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Make navigation map spatial queries thread-safe

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Makes navigation map spatial queries thread-safe by adding a readers–writer lock.
This commit is contained in:
smix8
2023-07-17 12:20:09 +02:00
parent d3352813ea
commit 4cc8748c47
2 changed files with 30 additions and 5 deletions
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33
modules/navigation/nav_map.cpp
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@@ -116,7 +116,11 @@ gd::PointKey NavMap::get_point_key(const Vector3 &p_pos) const {
}
Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p_optimize, uint32_t p_navigation_layers, Vector<int32_t> *r_path_types, TypedArray<RID> *r_path_rids, Vector<int64_t> *r_path_owners) const {
ERR_FAIL_COND_V_MSG(map_update_id == 0, Vector<Vector3>(), "NavigationServer map query failed because it was made before first map synchronization.");
RWLockRead read_lock(map_rwlock);
if (map_update_id == 0) {
ERR_FAIL_V_MSG(Vector<Vector3>(), "NavigationServer map query failed because it was made before first map synchronization.");
}
// Clear metadata outputs.
if (r_path_types) {
r_path_types->clear();
@@ -576,7 +580,11 @@ Vector<Vector3> NavMap::get_path(Vector3 p_origin, Vector3 p_destination, bool p
}
Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector3 &p_to, const bool p_use_collision) const {
ERR_FAIL_COND_V_MSG(map_update_id == 0, Vector3(), "NavigationServer map query failed because it was made before first map synchronization.");
RWLockRead read_lock(map_rwlock);
if (map_update_id == 0) {
ERR_FAIL_V_MSG(Vector3(), "NavigationServer map query failed because it was made before first map synchronization.");
}
bool use_collision = p_use_collision;
Vector3 closest_point;
real_t closest_point_d = FLT_MAX;
@@ -624,24 +632,35 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
}
Vector3 NavMap::get_closest_point(const Vector3 &p_point) const {
ERR_FAIL_COND_V_MSG(map_update_id == 0, Vector3(), "NavigationServer map query failed because it was made before first map synchronization.");
RWLockRead read_lock(map_rwlock);
if (map_update_id == 0) {
ERR_FAIL_V_MSG(Vector3(), "NavigationServer map query failed because it was made before first map synchronization.");
}
gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
return cp.point;
}
Vector3 NavMap::get_closest_point_normal(const Vector3 &p_point) const {
ERR_FAIL_COND_V_MSG(map_update_id == 0, Vector3(), "NavigationServer map query failed because it was made before first map synchronization.");
RWLockRead read_lock(map_rwlock);
if (map_update_id == 0) {
ERR_FAIL_V_MSG(Vector3(), "NavigationServer map query failed because it was made before first map synchronization.");
}
gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
return cp.normal;
}
RID NavMap::get_closest_point_owner(const Vector3 &p_point) const {
ERR_FAIL_COND_V_MSG(map_update_id == 0, RID(), "NavigationServer map query failed because it was made before first map synchronization.");
RWLockRead read_lock(map_rwlock);
if (map_update_id == 0) {
ERR_FAIL_V_MSG(RID(), "NavigationServer map query failed because it was made before first map synchronization.");
}
gd::ClosestPointQueryResult cp = get_closest_point_info(p_point);
return cp.owner;
}
gd::ClosestPointQueryResult NavMap::get_closest_point_info(const Vector3 &p_point) const {
RWLockRead read_lock(map_rwlock);
gd::ClosestPointQueryResult result;
real_t closest_point_ds = FLT_MAX;
@@ -770,6 +789,8 @@ void NavMap::remove_agent_as_controlled(NavAgent *agent) {
}
Vector3 NavMap::get_random_point(uint32_t p_navigation_layers, bool p_uniformly) const {
RWLockRead read_lock(map_rwlock);
const LocalVector<NavRegion *> map_regions = get_regions();
if (map_regions.is_empty()) {
@@ -834,6 +855,8 @@ Vector3 NavMap::get_random_point(uint32_t p_navigation_layers, bool p_uniformly)
}
void NavMap::sync() {
RWLockWrite write_lock(map_rwlock);
// Performance Monitor
int _new_pm_region_count = regions.size();
int _new_pm_agent_count = agents.size();