466 lines
17 KiB
C#
466 lines
17 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Numerics;
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using Godot;
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using GodotComponentTest.utils;
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using Vector2 = Godot.Vector2;
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using Vector3 = Godot.Vector3;
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using GoDotLog;
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/// <summary>
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/// </summary>
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public class NavigationComponent : Spatial
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{
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public class NavigationPoint
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{
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[Flags]
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public enum NavigationFlags
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{
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Position = 1,
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Orientation = 2
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}
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public Vector3 WorldPosition = Vector3.Zero;
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public Quat WorldOrientation = Quat.Identity;
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public NavigationFlags Flags = NavigationFlags.Position | NavigationFlags.Orientation;
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public NavigationPoint(Vector3 worldPosition)
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{
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WorldPosition = worldPosition;
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Flags = NavigationFlags.Position;
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}
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public NavigationPoint(Quat worldOrientation)
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{
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WorldOrientation = worldOrientation;
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Flags = NavigationFlags.Orientation;
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}
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public NavigationPoint(Transform worldTransform)
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{
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WorldPosition = worldTransform.origin;
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WorldOrientation = worldTransform.basis.Quat();
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Flags = NavigationFlags.Position | NavigationFlags.Orientation;
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}
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public bool IsReached(Transform worldTransform)
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{
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bool goalReached = false;
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float positionErrorSquared = (worldTransform.origin - WorldPosition).LengthSquared();
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Quat own_orientation = worldTransform.basis.Quat();
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float orientationError = Mathf.Abs(worldTransform.basis.Quat().AngleTo(WorldOrientation));
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if (Flags.HasFlag(NavigationPoint.NavigationFlags.Position)
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&& Flags.HasFlag(NavigationPoint.NavigationFlags.Orientation)
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&& positionErrorSquared < Globals.EpsPositionSquared
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&& orientationError < Globals.EpsRadians)
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{
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goalReached = true;
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}
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else if (Flags == NavigationPoint.NavigationFlags.Position &&
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positionErrorSquared < Globals.EpsPositionSquared)
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{
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goalReached = true;
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}
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else if (Flags == NavigationPoint.NavigationFlags.Orientation &&
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orientationError < Globals.EpsRadians)
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{
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goalReached = true;
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}
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return goalReached;
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}
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}
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public TileWorld TileWorld { set; get; }
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public Vector3 CurrentGoalPositionWorld => _currentGoalPositionWorld;
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public Quat CurrentGoalOrientationWorld => _currentGoalOrientationWorld;
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private NavigationPoint _currentGoal;
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private Vector3 _currentGoalPositionWorld = Vector3.Zero;
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private Quat _currentGoalOrientationWorld = Quat.Identity;
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private List<NavigationPoint> _planningPathWorldNavigationPoints = new List<NavigationPoint>();
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private List<NavigationPoint> _planningPathSmoothedWorldNavigationPoints = new List<NavigationPoint>();
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private List<NavigationPoint> _pathWorldNavigationPoints = new List<NavigationPoint>();
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private List<NavigationPoint> _smoothedPathWorldNavigationPoints = new List<NavigationPoint>();
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private HexCell[] _path;
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public override void _Ready()
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{
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base._Ready();
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_pathWorldNavigationPoints = new List<NavigationPoint>();
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}
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public override void _Process(float delta)
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{
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Debug.Assert(TileWorld != null);
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}
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public void FindPath(KinematicBody body, Vector3 fromPositionWorld, Vector3 toPositionWorld)
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{
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HexCell fromCell = TileWorld.HexGrid.GetHexAt(new Vector2(fromPositionWorld.x, fromPositionWorld.z));
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if (TileWorld.HexGrid.GetHexCost(fromCell) == 0)
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{
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GD.Print("Invalid starting point for FindPath(): returning empty path.");
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_planningPathWorldNavigationPoints = new List<NavigationPoint>();
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_planningPathWorldNavigationPoints.Add(new NavigationPoint(fromPositionWorld));
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_planningPathSmoothedWorldNavigationPoints = _planningPathWorldNavigationPoints;
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return;
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}
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HexCell toCell = TileWorld.HexGrid.GetHexAt(new Vector2(toPositionWorld.x, toPositionWorld.z));
