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DotRecastNetSim
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move ObstacleAvoidanceParams

This commit is contained in:
ikpil 2023-04-23 14:15:45 +09:00
parent 546a9d0b97
commit 7e4150d7ee
7 changed files with 65 additions and 63 deletions
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12
src/DotRecast.Detour.Crowd/Crowd.cs
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@ -145,7 +145,7 @@ namespace DotRecast.Detour.Crowd
private readonly AtomicInteger agentId = new AtomicInteger();
private readonly List<CrowdAgent> m_agents;
private readonly PathQueue m_pathq;
private readonly ObstacleAvoidanceQuery.ObstacleAvoidanceParams[] m_obstacleQueryParams = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
private readonly ObstacleAvoidanceParams[] m_obstacleQueryParams = new ObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
private readonly ObstacleAvoidanceQuery m_obstacleQuery;
private ProximityGrid m_grid;
private readonly Vector3f m_ext = new Vector3f();
@ -176,7 +176,7 @@ namespace DotRecast.Detour.Crowd
// Init obstacle query option.
for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
{
m_obstacleQueryParams[i] = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams();
m_obstacleQueryParams[i] = new ObstacleAvoidanceParams();
}
// Allocate temp buffer for merging paths.
@ -198,11 +198,11 @@ namespace DotRecast.Detour.Crowd
/// @param[in] idx The index. [Limits: 0 <= value <
/// #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
/// @param[in] option The new configuration.
public void setObstacleAvoidanceParams(int idx, ObstacleAvoidanceQuery.ObstacleAvoidanceParams option)
public void setObstacleAvoidanceParams(int idx, ObstacleAvoidanceParams option)
{
if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
{
m_obstacleQueryParams[idx] = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(option);
m_obstacleQueryParams[idx] = new ObstacleAvoidanceParams(option);
}
}
@ -210,7 +210,7 @@ namespace DotRecast.Detour.Crowd
/// @param[in] idx The index of the configuration to retreive.
/// [Limits: 0 <= value < #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
/// @return The requested configuration.
public ObstacleAvoidanceQuery.ObstacleAvoidanceParams getObstacleAvoidanceParams(int idx)
public ObstacleAvoidanceParams getObstacleAvoidanceParams(int idx)
{
if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
{
@ -1177,7 +1177,7 @@ namespace DotRecast.Detour.Crowd
bool adaptive = true;
int ns = 0;
ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = m_obstacleQueryParams[ag.option.obstacleAvoidanceType];
ObstacleAvoidanceParams option = m_obstacleQueryParams[ag.option.obstacleAvoidanceType];
if (adaptive)
{

2
src/DotRecast.Detour.Crowd/DotRecast.Detour.Crowd.csproj
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@ -6,7 +6,7 @@
</PropertyGroup>
<ItemGroup>
<ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj"/>
<ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj" />
</ItemGroup>
</Project>

51
src/DotRecast.Detour.Crowd/ObstacleAvoidanceParams.cs Normal file
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@ -0,0 +1,51 @@
namespace DotRecast.Detour.Crowd
{
public class ObstacleAvoidanceParams
{
public float velBias;
public float weightDesVel;
public float weightCurVel;
public float weightSide;
public float weightToi;
public float horizTime;
public int gridSize;
/// < grid
public int adaptiveDivs;
/// < adaptive
public int adaptiveRings;
/// < adaptive
public int adaptiveDepth;
/// < adaptive
public ObstacleAvoidanceParams()
{
velBias = 0.4f;
weightDesVel = 2.0f;
weightCurVel = 0.75f;
weightSide = 0.75f;
weightToi = 2.5f;
horizTime = 2.5f;
gridSize = 33;
adaptiveDivs = 7;
adaptiveRings = 2;
adaptiveDepth = 5;
}
public ObstacleAvoidanceParams(ObstacleAvoidanceParams option)
{
velBias = option.velBias;
weightDesVel = option.weightDesVel;
weightCurVel = option.weightCurVel;
weightSide = option.weightSide;
weightToi = option.weightToi;
horizTime = option.horizTime;
gridSize = option.gridSize;
adaptiveDivs = option.adaptiveDivs;
adaptiveRings = option.adaptiveRings;
adaptiveDepth = option.adaptiveDepth;
}
};
}

