cell_size_changed"), cell_size);
}
Vector3 GridMap::get_cell_size() const {
return cell_size;
}
void GridMap::set_octant_size(int p_size) {
ERR_FAIL_COND(p_size == 0);
octant_size = p_size;
_recreate_octant_data();
}
int GridMap::get_octant_size() const {
return octant_size;
}
void GridMap::set_center_x(bool p_enable) {
center_x = p_enable;
_recreate_octant_data();
}
bool GridMap::get_center_x() const {
return center_x;
}
void GridMap::set_center_y(bool p_enable) {
center_y = p_enable;
_recreate_octant_data();
}
bool GridMap::get_center_y() const {
return center_y;
}
void GridMap::set_center_z(bool p_enable) {
center_z = p_enable;
_recreate_octant_data();
}
bool GridMap::get_center_z() const {
return center_z;
}
void GridMap::set_cell_item(const Vector3i &p_position, int p_item, int p_rot) {
if (baked_meshes.size() && !recreating_octants) {
//if you set a cell item, baked meshes go good bye
clear_baked_meshes();
_recreate_octant_data();
}
ERR_FAIL_INDEX(Math::abs(p_position.x), 1 << 20);
ERR_FAIL_INDEX(Math::abs(p_position.y), 1 << 20);
ERR_FAIL_INDEX(Math::abs(p_position.z), 1 << 20);
IndexKey key;
key.x = p_position.x;
key.y = p_position.y;
key.z = p_position.z;
const OctantKey ok = get_octant_key_from_cell_coords(p_position);
if (p_item < 0) {
//erase
if (cell_map.has(key)) {
OctantKey octantkey = ok;
ERR_FAIL_COND(!octant_map.has(octantkey));
Octant &g = *octant_map[octantkey];
g.cells.erase(key);
g.dirty = true;
cell_map.erase(key);
_queue_octants_dirty();
}
return;
}
OctantKey octantkey = ok;
if (!octant_map.has(octantkey)) {
//create octant because it does not exist
Octant *g = memnew(Octant);
g->dirty = true;
#ifndef PHYSICS_3D_DISABLED
g->static_body = PhysicsServer3D::get_singleton()->body_create();
PhysicsServer3D::get_singleton()->body_set_mode(g->static_body, PhysicsServer3D::BODY_MODE_STATIC);
PhysicsServer3D::get_singleton()->body_attach_object_instance_id(g->static_body, get_instance_id());
PhysicsServer3D::get_singleton()->body_set_collision_layer(g->static_body, collision_layer);
PhysicsServer3D::get_singleton()->body_set_collision_mask(g->static_body, collision_mask);
PhysicsServer3D::get_singleton()->body_set_collision_priority(g->static_body, collision_priority);
if (physics_material.is_valid()) {
PhysicsServer3D::get_singleton()->body_set_param(g->static_body, PhysicsServer3D::BODY_PARAM_FRICTION, physics_material->computed_friction());
PhysicsServer3D::get_singleton()->body_set_param(g->static_body, PhysicsServer3D::BODY_PARAM_BOUNCE, physics_material->computed_bounce());
}
#endif // PHYSICS_3D_DISABLED
SceneTree *st = SceneTree::get_singleton();
if (st && st->is_debugging_collisions_hint()) {
g->collision_debug = RenderingServer::get_singleton()->mesh_create();
g->collision_debug_instance = RenderingServer::get_singleton()->instance_create();
RenderingServer::get_singleton()->instance_set_base(g->collision_debug_instance, g->collision_debug);
}
octant_map[octantkey] = g;
if (is_inside_world()) {
_octant_enter_world(octantkey);
_octant_transform(octantkey);
}
}
Octant &g = *octant_map[octantkey];
g.cells.insert(key);
g.dirty = true;
_queue_octants_dirty();
Cell c;
c.item = p_item;
c.rot = p_rot;
cell_map[key] = c;
}
int GridMap::get_cell_item(const Vector3i &p_position) const {
ERR_FAIL_INDEX_V(Math::abs(p_position.x), 1 << 20, INVALID_CELL_ITEM);
ERR_FAIL_INDEX_V(Math::abs(p_position.y), 1 << 20, INVALID_CELL_ITEM);
ERR_FAIL_INDEX_V(Math::abs(p_position.z), 1 << 20, INVALID_CELL_ITEM);
IndexKey key;
key.x = p_position.x;
key.y = p_position.y;
key.z = p_position.z;
if (!cell_map.has(key)) {
return INVALID_CELL_ITEM;
}
return cell_map[key].item;
}
int GridMap::get_cell_item_orientation(const Vector3i &p_position) const {
ERR_FAIL_INDEX_V(Math::abs(p_position.x), 1 << 20, -1);
ERR_FAIL_INDEX_V(Math::abs(p_position.y), 1 << 20, -1);
ERR_FAIL_INDEX_V(Math::abs(p_position.z), 1 << 20, -1);
IndexKey key;
key.x = p_position.x;
key.y = p_position.y;
key.z = p_position.z;
if (!cell_map.has(key)) {
return -1;
}
return cell_map[key].rot;
}
static const Basis _ortho_bases[24] = {
Basis(1, 0, 0, 0, 1, 0, 0, 0, 1),
Basis(0, -1, 0, 1, 0, 0, 0, 0, 1),
Basis(-1, 0, 0, 0, -1, 0, 0, 0, 1),
Basis(0, 1, 0, -1, 0, 0, 0, 0, 1),
Basis(1, 0, 0, 0, 0, -1, 0, 1, 0),
Basis(0, 0, 1, 1, 0, 0, 0, 1, 0),
Basis(-1, 0, 0, 0, 0, 1, 0, 1, 0),
Basis(0, 0, -1, -1, 0, 0, 0, 1, 0),
Basis(1, 0, 0, 0, -1, 0, 0, 0, -1),
Basis(0, 1, 0, 1, 0, 0, 0, 0, -1),
Basis(-1, 0, 0, 0, 1, 0, 0, 0, -1),
Basis(0, -1, 0, -1, 0, 0, 0, 0, -1),
Basis(1, 0, 0, 0, 0, 1, 0, -1, 0),
Basis(0, 0, -1, 1, 0, 0, 0, -1, 0),
Basis(-1, 0, 0, 0, 0, -1, 0, -1, 0),
Basis(0, 0, 1, -1, 0, 0, 0, -1, 0),
Basis(0, 0, 1, 0, 1, 0, -1, 0, 0),
Basis(0, -1, 0, 0, 0, 1, -1, 0, 0),
Basis(0, 0, -1, 0, -1, 0, -1, 0, 0),
Basis(0, 1, 0, 0, 0, -1, -1, 0, 0),
Basis(0, 0, 1, 0, -1, 0, 1, 0, 0),
Basis(0, 1, 0, 0, 0, 1, 1, 0, 0),
Basis(0, 0, -1, 0, 1, 0, 1, 0, 0),
Basis(0, -1, 0, 0, 0, -1, 1, 0, 0)
};
Basis GridMap::get_cell_item_basis(const Vector3i &p_position) const {
int orientation = get_cell_item_orientation(p_position);
if (orientation == -1) {
return Basis();
}
return get_basis_with_orthogonal_index(orientation);
}
Basis GridMap::get_basis_with_orthogonal_index(int p_index) const {
ERR_FAIL_INDEX_V(p_index, 24, Basis());
return _ortho_bases[p_index];
}
int GridMap::get_orthogonal_index_from_basis(const Basis &p_basis) const {
Basis orth = p_basis;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
real_t v = orth[i][j];
if (v > 0.5) {
v = 1.0;
} else if (v < -0.5) {
v = -1.0;
} else {
v = 0;
}
orth[i][j] = v;
}
}
for (int i = 0; i < 24; i++) {
if (_ortho_bases[i] == orth) {
return i;
}
}
return 0;
}
GridMap::OctantKey GridMap::get_octant_key_from_index_key(const IndexKey &p_index_key) const {
const int x = p_index_key.x > 0 ? p_index_key.x / octant_size : (p_index_key.x - (octant_size - 1)) / octant_size;
const int y = p_index_key.y > 0 ? p_index_key.y / octant_size : (p_index_key.y - (octant_size - 1)) / octant_size;
