Merge pull request #78201 from smix8/navmesh_cell_height_4.x

Fix `cell_height` for navigation meshes
godotengine · Jun 14, 2023 · 754a52a · 754a52a
2 parents 16c2fed + 180a5cd
commit 754a52a
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Showing 15 changed files with 74 additions and 14 deletions.
diff --git a/doc/classes/NavigationMesh.xml b/doc/classes/NavigationMesh.xml
@@ -91,10 +91,10 @@
 			[b]Note:[/b] While baking, this value will be rounded up to the nearest multiple of [member cell_size].
 		</member>
 		<member name="cell_height" type="float" setter="set_cell_height" getter="get_cell_height" default="0.25">
-			The Y axis cell size to use for fields.
+			The cell height used to rasterize the navigation mesh vertices on the Y axis. Must match with the cell height on the navigation map.
 		</member>
 		<member name="cell_size" type="float" setter="set_cell_size" getter="get_cell_size" default="0.25">
-			The XZ plane cell size to use for fields.
+			The cell size used to rasterize the navigation mesh vertices on the XZ plane. Must match with the cell size on the navigation map.
 		</member>
 		<member name="detail_sample_distance" type="float" setter="set_detail_sample_distance" getter="get_detail_sample_distance" default="6.0">
 			The sampling distance to use when generating the detail mesh, in cell unit.

diff --git a/doc/classes/NavigationServer2D.xml b/doc/classes/NavigationServer2D.xml
@@ -339,7 +339,7 @@
 			<return type="float" />
 			<param index="0" name="map" type="RID" />
 			<description>
-				Returns the map cell size.
+				Returns the map cell size used to rasterize the navigation mesh vertices.
 			</description>
 		</method>
 		<method name="map_get_closest_point" qualifiers="const">
@@ -431,7 +431,7 @@
 			<param index="0" name="map" type="RID" />
 			<param index="1" name="cell_size" type="float" />
 			<description>
-				Set the map cell size used to weld the navigation mesh polygons.
+				Sets the map cell size used to rasterize the navigation mesh vertices. Must match with the cell size of the used navigation meshes.
 			</description>
 		</method>
 		<method name="map_set_edge_connection_margin">

diff --git a/doc/classes/NavigationServer3D.xml b/doc/classes/NavigationServer3D.xml
@@ -367,11 +367,18 @@
 				Returns all navigation agents [RID]s that are currently assigned to the requested navigation [param map].
 			</description>
 		</method>
+		<method name="map_get_cell_height" qualifiers="const">
+			<return type="float" />
+			<param index="0" name="map" type="RID" />
+			<description>
+				Returns the map cell height used to rasterize the navigation mesh vertices on the Y axis.
+			</description>
+		</method>
 		<method name="map_get_cell_size" qualifiers="const">
 			<return type="float" />
 			<param index="0" name="map" type="RID" />
 			<description>
-				Returns the map cell size.
+				Returns the map cell size used to rasterize the navigation mesh vertices on the XZ plane.
 			</description>
 		</method>
 		<method name="map_get_closest_point" qualifiers="const">
@@ -483,12 +490,20 @@
 				Sets the map active.
 			</description>
 		</method>
+		<method name="map_set_cell_height">
+			<return type="void" />
+			<param index="0" name="map" type="RID" />
+			<param index="1" name="cell_height" type="float" />
+			<description>
+				Sets the map cell height used to rasterize the navigation mesh vertices on the Y axis. Must match with the cell height of the used navigation meshes.
+			</description>
+		</method>
 		<method name="map_set_cell_size">
 			<return type="void" />
 			<param index="0" name="map" type="RID" />
 			<param index="1" name="cell_size" type="float" />
 			<description>
-				Set the map cell size used to weld the navigation mesh polygons.
+				Sets the map cell size used to rasterize the navigation mesh vertices on the XZ plane. Must match with the cell size of the used navigation meshes.
 			</description>
 		</method>
 		<method name="map_set_edge_connection_margin">

diff --git a/doc/classes/ProjectSettings.xml b/doc/classes/ProjectSettings.xml
@@ -1952,6 +1952,9 @@
 		<member name="navigation/2d/use_edge_connections" type="bool" setter="" getter="" default="true">
 			If enabled 2D navigation regions will use edge connections to connect with other navigation regions within proximity of the navigation map edge connection margin. This setting only affects World2D default navigation maps.
 		</member>
+		<member name="navigation/3d/default_cell_height" type="float" setter="" getter="" default="0.25">
+			Default cell height for 3D navigation maps. See [method NavigationServer3D.map_set_cell_height].
+		</member>
 		<member name="navigation/3d/default_cell_size" type="float" setter="" getter="" default="0.25">
 			Default cell size for 3D navigation maps. See [method NavigationServer3D.map_set_cell_size].
 		</member>

diff --git a/modules/navigation/godot_navigation_server.cpp b/modules/navigation/godot_navigation_server.cpp
@@ -166,6 +166,20 @@ real_t GodotNavigationServer::map_get_cell_size(RID p_map) const {
 	return map->get_cell_size();
 }
 
