Merge pull request #57173 from rafallus/3.x_gridmap_bake_staticbody

modules/gridmap/doc_classes/GridMap.xml

@@ -71,7 +71,7 @@
  Returns an individual bit on the [member collision_mask].
  </description>
  </method>
- <method name="get_meshes">
+ <method name="get_meshes" qualifiers="const">
  <return type="Array" />
  <description>
  Returns an array of [Transform] and [Mesh] references corresponding to the non-empty cells in the grid. The transforms are specified in world space.

modules/gridmap/grid_map.cpp

@@ -35,6 +35,7 @@
 #include "scene/3d/light.h"
 #include "scene/resources/mesh_library.h"
 #include "scene/resources/physics_material.h"
+#include "scene/resources/primitive_meshes.h"
 #include "scene/resources/surface_tool.h"
 #include "scene/scene_string_names.h"
 #include "servers/navigation_server.h"
@@ -193,6 +194,24 @@ Ref<PhysicsMaterial> GridMap::get_physics_material() const {
  return physics_material;
 }
 
+Array GridMap::get_collision_shapes() const {
+ Array shapes;
+ for (Map<OctantKey, Octant *>::Element *E = octant_map.front(); E; E = E->next()) {
+ Octant *g = E->get();
+ RID body = g->static_body;
+ Transform body_xform = PhysicsServer::get_singleton()->body_get_state(body, PhysicsServer::BODY_STATE_TRANSFORM);
+ int nshapes = PhysicsServer::get_singleton()->body_get_shape_count(body);
+ for (int i = 0; i < nshapes; i++) {
+ RID shape = PhysicsServer::get_singleton()->body_get_shape(body, i);
+ Transform xform = PhysicsServer::get_singleton()->body_get_shape_transform(body, i);
+ shapes.push_back(body_xform * xform);
+ shapes.push_back(shape);
+ }
+ }
+
+ return shapes;
+}
+
 void GridMap::set_mesh_library(const Ref<MeshLibrary> &p_mesh_library) {
  if (!mesh_library.is_null()) {
  mesh_library->unregister_owner(this);
@@ -939,7 +958,7 @@ Array GridMap::get_used_cells() const {
  return a;
 }
 
-Array GridMap::get_meshes() {
+Array GridMap::get_meshes() const {
  if (mesh_library.is_null()) {
  return Array();
  }

modules/gridmap/grid_map.h

@@ -225,6 +225,8 @@ class GridMap : public Spatial {
  void set_physics_material(Ref<PhysicsMaterial> p_material);
  Ref<PhysicsMaterial> get_physics_material() const;
 
+ Array get_collision_shapes() const;
+
  void set_mesh_library(const Ref<MeshLibrary> &p_mesh_library);
  Ref<MeshLibrary> get_mesh_library() const;
 
@@ -258,7 +260,7 @@ class GridMap : public Spatial {
 
  Array get_used_cells() const;
 
- Array get_meshes();
+ Array get_meshes() const;
 
  void clear_baked_meshes();
  void make_baked_meshes(bool p_gen_lightmap_uv = false, float p_lightmap_uv_texel_size = 0.1);

modules/navigation/navigation_mesh_generator.cpp

@@ -266,14 +266,100 @@ void NavigationMeshGenerator::_parse_geometry(Transform p_accumulated_transform,
  }
 
