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517 lines
20 KiB
C++
517 lines
20 KiB
C++
/*************************************************************************/
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/* navigation_mesh.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "navigation_mesh.h"
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void NavigationMesh::create_from_mesh(const Ref<Mesh> &p_mesh) {
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ERR_FAIL_COND(p_mesh.is_null());
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vertices = Vector<Vector3>();
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clear_polygons();
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for (int i = 0; i < p_mesh->get_surface_count(); i++) {
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if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES) {
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continue;
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}
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Array arr = p_mesh->surface_get_arrays(i);
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Vector<Vector3> varr = arr[Mesh::ARRAY_VERTEX];
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Vector<int> iarr = arr[Mesh::ARRAY_INDEX];
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if (varr.size() == 0 || iarr.size() == 0) {
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continue;
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}
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int from = vertices.size();
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vertices.append_array(varr);
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int rlen = iarr.size();
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const int *r = iarr.ptr();
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for (int j = 0; j < rlen; j += 3) {
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Vector<int> vi;
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vi.resize(3);
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vi.write[0] = r[j + 0] + from;
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vi.write[1] = r[j + 1] + from;
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vi.write[2] = r[j + 2] + from;
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add_polygon(vi);
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}
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}
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}
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void NavigationMesh::set_sample_partition_type(int p_value) {
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ERR_FAIL_COND(p_value >= SAMPLE_PARTITION_MAX);
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partition_type = static_cast<SamplePartitionType>(p_value);
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}
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int NavigationMesh::get_sample_partition_type() const {
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return static_cast<int>(partition_type);
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}
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void NavigationMesh::set_parsed_geometry_type(int p_value) {
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ERR_FAIL_COND(p_value >= PARSED_GEOMETRY_MAX);
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parsed_geometry_type = static_cast<ParsedGeometryType>(p_value);
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notify_property_list_changed();
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}
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int NavigationMesh::get_parsed_geometry_type() const {
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return parsed_geometry_type;
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}
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void NavigationMesh::set_collision_mask(uint32_t p_mask) {
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collision_mask = p_mask;
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}
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uint32_t NavigationMesh::get_collision_mask() const {
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return collision_mask;
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}
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void NavigationMesh::set_collision_mask_bit(int p_bit, bool p_value) {
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ERR_FAIL_INDEX_MSG(p_bit, 32, "Collision mask bit must be between 0 and 31 inclusive.");
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uint32_t mask = get_collision_mask();
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if (p_value) {
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mask |= 1 << p_bit;
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} else {
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mask &= ~(1 << p_bit);
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}
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set_collision_mask(mask);
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}
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bool NavigationMesh::get_collision_mask_bit(int p_bit) const {
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ERR_FAIL_INDEX_V_MSG(p_bit, 32, false, "Collision mask bit must be between 0 and 31 inclusive.");
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return get_collision_mask() & (1 << p_bit);
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}
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void NavigationMesh::set_source_geometry_mode(int p_geometry_mode) {
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ERR_FAIL_INDEX(p_geometry_mode, SOURCE_GEOMETRY_MAX);
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source_geometry_mode = static_cast<SourceGeometryMode>(p_geometry_mode);
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notify_property_list_changed();
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}
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int NavigationMesh::get_source_geometry_mode() const {
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return source_geometry_mode;
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}
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void NavigationMesh::set_source_group_name(StringName p_group_name) {
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source_group_name = p_group_name;
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}
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StringName NavigationMesh::get_source_group_name() const {
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return source_group_name;
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}
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void NavigationMesh::set_cell_size(float p_value) {
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cell_size = p_value;
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}
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float NavigationMesh::get_cell_size() const {
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return cell_size;
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}
