a.samsonkin
/
DotRecastNetSim
forked from bit/DotRecastNetSim
1
0
Fork 0
Code Pull Requests Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
src/DotRecast.Detour.Crowd/DtCrowd.cs
View File

@ -121,18 +121,26 @@ namespace DotRecast.Detour.Crowd
{
private readonly RcAtomicInteger _agentId = new RcAtomicInteger();
private readonly List<DtCrowdAgent> _agents;
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 DtProximityGrid _grid;
private readonly RcVec3f _ext = new RcVec3f();
private readonly IDtQueryFilter[] _filters = new IDtQueryFilter[DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE];
private DtNavMeshQuery _navQuery;
private DtNavMesh _navMesh;
private readonly RcVec3f _agentPlacementHalfExtents;
private readonly IDtQueryFilter[] _filters;
private readonly DtCrowdConfig _config;
private readonly DtCrowdTelemetry _telemetry = new DtCrowdTelemetry();
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())
{
}
@ -140,16 +148,18 @@ namespace DotRecast.Detour.Crowd
public DtCrowd(DtCrowdConfig config, DtNavMesh nav, Func<int, IDtQueryFilter> queryFilterFactory)
{
_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);
_filters = new IDtQueryFilter[DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE];
for (int i = 0; i < DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE; i++)
{
_filters[i] = queryFilterFactory.Invoke(i);
}
// 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)
{
_obstacleQueryParams[i] = new DtObstacleAvoidanceParams();
@ -229,7 +239,7 @@ namespace DotRecast.Detour.Crowd
UpdateAgentParameters(ag, option);
// 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())
{
nearestPt = pos;
@ -349,7 +359,7 @@ namespace DotRecast.Detour.Crowd
public RcVec3f GetQueryExtents()
{
return _ext;
return _agentPlacementHalfExtents;
}
public IDtQueryFilter GetFilter(int i)
@ -449,7 +459,7 @@ namespace DotRecast.Detour.Crowd
{
// Current location is not valid, try to reposition.
// 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;
if (agentRef == 0)
@ -489,7 +499,7 @@ namespace DotRecast.Detour.Crowd
if (!_navQuery.IsValidPolyRef(ag.targetRef, _filters[ag.option.queryFilterType]))
{
// 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;
replan = true;
}