 #ifdef MODULE_GRIDMAP_ENABLED
- if (Object::cast_to<GridMap>(p_node) && p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
- GridMap *gridmap_instance = Object::cast_to<GridMap>(p_node);
- Array meshes = gridmap_instance->get_meshes();
- Transform xform = gridmap_instance->get_transform();
- for (int i = 0; i < meshes.size(); i += 2) {
- Ref<Mesh> mesh = meshes[i + 1];
- if (mesh.is_valid()) {
- _add_mesh(mesh, p_accumulated_transform * xform * meshes[i], p_vertices, p_indices);
+ GridMap *gridmap = Object::cast_to<GridMap>(p_node);
+
+ if (gridmap) {
+ if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_STATIC_COLLIDERS) {
+ Array meshes = gridmap->get_meshes();
+ Transform xform = gridmap->get_transform();
+ for (int i = 0; i < meshes.size(); i += 2) {
+ Ref<Mesh> mesh = meshes[i + 1];
+ if (mesh.is_valid()) {
+ Transform mesh_xform = meshes[i];
+ _add_mesh(mesh, p_accumulated_transform * xform * mesh_xform, p_vertices, p_indices);
+ }
+ }
+ }
+
+ if (p_generate_from != NavigationMesh::PARSED_GEOMETRY_MESH_INSTANCES && (gridmap->get_collision_layer() & p_collision_mask)) {
+ Array shapes = gridmap->get_collision_shapes();
+ for (int i = 0; i < shapes.size(); i += 2) {
+ RID shape = shapes[i + 1];
+ PhysicsServer::ShapeType type = PhysicsServer::get_singleton()->shape_get_type(shape);
+ Variant data = PhysicsServer::get_singleton()->shape_get_data(shape);
+ Ref<Mesh> mesh;
+
+ switch (type) {
+ case PhysicsServer::SHAPE_SPHERE: {
+ real_t radius = data;
+ Ref<SphereMesh> sphere_mesh;
+ sphere_mesh.instance();
+ sphere_mesh->set_radius(radius);
+ sphere_mesh->set_height(radius * 2.0);
+ mesh = sphere_mesh;
+ } break;
+ case PhysicsServer::SHAPE_BOX: {
+ Vector3 extents = data;
+ Ref<CubeMesh> box_mesh;
+ box_mesh.instance();
+ box_mesh->set_size(2.0 * extents);
+ mesh = box_mesh;
+ } break;
+ case PhysicsServer::SHAPE_CAPSULE: {
+ Dictionary dict = data;
+ real_t radius = dict["radius"];
+ real_t height = dict["height"];
+ Ref<CapsuleMesh> capsule_mesh;
+ capsule_mesh.instance();
+ capsule_mesh->set_radius(radius);
+ capsule_mesh->set_mid_height(0.5 * height);
+ mesh = capsule_mesh;
+ } break;
+ case PhysicsServer::SHAPE_CYLINDER: {
+ Dictionary dict = data;
+ real_t radius = dict["radius"];
+ real_t height = dict["height"];
+ Ref<CylinderMesh> cylinder_mesh;
+ cylinder_mesh.instance();
+ cylinder_mesh->set_height(height);
+ cylinder_mesh->set_bottom_radius(radius);
+ cylinder_mesh->set_top_radius(radius);
+ mesh = cylinder_mesh;
+ } break;
+ case PhysicsServer::SHAPE_CONVEX_POLYGON: {
+ PoolVector3Array vertices = data;
+ Geometry::MeshData md;
+
+ Error err = ConvexHullComputer::convex_hull(vertices, md);
+
+ if (err == OK) {
+ PoolVector3Array faces;
+
+ for (int j = 0; j < md.faces.size(); ++j) {
+ Geometry::MeshData::Face face = md.faces[j];
+
+ for (int k = 2; k < face.indices.size(); ++k) {
+ faces.push_back(md.vertices[face.indices[0]]);
+ faces.push_back(md.vertices[face.indices[k - 1]]);
+ faces.push_back(md.vertices[face.indices[k]]);
+ }
+ }
+
+ _add_faces(faces, shapes[i], p_vertices, p_indices);
+ }
+ } break;
+ case PhysicsServer::SHAPE_CONCAVE_POLYGON: {
+ PoolVector3Array faces = data;
+ _add_faces(faces, shapes[i], p_vertices, p_indices);
+ } break;
+ default: {
+ WARN_PRINT("Unsupported collision shape type.");
+ } break;
+ }
+
+ if (mesh.is_valid()) {
+ _add_mesh(mesh, shapes[i], p_vertices, p_indices);
+ }
  }
  }
  }