From 04378364723a335bc5ea1f6575d4b90cc47eab7f Mon Sep 17 00:00:00 2001 From: smix8 <52464204+smix8@users.noreply.github.com> Date: Sun, 6 Apr 2025 21:38:43 +0200 Subject: [PATCH] Clean and group NavigationServer headers Cleans NavigationServer headers from (unhelpful) comments and groups functions. --- servers/navigation_server_2d.h | 109 +++++++----------------------- servers/navigation_server_3d.h | 117 +++++++-------------------------- 2 files changed, 50 insertions(+), 176 deletions(-) diff --git a/servers/navigation_server_2d.h b/servers/navigation_server_2d.h index 85c095472f4..0738cc2c79c 100644 --- a/servers/navigation_server_2d.h +++ b/servers/navigation_server_2d.h @@ -47,7 +47,6 @@ struct NavMeshGeometryParser2D { Callable callback; }; -// This server exposes the `NavigationServer3D` features in the 2D world. class NavigationServer2D : public Object { GDCLASS(NavigationServer2D, Object); @@ -57,42 +56,29 @@ protected: static void _bind_methods(); public: - /// Thread safe, can be used across many threads. static NavigationServer2D *get_singleton(); virtual TypedArray get_maps() const = 0; - /// Create a new map. + /* MAP API */ + virtual RID map_create() = 0; - /// Set map active. virtual void map_set_active(RID p_map, bool p_active) = 0; - - /// Returns true if the map is active. virtual bool map_is_active(RID p_map) const = 0; - /// Set the map cell size used to weld the navigation mesh polygons. virtual void map_set_cell_size(RID p_map, real_t p_cell_size) = 0; - - /// Returns the map cell size. virtual real_t map_get_cell_size(RID p_map) const = 0; virtual void map_set_use_edge_connections(RID p_map, bool p_enabled) = 0; virtual bool map_get_use_edge_connections(RID p_map) const = 0; - /// Set the map edge connection margin used to weld the compatible region edges. virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) = 0; - - /// Returns the edge connection margin of this map. virtual real_t map_get_edge_connection_margin(RID p_map) const = 0; - /// Set the map link connection radius used to attach links to the nav mesh. virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) = 0; - - /// Returns the link connection radius of this map. virtual real_t map_get_link_connection_radius(RID p_map) const = 0; - /// Returns the navigation path to reach the destination from the origin. virtual Vector map_get_path(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) = 0; virtual Vector2 map_get_closest_point(RID p_map, const Vector2 &p_point) const = 0; @@ -111,7 +97,8 @@ public: virtual Vector2 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const = 0; - /// Creates a new region. + /* REGION API */ + virtual RID region_create() = 0; virtual uint32_t region_get_iteration_id(RID p_region) const = 0; @@ -121,36 +108,28 @@ public: virtual void region_set_use_edge_connections(RID p_region, bool p_enabled) = 0; virtual bool region_get_use_edge_connections(RID p_region) const = 0; - /// Set the enter_cost of a region virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) = 0; virtual real_t region_get_enter_cost(RID p_region) const = 0; - /// Set the travel_cost of a region virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) = 0; virtual real_t region_get_travel_cost(RID p_region) const = 0; - /// Set the node which manages this region. virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) = 0; virtual ObjectID region_get_owner_id(RID p_region) const = 0; virtual bool region_owns_point(RID p_region, const Vector2 &p_point) const = 0; - /// Set the map of this region. virtual void region_set_map(RID p_region, RID p_map) = 0; virtual RID region_get_map(RID p_region) const = 0; - /// Set the region's layers virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) = 0; virtual uint32_t region_get_navigation_layers(RID p_region) const = 0; - /// Set the global transformation of this region. virtual void region_set_transform(RID p_region, Transform2D p_transform) = 0; virtual Transform2D region_get_transform(RID p_region) const = 0; - /// Set the navigation poly of this region. virtual void region_set_navigation_polygon(RID p_region, Ref p_navigation_polygon) = 0; - /// Get a list of a region's connection to other regions. virtual int region_get_connections_count(RID p_region) const = 0; virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const = 0; virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0; @@ -159,48 +138,41 @@ public: virtual Vector2 region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const = 0; virtual Rect2 region_get_bounds(RID p_region) const = 0; - /// Creates a new link between positions in the nav map. + /* LINK API */ + virtual RID link_create() = 0; - /// Set the map of this