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Add 2D navigation mesh baking #80796

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Sep 26, 2023
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Add 2D navigation mesh baking #80796

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5 changes: 5 additions & 0 deletions COPYRIGHT.txt
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Expand Up @@ -171,6 +171,11 @@ Comment: CA certificates
Copyright: Mozilla Contributors
License: MPL-2.0

Files: ./thirdparty/clipper2/
Comment: Clipper2
Copyright: 2010-2013, Angus Johnson
License: BSL-1.0

Files: ./thirdparty/cvtt/
Comment: Convection Texture Tools Stand-Alone Kernels
Copyright: 2018, Eric Lasota
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1 change: 1 addition & 0 deletions SConstruct
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Expand Up @@ -226,6 +226,7 @@ opts.Add("scu_limit", "Max includes per SCU file when using scu_build (determine
# Thirdparty libraries
opts.Add(BoolVariable("builtin_brotli", "Use the built-in Brotli library", True))
opts.Add(BoolVariable("builtin_certs", "Use the built-in SSL certificates bundles", True))
opts.Add(BoolVariable("builtin_clipper2", "Use the built-in Clipper2 library", True))
opts.Add(BoolVariable("builtin_embree", "Use the built-in Embree library", True))
opts.Add(BoolVariable("builtin_enet", "Use the built-in ENet library", True))
opts.Add(BoolVariable("builtin_freetype", "Use the built-in FreeType library", True))
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18 changes: 18 additions & 0 deletions core/SCsub
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Expand Up @@ -89,6 +89,24 @@ if env["brotli"] and env["builtin_brotli"]:

env_thirdparty.add_source_files(thirdparty_obj, thirdparty_brotli_sources)

# Clipper2 Thirdparty source files used for polygon and polyline boolean operations.
if env["builtin_clipper2"]:
thirdparty_clipper_dir = "#thirdparty/clipper2/"
thirdparty_clipper_sources = [
"src/clipper.engine.cpp",
"src/clipper.offset.cpp",
"src/clipper.rectclip.cpp",
]
thirdparty_clipper_sources = [thirdparty_clipper_dir + file for file in thirdparty_clipper_sources]

env_thirdparty.Prepend(CPPPATH=[thirdparty_clipper_dir + "include"])
env.Prepend(CPPPATH=[thirdparty_clipper_dir + "include"])

env_thirdparty.Append(CPPDEFINES=["CLIPPER2_ENABLED"])
env.Append(CPPDEFINES=["CLIPPER2_ENABLED"])

env_thirdparty.add_source_files(thirdparty_obj, thirdparty_clipper_sources)

