Add NavigationPathQuery objects and NavigationServer query_path()

doc/classes/NavigationPathQueryParameters2D.xml

@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="NavigationPathQueryParameters2D" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+		Parameters to be sent to a 2D navigation path query.
+	</brief_description>
+	<description>
+		This class contains the start and target position and other parameters to be used with [method NavigationServer2D.query_path].
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="map" type="RID" setter="set_map" getter="get_map">
+			The navigation [code]map[/code] [RID] used in the path query.
+		</member>
+		<member name="navigation_layers" type="int" setter="set_navigation_layers" getter="get_navigation_layers" default="1">
+			The navigation layers the query will use (as a bitmask).
+		</member>
+		<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters2D.PathPostProcessing" default="0">
+		</member>
+		<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters2D.PathfindingAlgorithm" default="0">
+			The pathfinding algorithm used in the path query.
+		</member>
+		<member name="start_position" type="Vector2" setter="set_start_position" getter="get_start_position" default="Vector2(0, 0)">
+			The pathfinding start position in global coordinates.
+		</member>
+		<member name="target_position" type="Vector2" setter="set_target_position" getter="get_target_position" default="Vector2(0, 0)">
+			The pathfinding target position in global coordinates.
+		</member>
+	</members>
+	<constants>
+		<constant name="PATHFINDING_ALGORITHM_ASTAR" value="0" enum="PathfindingAlgorithm">
+			The path query uses the default A* pathfinding algorithm.
+		</constant>
+		<constant name="PATH_POSTPROCESSING_CORRIDORFUNNEL" value="0" enum="PathPostProcessing">
+			Applies a funnel algorithm to the raw path corridor found by the pathfinding algorithm. This will result in the shortest path possible inside the path corridor. This postprocessing very much depends on the navmesh polygon layout and the created corridor. Especially tile- or gridbased layouts can face artifical corners with diagonal movement due to a jagged path corridor imposed by the cell shapes.
+		</constant>
+		<constant name="PATH_POSTPROCESSING_EDGECENTERED" value="1" enum="PathPostProcessing">
+			Centers every path position in the middle of the traveled navmesh polygon edge. This creates better paths for tile- or gridbased layouts that restrict the movement to the cells center.
+		</constant>
+	</constants>
+</class>

doc/classes/NavigationPathQueryParameters3D.xml

@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="NavigationPathQueryParameters3D" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+		Parameters to be sent to a 3D navigation path query.
+	</brief_description>
+	<description>
+		This class contains the start and target position and other parameters to be used with [method NavigationServer3D.query_path].
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="map" type="RID" setter="set_map" getter="get_map">
+			The navigation [code]map[/code] [RID] used in the path query.
+		</member>
+		<member name="navigation_layers" type="int" setter="set_navigation_layers" getter="get_navigation_layers" default="1">
+			The navigation layers the query will use (as a bitmask).
+		</member>
+		<member name="path_postprocessing" type="int" setter="set_path_postprocessing" getter="get_path_postprocessing" enum="NavigationPathQueryParameters3D.PathPostProcessing" default="0">
+		</member>
+		<member name="pathfinding_algorithm" type="int" setter="set_pathfinding_algorithm" getter="get_pathfinding_algorithm" enum="NavigationPathQueryParameters3D.PathfindingAlgorithm" default="0">
+			The pathfinding algorithm used in the path query.
+		</member>
+		<member name="start_position" type="Vector3" setter="set_start_position" getter="get_start_position" default="Vector3(0, 0, 0)">
+			The pathfinding start position in global coordinates.
+		</member>
+		<member name="target_position" type="Vector3" setter="set_target_position" getter="get_target_position" default="Vector3(0, 0, 0)">
+			The pathfinding target position in global coordinates.
+		</member>
+	</members>
+	<constants>
+		<constant name="PATHFINDING_ALGORITHM_ASTAR" value="0" enum="PathfindingAlgorithm">
+			The path query uses the default A* pathfinding algorithm.
+		</constant>
+		<constant name="PATH_POSTPROCESSING_CORRIDORFUNNEL" value="0" enum="PathPostProcessing">
+			Applies a funnel algorithm to the raw path corridor found by the pathfinding algorithm. This will result in the shortest path possible inside the path corridor. This postprocessing very much depends on the navmesh polygon layout and the created corridor. Especially tile- or gridbased layouts can face artifical corners with diagonal movement due to a jagged path corridor imposed by the cell shapes.
+		</constant>
+		<constant name="PATH_POSTPROCESSING_EDGECENTERED" value="1" enum="PathPostProcessing">
+			Centers every path position in the middle of the traveled navmesh polygon edge. This creates better paths for tile- or gridbased layouts that restrict the movement to the cells center.
+		</constant>
+	</constants>
+</class>

