Merge pull request #96730 from tracefree/properly_transforming_obstacles

Repiteo · Repiteo · commit 848d90837e8e · 2024-11-11T14:18:33.000-06:00
Make use of NavigationObstacle3D's transform
diff --git a/editor/plugins/navigation_obstacle_3d_editor_plugin.cpp b/editor/plugins/navigation_obstacle_3d_editor_plugin.cpp
@@ -115,9 +115,14 @@ EditorPlugin::AfterGUIInput NavigationObstacle3DEditor::forward_3d_gui_input(Cam
 		return EditorPlugin::AFTER_GUI_INPUT_PASS;
 	}
 
-	Transform3D gt = obstacle_node->get_global_transform();
+	// Use special transformation rules for NavigationObstacle3D: Only take global y-rotation into account and limit scaling to positive values.
+	Transform3D gt;
+	gt.origin = obstacle_node->get_global_position();
+	gt.scale_basis(obstacle_node->get_global_basis().get_scale().abs().maxf(0.001));
+	gt.rotate_basis(Vector3(0.0, 1.0, 0.0), obstacle_node->get_global_rotation().y);
 	Transform3D gi = gt.affine_inverse();
 	Plane p(Vector3(0.0, 1.0, 0.0), gt.origin);
+	point_lines_meshinstance->set_transform(gt.translated(Vector3(0.0, 0.0, 0.00001)));
 
 	Ref<InputEventMouseButton> mb = p_event;
 
@@ -374,9 +379,12 @@ void NavigationObstacle3DEditor::_polygon_draw() {
 	point_handle_mesh->clear_surfaces();
 	point_lines_mesh->clear_surfaces();
 	point_lines_meshinstance->set_material_override(line_material);
-	point_lines_mesh->surface_begin(Mesh::PRIMITIVE_LINES);
 
-	Rect2 rect;
+	if (poly.is_empty()) {
+		return;
+	}
+
+	point_lines_mesh->surface_begin(Mesh::PRIMITIVE_LINES);
 
 	for (int i = 0; i < poly.size(); i++) {
 		Vector2 p, p2;
@@ -392,12 +400,6 @@ void NavigationObstacle3DEditor::_polygon_draw() {
 			p2 = poly[(i + 1) % poly.size()];
 		}
 
-		if (i == 0) {
-			rect.position = p;
-		} else {
-			rect.expand_to(p);
-		}
-
 		Vector3 point = Vector3(p.x, 0.0, p.y);
 		Vector3 next_point = Vector3(p2.x, 0.0, p2.y);
 
@@ -411,58 +413,8 @@ void NavigationObstacle3DEditor::_polygon_draw() {
 		//vpc->draw_texture(handle,point-handle->get_size()*0.5);
 	}
 
-	rect = rect.grow(1);
-
-	AABB r;
-	r.position.x = rect.position.x;
-	r.position.y = 0.0;
-	r.position.z = rect.position.y;
-	r.size.x = rect.size.x;
-	r.size.y = 0;
-	r.size.z = rect.size.y;
-
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position);
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + Vector3(0.3, 0, 0));
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position);
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + Vector3(0.0, 0.3, 0));
-
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + Vector3(r.size.x, 0, 0));
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + Vector3(r.size.x, 0, 0) - Vector3(0.3, 0, 0));
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + Vector3(r.size.x, 0, 0));
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + Vector3(r.size.x, 0, 0) + Vector3(0, 0.3, 0));
-
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + Vector3(0, r.size.y, 0));
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + Vector3(0, r.size.y, 0) - Vector3(0, 0.3, 0));
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + Vector3(0, r.size.y, 0));
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + Vector3(0, r.size.y, 0) + Vector3(0.3, 0, 0));
-
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + r.size);
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + r.size - Vector3(0.3, 0, 0));
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + r.size);
-	point_lines_mesh->surface_set_color(Color(0.8, 0.8, 0.8, 0.2));
-	point_lines_mesh->surface_add_vertex(r.position + r.size - Vector3(0.0, 0.3, 0));
-
 	point_lines_mesh->surface_end();
 