# Zlib library, can be unbundled
if env["builtin_zlib"]:
thirdparty_zlib_dir = "#thirdparty/zlib/"
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65 changes: 65 additions & 0 deletions doc/classes/NavigationMeshSourceGeometryData2D.xml
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@@ -0,0 +1,65 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="NavigationMeshSourceGeometryData2D" inherits="Resource" is_experimental="true" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
Container for parsed source geometry data used in navigation mesh baking.
</brief_description>
<description>
Container for parsed source geometry data used in navigation mesh baking.
</description>
<tutorials>
</tutorials>
<methods>
<method name="add_obstruction_outline">
<return type="void" />
<param index="0" name="shape_outline" type="PackedVector2Array" />
<description>
Adds the outline points of a shape as obstructed area.
</description>
</method>
<method name="add_traversable_outline">
<return type="void" />
<param index="0" name="shape_outline" type="PackedVector2Array" />
<description>
Adds the outline points of a shape as traversable area.
</description>
</method>
<method name="clear">
<return type="void" />
<description>
Clears the internal data.
</description>
</method>
<method name="get_obstruction_outlines" qualifiers="const">
<return type="PackedVector2Array[]" />
<description>
Returns all the obstructed area outlines arrays.
</description>
</method>
<method name="get_traversable_outlines" qualifiers="const">
<return type="PackedVector2Array[]" />
<description>
Returns all the traversable area outlines arrays.
</description>
</method>
<method name="has_data">
<return type="bool" />
<description>
Returns [code]true[/code] when parsed source geometry data exists.
</description>
</method>
<method name="set_obstruction_outlines">
<return type="void" />
<param index="0" name="obstruction_outlines" type="PackedVector2Array[]" />
<description>
Sets all the obstructed area outlines arrays.
</description>
</method>
<method name="set_traversable_outlines">
<return type="void" />
<param index="0" name="traversable_outlines" type="PackedVector2Array[]" />
<description>
Sets all the traversable area outlines arrays.
</description>
</method>
</methods>
</class>
118 changes: 89 additions & 29 deletions doc/classes/NavigationPolygon.xml
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@@ -1,44 +1,44 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="NavigationPolygon" inherits="Resource" is_experimental="true" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A navigation polygon that defines traversable areas and obstacles.
A 2D navigation mesh that describes a traversable surface for pathfinding.
</brief_description>
<description>
There are two ways to create polygons. Either by using the [method add_outline] method, or using the [method add_polygon] method.
Using [method add_outline]:
A navigation mesh can be created either by baking it with the help of the [NavigationServer2D], or by adding vertices and convex polygon indices arrays manually.
To bake a navigation mesh at least one outline needs to be added that defines the outer bounds of the baked area.
[codeblocks]
[gdscript]
var polygon = NavigationPolygon.new()
var outline = PackedVector2Array([Vector2(0, 0), Vector2(0, 50), Vector2(50, 50), Vector2(50, 0)])
polygon.add_outline(outline)
polygon.make_polygons_from_outlines()
$NavigationRegion2D.navigation_polygon = polygon
var new_navigation_mesh = NavigationPolygon.new()
var bounding_outline = PackedVector2Array([Vector2(0, 0), Vector2(0, 50), Vector2(50, 50), Vector2(50, 0)])
new_navigation_mesh.add_outline(bounding_outline)
NavigationServer2D.bake_from_source_geometry_data(new_navigation_mesh, NavigationMeshSourceGeometryData2D.new());
$NavigationRegion2D.navigation_polygon = new_navigation_mesh
[/gdscript]
[csharp]
var polygon = new NavigationPolygon();
var outline = new Vector2[] { new Vector2(0, 0), new Vector2(0, 50), new Vector2(50, 50), new Vector2(50, 0) };
polygon.AddOutline(outline);
polygon.MakePolygonsFromOutlines();
GetNode&lt;NavigationRegion2D&gt;("NavigationRegion2D").NavigationPolygon = polygon;
var newNavigationMesh = new NavigationPolygon();
var boundingOutline = new Vector2[] { new Vector2(0, 0), new Vector2(0, 50), new Vector2(50, 50), new Vector2(50, 0) };
