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DotRecastNetSim
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completed crowd tool

This commit is contained in:
ikpil 2023-03-26 12:57:40 +09:00
parent 4d19a86c11
commit 9168ed0f04
2 changed files with 174 additions and 176 deletions
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156
src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using DotRecast.Core;
using DotRecast.Detour;
using DotRecast.Detour.Crowd;
@ -55,92 +56,93 @@ public class CrowdProfilingTool
this.agentParamsSupplier = agentParamsSupplier;
}
public void layout(IWindow ctx)
public void layout()
{
// nk_layout_row_dynamic(ctx, 1, 1);
// nk_spacing(ctx, 1);
// if (nk_tree_state_push(ctx, 0, "Simulation Options", expandSimOptions)) {
// nk_layout_row_dynamic(ctx, 20, 1);
ImGui.Text("Simulation Options");
ImGui.Separator();
ImGui.SliderInt("Agents", ref agents, 0, 10000);
// nk_layout_row_dynamic(ctx, 20, 1);
ImGui.SliderInt("Random Seed", ref randomSeed, 0, 1024);
// nk_layout_row_dynamic(ctx, 20, 1);
ImGui.SliderInt("Number of Zones", ref numberOfZones, 0, 10);
// nk_layout_row_dynamic(ctx, 20, 1);
ImGui.SliderFloat("Zone Radius", ref zoneRadius, 0, 100, "%.0f");
// nk_layout_row_dynamic(ctx, 20, 1);
ImGui.SliderFloat("Mobs %", ref percentMobs, 0, 100, "%.0f");
// nk_layout_row_dynamic(ctx, 20, 1);
ImGui.SliderFloat("Travellers %", ref percentTravellers, 0, 100, "%.0f");
// nk_tree_state_pop(ctx);
// }
// if (nk_tree_state_push(ctx, 0, "Crowd Options", expandCrowdOptions)) {
// nk_layout_row_dynamic(ctx, 20, 1);
ImGui.NewLine();
ImGui.Text("Crowd Options");
ImGui.Separator();
ImGui.SliderInt("Path Queue Size", ref pathQueueSize, 0, 1024);
// nk_layout_row_dynamic(ctx, 20, 1);
ImGui.SliderInt("Max Iterations", ref maxIterations, 0, 4000);
// nk_tree_state_pop(ctx);
// }
// nk_layout_row_dynamic(ctx, 1, 1);
// nk_spacing(ctx, 1);
// nk_layout_row_dynamic(ctx, 20, 1);
// if (nk_button_text(ctx, "Start")) {
// if (navMesh != null) {
// rnd = new NavMeshQuery.FRand(randomSeed[0]);
// createCrowd();
// createZones();
// NavMeshQuery navquery = new NavMeshQuery(navMesh);
// QueryFilter filter = new DefaultQueryFilter();
// for (int i = 0; i < agents[0]; i++) {
// float tr = rnd.frand();
// AgentType type = AgentType.MOB;
// float mobsPcnt = percentMobs[0] / 100f;
// if (tr > mobsPcnt) {
// tr = rnd.frand();
// float travellerPcnt = percentTravellers[0] / 100f;
// if (tr > travellerPcnt) {
// type = AgentType.VILLAGER;
// } else {
// type = AgentType.TRAVELLER;
// }
// }
// float[] pos = null;
// switch (type) {
// case MOB:
// pos = getMobPosition(navquery, filter, pos);
// break;
// case VILLAGER:
// pos = getVillagerPosition(navquery, filter, pos);
// break;
// case TRAVELLER:
// pos = getVillagerPosition(navquery, filter, pos);
// break;
// }
// if (pos != null) {
// addAgent(pos, type);
// }
// }
// }
// }
// if (crowd != null) {
// nk_layout_row_dynamic(ctx, 18, 1);
// nk_label(ctx, string.format("Max time to enqueue request: %.3f s", crowd.telemetry().maxTimeToEnqueueRequest()),
// NK_TEXT_ALIGN_LEFT);
// nk_layout_row_dynamic(ctx, 18, 1);
