[Navigation] Renames in preparation for future restructure

core/templates/heap.h

@@ -0,0 +1,161 @@
+/**************************************************************************/
+/*  heap.h                                                                */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#ifndef HEAP_H
+#define HEAP_H
+
+#include "core/templates/local_vector.h"
+
+template <typename T>
+struct NoopIndexer {
+	void operator()(const T &p_value, uint32_t p_index) {}
+};
+
+/**
+ * A max-heap implementation that notifies of element index changes.
+ */
+template <typename T, typename LessThan = Comparator<T>, typename Indexer = NoopIndexer<T>>
+class Heap {
+	LocalVector<T> _buffer;
+
+	LessThan _less_than;
+	Indexer _indexer;
+
+public:
+	static constexpr uint32_t INVALID_INDEX = UINT32_MAX;
+	void reserve(uint32_t p_size) {
+		_buffer.reserve(p_size);
+	}
+
+	uint32_t size() const {
+		return _buffer.size();
+	}
+
+	bool is_empty() const {
+		return _buffer.is_empty();
+	}
+
+	void push(const T &p_element) {
+		_buffer.push_back(p_element);
+		_indexer(p_element, _buffer.size() - 1);
+		_shift_up(_buffer.size() - 1);
+	}
+
+	T pop() {
+		ERR_FAIL_COND_V_MSG(_buffer.is_empty(), T(), "Can't pop an empty heap.");
+		T value = _buffer[0];
+		_indexer(value, INVALID_INDEX);
+		if (_buffer.size() > 1) {
+			_buffer[0] = _buffer[_buffer.size() - 1];
+			_indexer(_buffer[0], 0);
+			_buffer.remove_at(_buffer.size() - 1);
+			_shift_down(0);
+		} else {
+			_buffer.remove_at(_buffer.size() - 1);
+		}
+		return value;
+	}
+
+	/**
+	 * Update the position of the element in the heap if necessary.
+	 */
+	void shift(uint32_t p_index) {
+		ERR_FAIL_UNSIGNED_INDEX_MSG(p_index, _buffer.size(), "Heap element index is out of range.");
+		if (!_shift_up(p_index)) {
+			_shift_down(p_index);
+		}
+	}
+
+	void clear() {
+		for (const T &value : _buffer) {
+			_indexer(value, INVALID_INDEX);
+		}
+		_buffer.clear();
+	}
+
+	Heap() {}
+
+	Heap(const LessThan &p_less_than) :
+			_less_than(p_less_than) {}
+
+	Heap(const Indexer &p_indexer) :
+			_indexer(p_indexer) {}
+
+	Heap(const LessThan &p_less_than, const Indexer &p_indexer) :
+			_less_than(p_less_than), _indexer(p_indexer) {}
+
+private:
+	bool _shift_up(uint32_t p_index) {
+		T value = _buffer[p_index];
+		uint32_t current_index = p_index;
+		uint32_t parent_index = (current_index - 1) / 2;
+		while (current_index > 0 && _less_than(_buffer[parent_index], value)) {
+			_buffer[current_index] = _buffer[parent_index];
+			_indexer(_buffer[current_index], current_index);
+			current_index = parent_index;
+			parent_index = (current_index - 1) / 2;
+		}
+		if (current_index != p_index) {
+			_buffer[current_index] = value;
+			_indexer(value, current_index);
+			return true;
+		} else {
+			return false;
+		}
+	}
+
+	bool _shift_down(uint32_t p_index) {
+		T value = _buffer[p_index];
+		uint32_t current_index = p_index;
+		uint32_t child_index = 2 * current_index + 1;
+		while (child_index < _buffer.size()) {
+			if (child_index + 1 < _buffer.size() &&
+					_less_than(_buffer[child_index], _buffer[child_index + 1])) {
+				child_index++;
+			}
+			if (_less_than(_buffer[child_index], value)) {
+				break;
+			}
+			_buffer[current_index] = _buffer[child_index];
+			_indexer(_buffer[current_index], current_index);
+			current_index = child_index;
+			child_index = 2 * current_index + 1;
+		}
+		if (current_index != p_index) {
+			_buffer[current_index] = value;
+			_indexer(value, current_index);
+			return true;
+		} else {
+			return false;
+		}
+	}
+};
+
+#endif // HEAP_H

misc/error_suppressions/tsan.txt

@@ -4,4 +4,4 @@
 deadlock:tests/core/templates/test_command_queue.h
 deadlock:modules/text_server_adv/text_server_adv.cpp
 deadlock:modules/text_server_fb/text_server_fb.cpp
-race:modules/navigation/nav_map.cpp
+race:modules/navigation/nav_map_3d.cpp

modules/navigation/2d/godot_navigation_server_2d.h

@@ -31,11 +31,11 @@
 #ifndef GODOT_NAVIGATION_SERVER_2D_H
 #define GODOT_NAVIGATION_SERVER_2D_H
 
-#include "../nav_agent.h"
-#include "../nav_link.h"
-#include "../nav_map.h"
-#include "../nav_obstacle.h"
-#include "../nav_region.h"
+#include "../nav_agent_3d.h"
+#include "../nav_link_3d.h"
+#include "../nav_map_3d.h"
+#include "../nav_obstacle_3d.h"
+#include "../nav_region_3d.h"
 
 #include "servers/navigation_server_2d.h"