From 742b7f7db8cf08292af716b4bb1a67f0615a7328 Mon Sep 17 00:00:00 2001 From: ikpil Date: Thu, 15 Feb 2024 00:25:55 +0900 Subject: [PATCH] reposition DT_CROWDAGENT_MAX_NEIGHBOURS, DT_CROWDAGENT_MAX_CORNERS --- src/DotRecast.Detour.Crowd/DtCrowd.cs | 219 ++++++++---------- src/DotRecast.Detour.Crowd/DtCrowdConst.cs | 30 +++ src/DotRecast.Detour.Crowd/DtLocalBoundary.cs | 4 +- 3 files changed, 130 insertions(+), 123 deletions(-) create mode 100644 src/DotRecast.Detour.Crowd/DtCrowdConst.cs diff --git a/src/DotRecast.Detour.Crowd/DtCrowd.cs b/src/DotRecast.Detour.Crowd/DtCrowd.cs index f2e180e..e9a3349 100644 --- a/src/DotRecast.Detour.Crowd/DtCrowd.cs +++ b/src/DotRecast.Detour.Crowd/DtCrowd.cs @@ -24,137 +24,116 @@ using DotRecast.Core; using DotRecast.Core.Collections; using DotRecast.Core.Numerics; - namespace DotRecast.Detour.Crowd { + /////////////////////////////////////////////////////////////////////////// + +// This section contains detailed documentation for members that don't have +// a source file. It reduces clutter in the main section of the header. + /** - * Members in this module implement local steering and dynamic avoidance features. - * - * The crowd is the big beast of the navigation features. It not only handles a lot of the path management for you, but - * also local steering and dynamic avoidance between members of the crowd. I.e. It can keep your agents from running - * into each other. - * - * Main class: Crowd - * - * The #dtNavMeshQuery and #dtPathCorridor classes provide perfectly good, easy to use path planning features. But in - * the end they only give you points that your navigation client should be moving toward. When it comes to deciding - * things like agent velocity and steering to avoid other agents, that is up to you to implement. Unless, of course, you - * decide to use Crowd. - * - * Basically, you add an agent to the crowd, providing various configuration settings such as maximum speed and - * acceleration. You also provide a local target to move toward. The crowd manager then provides, with every update, the - * new agent position and velocity for the frame. The movement will be constrained to the navigation mesh, and steering - * will be applied to ensure agents managed by the crowd do not collide with each other. - * - * This is very powerful feature set. But it comes with limitations. - * - * The biggest limitation is that you must give control of the agent's position completely over to the crowd manager. - * You can update things like maximum speed and acceleration. But in order for the crowd manager to do its thing, it - * can't allow you to constantly be giving it overrides to position and velocity. So you give up direct control of the - * agent's movement. It belongs to the crowd. - * - * The second biggest limitation revolves around the fact that the crowd manager deals with local planning. So the - * agent's target should never be more than 256 polygons away from its current position. If it is, you risk your agent - * failing to reach its target. So you may still need to do long distance planning and provide the crowd manager with - * intermediate targets. - * - * Other significant limitations: - * - * - All agents using the crowd manager will use the same #dtQueryFilter. - Crowd management is relatively expensive. - * The maximum agents under crowd management at any one time is between 20 and 30. A good place to start is a maximum of - * 25 agents for 0.5ms per frame. - * - * @note This is a summary list of members. Use the index or search feature to find minor members. - * - * @struct dtCrowdAgentParams - * @see CrowdAgent, Crowd::AddAgent(), Crowd::UpdateAgentParameters() - * - * @var dtCrowdAgentParams::obstacleAvoidanceType - * @par - * - * #dtCrowd permits agents to use different avoidance configurations. This value is the index of the - * #dtObstacleAvoidanceParams within the crowd. - * - * @see dtObstacleAvoidanceParams, dtCrowd::SetObstacleAvoidanceParams(), dtCrowd::GetObstacleAvoidanceParams() - * - * @var dtCrowdAgentParams::collisionQueryRange - * @par - * - * Collision elements include other agents and navigation mesh boundaries. - * - * This value is often based on the agent radius and/or maximum speed. E.g. radius * 8 - * - * @var dtCrowdAgentParams::pathOptimizationRange - * @par - * - * Only applicable if #updateFlags includes the #DT_CROWD_OPTIMIZE_VIS flag. - * - * This value is often based on the agent radius. E.g. radius * 30 - * - * @see dtPathCorridor::OptimizePathVisibility() - * - * @var dtCrowdAgentParams::separationWeight - * @par - * - * A higher value will result in agents trying to stay farther away from each other at the cost of more difficult - * steering in tight spaces. - * - */ - /** - * This is the core class of the refs crowd module. See the refs crowd documentation for a summary of the crowd - * features. A common method for setting up the crowd is as follows: -# Allocate the crowd -# Set the avoidance - * configurations using #SetObstacleAvoidanceParams(). -# Add agents using #AddAgent() and make an initial movement - * request using #RequestMoveTarget(). A common process for managing the crowd is as follows: -# Call #Update() to allow - * the crowd to manage its agents. -# Retrieve agent information using #GetActiveAgents(). -# Make movement requests - * using #RequestMoveTarget() when movement goal changes. -# Repeat every frame. Some