doc/classes/NavigationPathQueryResult2D.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="NavigationPathQueryResult2D" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+		Result from a [NavigationPathQueryParameters2D] navigation path query.
+	</brief_description>
+	<description>
+		This class contains the result of a navigation path query from [method NavigationServer2D.query_path].
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="path" type="PackedVector2Array" setter="set_path" getter="get_path" default="PackedVector2Array()">
+			The resulting path array from the navigation query. All path array positions are in global coordinates. Without customized query parameters this is the same path as returned by [method NavigationServer2D.map_get_path].
+		</member>
+	</members>
+</class>

doc/classes/NavigationPathQueryResult3D.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<class name="NavigationPathQueryResult3D" inherits="RefCounted" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
+	<brief_description>
+		Result from a [NavigationPathQueryParameters3D] navigation path query.
+	</brief_description>
+	<description>
+		This class contains the result of a navigation path query from [method NavigationServer3D.query_path].
+	</description>
+	<tutorials>
+	</tutorials>
+	<members>
+		<member name="path" type="PackedVector3Array" setter="set_path" getter="get_path" default="PackedVector3Array()">
+			The resulting path array from the navigation query. All path array positions are in global coordinates. Without customized query parameters this is the same path as returned by [method NavigationServer3D.map_get_path].
+		</member>
+	</members>
+</class>

doc/classes/NavigationServer2D.xml

@@ -368,6 +368,14 @@
 				Set the map's link connection radius used to connect links to navigation polygons.
 			</description>
 		</method>
+		<method name="query_path" qualifiers="const">
+			<return type="void" />
+			<param index="0" name="parameters" type="NavigationPathQueryParameters2D" />
+			<param index="1" name="result" type="NavigationPathQueryResult2D" />
+			<description>
+				Queries a path in a given navigation map. Start and target position and other parameters are defined through [NavigationPathQueryParameters2D]. Updates the provided [NavigationPathQueryResult2D] result object with the path among other results requested by the query.
+			</description>
+		</method>
 		<method name="region_create" qualifiers="const">
 			<return type="RID" />
 			<description>

doc/classes/NavigationServer3D.xml

@@ -410,6 +410,14 @@
 				[b]Note:[/b] This function is not thread safe.
 			</description>
 		</method>
+		<method name="query_path" qualifiers="const">
+			<return type="void" />
+			<param index="0" name="parameters" type="NavigationPathQueryParameters3D" />
+			<param index="1" name="result" type="NavigationPathQueryResult3D" />
+			<description>
+				Queries a path in a given navigation map. Start and target position and other parameters are defined through [NavigationPathQueryParameters3D]. Updates the provided [NavigationPathQueryResult3D] result object with the path among other results requested by the query.
+			</description>
+		</method>
 		<method name="region_bake_navmesh" qualifiers="const">
 			<return type="void" />
 			<param index="0" name="mesh" type="NavigationMesh" />

modules/navigation/godot_navigation_server.cpp

@@ -810,6 +810,32 @@ void GodotNavigationServer::process(real_t p_delta_time) {
 	}
 }
 
