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Merged
Repiteo merged 1 commit into from
Jun 19, 2026
Merged

Add octant visualization to GridMap #118583

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6 changes: 6 additions & 0 deletions modules/gridmap/doc_classes/GridMap.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -268,6 +268,12 @@
<member name="collision_visibility_mode" type="int" setter="set_collision_visibility_mode" getter="get_collision_visibility_mode" enum="GridMap.DebugVisibilityMode" default="0">
Show or hide the [GridMap]'s collision shapes. If set to [constant DEBUG_VISIBILITY_MODE_DEFAULT], this depends on the show collision debug settings.
</member>
<member name="debug_octant_color" type="Color" setter="set_debug_octant_color" getter="get_debug_octant_color" default="Color(1, 1, 1, 1)">
The [Color] used for rendering octant debug visuals when [member debug_show_octants] is enabled.
</member>
<member name="debug_show_octants" type="bool" setter="set_debug_show_octants" getter="get_debug_show_octants" default="false">
If [code]true[/code], shows debug visuals for octants.
</member>
<member name="mesh_library" type="MeshLibrary" setter="set_mesh_library" getter="get_mesh_library">
The assigned [MeshLibrary].
</member>
Expand Down
222 changes: 213 additions & 9 deletions modules/gridmap/grid_map.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -362,6 +362,134 @@ bool GridMap::get_center_z() const {
return center_z;
}

void GridMap::set_debug_octant_color(const Color &p_color) {
#ifdef DEBUG_ENABLED
if (debug_octant_color == p_color) {
return;
}

debug_octant_color = p_color;

if (debug_octant_line_material.is_valid()) {
debug_octant_line_material->set_albedo(debug_octant_color);
}
#endif
}

Color GridMap::get_debug_octant_color() const {
return debug_octant_color;
}

#ifdef DEBUG_ENABLED
void GridMap::_debug_update() {
if (debug_dirty || !is_inside_tree()) {
return;
}
debug_dirty = true;

callable_mp(this, &GridMap::_debug_update_octants).call_deferred();
}

void GridMap::_debug_update_octants() {
debug_dirty = false;

if (!debug_show_octants) {
_debug_clear_octants();
return;
}

if (debug_octant_line_material.is_null()) {
debug_octant_line_material.instantiate();
debug_octant_line_material->set_shading_mode(StandardMaterial3D::SHADING_MODE_UNSHADED);
debug_octant_line_material->set_transparency(StandardMaterial3D::TRANSPARENCY_ALPHA);
debug_octant_line_material->set_flag(StandardMaterial3D::FLAG_DISABLE_FOG, true);
debug_octant_line_material->set_albedo(debug_octant_color);
}

Array debug_mesh_arrays = _build_octant_line_mesh_arrays();

if (debug_octant_line_mesh_rid.is_null()) {
debug_octant_line_mesh_rid = RS::get_singleton()->mesh_create();
}
RS::get_singleton()->mesh_clear(debug_octant_line_mesh_rid);
RS::get_singleton()->mesh_add_surface_from_arrays(debug_octant_line_mesh_rid, RSE::PRIMITIVE_LINES, debug_mesh_arrays);
RS::get_singleton()->mesh_surface_set_material(debug_octant_line_mesh_rid, 0, debug_octant_line_material->get_rid());

RID debug_scenario = get_world_3d()->get_scenario();
const Transform3D &gridmap_xform = get_global_transform();

for (const KeyValue<OctantKey, Octant *> &ele : octant_map) {
OctantKey octant_key = ele.key;
HashMap<OctantKey, OctantDebug *, OctantKey>::Iterator E = debug_octant_map.find(octant_key);
if (!E) {
OctantDebug *octant_debug = memnew(OctantDebug);

RID debug_octant_line_instance_rid = RS::get_singleton()->instance_create();

RS::get_singleton()->instance_set_base(debug_octant_line_instance_rid, debug_octant_line_mesh_rid);
RS::get_singleton()->instance_set_scenario(debug_octant_line_instance_rid, debug_scenario);

octant_debug->debug_line_instance_rid = debug_octant_line_instance_rid;

