forked from bit/DotRecastNetSim
C# style
This commit is contained in:
ikpil
parent
136c8d040d
commit
bef429e5dc
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@ -142,19 +142,19 @@ namespace DotRecast.Detour.Crowd
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/// dtCrowdAgentParams::queryFilterType
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public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
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private readonly AtomicInteger agentId = new AtomicInteger();
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private readonly List<CrowdAgent> m_agents;
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private readonly PathQueue m_pathq;
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private readonly ObstacleAvoidanceParams[] m_obstacleQueryParams = new ObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
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private readonly ObstacleAvoidanceQuery m_obstacleQuery;
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private ProximityGrid m_grid;
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private readonly Vector3f m_ext = new Vector3f();
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private readonly QueryFilter[] m_filters = new QueryFilter[DT_CROWD_MAX_QUERY_FILTER_TYPE];
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private NavMeshQuery navQuery;
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private NavMesh navMesh;
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private readonly AtomicInteger _agentId = new AtomicInteger();
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private readonly List<CrowdAgent> _agents;
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private readonly PathQueue _pathQ;
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private readonly ObstacleAvoidanceParams[] _obstacleQueryParams = new ObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
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private readonly ObstacleAvoidanceQuery _obstacleQuery;
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private ProximityGrid _grid;
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private readonly Vector3f _ext = new Vector3f();
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private readonly QueryFilter[] _filters = new QueryFilter[DT_CROWD_MAX_QUERY_FILTER_TYPE];
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private NavMeshQuery _navQuery;
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private NavMesh _navMesh;
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private readonly CrowdConfig _config;
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private readonly CrowdTelemetry _telemetry = new CrowdTelemetry();
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int m_velocitySampleCount;
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private int _velocitySampleCount;
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public Crowd(CrowdConfig config, NavMesh nav) :
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this(config, nav, i => new DefaultQueryFilter())
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@ -164,34 +164,34 @@ namespace DotRecast.Detour.Crowd
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public Crowd(CrowdConfig config, NavMesh nav, Func<int, QueryFilter> queryFilterFactory)
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{
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_config = config;
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vSet(ref m_ext, config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f);
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vSet(ref _ext, config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f);
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m_obstacleQuery = new ObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments);
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_obstacleQuery = new ObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments);
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for (int i = 0; i < DT_CROWD_MAX_QUERY_FILTER_TYPE; i++)
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{
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m_filters[i] = queryFilterFactory.Invoke(i);
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_filters[i] = queryFilterFactory.Invoke(i);
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}
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// Init obstacle query option.
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for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
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{
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m_obstacleQueryParams[i] = new ObstacleAvoidanceParams();
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_obstacleQueryParams[i] = new ObstacleAvoidanceParams();
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}
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// Allocate temp buffer for merging paths.
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m_pathq = new PathQueue(config);
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m_agents = new List<CrowdAgent>();
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_pathQ = new PathQueue(config);
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_agents = new List<CrowdAgent>();
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// The navQuery is mostly used for local searches, no need for large node pool.
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navMesh = nav;
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navQuery = new NavMeshQuery(nav);
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_navMesh = nav;
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_navQuery = new NavMeshQuery(nav);
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}
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public void setNavMesh(NavMesh nav)
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{
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navMesh = nav;
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navQuery = new NavMeshQuery(nav);
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_navMesh = nav;
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_navQuery = new NavMeshQuery(nav);
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}
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/// Sets the shared avoidance configuration for the specified index.
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@ -202,7 +202,7 @@ namespace DotRecast.Detour.Crowd
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{
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if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
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{
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m_obstacleQueryParams[idx] = new ObstacleAvoidanceParams(option);
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_obstacleQueryParams[idx] = new ObstacleAvoidanceParams(option);
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}
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}
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@ -214,7 +214,7 @@ namespace DotRecast.Detour.Crowd
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{
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if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
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{
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return m_obstacleQueryParams[idx];
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return _obstacleQueryParams[idx];
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}
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return null;
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@ -239,12 +239,12 @@ namespace DotRecast.Detour.Crowd
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*/
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public CrowdAgent addAgent(Vector3f pos, CrowdAgentParams option)
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{
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CrowdAgent ag = new CrowdAgent(agentId.GetAndIncrement());
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m_agents.Add(ag);
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CrowdAgent ag = new CrowdAgent(_agentId.GetAndIncrement());
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_agents.Add(ag);
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updateAgentParameters(ag, option);
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// Find nearest position on navmesh and place the agent there.