// nk_label(ctx, string.format("Max time to find path: %.3f s", crowd.telemetry().maxTimeToFindPath()),
// NK_TEXT_ALIGN_LEFT);
// List<Tuple<string, long>> timings = crowd.telemetry().executionTimings().entrySet().stream()
// .map(e => Tuple.Create(e.getKey(), e.getValue())).sorted((t1, t2) => long.compare(t2.Item2, t1.Item2))
// .collect(toList());
// foreach (Tuple<string, long> e in timings) {
// nk_layout_row_dynamic(ctx, 18, 1);
// nk_label(ctx, string.format("%s: %d us", e.Item1, e.Item2 / 1_000), NK_TEXT_ALIGN_LEFT);
// }
// nk_layout_row_dynamic(ctx, 1, 1);
// nk_spacing(ctx, 1);
// nk_layout_row_dynamic(ctx, 18, 1);
// nk_label(ctx, string.format("Update Time: %d ms", crowdUpdateTime), NK_TEXT_ALIGN_LEFT);
// }
ImGui.NewLine();
if (ImGui.Button("Start"))
{
if (navMesh != null)
{
rnd = new NavMeshQuery.FRand(randomSeed);
createCrowd();
createZones();
NavMeshQuery navquery = new NavMeshQuery(navMesh);
QueryFilter filter = new DefaultQueryFilter();
for (int i = 0; i < agents; i++)
{
float tr = rnd.frand();
AgentType type = AgentType.MOB;
float mobsPcnt = percentMobs / 100f;
if (tr > mobsPcnt)
{
tr = rnd.frand();
float travellerPcnt = percentTravellers / 100f;
if (tr > travellerPcnt)
{
type = AgentType.VILLAGER;
}
else
{
type = AgentType.TRAVELLER;
}
}
float[] pos = null;
switch (type)
{
case AgentType.MOB:
pos = getMobPosition(navquery, filter, pos);
break;
case AgentType.VILLAGER:
pos = getVillagerPosition(navquery, filter, pos);
break;
case AgentType.TRAVELLER:
pos = getVillagerPosition(navquery, filter, pos);
break;
}
if (pos != null)
{
addAgent(pos, type);
}
}
}
}
ImGui.Text("Times");
ImGui.Separator();
if (crowd != null)
{
ImGui.Text($"Max time to enqueue request: {crowd.telemetry().maxTimeToEnqueueRequest()} s");
ImGui.Text($"Max time to find path: {crowd.telemetry().maxTimeToFindPath()} s");
List<Tuple<string, long>> timings = crowd.telemetry()
.executionTimings()
.Select(e => Tuple.Create(e.Key, e.Value))
.OrderBy(x => x.Item2)
.ToList();
foreach (Tuple<string, long> e in timings)
{
ImGui.Text($"{e.Item1}: {e.Item2 / 1_000} us");
}
ImGui.Text($"Update Time: {crowdUpdateTime} ms");
}
}
private float[] getMobPosition(NavMeshQuery navquery, QueryFilter filter, float[] pos)

194
src/DotRecast.Recast.Demo/Tools/CrowdTool.cs
View File

@ -19,6 +19,7 @@ freely, subject to the following restrictions:
using System;
using System.Collections.Generic;
using System.Collections.Immutable;
using System.Diagnostics;
using Silk.NET.Windowing;
using DotRecast.Detour;
@ -34,17 +35,34 @@ using static DotRecast.Core.RecastMath;
namespace DotRecast.Recast.Demo.Tools;
public class CrowdTool : Tool
public class CrowdToolMode
{
private enum ToolMode
{
public static readonly CrowdToolMode CREATE = new(0, "Create Agents");
public static readonly CrowdToolMode MOVE_TARGET = new(1, "Move Target");
public static readonly CrowdToolMode SELECT = new(2, "Select Agent");
public static readonly CrowdToolMode TOGGLE_POLYS = new(3, "Toggle Polys");
public static readonly CrowdToolMode PROFILING = new(4, "Profiling");
public static readonly ImmutableArray<CrowdToolMode> Values = ImmutableArray.Create(
CREATE,
MOVE_TARGET,
SELECT,