const int z = p_index_key.z > 0 ? p_index_key.z / octant_size : (p_index_key.z - (octant_size - 1)) / octant_size;
OctantKey ok;
ok.key = 0;
ok.x = x;
ok.y = y;
ok.z = z;
return ok;
}
GridMap::OctantKey GridMap::get_octant_key_from_cell_coords(const Vector3i &p_cell_coords) const {
const int x = p_cell_coords.x > 0 ? p_cell_coords.x / octant_size : (p_cell_coords.x - (octant_size - 1)) / octant_size;
const int y = p_cell_coords.y > 0 ? p_cell_coords.y / octant_size : (p_cell_coords.y - (octant_size - 1)) / octant_size;
const int z = p_cell_coords.z > 0 ? p_cell_coords.z / octant_size : (p_cell_coords.z - (octant_size - 1)) / octant_size;
OctantKey ok;
ok.key = 0;
ok.x = x;
ok.y = y;
ok.z = z;
return ok;
}
Vector3i GridMap::local_to_map(const Vector3 &p_world_position) const {
Vector3 map_position = (p_world_position / cell_size).floor();
return Vector3i(map_position);
}
Vector3 GridMap::map_to_local(const Vector3i &p_map_position) const {
Vector3 offset = _get_offset();
Vector3 local_position(
p_map_position.x * cell_size.x + offset.x,
p_map_position.y * cell_size.y + offset.y,
p_map_position.z * cell_size.z + offset.z);
return local_position;
}
void GridMap::_octant_transform(const OctantKey &p_key) {
ERR_FAIL_COND(!octant_map.has(p_key));
Octant &g = *octant_map[p_key];
#ifndef PHYSICS_3D_DISABLED
PhysicsServer3D::get_singleton()->body_set_state(g.static_body, PhysicsServer3D::BODY_STATE_TRANSFORM, get_global_transform());
if (g.collision_debug_instance.is_valid()) {
RS::get_singleton()->instance_set_transform(g.collision_debug_instance, get_global_transform());
}
#endif // PHYSICS_3D_DISABLED
#ifndef NAVIGATION_3D_DISABLED
// update transform for NavigationServer regions and navigation debugmesh instances
for (const KeyValue<IndexKey, Octant::NavigationCell> &E : g.navigation_cell_ids) {
if (bake_navigation) {
if (E.value.region.is_valid()) {
NavigationServer3D::get_singleton()->region_set_transform(E.value.region, get_global_transform() * E.value.xform);
}
if (E.value.navigation_mesh_debug_instance.is_valid()) {
RS::get_singleton()->instance_set_transform(E.value.navigation_mesh_debug_instance, get_global_transform() * E.value.xform);
}
}
}
#endif // NAVIGATION_3D_DISABLED
for (int i = 0; i < g.multimesh_instances.size(); i++) {
RS::get_singleton()->instance_set_transform(g.multimesh_instances[i].instance, get_global_transform());
}
}
bool GridMap::_octant_update(const OctantKey &p_key) {
ERR_FAIL_COND_V(!octant_map.has(p_key), false);
Octant &g = *octant_map[p_key];
if (!g.dirty) {
return false;
}
#ifndef PHYSICS_3D_DISABLED
//erase body shapes
PhysicsServer3D::get_singleton()->body_clear_shapes(g.static_body);
//erase body shapes debug
if (g.collision_debug.is_valid()) {
RS::get_singleton()->mesh_clear(g.collision_debug);
}
#endif // PHYSICS_3D_DISABLED
#ifndef NAVIGATION_3D_DISABLED
//erase navigation
for (KeyValue<IndexKey, Octant::NavigationCell> &E : g.navigation_cell_ids) {
if (E.value.region.is_valid()) {
NavigationServer3D::get_singleton()->free(E.value.region);
E.value.region = RID();
}
if (E.value.navigation_mesh_debug_instance.is_valid()) {
RS::get_singleton()->free(E.value.navigation_mesh_debug_instance);
E.value.navigation_mesh_debug_instance = RID();
}
}
g.navigation_cell_ids.clear();
#endif // NAVIGATION_3D_DISABLED
//erase multimeshes
for (int i = 0; i < g.multimesh_instances.size(); i++) {
RS::get_singleton()->free(g.multimesh_instances[i].instance);
RS::get_singleton()->free(g.multimesh_instances[i].multimesh);
}
g.multimesh_instances.clear();
if (g.cells.is_empty()) {
//octant no longer needed
_octant_clean_up(p_key);
return true;
}
Vector<Vector3> col_debug;
/*
* foreach item in this octant,
* set item's multimesh's instance count to number of cells which have this item
* and set said multimesh bounding box to one containing all cells which have this item
*/
struct MultiMeshItemPlacement {
Transform3D transform;
IndexKey index_key;
};
AHashMap<int, LocalVector<MultiMeshItemPlacement>> item_id_to_multimesh_item_placements;
RID scenario;
#ifndef NAVIGATION_3D_DISABLED
RID navigation_map;
#endif
if (is_inside_tree()) {
scenario = get_world_3d()->get_scenario();
#ifndef NAVIGATION_3D_DISABLED
navigation_map = get_world_3d()->get_navigation_map();
#endif
}
for (const IndexKey &E : g.cells) {
ERR_CONTINUE(!cell_map.has(E));
const Cell &c = cell_map[E];
if (mesh_library.is_null() || !mesh_library->has_item(c.item)) {
continue;
}
Vector3 cellpos = Vector3(E.x, E.y, E.z);
Vector3 ofs = _get_offset();
Transform3D xform;
xform.basis = _ortho_bases[c.rot];
xform.set_origin(cellpos * cell_size + ofs);
xform.basis.scale(Vector3(cell_scale, cell_scale, cell_scale));
if (baked_meshes.is_empty()) {
if (mesh_library->get_item_mesh(c.item).is_valid()) {
if (!item_id_to_multimesh_item_placements.has(c.item)) {
item_id_to_multimesh_item_placements[c.item] = LocalVector<MultiMeshItemPlacement>();
}
MultiMeshItemPlacement p;
p.transform = xform * mesh_library->get_item_mesh_transform(c.item);
p.index_key = E;
item_id_to_multimesh_item_placements[c.item].push_back(p);
}
}
#ifndef PHYSICS_3D_DISABLED
Vector<MeshLibrary::ShapeData> shapes = mesh_library->get_item_shapes(c.item);
// add the item's shape at given xform to octant's static_body
for (int i = 0; i < shapes.size(); i++) {
// add the item's shape
if (shapes[i].shape.is_null()) {
continue;
}
PhysicsServer3D::get_singleton()->body_add_shape(g.static_body, shapes[i].shape->get_rid(), xform * shapes[i].local_transform);
if (g.collision_debug.is_valid()) {
shapes.write[i].shape->add_vertices_to_array(col_debug, xform * shapes[i].local_transform);
}
}
#endif // PHYSICS_3D_DISABLED
#ifndef NAVIGATION_3D_DISABLED
// add the item's navigation_mesh at given xform to GridMap's Navigation ancestor
Ref<NavigationMesh> navigation_mesh = mesh_library->get_item_navigation_mesh(c.item);
if (navigation_mesh.is_valid()) {