+NavigationUtilities::PathQueryResult GodotNavigationServer::_query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const {
+	NavigationUtilities::PathQueryResult r_query_result;
+
+	const NavMap *map = map_owner.get_or_null(p_parameters.map);
+	ERR_FAIL_COND_V(map == nullptr, r_query_result);
+
+	// run the pathfinding
+
+	if (p_parameters.pathfinding_algorithm == NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR) {
+		// while postprocessing is still part of map.get_path() need to check and route it here for the correct "optimize" post-processing
+		if (p_parameters.path_postprocessing == NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL) {
+			r_query_result.path = map->get_path(p_parameters.start_position, p_parameters.target_position, true, p_parameters.navigation_layers);
+		} else if (p_parameters.path_postprocessing == NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED) {
+			r_query_result.path = map->get_path(p_parameters.start_position, p_parameters.target_position, false, p_parameters.navigation_layers);
+		}
+	} else {
+		return r_query_result;
+	}
+
+	// add path postprocessing
+
+	// add path stats
+
+	return r_query_result;
+}
+
 #undef COMMAND_1
 #undef COMMAND_2
 #undef COMMAND_4

modules/navigation/godot_navigation_server.h

@@ -175,6 +175,8 @@ class GodotNavigationServer : public NavigationServer3D {
 
 	void flush_queries();
 	virtual void process(real_t p_delta_time) override;
+
+	virtual NavigationUtilities::PathQueryResult _query_path(const NavigationUtilities::PathQueryParameters &p_parameters) const override;
 };
 
 #undef COMMAND_1

servers/SCsub

@@ -15,6 +15,7 @@ SConscript("text/SCsub")
 SConscript("debugger/SCsub")
 SConscript("extensions/SCsub")
 SConscript("movie_writer/SCsub")
+SConscript("navigation/SCsub")
 
 lib = env.add_library("servers", env.servers_sources)
 

servers/navigation/SCsub

@@ -0,0 +1,5 @@
+#!/usr/bin/env python
+
+Import("env")
+
+env.add_source_files(env.servers_sources, "*.cpp")

