Add NavigationServer random point queries

Adds query functions to get random points on navigation mesh to the NavigationServer.

doc/classes/NavigationServer2D.xml

@@ -445,6 +445,17 @@
 				Returns the navigation path to reach the destination from the origin. [param navigation_layers] is a bitmask of all region navigation layers that are allowed to be in the path.
 			</description>
 		</method>
+		<method name="map_get_random_point" qualifiers="const">
+			<return type="Vector2" />
+			<param index="0" name="map" type="RID" />
+			<param index="1" name="navigation_layers" type="int" />
+			<param index="2" name="uniformly" type="bool" />
+			<description>
+				Returns a random position picked from all map region polygons with matching [param navigation_layers].
+				If [param uniformly] is [code]true[/code], all map regions, polygons, and faces are weighted by their surface area (slower).
+				If [param uniformly] is [code]false[/code], just a random region and a random polygon are picked (faster).
+			</description>
+		</method>
 		<method name="map_get_regions" qualifiers="const">
 			<return type="RID[]" />
 			<param index="0" name="map" type="RID" />
@@ -681,6 +692,17 @@
 				Returns the [code]ObjectID[/code] of the object which manages this region.
 			</description>
 		</method>
+		<method name="region_get_random_point" qualifiers="const">
+			<return type="Vector2" />
+			<param index="0" name="region" type="RID" />
+			<param index="1" name="navigation_layers" type="int" />
+			<param index="2" name="uniformly" type="bool" />
+			<description>
+				Returns a random position picked from all region polygons with matching [param navigation_layers].
+				If [param uniformly] is [code]true[/code], all region polygons and faces are weighted by their surface area (slower).
+				If [param uniformly] is [code]false[/code], just a random polygon and face is picked (faster).
+			</description>
+		</method>
 		<method name="region_get_travel_cost" qualifiers="const">
 			<return type="float" />
 			<param index="0" name="region" type="RID" />

doc/classes/NavigationServer3D.xml

@@ -502,6 +502,17 @@
 				Returns the navigation path to reach the destination from the origin. [param navigation_layers] is a bitmask of all region navigation layers that are allowed to be in the path.
 			</description>
 		</method>
+		<method name="map_get_random_point" qualifiers="const">
+			<return type="Vector3" />
+			<param index="0" name="map" type="RID" />
+			<param index="1" name="navigation_layers" type="int" />
+			<param index="2" name="uniformly" type="bool" />
+			<description>
+				Returns a random position picked from all map region polygons with matching [param navigation_layers].
+				If [param uniformly] is [code]true[/code], all map regions, polygons, and faces are weighted by their surface area (slower).
+				If [param uniformly] is [code]false[/code], just a random region and a random polygon are picked (faster).
+			</description>
+		</method>
 		<method name="map_get_regions" qualifiers="const">
 			<return type="RID[]" />
 			<param index="0" name="map" type="RID" />
@@ -793,6 +804,17 @@
 				Returns the [code]ObjectID[/code] of the object which manages this region.
 			</description>
 		</method>
+		<method name="region_get_random_point" qualifiers="const">
+			<return type="Vector3" />
+			<param index="0" name="region" type="RID" />
+			<param index="1" name="navigation_layers" type="int" />
+			<param index="2" name="uniformly" type="bool" />
+			<description>
+				Returns a random position picked from all region polygons with matching [param navigation_layers].
+				If [param uniformly] is [code]true[/code], all region polygons and faces are weighted by their surface area (slower).
+				If [param uniformly] is [code]false[/code], just a random polygon and face is picked (faster).
+			</description>
+		</method>
 		<method name="region_get_travel_cost" qualifiers="const">
 			<return type="float" />
 			<param index="0" name="region" type="RID" />

modules/navigation/godot_navigation_server.cpp

@@ -331,6 +331,13 @@ RID GodotNavigationServer::agent_get_map(RID p_agent) const {
 	return RID();
 }
 