Octant::NavigationCell nm;
nm.xform = xform * mesh_library->get_item_navigation_mesh_transform(c.item);
nm.navigation_layers = mesh_library->get_item_navigation_layers(c.item);
if (bake_navigation) {
RID region = NavigationServer3D::get_singleton()->region_create();
NavigationServer3D::get_singleton()->region_set_owner_id(region, get_instance_id());
NavigationServer3D::get_singleton()->region_set_navigation_layers(region, nm.navigation_layers);
NavigationServer3D::get_singleton()->region_set_navigation_mesh(region, navigation_mesh);
NavigationServer3D::get_singleton()->region_set_transform(region, get_global_transform() * nm.xform);
if (is_inside_tree()) {
if (map_override.is_valid()) {
NavigationServer3D::get_singleton()->region_set_map(region, map_override);
} else {
NavigationServer3D::get_singleton()->region_set_map(region, navigation_map);
}
}
nm.region = region;
#ifdef DEBUG_ENABLED
// add navigation debugmesh visual instances if debug is enabled
SceneTree *st = SceneTree::get_singleton();
if (st && st->is_debugging_navigation_hint()) {
if (!nm.navigation_mesh_debug_instance.is_valid()) {
RID navigation_mesh_debug_rid = navigation_mesh->get_debug_mesh()->get_rid();
nm.navigation_mesh_debug_instance = RS::get_singleton()->instance_create();
RS::get_singleton()->instance_set_base(nm.navigation_mesh_debug_instance, navigation_mesh_debug_rid);
}
if (is_inside_tree()) {
RS::get_singleton()->instance_set_scenario(nm.navigation_mesh_debug_instance, scenario);
RS::get_singleton()->instance_set_transform(nm.navigation_mesh_debug_instance, get_global_transform() * nm.xform);
}
}
#endif // DEBUG_ENABLED
}
g.navigation_cell_ids[E] = nm;
}
#endif // NAVIGATION_3D_DISABLED
}
#if defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
if (bake_navigation) {
_update_octant_navigation_debug_edge_connections_mesh(p_key);
}
#endif // defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
//update multimeshes, only if not baked
if (baked_meshes.is_empty()) {
for (const KeyValue<int, LocalVector<MultiMeshItemPlacement>> &E : item_id_to_multimesh_item_placements) {
Octant::MultimeshInstance mmi;
RID mm = RS::get_singleton()->multimesh_create();
RS::get_singleton()->multimesh_allocate_data(mm, E.value.size(), RS::MULTIMESH_TRANSFORM_3D);
RS::get_singleton()->multimesh_set_mesh(mm, mesh_library->get_item_mesh(E.key)->get_rid());
int idx = 0;
const LocalVector<MultiMeshItemPlacement> &mm_item_placements = E.value;
for (const MultiMeshItemPlacement &mm_item_placement : mm_item_placements) {
RS::get_singleton()->multimesh_instance_set_transform(mm, idx, mm_item_placement.transform);
#ifdef TOOLS_ENABLED
Octant::MultimeshInstance::Item it;
it.index = idx;
it.transform = mm_item_placement.transform;
it.key = mm_item_placement.index_key;
mmi.items.push_back(it);
#endif
idx++;
}
RID instance = RS::get_singleton()->instance_create();
RS::get_singleton()->instance_set_base(instance, mm);
if (is_inside_tree()) {
RS::get_singleton()->instance_set_scenario(instance, scenario);
RS::get_singleton()->instance_set_transform(instance, get_global_transform());
}
RS::ShadowCastingSetting cast_shadows = (RS::ShadowCastingSetting)mesh_library->get_item_mesh_cast_shadow(E.key);
RS::get_singleton()->instance_geometry_set_cast_shadows_setting(instance, cast_shadows);
mmi.multimesh = mm;
mmi.instance = instance;
g.multimesh_instances.push_back(mmi);
}
}
#ifndef PHYSICS_3D_DISABLED
if (col_debug.size()) {
SceneTree *st = SceneTree::get_singleton();
Vector<Color> colors;
colors.resize(col_debug.size());
if (st) {
colors.fill(st->get_debug_collisions_color());
}
Array arr;
arr.resize(RS::ARRAY_MAX);
arr[RS::ARRAY_VERTEX] = col_debug;
arr[RS::ARRAY_COLOR] = colors;
RS::get_singleton()->mesh_add_surface_from_arrays(g.collision_debug, RS::PRIMITIVE_LINES, arr);
if (st) {
RS::get_singleton()->mesh_surface_set_material(g.collision_debug, 0, st->get_debug_collision_material()->get_rid());
}
}
#endif // PHYSICS_3D_DISABLED
g.dirty = false;
return false;
}
#ifndef PHYSICS_3D_DISABLED
void GridMap::_update_physics_bodies_collision_properties() {
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
PhysicsServer3D::get_singleton()->body_set_collision_layer(E.value->static_body, collision_layer);
PhysicsServer3D::get_singleton()->body_set_collision_mask(E.value->static_body, collision_mask);
PhysicsServer3D::get_singleton()->body_set_collision_priority(E.value->static_body, collision_priority);
}
}
void GridMap::_update_physics_bodies_characteristics() {
real_t friction = 1.0;
real_t bounce = 0.0;
if (physics_material.is_valid()) {
friction = physics_material->computed_friction();
bounce = physics_material->computed_bounce();
}
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
PhysicsServer3D::get_singleton()->body_set_param(E.value->static_body, PhysicsServer3D::BODY_PARAM_FRICTION, friction);
PhysicsServer3D::get_singleton()->body_set_param(E.value->static_body, PhysicsServer3D::BODY_PARAM_BOUNCE, bounce);
}
}
#endif // PHYSICS_3D_DISABLED
void GridMap::_octant_enter_world(const OctantKey &p_key) {
ERR_FAIL_COND(!octant_map.has(p_key));
Octant &g = *octant_map[p_key];
const RID scenario = get_world_3d()->get_scenario();
#ifndef PHYSICS_3D_DISABLED
PhysicsServer3D::get_singleton()->body_set_state(g.static_body, PhysicsServer3D::BODY_STATE_TRANSFORM, get_global_transform());
PhysicsServer3D::get_singleton()->body_set_space(g.static_body, get_world_3d()->get_space());
if (g.collision_debug_instance.is_valid()) {
RS::get_singleton()->instance_set_scenario(g.collision_debug_instance, scenario);
RS::get_singleton()->instance_set_transform(g.collision_debug_instance, get_global_transform());
}
#endif // PHYSICS_3D_DISABLED
for (int i = 0; i < g.multimesh_instances.size(); i++) {
RS::get_singleton()->instance_set_scenario(g.multimesh_instances[i].instance, scenario);
RS::get_singleton()->instance_set_transform(g.multimesh_instances[i].instance, get_global_transform());
}