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void NavigationMesh::set_cell_height(float p_value) {
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cell_height = p_value;
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}
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float NavigationMesh::get_cell_height() const {
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return cell_height;
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}
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void NavigationMesh::set_agent_height(float p_value) {
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agent_height = p_value;
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}
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float NavigationMesh::get_agent_height() const {
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return agent_height;
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}
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void NavigationMesh::set_agent_radius(float p_value) {
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agent_radius = p_value;
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}
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float NavigationMesh::get_agent_radius() {
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return agent_radius;
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}
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void NavigationMesh::set_agent_max_climb(float p_value) {
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agent_max_climb = p_value;
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}
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float NavigationMesh::get_agent_max_climb() const {
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return agent_max_climb;
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}
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void NavigationMesh::set_agent_max_slope(float p_value) {
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agent_max_slope = p_value;
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}
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float NavigationMesh::get_agent_max_slope() const {
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return agent_max_slope;
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}
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void NavigationMesh::set_region_min_size(float p_value) {
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region_min_size = p_value;
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}
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float NavigationMesh::get_region_min_size() const {
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return region_min_size;
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}
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void NavigationMesh::set_region_merge_size(float p_value) {
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region_merge_size = p_value;
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}
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float NavigationMesh::get_region_merge_size() const {
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return region_merge_size;
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}
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void NavigationMesh::set_edge_max_length(float p_value) {
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edge_max_length = p_value;
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}
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float NavigationMesh::get_edge_max_length() const {
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return edge_max_length;
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}
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void NavigationMesh::set_edge_max_error(float p_value) {
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edge_max_error = p_value;
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}
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float NavigationMesh::get_edge_max_error() const {
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return edge_max_error;
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}
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void NavigationMesh::set_verts_per_poly(float p_value) {
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verts_per_poly = p_value;
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}
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float NavigationMesh::get_verts_per_poly() const {
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return verts_per_poly;
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}
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void NavigationMesh::set_detail_sample_distance(float p_value) {
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detail_sample_distance = p_value;
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}
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float NavigationMesh::get_detail_sample_distance() const {
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return detail_sample_distance;
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}
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void NavigationMesh::set_detail_sample_max_error(float p_value) {
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detail_sample_max_error = p_value;
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}
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float NavigationMesh::get_detail_sample_max_error() const {
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return detail_sample_max_error;
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}
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void NavigationMesh::set_filter_low_hanging_obstacles(bool p_value) {
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filter_low_hanging_obstacles = p_value;
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}
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bool NavigationMesh::get_filter_low_hanging_obstacles() const {
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return filter_low_hanging_obstacles;
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}
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void NavigationMesh::set_filter_ledge_spans(bool p_value) {
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filter_ledge_spans = p_value;
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}
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bool NavigationMesh::get_filter_ledge_spans() const {
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return filter_ledge_spans;
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}
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void NavigationMesh::set_filter_walkable_low_height_spans(bool p_value) {
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filter_walkable_low_height_spans = p_value;
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}
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bool NavigationMesh::get_filter_walkable_low_height_spans() const {
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return filter_walkable_low_height_spans;
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}