servers/navigation/navigation_path_query_parameters_2d.cpp

@@ -0,0 +1,144 @@
+/*************************************************************************/
+/*  navigation_path_query_parameters_2d.cpp                              */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#include "navigation_path_query_parameters_2d.h"
+
+void NavigationPathQueryParameters2D::set_pathfinding_algorithm(const NavigationPathQueryParameters2D::PathfindingAlgorithm p_pathfinding_algorithm) {
+	switch (p_pathfinding_algorithm) {
+		case PATHFINDING_ALGORITHM_ASTAR: {
+			parameters.pathfinding_algorithm = NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+		} break;
+		default: {
+			WARN_PRINT_ONCE("No match for used PathfindingAlgorithm - fallback to default");
+			parameters.pathfinding_algorithm = NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR;
+		} break;
+	}
+}
+
+NavigationPathQueryParameters2D::PathfindingAlgorithm NavigationPathQueryParameters2D::get_pathfinding_algorithm() const {
+	switch (parameters.pathfinding_algorithm) {
+		case NavigationUtilities::PathfindingAlgorithm::PATHFINDING_ALGORITHM_ASTAR:
+			return PATHFINDING_ALGORITHM_ASTAR;
+		default:
+			WARN_PRINT_ONCE("No match for used PathfindingAlgorithm - fallback to default");
+			return PATHFINDING_ALGORITHM_ASTAR;
+	}
+}
+
+void NavigationPathQueryParameters2D::set_path_postprocessing(const NavigationPathQueryParameters2D::PathPostProcessing p_path_postprocessing) {
+	switch (p_path_postprocessing) {
+		case PATH_POSTPROCESSING_CORRIDORFUNNEL: {
+			parameters.path_postprocessing = NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
+		} break;
+		case PATH_POSTPROCESSING_EDGECENTERED: {
+			parameters.path_postprocessing = NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED;
+		} break;
+		default: {
+			WARN_PRINT_ONCE("No match for used PathPostProcessing - fallback to default");
+			parameters.path_postprocessing = NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL;
+		} break;
+	}
+}
+
+NavigationPathQueryParameters2D::PathPostProcessing NavigationPathQueryParameters2D::get_path_postprocessing() const {
+	switch (parameters.path_postprocessing) {
+		case NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_CORRIDORFUNNEL:
+			return PATH_POSTPROCESSING_CORRIDORFUNNEL;
+		case NavigationUtilities::PathPostProcessing::PATH_POSTPROCESSING_EDGECENTERED:
+			return PATH_POSTPROCESSING_EDGECENTERED;
+		default:
+			WARN_PRINT_ONCE("No match for used PathPostProcessing - fallback to default");
+			return PATH_POSTPROCESSING_CORRIDORFUNNEL;
+	}
+}
+
+void NavigationPathQueryParameters2D::set_map(const RID &p_map) {
+	parameters.map = p_map;
+}
+
+const RID &NavigationPathQueryParameters2D::get_map() const {
+	return parameters.map;
+}
+
+void NavigationPathQueryParameters2D::set_start_position(const Vector2 p_start_position) {
+	parameters.start_position = Vector3(p_start_position.x, 0.0, p_start_position.y);
+}
+
+Vector2 NavigationPathQueryParameters2D::get_start_position() const {
+	return Vector2(parameters.start_position.x, parameters.start_position.z);
+}
+
+void NavigationPathQueryParameters2D::set_target_position(const Vector2 p_target_position) {
+	parameters.target_position = Vector3(p_target_position.x, 0.0, p_target_position.y);
+}
+
+Vector2 NavigationPathQueryParameters2D::get_target_position() const {
+	return Vector2(parameters.target_position.x, parameters.target_position.z);
+}
+
+void NavigationPathQueryParameters2D::set_navigation_layers(uint32_t p_navigation_layers) {
+	parameters.navigation_layers = p_navigation_layers;
+};
+
+uint32_t NavigationPathQueryParameters2D::get_navigation_layers() const {
+	return parameters.navigation_layers;
+};
+
+void NavigationPathQueryParameters2D::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_pathfinding_algorithm", "pathfinding_algorithm"), &NavigationPathQueryParameters2D::set_pathfinding_algorithm);
+	ClassDB::bind_method(D_METHOD("get_pathfinding_algorithm"), &NavigationPathQueryParameters2D::get_pathfinding_algorithm);
+
+	ClassDB::bind_method(D_METHOD("set_path_postprocessing", "path_postprocessing"), &NavigationPathQueryParameters2D::set_path_postprocessing);
+	ClassDB::bind_method(D_METHOD("get_path_postprocessing"), &NavigationPathQueryParameters2D::get_path_postprocessing);
+
+	ClassDB::bind_method(D_METHOD("set_map", "map"), &NavigationPathQueryParameters2D::set_map);
+	ClassDB::bind_method(D_METHOD("get_map"), &NavigationPathQueryParameters2D::get_map);
+
+	ClassDB::bind_method(D_METHOD("set_start_position", "start_position"), &NavigationPathQueryParameters2D::set_start_position);
+	ClassDB::bind_method(D_METHOD("get_start_position"), &NavigationPathQueryParameters2D::get_start_position);
+
+	ClassDB::bind_method(D_METHOD("set_target_position", "target_position"), &NavigationPathQueryParameters2D::set_target_position);
+	ClassDB::bind_method(D_METHOD("get_target_position"), &NavigationPathQueryParameters2D::get_target_position);
+
+	ClassDB::bind_method(D_METHOD("set_navigation_layers", "navigation_layers"), &NavigationPathQueryParameters2D::set_navigation_layers);
+	ClassDB::bind_method(D_METHOD("get_navigation_layers"), &NavigationPathQueryParameters2D::get_navigation_layers);
+
+	ADD_PROPERTY(PropertyInfo(Variant::RID, "map"), "set_map", "get_map");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "start_position"), "set_start_position", "get_start_position");
+	ADD_PROPERTY(PropertyInfo(Variant::VECTOR2, "target_position"), "set_target_position", "get_target_position");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "navigation_layers", PROPERTY_HINT_LAYERS_2D_NAVIGATION), "set_navigation_layers", "get_navigation_layers");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "pathfinding_algorithm", PROPERTY_HINT_ENUM, "AStar"), "set_pathfinding_algorithm", "get_pathfinding_algorithm");
+	ADD_PROPERTY(PropertyInfo(Variant::INT, "path_postprocessing", PROPERTY_HINT_ENUM, "Corridorfunnel,Edgecentered"), "set_path_postprocessing", "get_path_postprocessing");
+
+	BIND_ENUM_CONSTANT(PATHFINDING_ALGORITHM_ASTAR);
+
+	BIND_ENUM_CONSTANT(PATH_POSTPROCESSING_CORRIDORFUNNEL);
+	BIND_ENUM_CONSTANT(PATH_POSTPROCESSING_EDGECENTERED);
+}