#ifndef NAVIGATION_3D_DISABLED
const RID navigation_map = get_world_3d()->get_navigation_map();
if (bake_navigation && mesh_library.is_valid()) {
for (KeyValue<IndexKey, Octant::NavigationCell> &F : g.navigation_cell_ids) {
if (cell_map.has(F.key) && F.value.region.is_valid() == false) {
Ref<NavigationMesh> navigation_mesh = mesh_library->get_item_navigation_mesh(cell_map[F.key].item);
if (navigation_mesh.is_valid()) {
RID region = NavigationServer3D::get_singleton()->region_create();
NavigationServer3D::get_singleton()->region_set_owner_id(region, get_instance_id());
NavigationServer3D::get_singleton()->region_set_navigation_layers(region, F.value.navigation_layers);
NavigationServer3D::get_singleton()->region_set_navigation_mesh(region, navigation_mesh);
NavigationServer3D::get_singleton()->region_set_transform(region, get_global_transform() * F.value.xform);
if (map_override.is_valid()) {
NavigationServer3D::get_singleton()->region_set_map(region, map_override);
} else {
NavigationServer3D::get_singleton()->region_set_map(region, navigation_map);
}
F.value.region = region;
}
}
}
#ifdef DEBUG_ENABLED
if (bake_navigation) {
if (!g.navigation_debug_edge_connections_instance.is_valid()) {
g.navigation_debug_edge_connections_instance = RenderingServer::get_singleton()->instance_create();
}
if (g.navigation_debug_edge_connections_mesh.is_null()) {
g.navigation_debug_edge_connections_mesh.instantiate();
}
_update_octant_navigation_debug_edge_connections_mesh(p_key);
}
#endif // DEBUG_ENABLED
}
#endif // NAVIGATION_3D_DISABLED
}
void GridMap::_octant_exit_world(const OctantKey &p_key) {
ERR_FAIL_NULL(RenderingServer::get_singleton());
#ifndef PHYSICS_3D_DISABLED
ERR_FAIL_NULL(PhysicsServer3D::get_singleton());
#endif // PHYSICS_3D_DISABLED
#ifndef NAVIGATION_3D_DISABLED
ERR_FAIL_NULL(NavigationServer3D::get_singleton());
#endif // NAVIGATION_3D_DISABLED
ERR_FAIL_COND(!octant_map.has(p_key));
Octant &g = *octant_map[p_key];
#ifndef PHYSICS_3D_DISABLED
PhysicsServer3D::get_singleton()->body_set_state(g.static_body, PhysicsServer3D::BODY_STATE_TRANSFORM, get_global_transform());
PhysicsServer3D::get_singleton()->body_set_space(g.static_body, RID());
if (g.collision_debug_instance.is_valid()) {
RS::get_singleton()->instance_set_scenario(g.collision_debug_instance, RID());
}
#endif // PHYSICS_3D_DISABLED
for (int i = 0; i < g.multimesh_instances.size(); i++) {
RS::get_singleton()->instance_set_scenario(g.multimesh_instances[i].instance, RID());
}
#ifndef NAVIGATION_3D_DISABLED
for (KeyValue<IndexKey, Octant::NavigationCell> &F : g.navigation_cell_ids) {
if (F.value.region.is_valid()) {
NavigationServer3D::get_singleton()->free(F.value.region);
F.value.region = RID();
}
if (F.value.navigation_mesh_debug_instance.is_valid()) {
RS::get_singleton()->free(F.value.navigation_mesh_debug_instance);
F.value.navigation_mesh_debug_instance = RID();
}
}
#endif // NAVIGATION_3D_DISABLED
#ifdef DEBUG_ENABLED
if (bake_navigation) {
if (g.navigation_debug_edge_connections_instance.is_valid()) {
RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_instance);
g.navigation_debug_edge_connections_instance = RID();
}
if (g.navigation_debug_edge_connections_mesh.is_valid()) {
g.navigation_debug_edge_connections_mesh.unref();
}
}
#endif // DEBUG_ENABLED
}
void GridMap::_octant_clean_up(const OctantKey &p_key) {
ERR_FAIL_NULL(RenderingServer::get_singleton());
#ifndef PHYSICS_3D_DISABLED
ERR_FAIL_NULL(PhysicsServer3D::get_singleton());
#endif // PHYSICS_3D_DISABLED
#ifndef NAVIGATION_3D_DISABLED
ERR_FAIL_NULL(NavigationServer3D::get_singleton());
#endif // NAVIGATION_3D_DISABLED
ERR_FAIL_COND(!octant_map.has(p_key));
Octant &g = *octant_map[p_key];
#ifndef PHYSICS_3D_DISABLED
if (g.collision_debug.is_valid()) {
RS::get_singleton()->free(g.collision_debug);
}
if (g.collision_debug_instance.is_valid()) {
RS::get_singleton()->free(g.collision_debug_instance);
}
PhysicsServer3D::get_singleton()->free(g.static_body);
#endif // PHYSICS_3D_DISABLED
#ifndef NAVIGATION_3D_DISABLED
// Erase navigation
for (const KeyValue<IndexKey, Octant::NavigationCell> &E : g.navigation_cell_ids) {
if (E.value.region.is_valid()) {
NavigationServer3D::get_singleton()->free(E.value.region);
}
if (E.value.navigation_mesh_debug_instance.is_valid()) {
RS::get_singleton()->free(E.value.navigation_mesh_debug_instance);
}
}
g.navigation_cell_ids.clear();
#endif // NAVIGATION_3D_DISABLED
#ifdef DEBUG_ENABLED
if (bake_navigation) {
if (g.navigation_debug_edge_connections_instance.is_valid()) {
RenderingServer::get_singleton()->free(g.navigation_debug_edge_connections_instance);
g.navigation_debug_edge_connections_instance = RID();
}
if (g.navigation_debug_edge_connections_mesh.is_valid()) {
g.navigation_debug_edge_connections_mesh.unref();
}
}
#endif // DEBUG_ENABLED
//erase multimeshes
for (int i = 0; i < g.multimesh_instances.size(); i++) {
RS::get_singleton()->free(g.multimesh_instances[i].instance);
RS::get_singleton()->free(g.multimesh_instances[i].multimesh);
}
g.multimesh_instances.clear();
}
void GridMap::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_ENTER_WORLD: {
last_transform = get_global_transform();
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
_octant_enter_world(E.key);
}
for (int i = 0; i < baked_meshes.size(); i++) {
RS::get_singleton()->instance_set_scenario(baked_meshes[i].instance, get_world_3d()->get_scenario());
RS::get_singleton()->instance_set_transform(baked_meshes[i].instance, get_global_transform());
}
} break;
case NOTIFICATION_ENTER_TREE: {
#if defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
if (bake_navigation && NavigationServer3D::get_singleton()->get_debug_navigation_enabled()) {
_update_navigation_debug_edge_connections();
}
#endif // defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
_update_visibility();
} break;
case NOTIFICATION_TRANSFORM_CHANGED: {
Transform3D new_xform = get_global_transform();
if (new_xform == last_transform) {