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void NavigationMesh::set_vertices(const Vector<Vector3> &p_vertices) {
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vertices = p_vertices;
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notify_property_list_changed();
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}
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Vector<Vector3> NavigationMesh::get_vertices() const {
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return vertices;
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}
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void NavigationMesh::_set_polygons(const Array &p_array) {
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polygons.resize(p_array.size());
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for (int i = 0; i < p_array.size(); i++) {
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polygons.write[i].indices = p_array[i];
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}
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notify_property_list_changed();
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}
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Array NavigationMesh::_get_polygons() const {
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Array ret;
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ret.resize(polygons.size());
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for (int i = 0; i < ret.size(); i++) {
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ret[i] = polygons[i].indices;
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}
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return ret;
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}
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void NavigationMesh::add_polygon(const Vector<int> &p_polygon) {
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Polygon polygon;
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polygon.indices = p_polygon;
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polygons.push_back(polygon);
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notify_property_list_changed();
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}
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int NavigationMesh::get_polygon_count() const {
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return polygons.size();
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}
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Vector<int> NavigationMesh::get_polygon(int p_idx) {
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ERR_FAIL_INDEX_V(p_idx, polygons.size(), Vector<int>());
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return polygons[p_idx].indices;
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}
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void NavigationMesh::clear_polygons() {
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polygons.clear();
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}
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Ref<Mesh> NavigationMesh::get_debug_mesh() {
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if (debug_mesh.is_valid()) {
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return debug_mesh;
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}
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Vector<Vector3> vertices = get_vertices();
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const Vector3 *vr = vertices.ptr();
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List<Face3> faces;
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for (int i = 0; i < get_polygon_count(); i++) {
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Vector<int> p = get_polygon(i);
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for (int j = 2; j < p.size(); j++) {
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Face3 f;
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f.vertex[0] = vr[p[0]];
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f.vertex[1] = vr[p[j - 1]];
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f.vertex[2] = vr[p[j]];
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faces.push_back(f);
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}
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}
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Map<_EdgeKey, bool> edge_map;
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Vector<Vector3> tmeshfaces;
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tmeshfaces.resize(faces.size() * 3);
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{
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Vector3 *tw = tmeshfaces.ptrw();
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int tidx = 0;
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for (List<Face3>::Element *E = faces.front(); E; E = E->next()) {
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const Face3 &f = E->get();
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for (int j = 0; j < 3; j++) {
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tw[tidx++] = f.vertex[j];
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_EdgeKey ek;
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ek.from = f.vertex[j].snapped(Vector3(CMP_EPSILON, CMP_EPSILON, CMP_EPSILON));
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ek.to = f.vertex[(j + 1) % 3].snapped(Vector3(CMP_EPSILON, CMP_EPSILON, CMP_EPSILON));
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if (ek.from < ek.to) {
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SWAP(ek.from, ek.to);
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}
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Map<_EdgeKey, bool>::Element *F = edge_map.find(ek);
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if (F) {
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F->get() = false;
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} else {
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edge_map[ek] = true;
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}
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}
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}
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}
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List<Vector3> lines;
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for (Map<_EdgeKey, bool>::Element *E = edge_map.front(); E; E = E->next()) {
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if (E->get()) {
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lines.push_back(E->key().from);
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lines.push_back(E->key().to);
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}
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}
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Vector<Vector3> varr;
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varr.resize(lines.size());
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{
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Vector3 *w = varr.ptrw();
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int idx = 0;
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for (List<Vector3>::Element *E = lines.front(); E; E = E->next()) {
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w[idx++] = E->get();