TOGGLE_POLYS,
PROFILING
}
);
public int Idx { get; }
public string Label { get; }
private CrowdToolMode(int idx, string label)
{
Idx = idx;
Label = label;
}
}
public class CrowdTool : Tool
{
private readonly CrowdToolParams toolParams = new CrowdToolParams();
private Sample sample;
private NavMesh m_nav;
@ -63,7 +81,8 @@ public class CrowdTool : Tool
private readonly Dictionary<long, AgentTrail> m_trails = new();
private float[] m_targetPos;
private long m_targetRef;
private ToolMode m_mode = ToolMode.CREATE;
private CrowdToolMode m_mode = CrowdToolMode.CREATE;
private int m_modeIdx = CrowdToolMode.CREATE.Idx;
private long crowdUpdateTime;
public CrowdTool()
@ -129,7 +148,7 @@ public class CrowdTool : Tool
public override void handleClick(float[] s, float[] p, bool shift)
{
if (m_mode == ToolMode.PROFILING)
if (m_mode == CrowdToolMode.PROFILING)
{
return;
}
@ -139,7 +158,7 @@ public class CrowdTool : Tool
return;
}
if (m_mode == ToolMode.CREATE)
if (m_mode == CrowdToolMode.CREATE)
{
if (shift)
{
@ -156,17 +175,17 @@ public class CrowdTool : Tool
addAgent(p);
}
}
else if (m_mode == ToolMode.MOVE_TARGET)
else if (m_mode == CrowdToolMode.MOVE_TARGET)
{
setMoveTarget(p, shift);
}
else if (m_mode == ToolMode.SELECT)
else if (m_mode == CrowdToolMode.SELECT)
{
// Highlight
CrowdAgent ahit = hitTestAgents(s, p);
hilightAgent(ahit);
}
else if (m_mode == ToolMode.TOGGLE_POLYS)
else if (m_mode == CrowdToolMode.TOGGLE_POLYS)
{
NavMesh nav = sample.getNavMesh();
NavMeshQuery navquery = sample.getNavMeshQuery();
@ -332,7 +351,7 @@ public class CrowdTool : Tool
public override void handleRender(NavMeshRenderer renderer)
{
if (m_mode == ToolMode.PROFILING)
if (m_mode == CrowdToolMode.PROFILING)
{
profilingTool.handleRender(renderer);
return;
@ -647,7 +666,7 @@ public class CrowdTool : Tool
private void updateTick(float dt)
{
if (m_mode == ToolMode.PROFILING)
if (m_mode == CrowdToolMode.PROFILING)
{
profilingTool.update(dt);
return;
@ -687,95 +706,72 @@ public class CrowdTool : Tool
public override void layout()
{
// ToolMode previousToolMode = m_mode;
// nk_layout_row_dynamic(ctx, 20, 1);
// if (nk_option_label(ctx, "Create Agents", m_mode == ToolMode.CREATE)) {
// m_mode = ToolMode.CREATE;
// }
// nk_layout_row_dynamic(ctx, 20, 1);
// if (nk_option_label(ctx, "Move Target", m_mode == ToolMode.MOVE_TARGET)) {
// m_mode = ToolMode.MOVE_TARGET;
// }
// nk_layout_row_dynamic(ctx, 20, 1);
// if (nk_option_label(ctx, "Select Agent", m_mode == ToolMode.SELECT)) {
// m_mode = ToolMode.SELECT;
// }
// nk_layout_row_dynamic(ctx, 20, 1);
// if (nk_option_label(ctx, "Toggle Polys", m_mode == ToolMode.TOGGLE_POLYS)) {
// m_mode = ToolMode.TOGGLE_POLYS;
// }
// nk_layout_row_dynamic(ctx, 20, 1);
// if (nk_option_label(ctx, "Profiling", m_mode == ToolMode.PROFILING)) {
// m_mode = ToolMode.PROFILING;
// }
// nk_layout_row_dynamic(ctx, 1, 1);
// nk_spacing(ctx, 1);
// if (nk_tree_state_push(ctx, 0, "Options", toolParams.m_expandOptions)) {
// bool m_optimizeVis = toolParams.m_optimizeVis;
// bool m_optimizeTopo = toolParams.m_optimizeTopo;
// bool m_anticipateTurns = toolParams.m_anticipateTurns;
// bool m_obstacleAvoidance = toolParams.m_obstacleAvoidance;