break;
}
//update run
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
_octant_transform(E.key);
}
last_transform = new_xform;
for (int i = 0; i < baked_meshes.size(); i++) {
RS::get_singleton()->instance_set_transform(baked_meshes[i].instance, get_global_transform());
}
} break;
case NOTIFICATION_EXIT_WORLD: {
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
_octant_exit_world(E.key);
}
//_queue_octants_dirty(MAP_DIRTY_INSTANCES|MAP_DIRTY_TRANSFORMS);
//_update_octants_callback();
//_update_area_instances();
for (int i = 0; i < baked_meshes.size(); i++) {
RS::get_singleton()->instance_set_scenario(baked_meshes[i].instance, RID());
}
} break;
case NOTIFICATION_VISIBILITY_CHANGED: {
_update_visibility();
} break;
}
}
void GridMap::_update_visibility() {
if (!is_inside_tree()) {
return;
}
for (KeyValue<OctantKey, Octant *> &e : octant_map) {
Octant *octant = e.value;
for (int i = 0; i < octant->multimesh_instances.size(); i++) {
const Octant::MultimeshInstance &mi = octant->multimesh_instances[i];
RS::get_singleton()->instance_set_visible(mi.instance, is_visible_in_tree());
}
}
for (int i = 0; i < baked_meshes.size(); i++) {
RS::get_singleton()->instance_set_visible(baked_meshes[i].instance, is_visible_in_tree());
}
}
void GridMap::_queue_octants_dirty() {
if (awaiting_update) {
return;
}
callable_mp(this, &GridMap::_update_octants_callback).call_deferred();
awaiting_update = true;
}
void GridMap::_recreate_octant_data() {
recreating_octants = true;
HashMap<IndexKey, Cell, IndexKey> cell_copy = cell_map;
_clear_internal();
for (const KeyValue<IndexKey, Cell> &E : cell_copy) {
set_cell_item(Vector3i(E.key), E.value.item, E.value.rot);
}
recreating_octants = false;
}
void GridMap::_clear_internal() {
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
if (is_inside_world()) {
_octant_exit_world(E.key);
}
_octant_clean_up(E.key);
memdelete(E.value);
}
octant_map.clear();
cell_map.clear();
}
void GridMap::clear() {
_clear_internal();
clear_baked_meshes();
}
#ifndef DISABLE_DEPRECATED
void GridMap::resource_changed(const Ref<Resource> &p_res) {
}
#endif
void GridMap::_update_octants_callback() {
if (!awaiting_update) {
return;
}
LocalVector<OctantKey> to_delete;
to_delete.reserve(octant_map.size());
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
if (_octant_update(E.key)) {
to_delete.push_back(E.key);
}
}
while (!to_delete.is_empty()) {
const OctantKey &octantkey = to_delete[0];
memdelete(octant_map[octantkey]);
octant_map.erase(octantkey);
to_delete.remove_at_unordered(0);
}
_update_visibility();
awaiting_update = false;
}
void GridMap::_bind_methods() {
#ifndef PHYSICS_3D_DISABLED
ClassDB::bind_method(D_METHOD("set_collision_layer", "layer"), &GridMap::set_collision_layer);
ClassDB::bind_method(D_METHOD("get_collision_layer"), &GridMap::get_collision_layer);
ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &GridMap::set_collision_mask);
ClassDB::bind_method(D_METHOD("get_collision_mask"), &GridMap::get_collision_mask);
ClassDB::bind_method(D_METHOD("set_collision_mask_value", "layer_number", "value"), &GridMap::set_collision_mask_value);
ClassDB::bind_method(D_METHOD("get_collision_mask_value", "layer_number"), &GridMap::get_collision_mask_value);
ClassDB::bind_method(D_METHOD("set_collision_layer_value", "layer_number", "value"), &GridMap::set_collision_layer_value);
ClassDB::bind_method(D_METHOD("get_collision_layer_value", "layer_number"), &GridMap::get_collision_layer_value);
ClassDB::bind_method(D_METHOD("set_collision_priority", "priority"), &GridMap::set_collision_priority);
ClassDB::bind_method(D_METHOD("get_collision_priority"), &GridMap::get_collision_priority);
ClassDB::bind_method(D_METHOD("set_physics_material", "material"), &GridMap::set_physics_material);
ClassDB::bind_method(D_METHOD("get_physics_material"), &GridMap::get_physics_material);
#endif // PHYSICS_3D_DISABLED
ClassDB::bind_method(D_METHOD("set_bake_navigation", "bake_navigation"), &GridMap::set_bake_navigation);
ClassDB::bind_method(D_METHOD("is_baking_navigation"), &GridMap::is_baking_navigation);
#ifndef NAVIGATION_3D_DISABLED
ClassDB::bind_method(D_METHOD("set_navigation_map", "navigation_map"), &GridMap::set_navigation_map);
ClassDB::bind_method(D_METHOD("get_navigation_map"), &GridMap::get_navigation_map);
#endif // NAVIGATION_3D_DISABLED
ClassDB::bind_method(D_METHOD("set_mesh_library", "mesh_library"), &GridMap::set_mesh_library);
ClassDB::bind_method(D_METHOD("get_mesh_library"), &GridMap::get_mesh_library);
ClassDB::bind_method(D_METHOD("set_cell_size", "size"), &GridMap::set_cell_size);
ClassDB::bind_method(D_METHOD("get_cell_size"), &GridMap::get_cell_size);
ClassDB::bind_method(D_METHOD("set_cell_scale", "scale"), &GridMap::set_cell_scale);
ClassDB::bind_method(D_METHOD("get_cell_scale"), &GridMap::get_cell_scale);
ClassDB::bind_method(D_METHOD("set_octant_size", "size"), &GridMap::set_octant_size);
ClassDB::bind_method(D_METHOD("get_octant_size"), &GridMap::get_octant_size);
ClassDB::bind_method(D_METHOD("set_cell_item", "position", "item", "orientation"), &GridMap::set_cell_item, DEFVAL(0));
ClassDB::bind_method(D_METHOD("get_cell_item", "position"), &GridMap::get_cell_item);
ClassDB::bind_method(D_METHOD("get_cell_item_orientation", "position"), &GridMap::get_cell_item_orientation);
ClassDB::bind_method(D_METHOD("get_cell_item_basis", "position"), &GridMap::get_cell_item_basis);
ClassDB::bind_method(D_METHOD("get_basis_with_orthogonal_index", "index"), &GridMap::get_basis_with_orthogonal_index);
ClassDB::bind_method(D_METHOD("get_orthogonal_index_from_basis", "basis"), &GridMap::get_orthogonal_index_from_basis);
ClassDB::bind_method(D_METHOD("local_to_map", "local_position"), &GridMap::local_to_map);
ClassDB::bind_method(D_METHOD("map_to_local", "map_position"), &GridMap::map_to_local);
#ifndef DISABLE_DEPRECATED
ClassDB::bind_method(D_METHOD("resource_changed", "resource"), &GridMap::resource_changed);