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Result<FindNearestPolyResult> nearestPoly = navQuery.findNearestPoly(pos, m_ext, m_filters[ag.option.queryFilterType]);
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Result<FindNearestPolyResult> nearestPoly = _navQuery.findNearestPoly(pos, _ext, _filters[ag.option.queryFilterType]);
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var nearest = nearestPoly.Succeeded() ? nearestPoly.result.getNearestPos() : pos;
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long refs = nearestPoly.Succeeded() ? nearestPoly.result.getNearestRef() : 0L;
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@ -284,7 +284,7 @@ namespace DotRecast.Detour.Crowd
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*/
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public void removeAgent(CrowdAgent agent)
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{
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m_agents.Remove(agent);
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_agents.Remove(agent);
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}
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private bool requestMoveTargetReplan(CrowdAgent ag, long refs, Vector3f pos)
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@ -356,27 +356,27 @@ namespace DotRecast.Detour.Crowd
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*/
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public ICollection<CrowdAgent> getActiveAgents()
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{
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return m_agents;
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return _agents;
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}
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public Vector3f getQueryExtents()
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{
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return m_ext;
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return _ext;
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}
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public QueryFilter getFilter(int i)
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{
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return i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE ? m_filters[i] : null;
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return i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE ? _filters[i] : null;
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}
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public ProximityGrid getGrid()
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{
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return m_grid;
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return _grid;
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}
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public PathQueue getPathQueue()
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{
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return m_pathq;
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return _pathQ;
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}
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public CrowdTelemetry telemetry()
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@ -391,7 +391,7 @@ namespace DotRecast.Detour.Crowd
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public CrowdTelemetry update(float dt, CrowdAgentDebugInfo debug)
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{
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m_velocitySampleCount = 0;
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_velocitySampleCount = 0;
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_telemetry.start();
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@ -457,12 +457,12 @@ namespace DotRecast.Detour.Crowd
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Vector3f agentPos = new Vector3f();
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long agentRef = ag.corridor.getFirstPoly();
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agentPos = ag.npos;
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if (!navQuery.isValidPolyRef(agentRef, m_filters[ag.option.queryFilterType]))
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if (!_navQuery.isValidPolyRef(agentRef, _filters[ag.option.queryFilterType]))
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{
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// Current location is not valid, try to reposition.
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// TODO: this can snap agents, how to handle that?
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Result<FindNearestPolyResult> nearestPoly = navQuery.findNearestPoly(ag.npos, m_ext,
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m_filters[ag.option.queryFilterType]);
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Result<FindNearestPolyResult> nearestPoly = _navQuery.findNearestPoly(ag.npos, _ext,
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_filters[ag.option.queryFilterType]);
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agentRef = nearestPoly.Succeeded() ? nearestPoly.result.getNearestRef() : 0L;
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if (nearestPoly.Succeeded())
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{
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@ -503,11 +503,11 @@ namespace DotRecast.Detour.Crowd
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if (ag.targetState != MoveRequestState.DT_CROWDAGENT_TARGET_NONE
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&& ag.targetState != MoveRequestState.DT_CROWDAGENT_TARGET_FAILED)
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{
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if (!navQuery.isValidPolyRef(ag.targetRef, m_filters[ag.option.queryFilterType]))
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if (!_navQuery.isValidPolyRef(ag.targetRef, _filters[ag.option.queryFilterType]))
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{
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// Current target is not valid, try to reposition.
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Result<FindNearestPolyResult> fnp = navQuery.findNearestPoly(ag.targetPos, m_ext,
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m_filters[ag.option.queryFilterType]);
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Result<FindNearestPolyResult> fnp = _navQuery.findNearestPoly(ag.targetPos, _ext,
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_filters[ag.option.queryFilterType]);
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ag.targetRef = fnp.Succeeded() ? fnp.result.getNearestRef() : 0L;
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if (fnp.Succeeded())
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{
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@ -527,7 +527,7 @@ namespace DotRecast.Detour.Crowd
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}
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// If nearby corridor is not valid, replan.
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if (!ag.corridor.isValid(_config.checkLookAhead, navQuery, m_filters[ag.option.queryFilterType]))
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if (!ag.corridor.isValid(_config.checkLookAhead, _navQuery, _filters[ag.option.queryFilterType]))
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{
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// Fix current path.
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// ag.corridor.trimInvalidPath(agentRef, agentPos, m_navquery,
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@ -589,20 +589,20 @@ namespace DotRecast.Detour.Crowd
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}
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// Quick search towards the goal.