link. virtual void link_set_map(RID p_link, RID p_map) = 0; virtual RID link_get_map(RID p_link) const = 0; virtual void link_set_enabled(RID p_link, bool p_enabled) = 0; virtual bool link_get_enabled(RID p_link) const = 0; - /// Set whether this link travels in both directions. virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) = 0; virtual bool link_is_bidirectional(RID p_link) const = 0; - /// Set the link's layers. virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) = 0; virtual uint32_t link_get_navigation_layers(RID p_link) const = 0; - /// Set the start position of the link. virtual void link_set_start_position(RID p_link, Vector2 p_position) = 0; virtual Vector2 link_get_start_position(RID p_link) const = 0; - /// Set the end position of the link. virtual void link_set_end_position(RID p_link, Vector2 p_position) = 0; virtual Vector2 link_get_end_position(RID p_link) const = 0; - /// Set the enter cost of the link. virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) = 0; virtual real_t link_get_enter_cost(RID p_link) const = 0; - /// Set the travel cost of the link. virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) = 0; virtual real_t link_get_travel_cost(RID p_link) const = 0; - /// Set the node which manages this link. virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) = 0; virtual ObjectID link_get_owner_id(RID p_link) const = 0; - /// Creates the agent. + /* AGENT API */ + virtual RID agent_create() = 0; - /// Put the agent in the map. virtual void agent_set_map(RID p_agent, RID p_map) = 0; virtual RID agent_get_map(RID p_agent) const = 0; @@ -210,64 +182,33 @@ public: virtual void agent_set_avoidance_enabled(RID p_agent, bool p_enabled) = 0; virtual bool agent_get_avoidance_enabled(RID p_agent) const = 0; - /// The maximum distance (center point to - /// center point) to other agents this agent - /// takes into account in the navigation. The - /// larger this number, the longer the running - /// time of the simulation. If the number is too - /// low, the simulation will not be safe. - /// Must be non-negative. virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) = 0; virtual real_t agent_get_neighbor_distance(RID p_agent) const = 0; - /// The maximum number of other agents this - /// agent takes into account in the navigation. - /// The larger this number, the longer the - /// running time of the simulation. If the - /// number is too low, the simulation will not - /// be safe. virtual void agent_set_max_neighbors(RID p_agent, int p_count) = 0; virtual int agent_get_max_neighbors(RID p_agent) const = 0; - /// The minimal amount of time for which this - /// agent's velocities that are computed by the - /// simulation are safe with respect to other - /// agents. The larger this number, the sooner - /// this agent will respond to the presence of - /// other agents, but the less freedom this - /// agent has in choosing its velocities. - /// Must be positive. virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon) = 0; virtual real_t agent_get_time_horizon_agents(RID p_agent) const = 0; virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon) = 0; virtual real_t agent_get_time_horizon_obstacles(RID p_agent) const = 0; - /// The radius of this agent. - /// Must be non-negative. virtual void agent_set_radius(RID p_agent, real_t p_radius) = 0; virtual real_t agent_get_radius(RID p_agent) const = 0; - /// The maximum speed of this agent. - /// Must be non-negative. virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) = 0; virtual real_t agent_get_max_speed(RID p_agent) const = 0; - /// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly virtual void agent_set_velocity_forced(RID p_agent, Vector2 p_velocity) = 0; - /// The wanted velocity for the agent as a "suggestion" to the avoidance simulation. - /// The simulation will try to fulfill this velocity wish if possible but may change the velocity depending on other agent's and obstacles'. virtual void agent_set_velocity(RID p_agent, Vector2 p_velocity) = 0; virtual Vector2 agent_get_velocity(RID p_agent) const = 0; - /// Position of the agent in world space. virtual void agent_set_position(RID p_agent, Vector2 p_position) = 0; virtual Vector2 agent_get_position(RID p_agent) const = 0; - /// Returns true if the map got changed the previous frame. virtual bool agent_is_map_changed(RID p_agent) const = 0; - /// Callback called at the end of the RVO process virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback) = 0; virtual bool agent_has_avoidance_callback(RID p_agent) const = 0; @@ -280,7 +221,8 @@ public: virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority) = 0; virtual real_t agent_get_avoidance_priority(RID p_agent) const = 0; - /// Creates the obstacle. + /* OBSTACLE API */ + virtual RID obstacle_create() = 0; virtual void obstacle_set_avoidance_enabled(RID p_obstacle, bool p_enabled) = 0; virtual bool obstacle_get_avoidance_enabled(RID p_obstacle) const = 0; @@ -299,24 +241,11 @@ public: virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers) = 0; virtual uint32_t obstacle_get_avoidance_layers(RID p_obstacle) const = 0; - /// Returns a customized navigation path using a query parameters object + /* QUERY API */ + virtual void query_path(const Ref &p_query_parameters, Ref p_query_result, const Callable &p_callback = Callable()) = 0; - /// Control activation of this server. - virtual void set_active(bool p_active) = 0; - - /// Process the collision avoidance agents. - /// The result of this process is needed by the physics server, - /// so this must be called in the main thread. - /// Note: This function is not thread safe. - virtual void process(double p_delta_time) = 0; - virtual void physics_process(double p_delta_time) = 0; - virtual void init() = 0; - virtual void sync() = 0; - virtual void finish() = 0; - - /// Destroy the `RID` - virtual void free(RID p_object) = 0; + /* NAVMESH BAKE API */ virtual void parse_source_geometry_data(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) = 0; virtual void bake_from_source_geometry_data(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, const Callable &p_callback = Callable()) = 0; @@ -334,9 +263,21 @@ public: virtual Vector simplify_path(const Vector &p_path, real_t p_epsilon) = 0; + /* SERVER API */ + + virtual void set_active(bool p_active) = 0; + virtual void process(double p_delta_time) = 0; + virtual void physics_process(double p_delta_time) = 0; + virtual void init() = 0; + virtual void sync() = 0; + virtual void finish() = 0; + virtual void free(RID p_object) = 0; + NavigationServer2D(); ~NavigationServer2D() override; + /* DEBUG API */ + enum ProcessInfo { INFO_ACTIVE_MAPS, INFO_REGION_COUNT, diff --git a/servers/navigation_server_3d.h b/servers/navigation_server_3d.h index 4014df213b7..f448bc4949c 100644 --- a/servers/navigation_server_3d.h +++ b/servers/navigation_server_3d.h @@ -43,13 +43,6 @@ struct NavMeshGeometryParser3D { Callable callback; }; -/// This server uses the concept of internal mutability. -/// All the constant functions can be called in multithread because internally -/// the server takes care to schedule the functions access. -/// -/// Note: All the `set` functions are commands executed during the `sync` phase, -/// don't expect that a change is immediately propagated. - class NavigationServer3D : public Object { GDCLASS(NavigationServer3D, Object); @@ -59,30 +52,21 @@ protected: static void _bind_methods(); public: - /// Thread safe, can be used across many threads. static NavigationServer3D *get_singleton(); virtual TypedArray get_maps() const = 0; - /// Create a new map. + /* MAP API */ + virtual RID map_create() = 0; - /// Set map active. virtual void map_set_active(RID p_map, bool p_active) = 0; - - /// Returns true if the map is active. virtual bool map_is_active(RID p_map) const = 0; - /// Set the map UP direction. virtual void map_set_up(RID p_map, Vector3 p_up) = 0; - - /// Returns the map UP direction. virtual Vector3 map_get_up(RID p_map) const = 0; - /// Set the map cell size used to weld the navigation mesh polygons. virtual void map_set_cell_size(RID p_map, real_t p_cell_size) = 0; - - /// Returns the map cell size. virtual real_t map_get_cell_size(RID p_map) const = 0; virtual void map_set_cell_height(RID p_map, real_t p_height) = 0; @@ -94,19 +78,12 @@ public: virtual void map_set_use_edge_connections(RID p_map, bool p_enabled) = 0; virtual bool map_get_use_edge_connections(RID p_map) const = 0; - /// Set the map edge connection margin used to weld the compatible region edges. virtual void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) = 0; - - /// Returns the edge connection margin of this map. virtual real_t map_get_edge_connection_margin(RID p_map) const = 0; - /// Set the map link connection radius used to attach links to the nav mesh. virtual void map_set_link_connection_radius(RID p_map, real_t p_connection_radius) = 0; - - /// Returns the link connection radius of this map. virtual real_t map_get_link_connection_radius(RID p_map) const = 0; - /// Returns the navigation path to reach the destination from the origin. virtual Vector map_get_path(RID p_map, Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) = 0; virtual Vector3 map_get_closest_point_to_segment(RID p_map, const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision = false) const = 0; @@ -127,7 +104,8 @@ public: virtual Vector3 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const = 0; - /// Creates a new region. + /* REGION API */ + virtual RID region_create() = 0; virtual uint32_t region_get_iteration_id(RID p_region) const = 0; @@ -137,41 +115,32 @@ public: virtual void region_set_use_edge_connections(RID p_region, bool p_enabled) = 0; virtual bool region_get_use_edge_connections(RID p_region) const = 0; - /// Set the enter_cost of a region virtual void region_set_enter_cost(RID p_region, real_t p_enter_cost) = 0; virtual real_t region_get_enter_cost(RID p_region) const = 0; - /// Set the travel_cost of a region virtual void region_set_travel_cost(RID p_region, real_t p_travel_cost) = 0; virtual real_t region_get_travel_cost(RID p_region) const = 0; - /// Set the node which manages this region. virtual void region_set_owner_id(RID p_region, ObjectID p_owner_id) = 0; virtual ObjectID region_get_owner_id(RID p_region) const = 0; virtual bool region_owns_point(RID p_region, const Vector3 &p_point) const = 0; - /// Set the map of this region. virtual void region_set_map(RID p_region, RID p_map) = 0; virtual RID region_get_map(RID p_region) const = 0; - /// Set the region's layers virtual void region_set_navigation_layers(RID p_region, uint32_t p_navigation_layers) = 0; virtual uint32_t region_get_navigation_layers(RID p_region) const = 0; - /// Set the global transformation of this region. virtual void region_set_transform(RID p_region, Transform3D p_transform) = 0; virtual Transform3D region_get_transform(RID p_region) const = 0; - /// Set the navigation mesh of this region. virtual void region_set_navigation_mesh(RID p_region, Ref p_navigation_mesh) = 0; #ifndef DISABLE_DEPRECATED - /// Bake the navigation mesh. virtual void region_bake_navigation_mesh(Ref p_navigation_mesh, Node *p_root_node) = 0; #endif // DISABLE_DEPRECATED - /// Get a list of a region's connection to other regions. virtual int region_get_connections_count(RID p_region) const = 0; virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const = 0; virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const = 0; @@ -183,48 +152,41 @@ public: virtual AABB region_get_bounds(RID p_region) const = 0; - /// Creates a new link between positions in the nav map. + /* LINK API */ + virtual RID link_create() = 0; - /// Set the map of this link. virtual void link_set_map(RID p_link, RID p_map) = 0; virtual RID link_get_map(RID p_link) const = 0; virtual void link_set_enabled(RID p_link, bool p_enabled) = 0; virtual bool link_get_enabled(RID p_link) const = 0; - /// Set whether this link travels in both directions. virtual void link_set_bidirectional(RID p_link, bool p_bidirectional) = 0; virtual bool link_is_bidirectional(RID p_link) const = 0; - /// Set the link's layers. virtual void link_set_navigation_layers(RID p_link, uint32_t p_navigation_layers) = 0; virtual uint32_t link_get_navigation_layers(RID p_link) const = 0; - /// Set the start position of the link. virtual void link_set_start_position(RID p_link, Vector3 p_position) = 0; virtual Vector3 link_get_start_position(RID p_link) const = 0; - /// Set the end position of the link. virtual void link_set_end_position(RID p_link, Vector3 p_position) = 0; virtual Vector3 link_get_end_position(RID p_link) const = 0; - /// Set the enter cost of the link. virtual void link_set_enter_cost(RID p_link, real_t p_enter_cost) = 0; virtual real_t link_get_enter_cost(RID p_link) const = 0; - /// Set the travel cost of the link. virtual void link_set_travel_cost(RID p_link, real_t p_travel_cost) = 0; virtual real_t link_get_travel_cost(RID p_link) const = 0; - /// Set the node which manages this link. virtual void link_set_owner_id(RID p_link, ObjectID p_owner_id) = 0; virtual ObjectID link_get_owner_id(RID p_link) const = 0; - /// Creates the agent. + /* AGENT API */ + virtual RID agent_create() = 0; - /// Put the agent in the map. virtual void agent_set_map(RID p_agent, RID p_map) = 0; virtual RID agent_get_map(RID p_agent) const = 0; @@ -237,66 +199,37 @@ public: virtual void agent_set_use_3d_avoidance(RID p_agent, bool p_enabled) = 0; virtual bool agent_get_use_3d_avoidance(RID p_agent) const = 0; - /// The maximum distance (center point to - /// center point) to other agents this agent - /// takes into account in the navigation. The - /// larger this number, the longer the running - /// time of the simulation. If the number is too - /// low, the simulation will not be safe. - /// Must be non-negative. virtual void agent_set_neighbor_distance(RID p_agent, real_t p_distance) = 0; virtual real_t agent_get_neighbor_distance(RID p_agent) const = 0; - /// The maximum number of other agents this - /// agent takes into account in the navigation. - /// The larger this number, the longer the - /// running