E = debug_octant_map.insert(octant_key, octant_debug);
}

OctantDebug &octant_debug = *E->value;
const Transform3D octant_transform = gridmap_xform * (Transform3D(Basis(), Vector3(octant_key.x, octant_key.y, octant_key.z) * octant_size * cell_size));

RS::get_singleton()->instance_set_scenario(octant_debug.debug_line_instance_rid, debug_scenario);
RS::get_singleton()->instance_set_transform(octant_debug.debug_line_instance_rid, octant_transform);
RS::get_singleton()->instance_set_visible(octant_debug.debug_line_instance_rid, is_visible_in_tree());
}
}

void GridMap::_debug_clear_octants() {
for (const KeyValue<OctantKey, Octant *> &ele : octant_map) {
OctantKey octant_key = ele.key;
HashMap<OctantKey, OctantDebug *, OctantKey>::Iterator E = debug_octant_map.find(octant_key);
if (E) {
OctantDebug &octant_debug = *E->value;

if (octant_debug.debug_line_mesh_rid.is_valid()) {
RS::get_singleton()->free_rid(octant_debug.debug_line_mesh_rid);
octant_debug.debug_line_mesh_rid = RID();
}
if (octant_debug.debug_line_instance_rid.is_valid()) {
RS::get_singleton()->free_rid(octant_debug.debug_line_instance_rid);
octant_debug.debug_line_instance_rid = RID();
}

memdelete(&octant_debug);
}
}

debug_octant_map.clear();
}

Array GridMap::_build_octant_line_mesh_arrays() const {
AABB aabb;
aabb.size = octant_size * cell_size;

Vector<Vector3> vertex_array;
vertex_array.resize(24);
Vector3 *vertex_array_ptrw = vertex_array.ptrw();
int vertex_index = 0;

for (int i = 0; i < 12; i++) {
Vector3 a, b;
aabb.get_edge(i, a, b);
vertex_array_ptrw[vertex_index++] = a;
vertex_array_ptrw[vertex_index++] = b;
}

Array mesh_arrays;
mesh_arrays.resize(Mesh::ARRAY_MAX);
mesh_arrays[Mesh::ARRAY_VERTEX] = vertex_array;

return mesh_arrays;
}
#endif // DEBUG_ENABLED

void GridMap::set_cell_item(const Vector3i &p_position, int p_item, int p_rot) {
if (baked_meshes.size() && !recreating_octants) {
//if you set a cell item, baked meshes go good bye
Expand Down Expand Up @@ -991,6 +1119,8 @@ void GridMap::_octant_exit_world(const OctantKey &p_key) {
g.navigation_debug_edge_connections_mesh.unref();
}
}

_debug_clear_octants();
#endif // DEBUG_ENABLED
}

Expand Down Expand Up @@ -1040,9 +1170,11 @@ void GridMap::_octant_clean_up(const OctantKey &p_key) {
g.navigation_debug_edge_connections_mesh.unref();
}
}

_debug_clear_octants();
#endif // DEBUG_ENABLED

//erase multimeshes
// Erase multimeshes.

for (int i = 0; i < g.multimesh_instances.size(); i++) {
RS::get_singleton()->free_rid(g.multimesh_instances[i].instance);
Expand All @@ -1067,20 +1199,32 @@ void GridMap::_notification(int p_what) {
} break;

case NOTIFICATION_ENTER_TREE: {
#if defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
#ifdef DEBUG_ENABLED
_debug_update();

#ifndef NAVIGATION_3D_DISABLED
if (bake_navigation && NavigationServer3D::get_singleton()->get_debug_navigation_enabled()) {
_update_navigation_debug_edge_connections();
}
#endif // defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
#endif // NAVIGATION_3D_DISABLED

#endif // DEBUG_ENABLED

_update_visibility();
} break;

