godot/servers/navigation_server_2d.h

/**************************************************************************/
/*  navigation_server_2d.h                                                */
/**************************************************************************/
/*                         This file is part of:                          */
/*                             GODOT ENGINE                               */
/*                        https://godotengine.org                         */
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#pragma once

#include "core/object/class_db.h"
#include "core/templates/rid.h"

#include "scene/resources/2d/navigation_mesh_source_geometry_data_2d.h"
#include "scene/resources/2d/navigation_polygon.h"
#include "servers/navigation/navigation_path_query_parameters_2d.h"
#include "servers/navigation/navigation_path_query_result_2d.h"

#ifdef CLIPPER2_ENABLED
class NavMeshGenerator2D;
#endif // CLIPPER2_ENABLED

struct NavMeshGeometryParser2D {
	RID self;
	Callable callback;
};

// This server exposes the `NavigationServer3D` features in the 2D world.
class NavigationServer2D : public Object {
	GDCLASS(NavigationServer2D, Object);

	static NavigationServer2D *singleton;

protected:
	static void _bind_methods();

public:
	/// Thread safe, can be used across many threads.
	static NavigationServer2D *get_singleton();

	virtual TypedArray<RID> get_maps() const = 0;

	/// Create a new map.
	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<Vector2> 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;
	virtual RID map_get_closest_point_owner(RID p_map, const Vector2 &p_point) const = 0;

	virtual TypedArray<RID> map_get_links(RID p_map) const = 0;
	virtual TypedArray<RID> map_get_regions(RID p_map) const = 0;
	virtual TypedArray<RID> map_get_agents(RID p_map) const = 0;
	virtual TypedArray<RID> map_get_obstacles(RID p_map) const = 0;

	virtual void map_force_update(RID p_map) = 0;
	virtual uint32_t map_get_iteration_id(RID p_map) const = 0;

	virtual void map_set_use_async_iterations(RID p_map, bool p_enabled) = 0;
	virtual bool map_get_use_async_iterations(RID p_map) const = 0;

	virtual Vector2 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const = 0;

	/// Creates a new region.
	virtual RID region_create() = 0;
	virtual uint32_t region_get_iteration_id(RID p_region) const = 0;

	virtual void region_set_enabled(RID p_region, bool p_enabled) = 0;
	virtual bool region_get_enabled(RID p_region) const = 0;

	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<NavigationPolygon> 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;

	virtual Vector2 region_get_closest_point(RID p_region, const Vector2 &p_point) const = 0;
	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.
	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.
	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;

	virtual void agent_set_paused(RID p_agent, bool p_paused) = 0;
	virtual bool agent_get_paused(RID p_agent) const = 0;

	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;

	virtual void agent_set_avoidance_layers(RID p_agent, uint32_t p_layers) = 0;
	virtual uint32_t agent_get_avoidance_layers(RID p_agent) const = 0;

	virtual void agent_set_avoidance_mask(RID p_agent, uint32_t p_mask) = 0;
	virtual uint32_t agent_get_avoidance_mask(RID p_agent) const = 0;

	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.
	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;
	virtual void obstacle_set_map(RID p_obstacle, RID p_map) = 0;
	virtual RID obstacle_get_map(RID p_obstacle) const = 0;
	virtual void obstacle_set_paused(RID p_obstacle, bool p_paused) = 0;
	virtual bool obstacle_get_paused(RID p_obstacle) const = 0;
	virtual void obstacle_set_radius(RID p_obstacle, real_t p_radius) = 0;
	virtual real_t obstacle_get_radius(RID p_obstacle) const = 0;
	virtual void obstacle_set_velocity(RID p_obstacle, Vector2 p_velocity) = 0;
	virtual Vector2 obstacle_get_velocity(RID p_obstacle) const = 0;
	virtual void obstacle_set_position(RID p_obstacle, Vector2 p_position) = 0;
	virtual Vector2 obstacle_get_position(RID p_obstacle) const = 0;
	virtual void obstacle_set_vertices(RID p_obstacle, const Vector<Vector2> &p_vertices) = 0;
	virtual Vector<Vector2> obstacle_get_vertices(RID p_obstacle) const = 0;
	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
	virtual void query_path(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> 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;