#endif
ClassDB::bind_method(D_METHOD("set_center_x", "enable"), &GridMap::set_center_x);
ClassDB::bind_method(D_METHOD("get_center_x"), &GridMap::get_center_x);
ClassDB::bind_method(D_METHOD("set_center_y", "enable"), &GridMap::set_center_y);
ClassDB::bind_method(D_METHOD("get_center_y"), &GridMap::get_center_y);
ClassDB::bind_method(D_METHOD("set_center_z", "enable"), &GridMap::set_center_z);
ClassDB::bind_method(D_METHOD("get_center_z"), &GridMap::get_center_z);
ClassDB::bind_method(D_METHOD("clear"), &GridMap::clear);
ClassDB::bind_method(D_METHOD("get_used_cells"), &GridMap::get_used_cells);
ClassDB::bind_method(D_METHOD("get_used_cells_by_item", "item"), &GridMap::get_used_cells_by_item);
ClassDB::bind_method(D_METHOD("get_meshes"), &GridMap::get_meshes);
ClassDB::bind_method(D_METHOD("get_bake_meshes"), &GridMap::get_bake_meshes);
ClassDB::bind_method(D_METHOD("get_bake_mesh_instance", "idx"), &GridMap::get_bake_mesh_instance);
ClassDB::bind_method(D_METHOD("clear_baked_meshes"), &GridMap::clear_baked_meshes);
ClassDB::bind_method(D_METHOD("make_baked_meshes", "gen_lightmap_uv", "lightmap_uv_texel_size"), &GridMap::make_baked_meshes, DEFVAL(false), DEFVAL(0.1));
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "mesh_library", PROPERTY_HINT_RESOURCE_TYPE, "MeshLibrary"), "set_mesh_library", "get_mesh_library");
#ifndef PHYSICS_3D_DISABLED
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material", PROPERTY_HINT_RESOURCE_TYPE, "PhysicsMaterial"), "set_physics_material", "get_physics_material");
#endif // PHYSICS_3D_DISABLED
ADD_GROUP("Cell", "cell_");
ADD_PROPERTY(PropertyInfo(Variant::VECTOR3, "cell_size", PROPERTY_HINT_NONE, "suffix:m"), "set_cell_size", "get_cell_size");
ADD_PROPERTY(PropertyInfo(Variant::INT, "cell_octant_size", PROPERTY_HINT_RANGE, "1,1024,1"), "set_octant_size", "get_octant_size");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "cell_center_x"), "set_center_x", "get_center_x");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "cell_center_y"), "set_center_y", "get_center_y");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "cell_center_z"), "set_center_z", "get_center_z");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell_scale"), "set_cell_scale", "get_cell_scale");
#ifndef PHYSICS_3D_DISABLED
ADD_GROUP("Collision", "collision_");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "collision_priority"), "set_collision_priority", "get_collision_priority");
#endif // PHYSICS_3D_DISABLED
ADD_GROUP("Navigation", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "bake_navigation"), "set_bake_navigation", "is_baking_navigation");
BIND_CONSTANT(INVALID_CELL_ITEM);
ADD_SIGNAL(MethodInfo("cell_size_changed", PropertyInfo(Variant::VECTOR3, "cell_size")));
ADD_SIGNAL(MethodInfo(CoreStringName(changed)));
}
void GridMap::set_cell_scale(float p_scale) {
cell_scale = p_scale;
_recreate_octant_data();
}
float GridMap::get_cell_scale() const {
return cell_scale;
}
TypedArray<Vector3i> GridMap::get_used_cells() const {
TypedArray<Vector3i> a;
a.resize(cell_map.size());
int i = 0;
for (const KeyValue<IndexKey, Cell> &E : cell_map) {
Vector3i p(E.key.x, E.key.y, E.key.z);
a[i++] = p;
}
return a;
}
TypedArray<Vector3i> GridMap::get_used_cells_by_item(int p_item) const {
TypedArray<Vector3i> a;
for (const KeyValue<IndexKey, Cell> &E : cell_map) {
if ((int)E.value.item == p_item) {
Vector3i p(E.key.x, E.key.y, E.key.z);
a.push_back(p);
}
}
return a;
}
Array GridMap::get_meshes() const {
if (mesh_library.is_null()) {
return Array();
}
Vector3 ofs = _get_offset();
Array meshes;
for (const KeyValue<IndexKey, Cell> &E : cell_map) {
int id = E.value.item;
if (!mesh_library->has_item(id)) {
continue;
}
Ref<Mesh> mesh = mesh_library->get_item_mesh(id);
if (mesh.is_null()) {
continue;
}
IndexKey ik = E.key;
Vector3 cellpos = Vector3(ik.x, ik.y, ik.z);
Transform3D xform;
xform.basis = _ortho_bases[E.value.rot];
xform.set_origin(cellpos * cell_size + ofs);
xform.basis.scale(Vector3(cell_scale, cell_scale, cell_scale));
meshes.push_back(xform * mesh_library->get_item_mesh_transform(id));
meshes.push_back(mesh);
}
return meshes;
}
Vector3 GridMap::_get_offset() const {
return Vector3(
cell_size.x * 0.5 * int(center_x),
cell_size.y * 0.5 * int(center_y),
cell_size.z * 0.5 * int(center_z));
}
void GridMap::clear_baked_meshes() {
ERR_FAIL_NULL(RenderingServer::get_singleton());
for (int i = 0; i < baked_meshes.size(); i++) {
RS::get_singleton()->free(baked_meshes[i].instance);
}
baked_meshes.clear();
_recreate_octant_data();
}
void GridMap::make_baked_meshes(bool p_gen_lightmap_uv, float p_lightmap_uv_texel_size) {
if (mesh_library.is_null()) {
return;
}
//generate
HashMap<OctantKey, HashMap<Ref<Material>, Ref<SurfaceTool>>, OctantKey> surface_map;
for (KeyValue<IndexKey, Cell> &E : cell_map) {
IndexKey key = E.key;
int item = E.value.item;
if (!mesh_library->has_item(item)) {
continue;
}
Ref<Mesh> mesh = mesh_library->get_item_mesh(item);
if (mesh.is_null()) {
continue;
}
Vector3 cellpos = Vector3(key.x, key.y, key.z);
Vector3 ofs = _get_offset();
Transform3D xform;
xform.basis = _ortho_bases[E.value.rot];
xform.set_origin(cellpos * cell_size + ofs);
xform.basis.scale(Vector3(cell_scale, cell_scale, cell_scale));
const OctantKey ok = get_octant_key_from_index_key(key);
if (!surface_map.has(ok)) {
surface_map[ok] = HashMap<Ref<Material>, Ref<SurfaceTool>>();
}
HashMap<Ref<Material>, Ref<SurfaceTool>> &mat_map = surface_map[ok];
for (int i = 0; i < mesh->get_surface_count(); i++) {
if (mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) {
continue;
}
Ref<Material> surf_mat = mesh->surface_get_material(i);
if (!mat_map.has(surf_mat)) {
Ref<SurfaceTool> st;
st.instantiate();
st->begin(Mesh::PRIMITIVE_TRIANGLES);
st->set_material(surf_mat);
mat_map[surf_mat] = st;
}
mat_map[surf_mat]->append_from(mesh, i, xform);
}
}
for (KeyValue<OctantKey, HashMap<Ref<Material>, Ref<SurfaceTool>>> &E : surface_map) {