newNavigationMesh.AddOutline(boundingOutline);
NavigationServer2D.BakeFromSourceGeometryData(newNavigationMesh, new NavigationMeshSourceGeometryData2D());
GetNode&lt;NavigationRegion2D&gt;("NavigationRegion2D").NavigationPolygon = newNavigationMesh;
[/csharp]
[/codeblocks]
Using [method add_polygon] and indices of the vertices array.
Adding vertices and polygon indices manually.
[codeblocks]
[gdscript]
var polygon = NavigationPolygon.new()
var vertices = PackedVector2Array([Vector2(0, 0), Vector2(0, 50), Vector2(50, 50), Vector2(50, 0)])
polygon.vertices = vertices
var indices = PackedInt32Array([0, 1, 2, 3])
polygon.add_polygon(indices)
$NavigationRegion2D.navigation_polygon = polygon
var new_navigation_mesh = NavigationPolygon.new()
var new_vertices = PackedVector2Array([Vector2(0, 0), Vector2(0, 50), Vector2(50, 50), Vector2(50, 0)])
new_navigation_mesh.vertices = new_vertices
var new_polygon_indices = PackedInt32Array([0, 1, 2, 3])
new_navigation_mesh.add_polygon(new_polygon_indices)
$NavigationRegion2D.navigation_polygon = new_navigation_mesh
[/gdscript]
[csharp]
var polygon = new NavigationPolygon();
var vertices = new Vector2[] { new Vector2(0, 0), new Vector2(0, 50), new Vector2(50, 50), new Vector2(50, 0) };
polygon.Vertices = vertices;
var indices = new int[] { 0, 1, 2, 3 };
polygon.AddPolygon(indices);
GetNode&lt;NavigationRegion2D&gt;("NavigationRegion2D").NavigationPolygon = polygon;
var newNavigationMesh = new NavigationPolygon();
var newVertices = new Vector2[] { new Vector2(0, 0), new Vector2(0, 50), new Vector2(50, 50), new Vector2(50, 0) };
newNavigationMesh.Vertices = newVertices;
var newPolygonIndices = new int[] { 0, 1, 2, 3 };
newNavigationMesh.AddPolygon(newPolygonIndices);
GetNode&lt;NavigationRegion2D&gt;("NavigationRegion2D").NavigationPolygon = newNavigationMesh;
[/csharp]
[/codeblocks]
</description>
Expand All @@ -51,15 +51,15 @@
<return type="void" />
<param index="0" name="outline" type="PackedVector2Array" />
<description>
Appends a [PackedVector2Array] that contains the vertices of an outline to the internal array that contains all the outlines. You have to call [method make_polygons_from_outlines] in order for this array to be converted to polygons that the engine will use.
Appends a [PackedVector2Array] that contains the vertices of an outline to the internal array that contains all the outlines.
</description>
</method>
<method name="add_outline_at_index">
<return type="void" />
<param index="0" name="outline" type="PackedVector2Array" />
<param index="1" name="index" type="int" />
<description>
Adds a [PackedVector2Array] that contains the vertices of an outline to the internal array that contains all the outlines at a fixed position. You have to call [method make_polygons_from_outlines] in order for this array to be converted to polygons that the engine will use.
Adds a [PackedVector2Array] that contains the vertices of an outline to the internal array that contains all the outlines at a fixed position.
</description>
</method>
<method name="add_polygon">
Expand Down Expand Up @@ -106,6 +106,13 @@
Returns the number of outlines that were created in the editor or by script.
</description>
</method>
<method name="get_parsed_collision_mask_value" qualifiers="const">
<return type="bool" />
<param index="0" name="layer_number" type="int" />
<description>
Returns whether or not the specified layer of the [member parsed_collision_mask] is enabled, given a [param layer_number] between 1 and 32.
</description>
</method>
<method name="get_polygon">
<return type="PackedInt32Array" />
<param index="0" name="idx" type="int" />
Expand All @@ -125,10 +132,11 @@
Returns a [PackedVector2Array] containing all the vertices being used to create the polygons.
</description>
</method>
<method name="make_polygons_from_outlines">
<method name="make_polygons_from_outlines" is_deprecated="true">
<return type="void" />
<description>
Creates polygons from the outlines added in the editor or by script.
[i]Deprecated.[/i] This function is deprecated, and might be removed in a future release. Use [method NavigationServer2D.parse_source_geometry_data] and [method NavigationServer2D.bake_from_source_geometry_data] instead.
</description>
</method>
<method name="remove_outline">
Expand All @@ -146,6 +154,14 @@