	virtual void parse_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, Node *p_root_node, const Callable &p_callback = Callable()) = 0;
	virtual void bake_from_source_geometry_data(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) = 0;
	virtual void bake_from_source_geometry_data_async(const Ref<NavigationPolygon> &p_navigation_mesh, const Ref<NavigationMeshSourceGeometryData2D> &p_source_geometry_data, const Callable &p_callback = Callable()) = 0;
	virtual bool is_baking_navigation_polygon(Ref<NavigationPolygon> p_navigation_polygon) const = 0;

protected:
	static RWLock geometry_parser_rwlock;
	static RID_Owner<NavMeshGeometryParser2D> geometry_parser_owner;
	static LocalVector<NavMeshGeometryParser2D *> generator_parsers;

public:
	virtual RID source_geometry_parser_create() = 0;
	virtual void source_geometry_parser_set_callback(RID p_parser, const Callable &p_callback) = 0;

	virtual Vector<Vector2> simplify_path(const Vector<Vector2> &p_path, real_t p_epsilon) = 0;

	NavigationServer2D();
	~NavigationServer2D() override;

	enum ProcessInfo {
		INFO_ACTIVE_MAPS,
		INFO_REGION_COUNT,
		INFO_AGENT_COUNT,
		INFO_LINK_COUNT,
		INFO_POLYGON_COUNT,
		INFO_EDGE_COUNT,
		INFO_EDGE_MERGE_COUNT,
		INFO_EDGE_CONNECTION_COUNT,
		INFO_EDGE_FREE_COUNT,
		INFO_OBSTACLE_COUNT,
	};

	virtual int get_process_info(ProcessInfo p_info) const = 0;

	void set_debug_enabled(bool p_enabled);
	bool get_debug_enabled() const;

protected:
#ifndef DISABLE_DEPRECATED
	Vector<Vector2> _map_get_path_bind_compat_100129(RID p_map, Vector2 p_origin, Vector2 p_destination, bool p_optimize, uint32_t p_navigation_layers = 1) const;
	void _query_path_bind_compat_100129(const Ref<NavigationPathQueryParameters2D> &p_query_parameters, Ref<NavigationPathQueryResult2D> p_query_result) const;
	static void _bind_compatibility_methods();
#endif

private:
	bool debug_enabled = false;

#ifdef DEBUG_ENABLED
	bool debug_dirty = true;

	bool debug_navigation_enabled = false;
	bool navigation_debug_dirty = true;
	void _emit_navigation_debug_changed_signal();

	bool debug_avoidance_enabled = false;
	bool avoidance_debug_dirty = true;
	void _emit_avoidance_debug_changed_signal();

	Color debug_navigation_edge_connection_color = Color(1.0, 0.0, 1.0, 1.0);
	Color debug_navigation_geometry_edge_color = Color(0.5, 1.0, 1.0, 1.0);
	Color debug_navigation_geometry_face_color = Color(0.5, 1.0, 1.0, 0.4);
	Color debug_navigation_geometry_edge_disabled_color = Color(0.5, 0.5, 0.5, 1.0);
	Color debug_navigation_geometry_face_disabled_color = Color(0.5, 0.5, 0.5, 0.4);
	Color debug_navigation_link_connection_color = Color(1.0, 0.5, 1.0, 1.0);
	Color debug_navigation_link_connection_disabled_color = Color(0.5, 0.5, 0.5, 1.0);
	Color debug_navigation_agent_path_color = Color(1.0, 0.0, 0.0, 1.0);

	real_t debug_navigation_agent_path_point_size = 4.0;

	Color debug_navigation_avoidance_agents_radius_color = Color(1.0, 1.0, 0.0, 0.25);
	Color debug_navigation_avoidance_obstacles_radius_color = Color(1.0, 0.5, 0.0, 0.25);

	Color debug_navigation_avoidance_static_obstacle_pushin_face_color = Color(1.0, 0.0, 0.0, 0.0);
	Color debug_navigation_avoidance_static_obstacle_pushout_face_color = Color(1.0, 1.0, 0.0, 0.5);
	Color debug_navigation_avoidance_static_obstacle_pushin_edge_color = Color(1.0, 0.0, 0.0, 1.0);
	Color debug_navigation_avoidance_static_obstacle_pushout_edge_color = Color(1.0, 1.0, 0.0, 1.0);

	bool debug_navigation_enable_edge_connections = true;
	bool debug_navigation_enable_edge_lines = true;
	bool debug_navigation_enable_geometry_face_random_color = true;
	bool debug_navigation_enable_link_connections = true;
	bool debug_navigation_enable_agent_paths = true;