51
src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs
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@ -65,56 +65,7 @@ namespace DotRecast.Detour.Crowd
public bool touch;
}
public class ObstacleAvoidanceParams
{
public float velBias;
public float weightDesVel;
public float weightCurVel;
public float weightSide;
public float weightToi;
public float horizTime;
public int gridSize;
/// < grid
public int adaptiveDivs;
/// < adaptive
public int adaptiveRings;
/// < adaptive
public int adaptiveDepth;
/// < adaptive
public ObstacleAvoidanceParams()
{
velBias = 0.4f;
weightDesVel = 2.0f;
weightCurVel = 0.75f;
weightSide = 0.75f;
weightToi = 2.5f;
horizTime = 2.5f;
gridSize = 33;
adaptiveDivs = 7;
adaptiveRings = 2;
adaptiveDepth = 5;
}
public ObstacleAvoidanceParams(ObstacleAvoidanceParams option)
{
velBias = option.velBias;
weightDesVel = option.weightDesVel;
weightCurVel = option.weightCurVel;
weightSide = option.weightSide;
weightToi = option.weightToi;
horizTime = option.horizTime;
gridSize = option.gridSize;
adaptiveDivs = option.adaptiveDivs;
adaptiveRings = option.adaptiveRings;
adaptiveDepth = option.adaptiveDepth;
}
};
private ObstacleAvoidanceParams m_params;
private float m_invHorizTime;
private float m_vmax;

2
src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs
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@ -211,7 +211,7 @@ public class CrowdProfilingTool
crowd = new Crowd(config, navMesh, __ => new DefaultQueryFilter(SampleAreaModifications.SAMPLE_POLYFLAGS_ALL,
SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED, new float[] { 1f, 10f, 1f, 1f, 2f, 1.5f }));
ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(crowd.getObstacleAvoidanceParams(0));
ObstacleAvoidanceParams option = new ObstacleAvoidanceParams(crowd.getObstacleAvoidanceParams(0));
// Low (11)
option.velBias = 0.5f;
option.adaptiveDivs = 5;

2
src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
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@ -112,7 +112,7 @@ public class CrowdTool : Tool
// Setup local avoidance option to different qualities.
// Use mostly default settings, copy from dtCrowd.
ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(crowd.getObstacleAvoidanceParams(0));
ObstacleAvoidanceParams option = new ObstacleAvoidanceParams(crowd.getObstacleAvoidanceParams(0));
// Low (11)
option.velBias = 0.5f;

8
test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs
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@ -70,25 +70,25 @@ public class AbstractCrowdTest
query = new NavMeshQuery(navmesh);
CrowdConfig config = new CrowdConfig(0.6f);
crowd = new Crowd(config, navmesh);
ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams();
ObstacleAvoidanceParams option = new ObstacleAvoidanceParams();
option.velBias = 0.5f;
option.adaptiveDivs = 5;
option.adaptiveRings = 2;
option.adaptiveDepth = 1;
crowd.setObstacleAvoidanceParams(0, option);
option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams();
option = new ObstacleAvoidanceParams();
option.velBias = 0.5f;
option.adaptiveDivs = 5;
option.adaptiveRings = 2;
option.adaptiveDepth = 2;
crowd.setObstacleAvoidanceParams(1, option);
option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams();
option = new ObstacleAvoidanceParams();
option.velBias = 0.5f;
option.adaptiveDivs = 7;
option.adaptiveRings = 2;
option.adaptiveDepth = 3;
crowd.setObstacleAvoidanceParams(2, option);
option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams();
option = new ObstacleAvoidanceParams();
option.velBias = 0.5f;
option.adaptiveDivs = 7;
option.adaptiveRings = 3;