+Vector3 GodotNavigationServer::map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const {
+	const NavMap *map = map_owner.get_or_null(p_map);
+	ERR_FAIL_NULL_V(map, Vector3());
+
+	return map->get_random_point(p_navigation_layers, p_uniformly);
+}
+
 RID GodotNavigationServer::region_create() {
 	MutexLock lock(operations_mutex);
 
@@ -498,6 +505,13 @@ Vector3 GodotNavigationServer::region_get_connection_pathway_end(RID p_region, i
 	return region->get_connection_pathway_end(p_connection_id);
 }
 
+Vector3 GodotNavigationServer::region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const {
+	const NavRegion *region = region_owner.get_or_null(p_region);
+	ERR_FAIL_NULL_V(region, Vector3());
+
+	return region->get_random_point(p_navigation_layers, p_uniformly);
+}
+
 RID GodotNavigationServer::link_create() {
 	MutexLock lock(operations_mutex);
 

modules/navigation/godot_navigation_server.h

@@ -140,6 +140,8 @@ class GodotNavigationServer : public NavigationServer3D {
 
 	virtual void map_force_update(RID p_map) override;
 
+	virtual Vector3 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const override;
+
 	virtual RID region_create() override;
 
 	COMMAND_2(region_set_enabled, RID, p_region, bool, p_enabled);
@@ -170,6 +172,7 @@ class GodotNavigationServer : public NavigationServer3D {
 	virtual int region_get_connections_count(RID p_region) const override;
 	virtual Vector3 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override;
 	virtual Vector3 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override;
+	virtual Vector3 region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const override;
 
 	virtual RID link_create() override;
 	COMMAND_2(link_set_map, RID, p_link, RID, p_map);

modules/navigation/godot_navigation_server_2d.cpp

@@ -259,8 +259,12 @@ Vector<Vector2> FORWARD_5_R_C(vector_v3_to_v2, map_get_path, RID, p_map, Vector2
 Vector2 FORWARD_2_R_C(v3_to_v2, map_get_closest_point, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3);
 RID FORWARD_2_C(map_get_closest_point_owner, RID, p_map, const Vector2 &, p_point, rid_to_rid, v2_to_v3);
 
-RID FORWARD_0(region_create);
+Vector2 GodotNavigationServer2D::map_get_random_point(RID p_map, uint32_t p_naviation_layers, bool p_uniformly) const {
+	Vector3 result = NavigationServer3D::get_singleton()->map_get_random_point(p_map, p_naviation_layers, p_uniformly);
+	return v3_to_v2(result);
+}
 
+RID FORWARD_0(region_create);
 void FORWARD_2(region_set_enabled, RID, p_region, bool, p_enabled, rid_to_rid, bool_to_bool);
 bool FORWARD_1_C(region_get_enabled, RID, p_region, rid_to_rid);
 void FORWARD_2(region_set_use_edge_connections, RID, p_region, bool, p_enabled, rid_to_rid, bool_to_bool);
@@ -287,6 +291,11 @@ int FORWARD_1_C(region_get_connections_count, RID, p_region, rid_to_rid);
 Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_start, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int);
 Vector2 FORWARD_2_R_C(v3_to_v2, region_get_connection_pathway_end, RID, p_region, int, p_connection_id, rid_to_rid, int_to_int);
 
+Vector2 GodotNavigationServer2D::region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const {
+	Vector3 result = NavigationServer3D::get_singleton()->region_get_random_point(p_region, p_navigation_layers, p_uniformly);
+	return v3_to_v2(result);
+}
+
 RID FORWARD_0(link_create);
 
 void FORWARD_2(link_set_map, RID, p_link, RID, p_map, rid_to_rid, rid_to_rid);

modules/navigation/godot_navigation_server_2d.h

@@ -76,6 +76,7 @@ class GodotNavigationServer2D : public NavigationServer2D {
 	virtual TypedArray<RID> map_get_agents(RID p_map) const override;
 	virtual TypedArray<RID> map_get_obstacles(RID p_map) const override;
 	virtual void map_force_update(RID p_map) override;
+	virtual Vector2 map_get_random_point(RID p_map, uint32_t p_navigation_layers, bool p_uniformly) const override;
 