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toCell = TileWorld.HexGrid.GetClosestWalkableCell(fromCell, toCell);
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if (TileWorld.HexGrid.GetHexCost(toCell) == 0)
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{
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GD.Print("Invalid target point for FindPath(): returning empty path.");
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_planningPathWorldNavigationPoints = new List<NavigationPoint>();
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_planningPathWorldNavigationPoints.Add(new NavigationPoint(fromPositionWorld));
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_planningPathSmoothedWorldNavigationPoints = _planningPathWorldNavigationPoints;
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return;
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}
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List<HexCell> path = TileWorld.HexGrid.FindPath(fromCell, toCell);
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// GD.Print("Planning path and have " + TileWorld.HexGrid.Obstacles.Count + " obstacles:");
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// GD.Print(TileWorld.HexGrid.Obstacles);
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// foreach (Vector2 coord in TileWorld.HexGrid.Obstacles.Keys)
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// {
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// HexCell cell = new HexCell(coord);
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// GD.Print(" " + cell.OffsetCoords);
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// }
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_planningPathWorldNavigationPoints = new List<NavigationPoint>();
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foreach (int index in Enumerable.Range(0, path.Count))
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{
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// GD.Print("Step " + index + ": " + path[index].OffsetCoords);
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_planningPathWorldNavigationPoints.Add(
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new NavigationPoint(TileWorld.GetHexCenterFromOffset(path[index].OffsetCoords)));
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}
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_planningPathSmoothedWorldNavigationPoints = SmoothPath(body, _planningPathWorldNavigationPoints);
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}
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public void PlanGridPath(KinematicBody body, Vector3 fromPositionWorld, Vector3 toPositionWorld)
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{
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Vector2 fromPositionOffset = TileWorld.WorldToOffsetCoords(fromPositionWorld);
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Vector2 toPositionOffset = TileWorld.WorldToOffsetCoords(toPositionWorld);
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HexCell fromCell = new HexCell();
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fromCell.OffsetCoords = fromPositionOffset;
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HexCell toCell = new HexCell();
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toCell.OffsetCoords = toPositionOffset;
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_path = fromCell.LineTo(toCell);
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Debug.Assert(_path.Length > 0);
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_pathWorldNavigationPoints = new List<NavigationPoint>();
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_pathWorldNavigationPoints.Add(
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new NavigationPoint(TileWorld.GetHexCenterFromOffset(fromPositionOffset)));
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foreach (int index in Enumerable.Range(1, _path.Length - 1))
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{
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_pathWorldNavigationPoints.Add(
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new NavigationPoint(TileWorld.GetHexCenterFromOffset(_path[index].OffsetCoords)));
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}
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if ((fromPositionWorld - TileWorld.GetHexCenterFromOffset(toCell.OffsetCoords)).LengthSquared() >
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Globals.EpsPositionSquared)
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{
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// Remove the last one, because it is only the position rounded to HexGrid coordinates.
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if (_pathWorldNavigationPoints.Count > 0)
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{
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_pathWorldNavigationPoints.RemoveAt(_pathWorldNavigationPoints.Count - 1);
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}
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}
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_pathWorldNavigationPoints.Add(new NavigationPoint(toPositionWorld));
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if (_pathWorldNavigationPoints.Count > 2)
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{
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_smoothedPathWorldNavigationPoints = SmoothPath(body, _pathWorldNavigationPoints);
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_pathWorldNavigationPoints = _smoothedPathWorldNavigationPoints;
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}
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UpdateCurrentGoal();
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}
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public void PlanGridPath(KinematicBody body, Vector3 fromPositionWorld, Vector3 toPositionWorld,
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Quat toWorldOrientation)
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{
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PlanGridPath(body, fromPositionWorld, toPositionWorld);
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_pathWorldNavigationPoints.Add(new NavigationPoint(toWorldOrientation));
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}
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public void PlanGridPath(KinematicBody body, Transform fromTransformWorld, NavigationPoint navigationPoint)
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{
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if (navigationPoint.Flags.HasFlag(NavigationPoint.NavigationFlags.Position)
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&& navigationPoint.Flags.HasFlag(NavigationPoint.NavigationFlags.Orientation))
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{
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PlanGridPath(body, fromTransformWorld.origin, navigationPoint.WorldPosition,
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navigationPoint.WorldOrientation);
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}
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else if (navigationPoint.Flags.HasFlag(NavigationPoint.NavigationFlags.Position))
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{
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PlanGridPath(body, fromTransformWorld.origin, navigationPoint.WorldPosition);
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}
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else
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{
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throw new NotImplementedException();
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}
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}
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public void PlanDirectPath(KinematicBody body, Vector3 fromPositionWorld, Vector3 toPositionWorld)
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{
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_pathWorldNavigationPoints.Clear();
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_pathWorldNavigationPoints.Add(new NavigationPoint(toPositionWorld));
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UpdateCurrentGoal();
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}