	bool debug_navigation_avoidance_enable_agents_radius = true;
	bool debug_navigation_avoidance_enable_obstacles_radius = true;
	bool debug_navigation_avoidance_enable_obstacles_static = true;

public:
	void set_debug_navigation_enabled(bool p_enabled);
	bool get_debug_navigation_enabled() const;

	void set_debug_avoidance_enabled(bool p_enabled);
	bool get_debug_avoidance_enabled() const;

	void set_debug_navigation_edge_connection_color(const Color &p_color);
	Color get_debug_navigation_edge_connection_color() const;

	void set_debug_navigation_geometry_face_color(const Color &p_color);
	Color get_debug_navigation_geometry_face_color() const;

	void set_debug_navigation_geometry_face_disabled_color(const Color &p_color);
	Color get_debug_navigation_geometry_face_disabled_color() const;

	void set_debug_navigation_geometry_edge_color(const Color &p_color);
	Color get_debug_navigation_geometry_edge_color() const;

	void set_debug_navigation_geometry_edge_disabled_color(const Color &p_color);
	Color get_debug_navigation_geometry_edge_disabled_color() const;

	void set_debug_navigation_link_connection_color(const Color &p_color);
	Color get_debug_navigation_link_connection_color() const;

	void set_debug_navigation_link_connection_disabled_color(const Color &p_color);
	Color get_debug_navigation_link_connection_disabled_color() const;

	void set_debug_navigation_enable_edge_connections(const bool p_value);
	bool get_debug_navigation_enable_edge_connections() const;

	void set_debug_navigation_enable_geometry_face_random_color(const bool p_value);
	bool get_debug_navigation_enable_geometry_face_random_color() const;

	void set_debug_navigation_enable_edge_lines(const bool p_value);
	bool get_debug_navigation_enable_edge_lines() const;

	void set_debug_navigation_agent_path_color(const Color &p_color);
	Color get_debug_navigation_agent_path_color() const;

	void set_debug_navigation_enable_agent_paths(const bool p_value);
	bool get_debug_navigation_enable_agent_paths() const;

	void set_debug_navigation_agent_path_point_size(real_t p_point_size);
	real_t get_debug_navigation_agent_path_point_size() const;

	void set_debug_navigation_avoidance_enable_agents_radius(const bool p_value);
	bool get_debug_navigation_avoidance_enable_agents_radius() const;

	void set_debug_navigation_avoidance_enable_obstacles_radius(const bool p_value);
	bool get_debug_navigation_avoidance_enable_obstacles_radius() const;

	void set_debug_navigation_avoidance_agents_radius_color(const Color &p_color);
	Color get_debug_navigation_avoidance_agents_radius_color() const;

	void set_debug_navigation_avoidance_obstacles_radius_color(const Color &p_color);
	Color get_debug_navigation_avoidance_obstacles_radius_color() const;

	void set_debug_navigation_avoidance_static_obstacle_pushin_face_color(const Color &p_color);
	Color get_debug_navigation_avoidance_static_obstacle_pushin_face_color() const;

	void set_debug_navigation_avoidance_static_obstacle_pushout_face_color(const Color &p_color);
	Color get_debug_navigation_avoidance_static_obstacle_pushout_face_color() const;

	void set_debug_navigation_avoidance_static_obstacle_pushin_edge_color(const Color &p_color);
	Color get_debug_navigation_avoidance_static_obstacle_pushin_edge_color() const;

	void set_debug_navigation_avoidance_static_obstacle_pushout_edge_color(const Color &p_color);
	Color get_debug_navigation_avoidance_static_obstacle_pushout_edge_color() const;

	void set_debug_navigation_avoidance_enable_obstacles_static(const bool p_value);
	bool get_debug_navigation_avoidance_enable_obstacles_static() const;
#endif // DEBUG_ENABLED
};

typedef NavigationServer2D *(*NavigationServer2DCallback)();

/// Manager used for the server singleton registration
class NavigationServer2DManager {
	static NavigationServer2DCallback create_callback;

public:
	static void set_default_server(NavigationServer2DCallback p_callback);
	static NavigationServer2D *new_default_server();

	static void initialize_server();
	static void finalize_server();
};

VARIANT_ENUM_CAST(NavigationServer2D::ProcessInfo);