agent configuration settings can - * be updated using #UpdateAgentParameters(). But the crowd owns the agent position. So it is not possible to update an - * active agent's position. If agent position must be fed back into the crowd, the agent must be removed and re-added. - * Notes: - Path related information is available for newly added agents only after an #Update() has been performed. - - * Agent objects are kept in a pool and re-used. So it is important when using agent objects to check the value of - * #dtCrowdAgent::active to determine if the agent is actually in use or not. - This class is meant to provide 'local' - * movement. There is a limit of 256 polygons in the path corridor. So it is not meant to provide automatic pathfinding - * services over long distances. - * - * @see DtAllocCrowd(), DtFreeCrowd(), Init(), dtCrowdAgent - */ + + @defgroup crowd Crowd + + Members in this module implement local steering and dynamic avoidance features. + + The crowd is the big beast of the navigation features. It not only handles a + lot of the path management for you, but also local steering and dynamic + avoidance between members of the crowd. I.e. It can keep your agents from + running into each other. + + Main class: #dtCrowd + + The #dtNavMeshQuery and #dtPathCorridor classes provide perfectly good, easy + to use path planning features. But in the end they only give you points that + your navigation client should be moving toward. When it comes to deciding things + like agent velocity and steering to avoid other agents, that is up to you to + implement. Unless, of course, you decide to use #dtCrowd. + + Basically, you add an agent to the crowd, providing various configuration + settings such as maximum speed and acceleration. You also provide a local + target to more toward. The crowd manager then provides, with every update, the + new agent position and velocity for the frame. The movement will be + constrained to the navigation mesh, and steering will be applied to ensure + agents managed by the crowd do not collide with each other. + + This is very powerful feature set. But it comes with limitations. + + The biggest limitation is that you must give control of the agent's position + completely over to the crowd manager. You can update things like maximum speed + and acceleration. But in order for the crowd manager to do its thing, it can't + allow you to constantly be giving it overrides to position and velocity. So + you give up direct control of the agent's movement. It belongs to the crowd. + + The second biggest limitation revolves around the fact that the crowd manager + deals with local planning. So the agent's target should never be more than + 256 polygons aways from its current position. If it is, you risk + your agent failing to reach its target. So you may still need to do long + distance planning and provide the crowd manager with intermediate targets. + + Other significant limitations: + + - All agents using the crowd manager will use the same #dtQueryFilter. + - Crowd management is relatively expensive. The maximum agents under crowd + management at any one time is between 20 and 30. A good place to start + is a maximum of 25 agents for 0.5ms per frame. + + @note This is a summary list of members. Use the index or search + feature to find minor members. + + @struct dtCrowdAgentParams + @see dtCrowdAgent, dtCrowd::addAgent(), dtCrowd::updateAgentParameters() + + @var dtCrowdAgentParams::obstacleAvoidanceType + @par + + #dtCrowd permits agents to use different avoidance configurations. This value + is the index of the #dtObstacleAvoidanceParams within the crowd. + + @see dtObstacleAvoidanceParams, dtCrowd::setObstacleAvoidanceParams(), + dtCrowd::getObstacleAvoidanceParams() + + @var dtCrowdAgentParams::collisionQueryRange + @par + + Collision elements include other agents and navigation mesh boundaries. + + This value is often based on the agent radius and/or maximum speed. E.g. radius * 8 + + @var dtCrowdAgentParams::pathOptimizationRange + @par + + Only applicable if #updateFlags includes the #DT_CROWD_OPTIMIZE_VIS flag. + + This value is often based on the agent radius. E.g. radius * 30 + + @see dtPathCorridor::optimizePathVisibility() + + @var dtCrowdAgentParams::separationWeight + @par + + A higher value will result in agents trying to stay farther away from each other at + the cost of more difficult steering in tight spaces. + */ + /// Provides local steering behaviors for a group of agents. + /// @ingroup crowd public class DtCrowd { - /// The maximum number of corners a crowd agent will look ahead in the path. - /// This value is used for sizing the crowd agent corner buffers. - /// Due to the behavior of the crowd manager, the actual number of useful - /// corners will be one less than this number. - /// @ingroup crowd - public const int DT_CROWDAGENT_MAX_CORNERS = 4; - - /// The maximum number of crowd avoidance configurations supported by the - /// crowd manager. - /// @ingroup crowd - /// @see dtObstacleAvoidanceParams, dtCrowd::SetObstacleAvoidanceParams(), dtCrowd::GetObstacleAvoidanceParams(), - /// dtCrowdAgentParams::obstacleAvoidanceType - public const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8; - - /// The maximum number of query filter types supported by the crowd manager. - /// @ingroup crowd - /// @see dtQueryFilter, dtCrowd::GetFilter() dtCrowd::GetEditableFilter(), - /// dtCrowdAgentParams::queryFilterType - public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16; - private readonly RcAtomicInteger _agentId = new RcAtomicInteger(); private readonly List _agents; private readonly DtPathQueue _pathQ; - private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams = new DtObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]; + private readonly DtObstacleAvoidanceParams[] _obstacleQueryParams = new DtObstacleAvoidanceParams[DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]; private readonly DtObstacleAvoidanceQuery _obstacleQuery; private DtProximityGrid _grid; private readonly RcVec3f _ext = new RcVec3f(); - private readonly IDtQueryFilter[] _filters = new IDtQueryFilter[DT_CROWD_MAX_QUERY_FILTER_TYPE]; + private readonly IDtQueryFilter[] _filters = new IDtQueryFilter[DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE]; private DtNavMeshQuery _navQuery; private DtNavMesh _navMesh; private readonly DtCrowdConfig _config; private readonly DtCrowdTelemetry _telemetry = new DtCrowdTelemetry(); private int _velocitySampleCount; - public DtCrowd(DtCrowdConfig config, DtNavMesh nav) : - this(config, nav, i => new DtQueryDefaultFilter()) + public DtCrowd(DtCrowdConfig config, DtNavMesh nav) : this(config, nav, i => new DtQueryDefaultFilter()) { } @@ -165,13 +144,13 @@ namespace DotRecast.Detour.Crowd _obstacleQuery = new DtObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments); - for (int i = 0; i < 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); } // Init obstacle query option. - for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i) + for (int i = 0; i < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i) { _obstacleQueryParams[i] = new DtObstacleAvoidanceParams(); } @@ -206,7 +185,7 @@ namespace DotRecast.Detour.Crowd /// @param[in] option The new configuration. public void SetObstacleAvoidanceParams(int idx, DtObstacleAvoidanceParams option) { - if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS) + if (idx >= 0 && idx < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS) { _obstacleQueryParams[idx] = new DtObstacleAvoidanceParams(option); } @@ -218,7 +197,7 @@ namespace DotRecast.Detour.Crowd /// @return The requested configuration. public DtObstacleAvoidanceParams GetObstacleAvoidanceParams(int idx) { - if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS) + if (idx >= 0 && idx < DtCrowdConst.DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS) { return _obstacleQueryParams[idx]; } @@ -375,7 +354,7 @@ namespace DotRecast.Detour.Crowd public IDtQueryFilter GetFilter(int i) { - return i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE ? _filters[i] : null; + return i >= 0 && i < DtCrowdConst.DT_CROWD_MAX_QUERY_FILTER_TYPE ? _filters[i] : null; } public DtProximityGrid GetGrid() @@ -945,7 +924,7 @@ namespace DotRecast.Detour.Crowd } // Find corners for steering - ag.corridor.FindCorners(ref ag.corners, DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]); + ag.corridor.FindCorners(ref ag.corners, DtCrowdConst.DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]); // Check to see if the corner after the next corner is directly visible, // and short cut to there. diff --git a/src/DotRecast.Detour.Crowd/DtCrowdConst.cs b/src/DotRecast.Detour.Crowd/DtCrowdConst.cs new file mode 100644 index 0000000..c20e319 --- /dev/null +++ b/src/DotRecast.Detour.Crowd/DtCrowdConst.cs @@ -0,0 +1,30 @@ +namespace DotRecast.Detour.Crowd +{ + public static class DtCrowdConst + { + /// The maximum number of neighbors that a crowd agent can take into account + /// for steering decisions. + /// @ingroup crowd + public const int DT_CROWDAGENT_MAX_NEIGHBOURS = 6; + + /// The maximum number of corners a crowd agent will look ahead in the path. + /// This value is used for sizing the crowd agent corner buffers. + /// Due to the behavior of the crowd manager, the actual number of useful + /// corners will be one less than this number. + /// @ingroup crowd + public const int DT_CROWDAGENT_MAX_CORNERS = 4; + + /// The maximum number of crowd avoidance configurations supported by the + /// crowd manager. + /// @ingroup crowd + /// @see dtObstacleAvoidanceParams, dtCrowd::SetObstacleAvoidanceParams(), dtCrowd::GetObstacleAvoidanceParams(), + /// dtCrowdAgentParams::obstacleAvoidanceType + public const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8; + + /// The maximum number of query filter types supported by the crowd manager. + /// @ingroup crowd + /// @see dtQueryFilter, dtCrowd::GetFilter() dtCrowd::GetEditableFilter(), + /// dtCrowdAgentParams::queryFilterType + public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16; + } +} \ No newline at end of file diff --git a/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs b/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs index fbe331c..6defc51 100644 --- a/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs +++ b/src/DotRecast.Detour.Crowd/DtLocalBoundary.cs @@ -25,8 +25,6 @@ using DotRecast.Core.Numerics; namespace DotRecast.Detour.Crowd { - - public class DtLocalBoundary { public const int MAX_LOCAL_SEGS = 8; @@ -109,7 +107,7 @@ namespace DotRecast.Detour.Crowd var segmentVerts = new List(); var segmentRefs = new List(); - + for (int j = 0; j < m_polys.Count; ++j) { var result = navquery.GetPolyWallSegments(m_polys[j], false, filter, ref segmentVerts, ref segmentRefs);