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public void PlanDirectPath(KinematicBody body, Vector3 fromPositionWorld, Vector3 toPositionWorld,
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Quat toWorldOrientation)
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{
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PlanDirectPath(body, fromPositionWorld, toPositionWorld);
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_pathWorldNavigationPoints.Add(new NavigationPoint(toWorldOrientation));
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}
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public bool HasPathCollision(KinematicBody body, Vector3 fromPositionWorld, Vector3 toPositionWorld)
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{
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Vector3 fromPositionLocal = GlobalTransform.XformInv(fromPositionWorld);
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Vector3 toPositionLocal = GlobalTransform.XformInv(toPositionWorld);
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Vector3 relativeVelocity = GlobalTransform.basis.Xform(toPositionLocal - fromPositionLocal);
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KinematicCollision moveCollision = body.MoveAndCollide(relativeVelocity, true, true, true);
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if (moveCollision != null)
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{
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Spatial colliderSpatial = moveCollision.Collider as Spatial;
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// GD.Print("Found collision: " + moveCollision.Collider + " (" + colliderSpatial.Name + ")");
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return true;
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}
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return false;
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}
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public List<NavigationPoint> SmoothPath(KinematicBody body, List<NavigationPoint> navigationPoints)
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{
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if (navigationPoints.Count <= 2)
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{
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return navigationPoints;
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}
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Vector3 bodyGlobalTranslation = body.GlobalTranslation;
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List<NavigationPoint> smoothedPath = new List<NavigationPoint>();
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int startIndex = 0;
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int endIndex = navigationPoints.Count > 1 ? 1 : 0;
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smoothedPath.Add(navigationPoints[startIndex]);
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Vector3 startPoint = navigationPoints[startIndex].WorldPosition;
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while (endIndex != navigationPoints.Count)
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{
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Vector3 endPoint = navigationPoints[endIndex].WorldPosition;
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if (HasPathCollision(body, startPoint, endPoint))
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{
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if (endIndex - startIndex == 1)
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{
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GD.Print("Aborting SmoothPath: input path passes through collision geometry.");
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body.GlobalTranslation = bodyGlobalTranslation;
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return smoothedPath;
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}
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smoothedPath.Add(navigationPoints[endIndex - 1]);
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startIndex = endIndex - 1;
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startPoint = navigationPoints[startIndex].WorldPosition;
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body.GlobalTranslation = startPoint;
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continue;
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}
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if (endIndex == navigationPoints.Count - 1)
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{
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break;
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}
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endIndex += 1;
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}
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smoothedPath.Add(navigationPoints[endIndex]);
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body.GlobalTranslation = bodyGlobalTranslation;
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return smoothedPath;
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}
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public void PlanDirectPath(KinematicBody body, Transform fromTransformWorld, NavigationPoint navigationPoint)
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{
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if (navigationPoint.Flags.HasFlag(NavigationPoint.NavigationFlags.Position)
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&& navigationPoint.Flags.HasFlag(NavigationPoint.NavigationFlags.Orientation))
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{
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PlanDirectPath(body, fromTransformWorld.origin, navigationPoint.WorldPosition,
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navigationPoint.WorldOrientation);
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}
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else if (navigationPoint.Flags.HasFlag(NavigationPoint.NavigationFlags.Position))
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{
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PlanDirectPath(body, fromTransformWorld.origin, navigationPoint.WorldPosition);
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}
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else
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{
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throw new NotImplementedException();
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}
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}
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public void ActivatePlannedPath()
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{
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_pathWorldNavigationPoints = _planningPathSmoothedWorldNavigationPoints;
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UpdateCurrentGoal();
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}
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private void UpdateCurrentGoal()
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{
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if (_pathWorldNavigationPoints.Count == 0)
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{
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return;
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}
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_currentGoal = _pathWorldNavigationPoints[0];
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_currentGoalPositionWorld = _pathWorldNavigationPoints[0].WorldPosition;
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_currentGoalOrientationWorld = _pathWorldNavigationPoints[0].WorldOrientation;
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// GD.Print("Navigation Goal: pos " + _currentGoal.WorldPosition + " " + " rot: " + _currentGoal.WorldOrientation +
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// " flags: " + _currentGoal.Flags + " path length: " +
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// _pathWorldNavigationPoints.Count);
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}
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private void ApplyExistingTransform(Transform worldTransform)