-	if (poly.size() == 0) {
-		return;
-	}
-
 	Array point_handle_mesh_array;
 	point_handle_mesh_array.resize(Mesh::ARRAY_MAX);
 	Vector<Vector3> point_handle_mesh_vertices;
@@ -541,6 +493,7 @@ NavigationObstacle3DEditor::NavigationObstacle3DEditor() {
 	point_lines_mesh.instantiate();
 	point_lines_meshinstance->set_mesh(point_lines_mesh);
 	point_lines_meshinstance->set_transform(Transform3D(Basis(), Vector3(0, 0, 0.00001)));
+	point_lines_meshinstance->set_as_top_level(true);
 
 	line_material.instantiate();
 	line_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
diff --git a/modules/navigation/3d/nav_mesh_generator_3d.cpp b/modules/navigation/3d/nav_mesh_generator_3d.cpp
@@ -595,11 +595,17 @@ void NavMeshGenerator3D::generator_parse_navigationobstacle_node(const Ref<Navig
 		return;
 	}
 
-	const Transform3D node_xform = p_source_geometry_data->root_node_transform * Transform3D(Basis(), obstacle->get_global_position());
-
+	const float elevation = obstacle->get_global_position().y + p_source_geometry_data->root_node_transform.origin.y;
+	// Prevent non-positive scaling.
+	const Vector3 safe_scale = obstacle->get_global_basis().get_scale().abs().maxf(0.001);
 	const float obstacle_radius = obstacle->get_radius();
 
 	if (obstacle_radius > 0.0) {
+		// Radius defined obstacle should be uniformly scaled from obstacle basis max scale axis.
+		const float scaling_max_value = safe_scale[safe_scale.max_axis_index()];
+		const Vector3 uniform_max_scale = Vector3(scaling_max_value, scaling_max_value, scaling_max_value);
+		const Transform3D obstacle_circle_transform = p_source_geometry_data->root_node_transform * Transform3D(Basis().scaled(uniform_max_scale), obstacle->get_global_position());
+
 		Vector<Vector3> obstruction_circle_vertices;
 
 		// The point of this is that the moving obstacle can make a simple hole in the navigation mesh and affect the pathfinding.
@@ -613,12 +619,15 @@ void NavMeshGenerator3D::generator_parse_navigationobstacle_node(const Ref<Navig
 
 		for (int i = 0; i < circle_points; i++) {
 			const float angle = i * circle_point_step;
-			circle_vertices_ptrw[i] = node_xform.xform(Vector3(Math::cos(angle) * obstacle_radius, 0.0, Math::sin(angle) * obstacle_radius));
+			circle_vertices_ptrw[i] = obstacle_circle_transform.xform(Vector3(Math::cos(angle) * obstacle_radius, 0.0, Math::sin(angle) * obstacle_radius));
 		}
 
-		p_source_geometry_data->add_projected_obstruction(obstruction_circle_vertices, obstacle->get_global_position().y + p_source_geometry_data->root_node_transform.origin.y - obstacle_radius, obstacle_radius, obstacle->get_carve_navigation_mesh());
+		p_source_geometry_data->add_projected_obstruction(obstruction_circle_vertices, elevation - obstacle_radius, scaling_max_value * obstacle_radius, obstacle->get_carve_navigation_mesh());
 	}
 
+	// Obstacles are projected to the xz-plane, so only rotation around the y-axis can be taken into account.
+	const Transform3D node_xform = p_source_geometry_data->root_node_transform * Transform3D(Basis().scaled(safe_scale).rotated(Vector3(0.0, 1.0, 0.0), obstacle->get_global_rotation().y), obstacle->get_global_position());
+
 	const Vector<Vector3> &obstacle_vertices = obstacle->get_vertices();
 
 	if (obstacle_vertices.is_empty()) {
@@ -635,7 +644,7 @@ void NavMeshGenerator3D::generator_parse_navigationobstacle_node(const Ref<Navig
 		obstruction_shape_vertices_ptrw[i] = node_xform.xform(obstacle_vertices_ptr[i]);
 		obstruction_shape_vertices_ptrw[i].y = 0.0;
 	}
-	p_source_geometry_data->add_projected_obstruction(obstruction_shape_vertices, obstacle->get_global_position().y + p_source_geometry_data->root_node_transform.origin.y, obstacle->get_height(), obstacle->get_carve_navigation_mesh());
+	p_source_geometry_data->add_projected_obstruction(obstruction_shape_vertices, elevation, safe_scale.y * obstacle->get_height(), obstacle->get_carve_navigation_mesh());
 }
 