+COMMAND_2(map_set_cell_height, RID, p_map, real_t, p_cell_height) {
+	NavMap *map = map_owner.get_or_null(p_map);
+	ERR_FAIL_COND(map == nullptr);
+
+	map->set_cell_height(p_cell_height);
+}
+
+real_t GodotNavigationServer::map_get_cell_height(RID p_map) const {
+	const NavMap *map = map_owner.get_or_null(p_map);
+	ERR_FAIL_COND_V(map == nullptr, 0);
+
+	return map->get_cell_height();
+}
+
 COMMAND_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled) {
 	NavMap *map = map_owner.get_or_null(p_map);
 	ERR_FAIL_COND(map == nullptr);

diff --git a/modules/navigation/godot_navigation_server.h b/modules/navigation/godot_navigation_server.h
@@ -107,6 +107,9 @@ class GodotNavigationServer : public NavigationServer3D {
 	COMMAND_2(map_set_cell_size, RID, p_map, real_t, p_cell_size);
 	virtual real_t map_get_cell_size(RID p_map) const override;
 
+	COMMAND_2(map_set_cell_height, RID, p_map, real_t, p_cell_height);
+	virtual real_t map_get_cell_height(RID p_map) const override;
+
 	COMMAND_2(map_set_use_edge_connections, RID, p_map, bool, p_enabled);
 	virtual bool map_get_use_edge_connections(RID p_map) const override;
 

diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
@@ -69,6 +69,14 @@ void NavMap::set_cell_size(real_t p_cell_size) {
 	regenerate_polygons = true;
 }
 
+void NavMap::set_cell_height(real_t p_cell_height) {
+	if (cell_height == p_cell_height) {
+		return;
+	}
+	cell_height = p_cell_height;
+	regenerate_polygons = true;
+}
+
 void NavMap::set_use_edge_connections(bool p_enabled) {
 	if (use_edge_connections == p_enabled) {
 		return;
@@ -94,9 +102,9 @@ void NavMap::set_link_connection_radius(real_t p_link_connection_radius) {
 }
 
 gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
-	const int x = int(Math::floor(p_pos.x / cell_size));
-	const int y = int(Math::floor(p_pos.y / cell_size));
-	const int z = int(Math::floor(p_pos.z / cell_size));
+	const int x = static_cast<int>(Math::floor(p_pos.x / cell_size));
+	const int y = static_cast<int>(Math::floor(p_pos.y / cell_height));
+	const int z = static_cast<int>(Math::floor(p_pos.z / cell_size));
 
 	gd::PointKey p;
 	p.key = 0;

diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
@@ -54,8 +54,9 @@ class NavMap : public NavRid {
 	Vector3 up = Vector3(0, 1, 0);
 
 	/// To find the polygons edges the vertices are displaced in a grid where
-	/// each cell has the following cell_size.
-	real_t cell_size = 0.25;
+	/// each cell has the following cell_size and cell_height.
+	real_t cell_size = 0.25; // Must match ProjectSettings default 3D cell_size and NavigationMesh cell_size.
+	real_t cell_height = 0.25; // Must match ProjectSettings default 3D cell_height and NavigationMesh cell_height.
 
 	bool use_edge_connections = true;
 	/// This value is used to detect the near edges to connect.
@@ -131,6 +132,9 @@ class NavMap : public NavRid {
 		return cell_size;
 	}
 
+	void set_cell_height(real_t p_cell_height);
+	real_t get_cell_height() const { return cell_height; }
+
 	void set_use_edge_connections(bool p_enabled);
 	bool get_use_edge_connections() const {
 		return use_edge_connections;

diff --git a/modules/navigation/nav_region.cpp b/modules/navigation/nav_region.cpp
@@ -110,6 +110,10 @@ void NavRegion::update_polygons() {
 		ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to update a navigation region with a navigation mesh that uses a different `cell_size` than the `cell_size` set on the navigation map.");
 	}
 
+	if (!Math::is_equal_approx(double(map->get_cell_height()), double(mesh->get_cell_height()))) {
+		ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to update a navigation region with a navigation mesh that uses a different `cell_height` than the `cell_height` set on the navigation map.");
+	}
+
 	if (map && Math::rad_to_deg(map->get_up().angle_to(transform.basis.get_column(1))) >= 90.0f) {
 		ERR_PRINT_ONCE("Navigation map synchronization error. Attempted to update a navigation region transform rotated 90 degrees or more away from the current navigation map UP orientation.");
 	}

diff --git a/scene/resources/navigation_mesh.h b/scene/resources/navigation_mesh.h
@@ -91,8 +91,8 @@ class NavigationMesh : public Resource {
 	};
 
 protected:
-	float cell_size = 0.25f;
-	float cell_height = 0.25f;
+	float cell_size = 0.25f; // Must match ProjectSettings default 3D cell_size and NavigationServer NavMap cell_size.
+	float cell_height = 0.25f; // Must match ProjectSettings default 3D cell_height and NavigationServer NavMap cell_height.
 	float agent_height = 1.5f;
 	float agent_radius = 0.5f;
 	float agent_max_climb = 0.25f;

diff --git a/scene/resources/navigation_polygon.h b/scene/resources/navigation_polygon.h
@@ -51,7 +51,7 @@ class NavigationPolygon : public Resource {
 	// Navigation mesh
 	Ref<NavigationMesh> navigation_mesh;
 