Ref<ArrayMesh> mesh;
mesh.instantiate();
for (KeyValue<Ref<Material>, Ref<SurfaceTool>> &F : E.value) {
F.value->commit(mesh);
}
BakedMesh bm;
bm.mesh = mesh;
bm.instance = RS::get_singleton()->instance_create();
RS::get_singleton()->instance_set_base(bm.instance, bm.mesh->get_rid());
RS::get_singleton()->instance_attach_object_instance_id(bm.instance, get_instance_id());
if (is_inside_tree()) {
RS::get_singleton()->instance_set_scenario(bm.instance, get_world_3d()->get_scenario());
RS::get_singleton()->instance_set_transform(bm.instance, get_global_transform());
}
if (p_gen_lightmap_uv) {
mesh->lightmap_unwrap(get_global_transform(), p_lightmap_uv_texel_size);
}
baked_meshes.push_back(bm);
}
_recreate_octant_data();
}
Array GridMap::get_bake_meshes() {
if (!baked_meshes.size()) {
make_baked_meshes(true);
}
Array arr;
for (int i = 0; i < baked_meshes.size(); i++) {
arr.push_back(baked_meshes[i].mesh);
arr.push_back(Transform3D());
}
return arr;
}
RID GridMap::get_bake_mesh_instance(int p_idx) {
ERR_FAIL_INDEX_V(p_idx, baked_meshes.size(), RID());
return baked_meshes[p_idx].instance;
}
GridMap::GridMap() {
set_notify_transform(true);
#if defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
NavigationServer3D::get_singleton()->connect("map_changed", callable_mp(this, &GridMap::_navigation_map_changed));
NavigationServer3D::get_singleton()->connect("navigation_debug_changed", callable_mp(this, &GridMap::_update_navigation_debug_edge_connections));
#endif // defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
}
#ifndef NAVIGATION_3D_DISABLED
void GridMap::navmesh_parse_init() {
ERR_FAIL_NULL(NavigationServer3D::get_singleton());
if (!_navmesh_source_geometry_parser.is_valid()) {
_navmesh_source_geometry_parsing_callback = callable_mp_static(&GridMap::navmesh_parse_source_geometry);
_navmesh_source_geometry_parser = NavigationServer3D::get_singleton()->source_geometry_parser_create();
NavigationServer3D::get_singleton()->source_geometry_parser_set_callback(_navmesh_source_geometry_parser, _navmesh_source_geometry_parsing_callback);
}
}
void GridMap::navmesh_parse_source_geometry(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_node) {
GridMap *gridmap = Object::cast_to<GridMap>(p_node);
if (gridmap == nullptr) {
return;
}
NavigationMesh::ParsedGeometryType parsed_geometry_type = p_navigation_mesh->get_parsed_geometry_type();
#ifndef PHYSICS_3D_DISABLED
uint32_t parsed_collision_mask = p_navigation_mesh->get_collision_mask();
#endif // PHYSICS_3D_DISABLED
if (parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES || parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_BOTH) {
Array meshes = gridmap->get_meshes();
Transform3D xform = gridmap->get_global_transform();
for (int i = 0; i < meshes.size(); i += 2) {
Ref<Mesh> mesh = meshes[i + 1];
if (mesh.is_valid()) {
p_source_geometry_data->add_mesh(mesh, xform * (Transform3D)meshes[i]);
}
}
}
#ifndef PHYSICS_3D_DISABLED
else if ((parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS || parsed_geometry_type == NavigationMesh::PARSED_GEOMETRY_BOTH) && (gridmap->get_collision_layer() & parsed_collision_mask)) {
Array shapes = gridmap->get_collision_shapes();
for (int i = 0; i < shapes.size(); i += 2) {
RID shape = shapes[i + 1];
PhysicsServer3D::ShapeType type = PhysicsServer3D::get_singleton()->shape_get_type(shape);
Variant data = PhysicsServer3D::get_singleton()->shape_get_data(shape);
switch (type) {
case PhysicsServer3D::SHAPE_SPHERE: {
real_t radius = data;
Array arr;
arr.resize(RS::ARRAY_MAX);
SphereMesh::create_mesh_array(arr, radius, radius * 2.0);
p_source_geometry_data->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer3D::SHAPE_BOX: {
Vector3 extents = data;
Array arr;
arr.resize(RS::ARRAY_MAX);
BoxMesh::create_mesh_array(arr, extents * 2.0);
p_source_geometry_data->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer3D::SHAPE_CAPSULE: {
Dictionary dict = data;
real_t radius = dict["radius"];
real_t height = dict["height"];
Array arr;
arr.resize(RS::ARRAY_MAX);
CapsuleMesh::create_mesh_array(arr, radius, height);
p_source_geometry_data->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer3D::SHAPE_CYLINDER: {
Dictionary dict = data;
real_t radius = dict["radius"];
real_t height = dict["height"];
Array arr;
arr.resize(RS::ARRAY_MAX);
CylinderMesh::create_mesh_array(arr, radius, radius, height);
p_source_geometry_data->add_mesh_array(arr, shapes[i]);
} break;
case PhysicsServer3D::SHAPE_CONVEX_POLYGON: {
PackedVector3Array vertices = data;
Geometry3D::MeshData md;
Error err = ConvexHullComputer::convex_hull(vertices, md);
if (err == OK) {
PackedVector3Array faces;
for (const Geometry3D::MeshData::Face &face : md.faces) {
for (uint32_t k = 2; k < face.indices.size(); ++k) {
faces.push_back(md.vertices[face.indices[0]]);
faces.push_back(md.vertices[face.indices[k - 1]]);
faces.push_back(md.vertices[face.indices[k]]);
}
}
p_source_geometry_data->add_faces(faces, shapes[i]);
}
} break;
case PhysicsServer3D::SHAPE_CONCAVE_POLYGON: {
Dictionary dict = data;
PackedVector3Array faces = Variant(dict["faces"]);
p_source_geometry_data->add_faces(faces, shapes[i]);
} break;
case PhysicsServer3D::SHAPE_HEIGHTMAP: {
Dictionary dict = data;
///< dict( int:"width", int:"depth",float:"cell_size", float_array:"heights"
int heightmap_depth = dict["depth"];
int heightmap_width = dict["width"];
if (heightmap_depth >= 2 && heightmap_width >= 2) {
const Vector<real_t> &map_data = dict["heights"];
Vector2 heightmap_gridsize(heightmap_width - 1, heightmap_depth - 1);
Vector3 start = Vector3(heightmap_gridsize.x, 0, heightmap_gridsize.y) * -0.5;
Vector<Vector3> vertex_array;
vertex_array.resize((heightmap_depth - 1) * (heightmap_width - 1) * 6);
Vector3 *vertex_array_ptrw = vertex_array.ptrw();
const real_t *map_data_ptr = map_data.ptr();
int vertex_index = 0;
for (int d = 0; d < heightmap_depth - 1; d++) {