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}
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}
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debug_mesh = Ref<ArrayMesh>(memnew(ArrayMesh));
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Array arr;
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arr.resize(Mesh::ARRAY_MAX);
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arr[Mesh::ARRAY_VERTEX] = varr;
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debug_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_LINES, arr);
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return debug_mesh;
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}
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void NavigationMesh::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_sample_partition_type", "sample_partition_type"), &NavigationMesh::set_sample_partition_type);
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ClassDB::bind_method(D_METHOD("get_sample_partition_type"), &NavigationMesh::get_sample_partition_type);
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ClassDB::bind_method(D_METHOD("set_parsed_geometry_type", "geometry_type"), &NavigationMesh::set_parsed_geometry_type);
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ClassDB::bind_method(D_METHOD("get_parsed_geometry_type"), &NavigationMesh::get_parsed_geometry_type);
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ClassDB::bind_method(D_METHOD("set_collision_mask", "mask"), &NavigationMesh::set_collision_mask);
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ClassDB::bind_method(D_METHOD("get_collision_mask"), &NavigationMesh::get_collision_mask);
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ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &NavigationMesh::set_collision_mask_bit);
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ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &NavigationMesh::get_collision_mask_bit);
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ClassDB::bind_method(D_METHOD("set_source_geometry_mode", "mask"), &NavigationMesh::set_source_geometry_mode);
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ClassDB::bind_method(D_METHOD("get_source_geometry_mode"), &NavigationMesh::get_source_geometry_mode);
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ClassDB::bind_method(D_METHOD("set_source_group_name", "mask"), &NavigationMesh::set_source_group_name);
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ClassDB::bind_method(D_METHOD("get_source_group_name"), &NavigationMesh::get_source_group_name);
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ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &NavigationMesh::set_cell_size);
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ClassDB::bind_method(D_METHOD("get_cell_size"), &NavigationMesh::get_cell_size);
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ClassDB::bind_method(D_METHOD("set_cell_height", "cell_height"), &NavigationMesh::set_cell_height);
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ClassDB::bind_method(D_METHOD("get_cell_height"), &NavigationMesh::get_cell_height);
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ClassDB::bind_method(D_METHOD("set_agent_height", "agent_height"), &NavigationMesh::set_agent_height);
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ClassDB::bind_method(D_METHOD("get_agent_height"), &NavigationMesh::get_agent_height);
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ClassDB::bind_method(D_METHOD("set_agent_radius", "agent_radius"), &NavigationMesh::set_agent_radius);
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ClassDB::bind_method(D_METHOD("get_agent_radius"), &NavigationMesh::get_agent_radius);
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ClassDB::bind_method(D_METHOD("set_agent_max_climb", "agent_max_climb"), &NavigationMesh::set_agent_max_climb);
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ClassDB::bind_method(D_METHOD("get_agent_max_climb"), &NavigationMesh::get_agent_max_climb);
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ClassDB::bind_method(D_METHOD("set_agent_max_slope", "agent_max_slope"), &NavigationMesh::set_agent_max_slope);
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ClassDB::bind_method(D_METHOD("get_agent_max_slope"), &NavigationMesh::get_agent_max_slope);
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ClassDB::bind_method(D_METHOD("set_region_min_size", "region_min_size"), &NavigationMesh::set_region_min_size);
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ClassDB::bind_method(D_METHOD("get_region_min_size"), &NavigationMesh::get_region_min_size);
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ClassDB::bind_method(D_METHOD("set_region_merge_size", "region_merge_size"), &NavigationMesh::set_region_merge_size);
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ClassDB::bind_method(D_METHOD("get_region_merge_size"), &NavigationMesh::get_region_merge_size);
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ClassDB::bind_method(D_METHOD("set_edge_max_length", "edge_max_length"), &NavigationMesh::set_edge_max_length);
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ClassDB::bind_method(D_METHOD("get_edge_max_length"), &NavigationMesh::get_edge_max_length);
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ClassDB::bind_method(D_METHOD("set_edge_max_error", "edge_max_error"), &NavigationMesh::set_edge_max_error);
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ClassDB::bind_method(D_METHOD("get_edge_max_error"), &NavigationMesh::get_edge_max_error);
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ClassDB::bind_method(D_METHOD("set_verts_per_poly", "verts_per_poly"), &NavigationMesh::set_verts_per_poly);
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ClassDB::bind_method(D_METHOD("get_verts_per_poly"), &NavigationMesh::get_verts_per_poly);
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ClassDB::bind_method(D_METHOD("set_detail_sample_distance", "detail_sample_dist"), &NavigationMesh::set_detail_sample_distance);
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ClassDB::bind_method(D_METHOD("get_detail_sample_distance"), &NavigationMesh::get_detail_sample_distance);
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ClassDB::bind_method(D_METHOD("set_detail_sample_max_error", "detail_sample_max_error"), &NavigationMesh::set_detail_sample_max_error);
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ClassDB::bind_method(D_METHOD("get_detail_sample_max_error"), &NavigationMesh::get_detail_sample_max_error);
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ClassDB::bind_method(D_METHOD("set_filter_low_hanging_obstacles", "filter_low_hanging_obstacles"), &NavigationMesh::set_filter_low_hanging_obstacles);
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ClassDB::bind_method(D_METHOD("get_filter_low_hanging_obstacles"), &NavigationMesh::get_filter_low_hanging_obstacles);
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ClassDB::bind_method(D_METHOD("set_filter_ledge_spans", "filter_ledge_spans"), &NavigationMesh::set_filter_ledge_spans);
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ClassDB::bind_method(D_METHOD("get_filter_ledge_spans"), &NavigationMesh::get_filter_ledge_spans);