-	real_t cell_size = 1.0f;
+	real_t cell_size = 1.0f; // Must match ProjectSettings default 2D cell_size.
 
 protected:
 	static void _bind_methods();

diff --git a/scene/resources/world_3d.cpp b/scene/resources/world_3d.cpp
@@ -67,6 +67,7 @@ RID World3D::get_navigation_map() const {
 		navigation_map = NavigationServer3D::get_singleton()->map_create();
 		NavigationServer3D::get_singleton()->map_set_active(navigation_map, true);
 		NavigationServer3D::get_singleton()->map_set_cell_size(navigation_map, GLOBAL_GET("navigation/3d/default_cell_size"));
+		NavigationServer3D::get_singleton()->map_set_cell_height(navigation_map, GLOBAL_GET("navigation/3d/default_cell_height"));
 		NavigationServer3D::get_singleton()->map_set_use_edge_connections(navigation_map, GLOBAL_GET("navigation/3d/use_edge_connections"));
 		NavigationServer3D::get_singleton()->map_set_edge_connection_margin(navigation_map, GLOBAL_GET("navigation/3d/default_edge_connection_margin"));
 		NavigationServer3D::get_singleton()->map_set_link_connection_radius(navigation_map, GLOBAL_GET("navigation/3d/default_link_connection_radius"));

diff --git a/servers/navigation_server_3d.cpp b/servers/navigation_server_3d.cpp
@@ -43,6 +43,8 @@ void NavigationServer3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("map_get_up", "map"), &NavigationServer3D::map_get_up);
 	ClassDB::bind_method(D_METHOD("map_set_cell_size", "map", "cell_size"), &NavigationServer3D::map_set_cell_size);
 	ClassDB::bind_method(D_METHOD("map_get_cell_size", "map"), &NavigationServer3D::map_get_cell_size);
+	ClassDB::bind_method(D_METHOD("map_set_cell_height", "map", "cell_height"), &NavigationServer3D::map_set_cell_height);
+	ClassDB::bind_method(D_METHOD("map_get_cell_height", "map"), &NavigationServer3D::map_get_cell_height);
 	ClassDB::bind_method(D_METHOD("map_set_use_edge_connections", "map", "enabled"), &NavigationServer3D::map_set_use_edge_connections);
 	ClassDB::bind_method(D_METHOD("map_get_use_edge_connections", "map"), &NavigationServer3D::map_get_use_edge_connections);
 	ClassDB::bind_method(D_METHOD("map_set_edge_connection_margin", "map", "margin"), &NavigationServer3D::map_set_edge_connection_margin);
@@ -180,6 +182,7 @@ NavigationServer3D::NavigationServer3D() {
 	GLOBAL_DEF_BASIC("navigation/2d/default_link_connection_radius", 4);
 
 	GLOBAL_DEF_BASIC("navigation/3d/default_cell_size", 0.25);
+	GLOBAL_DEF_BASIC("navigation/3d/default_cell_height", 0.25);
 	GLOBAL_DEF("navigation/3d/use_edge_connections", true);
 	GLOBAL_DEF_BASIC("navigation/3d/default_edge_connection_margin", 0.25);
 	GLOBAL_DEF_BASIC("navigation/3d/default_link_connection_radius", 1.0);

diff --git a/servers/navigation_server_3d.h b/servers/navigation_server_3d.h
@@ -80,6 +80,9 @@ class NavigationServer3D : public Object {
 	/// 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;
+	virtual real_t map_get_cell_height(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;
 

diff --git a/servers/navigation_server_3d_dummy.h b/servers/navigation_server_3d_dummy.h
@@ -45,6 +45,8 @@ class NavigationServer3DDummy : public NavigationServer3D {
 	Vector3 map_get_up(RID p_map) const override { return Vector3(); }
 	void map_set_cell_size(RID p_map, real_t p_cell_size) override {}
 	real_t map_get_cell_size(RID p_map) const override { return 0; }
+	void map_set_cell_height(RID p_map, real_t p_cell_height) override {}
+	real_t map_get_cell_height(RID p_map) const override { return 0; }
 	void map_set_use_edge_connections(RID p_map, bool p_enabled) override {}
 	bool map_get_use_edge_connections(RID p_map) const override { return false; }
 	void map_set_edge_connection_margin(RID p_map, real_t p_connection_margin) override {}