time of the simulation. If the - /// number is too low, the simulation will not - /// be safe. virtual void agent_set_max_neighbors(RID p_agent, int p_count) = 0; virtual int agent_get_max_neighbors(RID p_agent) const = 0; - // Sets the minimum amount of time in seconds that an agent's - // must be able to stay on the calculated velocity while still avoiding collisions with agent's - // if this value is set to high an agent will often fall back to using a very low velocity just to be safe virtual void agent_set_time_horizon_agents(RID p_agent, real_t p_time_horizon) = 0; virtual real_t agent_get_time_horizon_agents(RID p_agent) const = 0; - /// Sets the minimum amount of time in seconds that an agent's - // must be able to stay on the calculated velocity while still avoiding collisions with obstacle's - // if this value is set to high an agent will often fall back to using a very low velocity just to be safe virtual void agent_set_time_horizon_obstacles(RID p_agent, real_t p_time_horizon) = 0; virtual real_t agent_get_time_horizon_obstacles(RID p_agent) const = 0; - /// The radius of this agent. - /// Must be non-negative. virtual void agent_set_radius(RID p_agent, real_t p_radius) = 0; virtual real_t agent_get_radius(RID p_agent) const = 0; virtual void agent_set_height(RID p_agent, real_t p_height) = 0; virtual real_t agent_get_height(RID p_agent) const = 0; - /// The maximum speed of this agent. - /// Must be non-negative. virtual void agent_set_max_speed(RID p_agent, real_t p_max_speed) = 0; virtual real_t agent_get_max_speed(RID p_agent) const = 0; - /// forces and agent velocity change in the avoidance simulation, adds simulation instability if done recklessly virtual void agent_set_velocity_forced(RID p_agent, Vector3 p_velocity) = 0; - /// The wanted velocity for the agent as a "suggestion" to the avoidance simulation. - /// The simulation will try to fulfill this velocity wish if possible but may change the velocity depending on other agent's and obstacles'. virtual void agent_set_velocity(RID p_agent, Vector3 p_velocity) = 0; virtual Vector3 agent_get_velocity(RID p_agent) const = 0; - /// Position of the agent in world space. virtual void agent_set_position(RID p_agent, Vector3 p_position) = 0; virtual Vector3 agent_get_position(RID p_agent) const = 0; - /// Returns true if the map got changed the previous frame. virtual bool agent_is_map_changed(RID p_agent) const = 0; - /// Callback called at the end of the RVO process virtual void agent_set_avoidance_callback(RID p_agent, Callable p_callback) = 0; virtual bool agent_has_avoidance_callback(RID p_agent) const = 0; @@ -309,7 +242,8 @@ public: virtual void agent_set_avoidance_priority(RID p_agent, real_t p_priority) = 0; virtual real_t agent_get_avoidance_priority(RID p_agent) const = 0; - /// Creates the obstacle. + /* OBSTACLE API */ + virtual RID obstacle_create() = 0; virtual void obstacle_set_map(RID p_obstacle, RID p_map) = 0; @@ -337,25 +271,12 @@ public: virtual void obstacle_set_avoidance_layers(RID p_obstacle, uint32_t p_layers) = 0; virtual uint32_t obstacle_get_avoidance_layers(RID p_obstacle) const = 0; - /// Destroy the `RID` - virtual void free(RID p_object) = 0; + /* QUERY API */ - /// Control activation of this server. - virtual void set_active(bool p_active) = 0; - - /// Process the collision avoidance agents. - /// The result of this process is needed by the physics server, - /// so this must be called in the main thread. - /// Note: This function is not thread safe. - virtual void process(double p_delta_time) = 0; - virtual void physics_process(double p_delta_time) = 0; - virtual void init() = 0; - virtual void sync() = 0; - virtual void finish() = 0; - - /// Returns a customized navigation path using a query parameters object virtual void query_path(const Ref &p_query_parameters, Ref p_query_result, const Callable &p_callback = Callable()) = 0; + /* NAVMESH BAKE API */ + #ifndef _3D_DISABLED virtual void parse_source_geometry_data(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) = 0; virtual void bake_from_source_geometry_data(const Ref &p_navigation_mesh, const Ref &p_source_geometry_data, const Callable &p_callback = Callable()) = 0; @@ -374,9 +295,21 @@ public: virtual Vector simplify_path(const Vector &p_path, real_t p_epsilon) = 0; + /* SERVER API */ + + virtual void set_active(bool p_active) = 0; + virtual void process(double p_delta_time) = 0; + virtual void physics_process(double p_delta_time) = 0; + virtual void init() = 0; + virtual void sync() = 0; + virtual void finish() = 0; + virtual void free(RID p_object) = 0; + NavigationServer3D(); ~NavigationServer3D() override; + /* DEBUG API */ + enum ProcessInfo { INFO_ACTIVE_MAPS, INFO_REGION_COUNT,