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ClassDB::bind_method(D_METHOD("set_filter_walkable_low_height_spans", "filter_walkable_low_height_spans"), &NavigationMesh::set_filter_walkable_low_height_spans);
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ClassDB::bind_method(D_METHOD("get_filter_walkable_low_height_spans"), &NavigationMesh::get_filter_walkable_low_height_spans);
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ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationMesh::set_vertices);
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ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationMesh::get_vertices);
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ClassDB::bind_method(D_METHOD("add_polygon", "polygon"), &NavigationMesh::add_polygon);
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ClassDB::bind_method(D_METHOD("get_polygon_count"), &NavigationMesh::get_polygon_count);
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ClassDB::bind_method(D_METHOD("get_polygon", "idx"), &NavigationMesh::get_polygon);
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ClassDB::bind_method(D_METHOD("clear_polygons"), &NavigationMesh::clear_polygons);
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ClassDB::bind_method(D_METHOD("create_from_mesh", "mesh"), &NavigationMesh::create_from_mesh);
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ClassDB::bind_method(D_METHOD("_set_polygons", "polygons"), &NavigationMesh::_set_polygons);
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ClassDB::bind_method(D_METHOD("_get_polygons"), &NavigationMesh::_get_polygons);
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BIND_CONSTANT(SAMPLE_PARTITION_WATERSHED);
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BIND_CONSTANT(SAMPLE_PARTITION_MONOTONE);
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BIND_CONSTANT(SAMPLE_PARTITION_LAYERS);
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BIND_CONSTANT(PARSED_GEOMETRY_MESH_INSTANCES);
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BIND_CONSTANT(PARSED_GEOMETRY_STATIC_COLLIDERS);
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BIND_CONSTANT(PARSED_GEOMETRY_BOTH);
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ADD_PROPERTY(PropertyInfo(Variant::PACKED_VECTOR3_ARRAY, "vertices", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL), "set_vertices", "get_vertices");
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ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "polygons", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR | PROPERTY_USAGE_INTERNAL), "_set_polygons", "_get_polygons");
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|
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ADD_PROPERTY(PropertyInfo(Variant::INT, "sample_partition_type/sample_partition_type", PROPERTY_HINT_ENUM, "Watershed,Monotone,Layers"), "set_sample_partition_type", "get_sample_partition_type");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "geometry/parsed_geometry_type", PROPERTY_HINT_ENUM, "Mesh Instances,Static Colliders,Both"), "set_parsed_geometry_type", "get_parsed_geometry_type");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "geometry/collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "geometry/source_geometry_mode", PROPERTY_HINT_ENUM, "Navmesh Children, Group With Children, Group Explicit"), "set_source_geometry_mode", "get_source_geometry_mode");
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ADD_PROPERTY(PropertyInfo(Variant::STRING, "geometry/source_group_name"), "set_source_group_name", "get_source_group_name");
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|
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|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell/size", PROPERTY_HINT_RANGE, "0.1,1.0,0.01,or_greater"), "set_cell_size", "get_cell_size");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell/height", PROPERTY_HINT_RANGE, "0.1,1.0,0.01,or_greater"), "set_cell_height", "get_cell_height");
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|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent/height", PROPERTY_HINT_RANGE, "0.1,5.0,0.01,or_greater"), "set_agent_height", "get_agent_height");
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|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent/radius", PROPERTY_HINT_RANGE, "0.1,5.0,0.01,or_greater"), "set_agent_radius", "get_agent_radius");
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|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent/max_climb", PROPERTY_HINT_RANGE, "0.1,5.0,0.01,or_greater"), "set_agent_max_climb", "get_agent_max_climb");
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|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent/max_slope", PROPERTY_HINT_RANGE, "0.0,90.0,0.1"), "set_agent_max_slope", "get_agent_max_slope");
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|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "region/min_size", PROPERTY_HINT_RANGE, "0.0,150.0,0.01,or_greater"), "set_region_min_size", "get_region_min_size");
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|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "region/merge_size", PROPERTY_HINT_RANGE, "0.0,150.0,0.01,or_greater"), "set_region_merge_size", "get_region_merge_size");
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|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "edge/max_length", PROPERTY_HINT_RANGE, "0.0,50.0,0.01,or_greater"), "set_edge_max_length", "get_edge_max_length");
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|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "edge/max_error", PROPERTY_HINT_RANGE, "0.1,3.0,0.01,or_greater"), "set_edge_max_error", "get_edge_max_error");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "polygon/verts_per_poly", PROPERTY_HINT_RANGE, "3.0,12.0,1.0,or_greater"), "set_verts_per_poly", "get_verts_per_poly");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "detail/sample_distance", PROPERTY_HINT_RANGE, "0.0,16.0,0.01,or_greater"), "set_detail_sample_distance", "get_detail_sample_distance");
|
|
ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "detail/sample_max_error", PROPERTY_HINT_RANGE, "0.0,16.0,0.01,or_greater"), "set_detail_sample_max_error", "get_detail_sample_max_error");
|
|
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "filter/low_hanging_obstacles"), "set_filter_low_hanging_obstacles", "get_filter_low_hanging_obstacles");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "filter/ledge_spans"), "set_filter_ledge_spans", "get_filter_ledge_spans");
|
|
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "filter/filter_walkable_low_height_spans"), "set_filter_walkable_low_height_spans", "get_filter_walkable_low_height_spans");
|
|
}
|
|
|
|
void NavigationMesh::_validate_property(PropertyInfo &property) const {
|
|
if (property.name == "geometry/collision_mask") {
|
|
if (parsed_geometry_type == PARSED_GEOMETRY_MESH_INSTANCES) {
|
|
property.usage = 0;
|
|
return;
|
|
}
|
|
}
|
|
|
|
if (property.name == "geometry/source_group_name") {
|
|
if (source_geometry_mode == SOURCE_GEOMETRY_NAVMESH_CHILDREN) {
|
|
property.usage = 0;
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
NavigationMesh::NavigationMesh() {}
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