#ifdef DEBUG_ENABLED
case NOTIFICATION_EXIT_TREE: {
_debug_clear_octants();
} break;
#endif

case NOTIFICATION_TRANSFORM_CHANGED: {
Transform3D new_xform = get_global_transform();
if (new_xform == last_transform) {
break;
}
//update run

for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
_octant_transform(E.key);
}
Expand All @@ -1090,16 +1234,24 @@ void GridMap::_notification(int p_what) {
for (int i = 0; i < baked_meshes.size(); i++) {
RS::get_singleton()->instance_set_transform(baked_meshes[i].instance, get_global_transform());
}

#ifdef DEBUG_ENABLED
for (const KeyValue<OctantKey, OctantDebug *> &E : debug_octant_map) {
OctantKey octant_key = E.key;
OctantDebug &octant_debug = *E.value;
if (octant_debug.debug_line_instance_rid.is_valid()) {
const Transform3D octant_transform = new_xform * (Transform3D(Basis(), Vector3(octant_key.x, octant_key.y, octant_key.z) * octant_size * cell_size));
RS::get_singleton()->instance_set_transform(octant_debug.debug_line_instance_rid, octant_transform);
}
}
#endif
} break;

case NOTIFICATION_EXIT_WORLD: {
for (const KeyValue<OctantKey, Octant *> &E : octant_map) {
_octant_exit_world(E.key);
}

//_queue_octants_dirty(MAP_DIRTY_INSTANCES|MAP_DIRTY_TRANSFORMS);
//_update_octants_callback();
//_update_area_instances();
for (int i = 0; i < baked_meshes.size(); i++) {
RS::get_singleton()->instance_set_scenario(baked_meshes[i].instance, RID());
}
Expand Down Expand Up @@ -1127,6 +1279,15 @@ void GridMap::_update_visibility() {
for (int i = 0; i < baked_meshes.size(); i++) {
RS::get_singleton()->instance_set_visible(baked_meshes[i].instance, is_visible_in_tree());
}

#ifdef DEBUG_ENABLED
for (const KeyValue<OctantKey, OctantDebug *> &E : debug_octant_map) {
OctantDebug &octant_debug = *E.value;
if (octant_debug.debug_line_instance_rid.is_valid()) {
RS::get_singleton()->instance_set_visible(octant_debug.debug_line_instance_rid, is_visible_in_tree());
}
}
#endif
}

void GridMap::_queue_octants_dirty() {
Expand All @@ -1140,12 +1301,17 @@ void GridMap::_queue_octants_dirty() {

void GridMap::_recreate_octant_data() {
recreating_octants = true;

HashMap<IndexKey, Cell, IndexKey> cell_copy(cell_map);
_clear_internal();
for (const KeyValue<IndexKey, Cell> &E : cell_copy) {
set_cell_item(Vector3i(E.key), E.value.item, E.value.rot);
}

recreating_octants = false;
#ifdef DEBUG_ENABLED
_debug_update();
#endif
}

void GridMap::_clear_internal() {
Expand All @@ -1160,6 +1326,10 @@ void GridMap::_clear_internal() {

octant_map.clear();
cell_map.clear();
#ifdef DEBUG_ENABLED
_debug_clear_octants();
_debug_update();
#endif
}

void GridMap::clear() {
Expand Down Expand Up @@ -1194,6 +1364,10 @@ void GridMap::_update_octants_callback() {

_update_visibility();
awaiting_update = false;

#ifdef DEBUG_ENABLED
_debug_update_octants();
#endif
}

void GridMap::_bind_methods() {
Expand Down Expand Up @@ -1284,6 +1458,12 @@ void GridMap::_bind_methods() {
ClassDB::bind_method(D_METHOD("clear_baked_meshes"), &GridMap::clear_baked_meshes);
ClassDB::bind_method(D_METHOD("make_baked_meshes", "gen_lightmap_uv", "lightmap_uv_texel_size"), &GridMap::make_baked_meshes, DEFVAL(false), DEFVAL(0.1));

ClassDB::bind_method(D_METHOD("set_debug_show_octants", "enable"), &GridMap::set_debug_show_octants);
ClassDB::bind_method(D_METHOD("get_debug_show_octants"), &GridMap::get_debug_show_octants);

