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DotRecastNetSim
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rename _ext to _agentPlacementHalfExtents in DtCrowd

This commit is contained in:
ikpil 2024-02-15 00:36:58 +09:00
parent 742b7f7db8
commit 41ab26c03f
1 changed files with 21 additions and 11 deletions
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32
src/DotRecast.Detour.Crowd/DtCrowd.cs
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@ -121,18 +121,26 @@ namespace DotRecast.Detour.Crowd
{ {
private readonly RcAtomicInteger _agentId = new RcAtomicInteger(); private readonly RcAtomicInteger _agentId = new RcAtomicInteger();
private readonly List<DtCrowdAgent> _agents; private readonly List<DtCrowdAgent> _agents;
private readonly DtPathQueue _pathQ; private readonly DtPathQueue _pathQ;
private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams = new DtObstacleAvoidanceParams[DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams;
private readonly DtObstacleAvoidanceQuery _obstacleQuery; private readonly DtObstacleAvoidanceQuery _obstacleQuery;
private DtProximityGrid _grid; private DtProximityGrid _grid;
private readonly RcVec3f _ext = new RcVec3f();
private readonly IDtQueryFilter[] _filters = new IDtQueryFilter[DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE]; private readonly RcVec3f _agentPlacementHalfExtents;
private DtNavMeshQuery _navQuery;
private DtNavMesh _navMesh; private readonly IDtQueryFilter[] _filters;
private readonly DtCrowdConfig _config; private readonly DtCrowdConfig _config;
private readonly DtCrowdTelemetry _telemetry = new DtCrowdTelemetry();
private int _velocitySampleCount; private int _velocitySampleCount;
private DtNavMeshQuery _navQuery;
private DtNavMesh _navMesh;
private readonly DtCrowdTelemetry _telemetry = new DtCrowdTelemetry();
public DtCrowd(DtCrowdConfig config, DtNavMesh nav) : this(config, nav, i => new DtQueryDefaultFilter()) public DtCrowd(DtCrowdConfig config, DtNavMesh nav) : this(config, nav, i => new DtQueryDefaultFilter())
{ {
} }
@ -140,16 +148,18 @@ namespace DotRecast.Detour.Crowd
public DtCrowd(DtCrowdConfig config, DtNavMesh nav, Func<int, IDtQueryFilter> queryFilterFactory) public DtCrowd(DtCrowdConfig config, DtNavMesh nav, Func<int, IDtQueryFilter> queryFilterFactory)
{ {
_config = config; _config = config;
_ext = new RcVec3f(config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f); _agentPlacementHalfExtents = new RcVec3f(config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f);
_obstacleQuery = new DtObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments); _obstacleQuery = new DtObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments);
_filters = new IDtQueryFilter[DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE];
for (int i = 0; i < DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE; i++) for (int i = 0; i < DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE; i++)
{ {
_filters[i] = queryFilterFactory.Invoke(i); _filters[i] = queryFilterFactory.Invoke(i);
} }
// Init obstacle query option. // Init obstacle query option.
_obstacleQueryParams = new DtObstacleAvoidanceParams[DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
for (int i = 0; i < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i) for (int i = 0; i < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
{ {
_obstacleQueryParams[i] = new DtObstacleAvoidanceParams(); _obstacleQueryParams[i] = new DtObstacleAvoidanceParams();
@ -229,7 +239,7 @@ namespace DotRecast.Detour.Crowd
UpdateAgentParameters(ag, option); UpdateAgentParameters(ag, option);
// Find nearest position on navmesh and place the agent there. // Find nearest position on navmesh and place the agent there.
var status = _navQuery.FindNearestPoly(pos, _ext, _filters[ag.option.queryFilterType], out var refs, out var nearestPt, out var _); var status = _navQuery.FindNearestPoly(pos, _agentPlacementHalfExtents, _filters[ag.option.queryFilterType], out var refs, out var nearestPt, out var _);
if (status.Failed()) if (status.Failed())
{ {
nearestPt = pos; nearestPt = pos;
@ -349,7 +359,7 @@ namespace DotRecast.Detour.Crowd
public RcVec3f GetQueryExtents() public RcVec3f GetQueryExtents()
{ {
return _ext; return _agentPlacementHalfExtents;
} }
public IDtQueryFilter GetFilter(int i) public IDtQueryFilter GetFilter(int i)
@ -449,7 +459,7 @@ namespace DotRecast.Detour.Crowd
{ {
// Current location is not valid, try to reposition. // Current location is not valid, try to reposition.
// TODO: this can snap agents, how to handle that? // TODO: this can snap agents, how to handle that?
_navQuery.FindNearestPoly(ag.npos, _ext, _filters[ag.option.queryFilterType], out agentRef, out var nearestPt, out var _); _navQuery.FindNearestPoly(ag.npos, _agentPlacementHalfExtents, _filters[ag.option.queryFilterType], out agentRef, out var nearestPt, out var _);
agentPos = nearestPt; agentPos = nearestPt;
if (agentRef == 0) if (agentRef == 0)
@ -489,7 +499,7 @@ namespace DotRecast.Detour.Crowd
if (!_navQuery.IsValidPolyRef(ag.targetRef, _filters[ag.option.queryFilterType])) if (!_navQuery.IsValidPolyRef(ag.targetRef, _filters[ag.option.queryFilterType]))
{ {
// Current target is not valid, try to reposition. // Current target is not valid, try to reposition.
_navQuery.FindNearestPoly(ag.targetPos, _ext, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearestPt, out var _); _navQuery.FindNearestPoly(ag.targetPos, _agentPlacementHalfExtents, _filters[ag.option.queryFilterType], out ag.targetRef, out var nearestPt, out var _);
ag.targetPos = nearestPt; ag.targetPos = nearestPt;
replan = true; replan = true;
} }