// bool m_separation = toolParams.m_separation;
// int m_obstacleAvoidanceType = toolParams.m_obstacleAvoidanceType[0];
// float m_separationWeight = toolParams.m_separationWeight[0];
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_optimizeVis = nk_option_text(ctx, "Optimize Visibility", toolParams.m_optimizeVis);
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_optimizeTopo = nk_option_text(ctx, "Optimize Topology", toolParams.m_optimizeTopo);
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_anticipateTurns = nk_option_text(ctx, "Anticipate Turns", toolParams.m_anticipateTurns);
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_obstacleAvoidance = nk_option_text(ctx, "Obstacle Avoidance", toolParams.m_obstacleAvoidance);
// nk_layout_row_dynamic(ctx, 20, 1);
ImGui.Text($"Crowd Tool Mode");
ImGui.Separator();
CrowdToolMode previousToolMode = m_mode;
ImGui.RadioButton(CrowdToolMode.CREATE.Label, ref m_modeIdx, CrowdToolMode.CREATE.Idx);
ImGui.RadioButton(CrowdToolMode.MOVE_TARGET.Label, ref m_modeIdx, CrowdToolMode.MOVE_TARGET.Idx);
ImGui.RadioButton(CrowdToolMode.SELECT.Label, ref m_modeIdx, CrowdToolMode.SELECT.Idx);
ImGui.RadioButton(CrowdToolMode.TOGGLE_POLYS.Label, ref m_modeIdx, CrowdToolMode.TOGGLE_POLYS.Idx);
ImGui.RadioButton(CrowdToolMode.PROFILING.Label, ref m_modeIdx, CrowdToolMode.PROFILING.Idx);
ImGui.NewLine();
if (previousToolMode.Idx != m_modeIdx)
{
m_mode = CrowdToolMode.Values[m_modeIdx];
}
ImGui.Text("Options");
ImGui.Separator();
bool m_optimizeVis = toolParams.m_optimizeVis;
bool m_optimizeTopo = toolParams.m_optimizeTopo;
bool m_anticipateTurns = toolParams.m_anticipateTurns;
bool m_obstacleAvoidance = toolParams.m_obstacleAvoidance;
bool m_separation = toolParams.m_separation;
int m_obstacleAvoidanceType = toolParams.m_obstacleAvoidanceType;
float m_separationWeight = toolParams.m_separationWeight;
toolParams.m_optimizeVis = ImGui.RadioButton("Optimize Visibility", toolParams.m_optimizeVis);
toolParams.m_optimizeTopo = ImGui.RadioButton("Optimize Topology", toolParams.m_optimizeTopo);
toolParams.m_anticipateTurns = ImGui.RadioButton("Anticipate Turns", toolParams.m_anticipateTurns);
toolParams.m_obstacleAvoidance = ImGui.RadioButton("Obstacle Avoidance", toolParams.m_obstacleAvoidance);
ImGui.SliderInt("Avoidance Quality", ref toolParams.m_obstacleAvoidanceType, 0, 3);
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_separation = nk_option_text(ctx, "Separation", toolParams.m_separation);
// nk_layout_row_dynamic(ctx, 20, 1);
toolParams.m_separation = ImGui.RadioButton("Separation", toolParams.m_separation);
ImGui.SliderFloat("Separation Weight", ref toolParams.m_separationWeight, 0f, 20f, "%.2f");
// if (m_optimizeVis != toolParams.m_optimizeVis || m_optimizeTopo != toolParams.m_optimizeTopo
// || m_anticipateTurns != toolParams.m_anticipateTurns || m_obstacleAvoidance != toolParams.m_obstacleAvoidance
// || m_separation != toolParams.m_separation
// || m_obstacleAvoidanceType != toolParams.m_obstacleAvoidanceType[0]
// || m_separationWeight != toolParams.m_separationWeight[0]) {
// updateAgentParams();
// }