Changes an outline created in the editor or by script. You have to call [method make_polygons_from_outlines] for the polygons to update.
</description>
</method>
<method name="set_parsed_collision_mask_value">
<return type="void" />
<param index="0" name="layer_number" type="int" />
<param index="1" name="value" type="bool" />
<description>
Based on [param value], enables or disables the specified layer in the [member parsed_collision_mask], given a [param layer_number] between 1 and 32.
</description>
</method>
<method name="set_vertices">
<return type="void" />
<param index="0" name="vertices" type="PackedVector2Array" />
Expand All @@ -155,8 +171,52 @@
</method>
</methods>
<members>
<member name="agent_radius" type="float" setter="set_agent_radius" getter="get_agent_radius" default="10.0">
The distance to erode/shrink the walkable surface when baking the navigation mesh.
</member>
<member name="cell_size" type="float" setter="set_cell_size" getter="get_cell_size" default="1.0">
The cell size used to rasterize the navigation mesh vertices. Must match with the cell size on the navigation map.
</member>
<member name="parsed_collision_mask" type="int" setter="set_parsed_collision_mask" getter="get_parsed_collision_mask" default="4294967295">
The physics layers to scan for static colliders.
Only used when [member parsed_geometry_type] is [constant PARSED_GEOMETRY_STATIC_COLLIDERS] or [constant PARSED_GEOMETRY_BOTH].
</member>
<member name="parsed_geometry_type" type="int" setter="set_parsed_geometry_type" getter="get_parsed_geometry_type" enum="NavigationPolygon.ParsedGeometryType" default="2">
Determines which type of nodes will be parsed as geometry. See [enum ParsedGeometryType] for possible values.
</member>
<member name="source_geometry_group_name" type="StringName" setter="set_source_geometry_group_name" getter="get_source_geometry_group_name" default="&amp;&quot;navigation_polygon_source_geometry_group&quot;">
The group name of nodes that should be parsed for baking source geometry.
Only used when [member source_geometry_mode] is [constant SOURCE_GEOMETRY_GROUPS_WITH_CHILDREN] or [constant SOURCE_GEOMETRY_GROUPS_EXPLICIT].
</member>
<member name="source_geometry_mode" type="int" setter="set_source_geometry_mode" getter="get_source_geometry_mode" enum="NavigationPolygon.SourceGeometryMode" default="0">
The source of the geometry used when baking. See [enum SourceGeometryMode] for possible values.
</member>
</members>
<constants>
<constant name="PARSED_GEOMETRY_MESH_INSTANCES" value="0" enum="ParsedGeometryType">
Parses mesh instances as obstruction geometry. This includes [Polygon2D], [MeshInstance2D], [MultiMeshInstance2D], and [TileMap] nodes.
Meshes are only parsed when they use a 2D vertices surface format.
</constant>
<constant name="PARSED_GEOMETRY_STATIC_COLLIDERS" value="1" enum="ParsedGeometryType">
Parses [StaticBody2D] and [TileMap] colliders as obstruction geometry. The collider should be in any of the layers specified by [member parsed_collision_mask].
</constant>
<constant name="PARSED_GEOMETRY_BOTH" value="2" enum="ParsedGeometryType">
Both [constant PARSED_GEOMETRY_MESH_INSTANCES] and [constant PARSED_GEOMETRY_STATIC_COLLIDERS].
</constant>
<constant name="PARSED_GEOMETRY_MAX" value="3" enum="ParsedGeometryType">
Represents the size of the [enum ParsedGeometryType] enum.
</constant>
<constant name="SOURCE_GEOMETRY_ROOT_NODE_CHILDREN" value="0" enum="SourceGeometryMode">
Scans the child nodes of the root node recursively for geometry.
</constant>
<constant name="SOURCE_GEOMETRY_GROUPS_WITH_CHILDREN" value="1" enum="SourceGeometryMode">
Scans nodes in a group and their child nodes recursively for geometry. The group is specified by [member source_geometry_group_name].
</constant>
<constant name="SOURCE_GEOMETRY_GROUPS_EXPLICIT" value="2" enum="SourceGeometryMode">
Uses nodes in a group for geometry. The group is specified by [member source_geometry_group_name].
</constant>
<constant name="SOURCE_GEOMETRY_MAX" value="3" enum="SourceGeometryMode">
Represents the size of the [enum SourceGeometryMode] enum.
</constant>
</constants>
</class>
19 changes: 19 additions & 0 deletions doc/classes/NavigationRegion2D.xml
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Expand Up @@ -16,6 +16,13 @@
<link title="Using NavigationRegions">$DOCS_URL/tutorials/navigation/navigation_using_navigationregions.html</link>