ClassDB::bind_method(D_METHOD("set_debug_octant_color", "color"), &GridMap::set_debug_octant_color);
ClassDB::bind_method(D_METHOD("get_debug_octant_color"), &GridMap::get_debug_octant_color);

ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "mesh_library", PROPERTY_HINT_RESOURCE_TYPE, MeshLibrary::get_class_static()), "set_mesh_library", "get_mesh_library");
#ifndef PHYSICS_3D_DISABLED
ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "physics_material", PROPERTY_HINT_RESOURCE_TYPE, PhysicsMaterial::get_class_static()), "set_physics_material", "get_physics_material");
Expand All @@ -1304,6 +1484,9 @@ void GridMap::_bind_methods() {
#endif // PHYSICS_3D_DISABLED
ADD_GROUP("Navigation", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "bake_navigation"), "set_bake_navigation", "is_baking_navigation");
ADD_GROUP("Debug", "");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "debug_show_octants"), "set_debug_show_octants", "get_debug_show_octants");
ADD_PROPERTY(PropertyInfo(Variant::COLOR, "debug_octant_color"), "set_debug_octant_color", "get_debug_octant_color");

BIND_CONSTANT(INVALID_CELL_ITEM);

Expand Down Expand Up @@ -1689,6 +1872,21 @@ RID GridMap::get_bake_mesh_instance(int p_idx) {
return baked_meshes[p_idx].instance;
}

void GridMap::set_debug_show_octants(bool p_enable) {
#ifdef DEBUG_ENABLED
if (debug_show_octants == p_enable) {
return;
}

debug_show_octants = p_enable;
_debug_update();
#endif
}

bool GridMap::get_debug_show_octants() const {
return debug_show_octants;
}

GridMap::GridMap() {
set_notify_transform(true);
#if defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
Expand Down Expand Up @@ -1857,10 +2055,16 @@ void GridMap::_navigation_map_changed(RID p_map) {

GridMap::~GridMap() {
clear();
#if defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)

#ifdef DEBUG_ENABLED
_debug_clear_octants();

#ifndef NAVIGATION_3D_DISABLED
NavigationServer3D::get_singleton()->disconnect("map_changed", callable_mp(this, &GridMap::_navigation_map_changed));
NavigationServer3D::get_singleton()->disconnect("navigation_debug_changed", callable_mp(this, &GridMap::_update_navigation_debug_edge_connections));
#endif // defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
#endif // NAVIGATION_3D_DISABLED

#endif // DEBUG_ENABLED
}

#if defined(DEBUG_ENABLED) && !defined(NAVIGATION_3D_DISABLED)
Expand Down
27 changes: 27 additions & 0 deletions modules/gridmap/grid_map.h
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Original file line number Diff line number Diff line change
Expand Up @@ -233,6 +233,27 @@ class GridMap : public Node3D {

Vector<BakedMesh> baked_meshes;

bool debug_show_octants = false;
Color debug_octant_color = Color(1.0, 1.0, 1.0, 1.0);
#ifdef DEBUG_ENABLED
bool debug_dirty = false;
Ref<StandardMaterial3D> debug_octant_line_material;

void _debug_update();
void _debug_update_octants();
void _debug_clear_octants();

RID debug_octant_line_mesh_rid;

struct OctantDebug {
RID debug_line_mesh_rid;
RID debug_line_instance_rid;
};
HashMap<OctantKey, OctantDebug *, OctantKey> debug_octant_map;

Array _build_octant_line_mesh_arrays() const;
#endif // DEBUG_ENABLED

protected:
bool _set(const StringName &p_name, const Variant &p_value);
bool _get(const StringName &p_name, Variant &r_ret) const;
Expand Down Expand Up @@ -337,6 +358,12 @@ class GridMap : public Node3D {
Array get_bake_meshes();
RID get_bake_mesh_instance(int p_idx);

void set_debug_show_octants(bool p_enable);
bool get_debug_show_octants() const;

void set_debug_octant_color(const Color &p_color);
Color get_debug_octant_color() const;

#ifndef NAVIGATION_3D_DISABLED
private:
static Callable _navmesh_source_geometry_parsing_callback;
Expand Down