 	virtual RID region_create() override;
 	virtual void region_set_enabled(RID p_region, bool p_enabled) override;
@@ -98,6 +99,7 @@ class GodotNavigationServer2D : public NavigationServer2D {
 	virtual int region_get_connections_count(RID p_region) const override;
 	virtual Vector2 region_get_connection_pathway_start(RID p_region, int p_connection_id) const override;
 	virtual Vector2 region_get_connection_pathway_end(RID p_region, int p_connection_id) const override;
+	virtual Vector2 region_get_random_point(RID p_region, uint32_t p_navigation_layers, bool p_uniformly) const override;
 
 	virtual RID link_create() override;
 

modules/navigation/nav_map.cpp

@@ -769,6 +769,70 @@ void NavMap::remove_agent_as_controlled(NavAgent *agent) {
 	}
 }
 
+Vector3 NavMap::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const {
+	const LocalVector<NavRegion *> map_regions = get_regions();
+
+	if (map_regions.is_empty()) {
+		return Vector3();
+	}
+
+	LocalVector<const NavRegion *> accessible_regions;
+
+	for (const NavRegion *region : map_regions) {
+		if (!region->get_enabled() || (p_navigation_layers & region->get_navigation_layers()) == 0) {
+			continue;
+		}
+		accessible_regions.push_back(region);
+	}
+
+	if (accessible_regions.is_empty()) {
+		// All existing region polygons are disabled.
+		return Vector3();
+	}
+
+	if (p_uniformly) {
+		real_t accumulated_region_surface_area = 0;
+		RBMap<real_t, uint32_t> accessible_regions_area_map;
+
+		for (uint32_t accessible_region_index = 0; accessible_region_index < accessible_regions.size(); accessible_region_index++) {
+			const NavRegion *region = accessible_regions[accessible_region_index];
+
+			real_t region_surface_area = region->get_surface_area();
+
+			if (region_surface_area == 0.0f) {
+				continue;
+			}
+
+			accessible_regions_area_map[accumulated_region_surface_area] = accessible_region_index;
+			accumulated_region_surface_area += region_surface_area;
+		}
+		if (accessible_regions_area_map.is_empty() || accumulated_region_surface_area == 0) {
+			// All faces have no real surface / no area.
+			return Vector3();
+		}
+
+		real_t random_accessible_regions_area_map = Math::random(real_t(0), accumulated_region_surface_area);
+
+		RBMap<real_t, uint32_t>::Iterator E = accessible_regions_area_map.find_closest(random_accessible_regions_area_map);
+		ERR_FAIL_COND_V(!E, Vector3());
+		uint32_t random_region_index = E->value;
+		ERR_FAIL_INDEX_V(random_region_index, accessible_regions.size(), Vector3());
+
+		const NavRegion *random_region = accessible_regions[random_region_index];
+		ERR_FAIL_NULL_V(random_region, Vector3());
+
+		return random_region->get_random_point(p_navigation_layers, p_uniformly);
+
+	} else {
+		uint32_t random_region_index = Math::random(int(0), accessible_regions.size() - 1);
+
+		const NavRegion *random_region = accessible_regions[random_region_index];
+		ERR_FAIL_NULL_V(random_region, Vector3());
+
+		return random_region->get_random_point(p_navigation_layers, p_uniformly);
+	}
+}
+
 void NavMap::sync() {
 	// Performance Monitor
 	int _new_pm_region_count = regions.size();

modules/navigation/nav_map.h

@@ -190,6 +190,8 @@ class NavMap : public NavRid {
 		return map_update_id;
 	}
 
+	Vector3 get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const;
+
 	void sync();
 	void step(real_t p_deltatime);
 	void dispatch_callbacks();