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{
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if (_currentGoal.Flags == NavigationPoint.NavigationFlags.Orientation)
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{
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_currentGoalPositionWorld = worldTransform.origin;
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}
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else if (_currentGoal.Flags == NavigationPoint.NavigationFlags.Position)
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{
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_currentGoalOrientationWorld = worldTransform.basis.Quat();
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}
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}
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public void UpdateCurrentGoal(Transform currentTransformWorld)
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{
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if (_currentGoal == null)
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{
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_currentGoal = new NavigationPoint(currentTransformWorld);
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}
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if (_pathWorldNavigationPoints.Count == 0)
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{
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_currentGoalOrientationWorld = currentTransformWorld.basis.Quat();
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_currentGoalPositionWorld = currentTransformWorld.origin;
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return;
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}
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if (_currentGoal.Flags.HasFlag(NavigationPoint.NavigationFlags.Position))
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{
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_currentGoalPositionWorld = _pathWorldNavigationPoints[0].WorldPosition;
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}
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else
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{
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_currentGoalPositionWorld = currentTransformWorld.origin;
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}
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if (_currentGoal.Flags.HasFlag(NavigationPoint.NavigationFlags.Orientation))
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{
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_currentGoalOrientationWorld = _currentGoal.WorldOrientation;
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}
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else
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{
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_currentGoalOrientationWorld = currentTransformWorld.basis.Quat();
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}
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if (_currentGoal.IsReached(currentTransformWorld))
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{
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_pathWorldNavigationPoints.RemoveAt(0);
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UpdateCurrentGoal();
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ApplyExistingTransform(currentTransformWorld);
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}
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if (_pathWorldNavigationPoints.Count == 0)
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{
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_currentGoalOrientationWorld = currentTransformWorld.basis.Quat();
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_currentGoalPositionWorld = currentTransformWorld.origin;
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}
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}
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public void DebugDraw(Spatial parentNode, DebugGeometry debugGeometry)
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{
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Vector3 yOffset = Vector3.Up * 0.1f;
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debugGeometry.GlobalTransform = Transform.Identity;
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debugGeometry.Begin(Mesh.PrimitiveType.Lines);
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Color pinkColor = Colors.Pink;
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pinkColor.a = 1;
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debugGeometry.SetColor(pinkColor);
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debugGeometry.AddVertex(parentNode.GlobalTranslation + yOffset);
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debugGeometry.SetColor(pinkColor);
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debugGeometry.AddVertex(CurrentGoalPositionWorld + yOffset);
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debugGeometry.SetColor(pinkColor);
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debugGeometry.PushTranslated(CurrentGoalPositionWorld);
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debugGeometry.AddBox(Vector3.One * 1);
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debugGeometry.PopTransform();
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Vector3 previousPoint = parentNode.GlobalTranslation;
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foreach (NavigationPoint point in _pathWorldNavigationPoints)
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{
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debugGeometry.AddVertex(previousPoint + yOffset);
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debugGeometry.AddVertex(point.WorldPosition + yOffset);
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previousPoint = point.WorldPosition;
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}
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previousPoint = parentNode.GlobalTranslation;
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foreach (NavigationPoint point in _smoothedPathWorldNavigationPoints)
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{
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debugGeometry.SetColor(new Color(0, 0, 1, 1));
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debugGeometry.AddVertex(previousPoint + yOffset);
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debugGeometry.AddVertex(point.WorldPosition + yOffset);
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previousPoint = point.WorldPosition;
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}
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previousPoint = parentNode.GlobalTranslation;
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foreach (NavigationPoint point in _planningPathWorldNavigationPoints)
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{
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debugGeometry.SetColor(new Color(1, 0, 1, 1));
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debugGeometry.AddVertex(previousPoint + yOffset);
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debugGeometry.AddVertex(point.WorldPosition + yOffset);
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previousPoint = point.WorldPosition;
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}
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previousPoint = parentNode.GlobalTranslation;
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foreach (NavigationPoint point in _planningPathSmoothedWorldNavigationPoints)
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{
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debugGeometry.SetColor(new Color(1, 1, 0, 1));
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debugGeometry.AddVertex(previousPoint + yOffset);
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debugGeometry.AddVertex(point.WorldPosition + yOffset);
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previousPoint = point.WorldPosition;
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}
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debugGeometry.End();
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}
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} |