 void NavMeshGenerator3D::generator_parse_source_geometry_data(const Ref<NavigationMesh> &p_navigation_mesh, Ref<NavigationMeshSourceGeometryData3D> p_source_geometry_data, Node *p_root_node) {
diff --git a/scene/3d/navigation_obstacle_3d.cpp b/scene/3d/navigation_obstacle_3d.cpp
@@ -176,13 +176,19 @@ void NavigationObstacle3D::_notification(int p_what) {
 				}
 #ifdef DEBUG_ENABLED
 				if (fake_agent_radius_debug_instance.is_valid() && radius > 0.0) {
-					Transform3D debug_transform;
-					debug_transform.origin = get_global_position();
+					// Prevent non-positive scaling.
+					const Vector3 safe_scale = get_global_basis().get_scale().abs().maxf(0.001);
+					// Agent radius is a scalar value and does not support non-uniform scaling, choose the largest axis.
+					const float scaling_max_value = safe_scale[safe_scale.max_axis_index()];
+					const Vector3 uniform_max_scale = Vector3(scaling_max_value, scaling_max_value, scaling_max_value);
+					const Transform3D debug_transform = Transform3D(Basis().scaled(uniform_max_scale), get_global_position());
 					RS::get_singleton()->instance_set_transform(fake_agent_radius_debug_instance, debug_transform);
 				}
 				if (static_obstacle_debug_instance.is_valid() && get_vertices().size() > 0) {
-					Transform3D debug_transform;
-					debug_transform.origin = get_global_position();
+					// Prevent non-positive scaling.
+					const Vector3 safe_scale = get_global_basis().get_scale().abs().maxf(0.001);
+					// Obstacles are projected to the xz-plane, so only rotation around the y-axis can be taken into account.
+					const Transform3D debug_transform = Transform3D(Basis().scaled(safe_scale).rotated(Vector3(0.0, 1.0, 0.0), get_global_rotation().y), get_global_position());
 					RS::get_singleton()->instance_set_transform(static_obstacle_debug_instance, debug_transform);
 				}
 #endif // DEBUG_ENABLED
@@ -354,6 +360,25 @@ bool NavigationObstacle3D::get_carve_navigation_mesh() const {
 	return carve_navigation_mesh;
 }
 
+PackedStringArray NavigationObstacle3D::get_configuration_warnings() const {
+	PackedStringArray warnings = Node3D::get_configuration_warnings();
+
+	if (get_global_rotation().x != 0.0 || get_global_rotation().z != 0.0) {
+		warnings.push_back(RTR("NavigationObstacle3D only takes global rotation around the y-axis into account. Rotations around the x-axis or z-axis might lead to unexpected results."));
+	}
+
+	const Vector3 global_scale = get_global_basis().get_scale();
+	if (global_scale.x < 0.001 || global_scale.y < 0.001 || global_scale.z < 0.001) {
+		warnings.push_back(RTR("NavigationObstacle3D does not support negative or zero scaling."));
+	}
+
+	if (radius > 0.0 && !get_global_basis().is_conformal()) {
+		warnings.push_back(RTR("The agent radius can only be scaled uniformly. The largest scale value along the three axes will be used."));
+	}
+
+	return warnings;
+}
+
 void NavigationObstacle3D::_update_map(RID p_map) {
 	NavigationServer3D::get_singleton()->obstacle_set_map(obstacle, p_map);
 	map_current = p_map;
diff --git a/scene/3d/navigation_obstacle_3d.h b/scene/3d/navigation_obstacle_3d.h
@@ -117,6 +117,8 @@ class NavigationObstacle3D : public Node3D {
 	void set_carve_navigation_mesh(bool p_enabled);
 	bool get_carve_navigation_mesh() const;
 
+	PackedStringArray get_configuration_warnings() const override;
+
 private:
 	void _update_map(RID p_map);
 	void _update_position(const Vector3 p_position);