</tutorials>
<methods>
<method name="bake_navigation_polygon">
<return type="void" />
<param index="0" name="on_thread" type="bool" default="true" />
<description>
Bakes the [NavigationPolygon]. If [param on_thread] is set to [code]true[/code] (default), the baking is done on a separate thread.
</description>
</method>
<method name="get_avoidance_layer_value" qualifiers="const">
<return type="bool" />
<param index="0" name="layer_number" type="int" />
Expand Down Expand Up @@ -93,4 +100,16 @@
If enabled the navigation region will use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin.
</member>
</members>
<signals>
<signal name="bake_finished">
<description>
Emitted when a navigation polygon bake operation is completed.
</description>
</signal>
<signal name="navigation_polygon_changed">
<description>
Emitted when the used navigation polygon is replaced or changes to the internals of the current navigation polygon are committed.
</description>
</signal>
</signals>
</class>
30 changes: 30 additions & 0 deletions doc/classes/NavigationServer2D.xml
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Expand Up @@ -182,6 +182,24 @@
Replaces the internal velocity in the collision avoidance simulation with [param velocity] for the specified [param agent]. When an agent is teleported to a new position far away this function should be used in the same frame. If called frequently this function can get agents stuck.
</description>
</method>
<method name="bake_from_source_geometry_data">
<return type="void" />
<param index="0" name="navigation_polygon" type="NavigationPolygon" />
<param index="1" name="source_geometry_data" type="NavigationMeshSourceGeometryData2D" />
<param index="2" name="callback" type="Callable" default="Callable()" />
<description>
Bakes the provided [param navigation_polygon] with the data from the provided [param source_geometry_data]. After the process is finished the optional [param callback] will be called.
</description>
</method>
<method name="bake_from_source_geometry_data_async">
<return type="void" />
<param index="0" name="navigation_polygon" type="NavigationPolygon" />
<param index="1" name="source_geometry_data" type="NavigationMeshSourceGeometryData2D" />
<param index="2" name="callback" type="Callable" default="Callable()" />
<description>
Bakes the provided [param navigation_polygon] with the data from the provided [param source_geometry_data] as an async task running on a background thread. After the process is finished the optional [param callback] will be called.
</description>
</method>
<method name="free_rid">
<return type="void" />
<param index="0" name="rid" type="RID" />
Expand Down Expand Up @@ -579,6 +597,18 @@
Sets the outline vertices for the obstacle. If the vertices are winded in clockwise order agents will be pushed in by the obstacle, else they will be pushed out.
</description>
</method>
<method name="parse_source_geometry_data">
<return type="void" />
<param index="0" name="navigation_polygon" type="NavigationPolygon" />
<param index="1" name="source_geometry_data" type="NavigationMeshSourceGeometryData2D" />
<param index="2" name="root_node" type="Node" />
<param index="3" name="callback" type="Callable" default="Callable()" />
<description>
Parses the [SceneTree] for source geometry according to the properties of [param navigation_polygon]. Updates the provided [param source_geometry_data] resource with the resulting data. The resource can then be used to bake a navigation mesh with [method bake_from_source_geometry_data]. After the process is finished the optional [param callback] will be called.
[b]Note:[/b] This function needs to run on the main thread or with a deferred call as the SceneTree is not thread-safe.
[b]Performance:[/b] While convenient, reading data arrays from [Mesh] resources can affect the frame rate negatively. The data needs to be received from the GPU, stalling the [RenderingServer] in the process. For performance prefer the use of e.g. collision shapes or creating the data arrays entirely in code.
</description>
</method>
<method name="query_path" qualifiers="const">
<return type="void" />
<param index="0" name="parameters" type="NavigationPathQueryParameters2D" />
Expand Down
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