Consider gridmap collisions in navigation bake

modules/gridmap/doc_classes/GridMap.xml

@@ -67,7 +67,7 @@
  Returns whether or not the specified layer of the [member collision_mask] is enabled, given a [code]layer_number[/code] between 1 and 32.
  </description>
  </method>
- <method name="get_meshes">
+ <method name="get_meshes" qualifiers="const">
  <return type="Array" />
  <description>
  Returns an array of [Transform3D] 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_3d.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_3d.h"
@@ -197,6 +198,24 @@ bool GridMap::get_collision_mask_value(int p_layer_number) const {
  return get_collision_mask() & (1 << (p_layer_number - 1));
 }
 
+Array GridMap::get_collision_shapes() const {
+ Array shapes;
+ for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
+ Octant *g = E.value;
+ RID body = g->static_body;
+ Transform3D body_xform = PhysicsServer3D::get_singleton()->body_get_state(body, PhysicsServer3D::BODY_STATE_TRANSFORM);
+ int nshapes = PhysicsServer3D::get_singleton()->body_get_shape_count(body);
+ for (int i = 0; i < nshapes; i++) {
+ RID shape = PhysicsServer3D::get_singleton()->body_get_shape(body, i);
+ Transform3D xform = PhysicsServer3D::get_singleton()->body_get_shape_transform(body, i);
+ shapes.push_back(body_xform * xform);
+ shapes.push_back(shape);
+ }
+ }
+
+ return shapes;
+}
+
 void GridMap::set_bake_navigation(bool p_bake_navigation) {
  bake_navigation = p_bake_navigation;
  _recreate_octant_data();
@@ -930,15 +949,15 @@ Array GridMap::get_used_cells() const {
  return a;
 }
 
-Array GridMap::get_meshes() {
+Array GridMap::get_meshes() const {
  if (mesh_library.is_null()) {
  return Array();
  }
 
  Vector3 ofs = _get_offset();
  Array meshes;
 
- for (KeyValue<IndexKey, Cell> &E : cell_map) {
+ for (const KeyValue<IndexKey, Cell> &E : cell_map) {
  int id = E.value.item;
  if (!mesh_library->has_item(id)) {
  continue;

modules/gridmap/grid_map.h

@@ -229,6 +229,8 @@ class GridMap : public Node3D {
  void set_physics_material(Ref<PhysicsMaterial> p_material);
  Ref<PhysicsMaterial> get_physics_material() const;
 
+ Array get_collision_shapes() const;
+
  void set_bake_navigation(bool p_bake_navigation);
  bool is_baking_navigation();
 
@@ -265,7 +267,7 @@ class GridMap : public Node3D {
 
  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

@@ -265,14 +265,100 @@ void NavigationMeshGenerator::_parse_geometry(Transform3D p_accumulated_transfor
  }
 
 #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();
- Transform3D 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 * (Transform3D)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();
+ Transform3D xform = gridmap->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 * (Transform3D)meshes[i], 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];
+ PhysicsServer3D::ShapeType type = PhysicsServer3D::get_singleton()->shape_get_type(shape);
+ Variant data = PhysicsServer3D::get_singleton()->shape_get_data(shape);
+ Ref<Mesh> mesh;
+
+ switch (type) {
+ case PhysicsServer3D::SHAPE_SPHERE: {
+ real_t radius = data;
+ Ref<SphereMesh> sphere_mesh;
+ sphere_mesh.instantiate();
+ sphere_mesh->set_radius(radius);
+ sphere_mesh->set_height(radius * 2.0);
+ mesh = sphere_mesh;
+ } break;
+ case PhysicsServer3D::SHAPE_BOX: {
+ Vector3 extents = data;
+ Ref<BoxMesh> box_mesh;
+ box_mesh.instantiate();
+ box_mesh->set_size(2.0 * extents);
+ mesh = box_mesh;
+ } break;
+ case PhysicsServer3D::SHAPE_CAPSULE: {
+ Dictionary dict = data;
+ real_t radius = dict["radius"];
+ real_t height = dict["height"];
+ Ref<CapsuleMesh> capsule_mesh;
+ capsule_mesh.instantiate();
+ capsule_mesh->set_radius(radius);
+ capsule_mesh->set_height(height);
+ mesh = capsule_mesh;
+ } break;
+ case PhysicsServer3D::SHAPE_CYLINDER: {
+ Dictionary dict = data;
+ real_t radius = dict["radius"];
+ real_t height = dict["height"];
+ Ref<CylinderMesh> cylinder_mesh;
+ cylinder_mesh.instantiate();
+ cylinder_mesh->set_height(height);
+ cylinder_mesh->set_bottom_radius(radius);
+ cylinder_mesh->set_top_radius(radius);
+ mesh = cylinder_mesh;
+ } break;
+ case PhysicsServer3D::SHAPE_CONVEX_POLYGON: {
+ PackedVector3Array vertices = data;
+ Geometry3D::MeshData md;
+
+ Error err = ConvexHullComputer::convex_hull(vertices, md);
+
+ if (err == OK) {
+ PackedVector3Array faces;
+
+ for (int j = 0; j < md.faces.size(); ++j) {
+ Geometry3D::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 PhysicsServer3D::SHAPE_CONCAVE_POLYGON: {
+ Dictionary dict = data;
+ PackedVector3Array faces = Variant(dict["faces"]);
+ _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);
+ }
  }
  }
  }