// nk_tree_state_pop(ctx);
// }
// if (m_mode == ToolMode.PROFILING) {
// profilingTool.layout(ctx);
// }
// if (m_mode != ToolMode.PROFILING) {
// nk_layout_row_dynamic(ctx, 1, 1);
// nk_spacing(ctx, 1);
// if (nk_tree_state_push(ctx, 0, "Selected Debug Draw", toolParams.m_expandSelectedDebugDraw)) {
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_showCorners = nk_option_text(ctx, "Show Corners", toolParams.m_showCorners);
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_showCollisionSegments = nk_option_text(ctx, "Show Collision Segs", toolParams.m_showCollisionSegments);
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_showPath = nk_option_text(ctx, "Show Path", toolParams.m_showPath);
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_showVO = nk_option_text(ctx, "Show VO", toolParams.m_showVO);
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_showOpt = nk_option_text(ctx, "Show Path Optimization", toolParams.m_showOpt);
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_showNeis = nk_option_text(ctx, "Show Neighbours", toolParams.m_showNeis);
// nk_tree_state_pop(ctx);
// }
// nk_layout_row_dynamic(ctx, 1, 1);
// nk_spacing(ctx, 1);
// if (nk_tree_state_push(ctx, 0, "Debug Draw", toolParams.m_expandDebugDraw)) {
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_showGrid = nk_option_text(ctx, "Show Prox Grid", toolParams.m_showGrid);
// nk_layout_row_dynamic(ctx, 20, 1);
// toolParams.m_showNodes = nk_option_text(ctx, "Show Nodes", toolParams.m_showNodes);
// nk_tree_state_pop(ctx);
// }
// nk_layout_row_dynamic(ctx, 2, 1);
// nk_spacing(ctx, 1);
// nk_layout_row_dynamic(ctx, 18, 1);
// nk_label(ctx, string.format("Update Time: %d ms", crowdUpdateTime), NK_TEXT_ALIGN_LEFT);
// }
ImGui.NewLine();
if (m_optimizeVis != toolParams.m_optimizeVis || m_optimizeTopo != toolParams.m_optimizeTopo
|| m_anticipateTurns != toolParams.m_anticipateTurns || m_obstacleAvoidance != toolParams.m_obstacleAvoidance
|| m_separation != toolParams.m_separation
|| m_obstacleAvoidanceType != toolParams.m_obstacleAvoidanceType
|| m_separationWeight != toolParams.m_separationWeight)
{
updateAgentParams();
}
if (m_mode == CrowdToolMode.PROFILING)
{
profilingTool.layout();
}
if (m_mode != CrowdToolMode.PROFILING)
{
ImGui.Text("Selected Debug Draw");
ImGui.Separator();
toolParams.m_showCorners = ImGui.RadioButton("Show Corners", toolParams.m_showCorners);
toolParams.m_showCollisionSegments = ImGui.RadioButton("Show Collision Segs", toolParams.m_showCollisionSegments);
toolParams.m_showPath = ImGui.RadioButton("Show Path", toolParams.m_showPath);
toolParams.m_showVO = ImGui.RadioButton("Show VO", toolParams.m_showVO);
toolParams.m_showOpt = ImGui.RadioButton("Show Path Optimization", toolParams.m_showOpt);
toolParams.m_showNeis = ImGui.RadioButton("Show Neighbours", toolParams.m_showNeis);
ImGui.NewLine();
ImGui.Text("Debug Draw");
ImGui.Separator();
toolParams.m_showGrid = ImGui.RadioButton("Show Prox Grid", toolParams.m_showGrid);
toolParams.m_showNodes = ImGui.RadioButton("Show Nodes", toolParams.m_showNodes);
ImGui.Text($"Update Time: {crowdUpdateTime} ms");
}
}
private void updateAgentParams()