for (int w = 0; w < heightmap_width - 1; w++) {
vertex_array_ptrw[vertex_index] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + w], d);
vertex_array_ptrw[vertex_index + 1] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
vertex_array_ptrw[vertex_index + 2] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
vertex_array_ptrw[vertex_index + 3] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + w + 1], d);
vertex_array_ptrw[vertex_index + 4] = start + Vector3(w + 1, map_data_ptr[(heightmap_width * d) + heightmap_width + w + 1], d + 1);
vertex_array_ptrw[vertex_index + 5] = start + Vector3(w, map_data_ptr[(heightmap_width * d) + heightmap_width + w], d + 1);
vertex_index += 6;
}
}
if (vertex_array.size() > 0) {
p_source_geometry_data->add_faces(vertex_array, shapes[i]);
}
}
} break;
default: {
WARN_PRINT("Unsupported collision shape type.");
} break;
}
}
}
#endif // PHYSICS_3D_DISABLED
}
#endif // NAVIGATION_3D_DISABLED
#if defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
void GridMap::_update_navigation_debug_edge_connections() {
if (bake_navigation) {
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
_update_octant_navigation_debug_edge_connections_mesh(E.key);
}
}
}
void GridMap::_navigation_map_changed(RID p_map) {
if (bake_navigation && is_inside_tree() && p_map == get_world_3d()->get_navigation_map()) {
_update_navigation_debug_edge_connections();
}
}
#endif // defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
GridMap::~GridMap() {
clear();
#if defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
NavigationServer3D::get_singleton()->disconnect("map_changed", callable_mp(this, &GridMap::_navigation_map_changed));
NavigationServer3D::get_singleton()->disconnect("navigation_debug_changed", callable_mp(this, &GridMap::_update_navigation_debug_edge_connections));
#endif // defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
}
#if defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
void GridMap::_update_octant_navigation_debug_edge_connections_mesh(const OctantKey &p_key) {
ERR_FAIL_COND(!octant_map.has(p_key));
Octant &g = *octant_map[p_key];
if (!NavigationServer3D::get_singleton()->get_debug_navigation_enabled()) {
if (g.navigation_debug_edge_connections_instance.is_valid()) {
RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false);
}
return;
}
if (!is_inside_tree()) {
return;
}
if (!bake_navigation) {
if (g.navigation_debug_edge_connections_instance.is_valid()) {
RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false);
}
return;
}
if (!g.navigation_debug_edge_connections_instance.is_valid()) {
g.navigation_debug_edge_connections_instance = RenderingServer::get_singleton()->instance_create();
}
if (g.navigation_debug_edge_connections_mesh.is_null()) {
g.navigation_debug_edge_connections_mesh.instantiate();
}
g.navigation_debug_edge_connections_mesh->clear_surfaces();
float edge_connection_margin = NavigationServer3D::get_singleton()->map_get_edge_connection_margin(get_world_3d()->get_navigation_map());
float half_edge_connection_margin = edge_connection_margin * 0.5;
Vector<Vector3> vertex_array;
for (KeyValue<IndexKey, Octant::NavigationCell> &F : g.navigation_cell_ids) {
if (cell_map.has(F.key) && F.value.region.is_valid()) {
int connections_count = NavigationServer3D::get_singleton()->region_get_connections_count(F.value.region);
if (connections_count == 0) {
continue;
}
for (int i = 0; i < connections_count; i++) {
Vector3 connection_pathway_start = NavigationServer3D::get_singleton()->region_get_connection_pathway_start(F.value.region, i);
Vector3 connection_pathway_end = NavigationServer3D::get_singleton()->region_get_connection_pathway_end(F.value.region, i);
Vector3 direction_start_end = connection_pathway_start.direction_to(connection_pathway_end);
Vector3 direction_end_start = connection_pathway_end.direction_to(connection_pathway_start);
Vector3 start_right_dir = direction_start_end.cross(Vector3(0, 1, 0));
Vector3 start_left_dir = -start_right_dir;
Vector3 end_right_dir = direction_end_start.cross(Vector3(0, 1, 0));
Vector3 end_left_dir = -end_right_dir;
Vector3 left_start_pos = connection_pathway_start + (start_left_dir * half_edge_connection_margin);
Vector3 right_start_pos = connection_pathway_start + (start_right_dir * half_edge_connection_margin);
Vector3 left_end_pos = connection_pathway_end + (end_right_dir * half_edge_connection_margin);
Vector3 right_end_pos = connection_pathway_end + (end_left_dir * half_edge_connection_margin);
vertex_array.push_back(right_end_pos);
vertex_array.push_back(left_start_pos);
vertex_array.push_back(right_start_pos);
vertex_array.push_back(left_end_pos);
vertex_array.push_back(right_end_pos);
vertex_array.push_back(right_start_pos);
}
}
}
if (vertex_array.is_empty()) {
return;
}
Ref<StandardMaterial3D> edge_connections_material = NavigationServer3D::get_singleton()->get_debug_navigation_edge_connections_material();
Array mesh_array;
mesh_array.resize(Mesh::ARRAY_MAX);
mesh_array[Mesh::ARRAY_VERTEX] = vertex_array;
g.navigation_debug_edge_connections_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, mesh_array);
g.navigation_debug_edge_connections_mesh->surface_set_material(0, edge_connections_material);
RS::get_singleton()->instance_set_base(g.navigation_debug_edge_connections_instance, g.navigation_debug_edge_connections_mesh->get_rid());
RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, is_visible_in_tree());
if (is_inside_tree()) {
RS::get_singleton()->instance_set_scenario(g.navigation_debug_edge_connections_instance, get_world_3d()->get_scenario());
}
bool enable_edge_connections = NavigationServer3D::get_singleton()->get_debug_navigation_enable_edge_connections();
if (!enable_edge_connections) {
RS::get_singleton()->instance_set_visible(g.navigation_debug_edge_connections_instance, false);
}
}
#endif // defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
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