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navQuery.initSlicedFindPath(path[0], ag.targetRef, ag.npos, ag.targetPos,
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m_filters[ag.option.queryFilterType], 0);
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navQuery.updateSlicedFindPath(_config.maxTargetFindPathIterations);
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_navQuery.initSlicedFindPath(path[0], ag.targetRef, ag.npos, ag.targetPos,
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_filters[ag.option.queryFilterType], 0);
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_navQuery.updateSlicedFindPath(_config.maxTargetFindPathIterations);
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Result<List<long>> pathFound;
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if (ag.targetReplan) // && npath > 10)
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{
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// Try to use existing steady path during replan if
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// possible.
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pathFound = navQuery.finalizeSlicedFindPathPartial(path);
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pathFound = _navQuery.finalizeSlicedFindPathPartial(path);
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}
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else
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{
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// Try to move towards target when goal changes.
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pathFound = navQuery.finalizeSlicedFindPath();
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pathFound = _navQuery.finalizeSlicedFindPath();
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}
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List<long> reqPath = pathFound.result;
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@ -614,7 +614,7 @@ namespace DotRecast.Detour.Crowd
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{
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// Partial path, constrain target position inside the
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// last polygon.
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Result<ClosestPointOnPolyResult> cr = navQuery.closestPointOnPoly(reqPath[reqPath.Count - 1],
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Result<ClosestPointOnPolyResult> cr = _navQuery.closestPointOnPoly(reqPath[reqPath.Count - 1],
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ag.targetPos);
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if (cr.Succeeded())
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{
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@ -666,8 +666,8 @@ namespace DotRecast.Detour.Crowd
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while (!queue.IsEmpty())
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{
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CrowdAgent ag = queue.Dequeue();
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ag.targetPathQueryResult = m_pathq.request(ag.corridor.getLastPoly(), ag.targetRef, ag.corridor.getTarget(),
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ag.targetPos, m_filters[ag.option.queryFilterType]);
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ag.targetPathQueryResult = _pathQ.request(ag.corridor.getLastPoly(), ag.targetRef, ag.corridor.getTarget(),
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ag.targetPos, _filters[ag.option.queryFilterType]);
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if (ag.targetPathQueryResult != null)
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{
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ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH;
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@ -681,7 +681,7 @@ namespace DotRecast.Detour.Crowd
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// Update requests.
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_telemetry.start("pathQueueUpdate");
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m_pathq.update(navMesh);
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_pathQ.update(_navMesh);
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_telemetry.stop("pathQueueUpdate");
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// Process path results.
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@ -783,7 +783,7 @@ namespace DotRecast.Detour.Crowd
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{
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// Partial path, constrain target position inside
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// the last polygon.
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Result<ClosestPointOnPolyResult> cr = navQuery.closestPointOnPoly(res[res.Count - 1], targetPos);
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Result<ClosestPointOnPolyResult> cr = _navQuery.closestPointOnPoly(res[res.Count - 1], targetPos);
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if (cr.Succeeded())
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{
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targetPos = cr.result.getClosest();
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@ -854,7 +854,7 @@ namespace DotRecast.Detour.Crowd
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while (!queue.IsEmpty())
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{
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CrowdAgent ag = queue.Dequeue();
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ag.corridor.optimizePathTopology(navQuery, m_filters[ag.option.queryFilterType], _config.maxTopologyOptimizationIterations);
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ag.corridor.optimizePathTopology(_navQuery, _filters[ag.option.queryFilterType], _config.maxTopologyOptimizationIterations);
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ag.topologyOptTime = 0;
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}
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@ -864,12 +864,12 @@ namespace DotRecast.Detour.Crowd
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private void buildProximityGrid(ICollection<CrowdAgent> agents)
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{
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_telemetry.start("buildProximityGrid");
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m_grid = new ProximityGrid(_config.maxAgentRadius * 3);
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_grid = new ProximityGrid(_config.maxAgentRadius * 3);
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foreach (CrowdAgent ag in agents)
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{
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Vector3f p = ag.npos;
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float r = ag.option.radius;
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m_grid.AddItem(ag, p.x - r, p.z - r, p.x + r, p.z + r);
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_grid.AddItem(ag, p.x - r, p.z - r, p.x + r, p.z + r);
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}
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_telemetry.stop("buildProximityGrid");
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@ -889,14 +889,14 @@ namespace DotRecast.Detour.Crowd
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// if it has become invalid.
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float updateThr = ag.option.collisionQueryRange * 0.25f;
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if (vDist2DSqr(ag.npos, ag.boundary.getCenter()) > sqr(updateThr)
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|| !ag.boundary.isValid(navQuery, m_filters[ag.option.queryFilterType]))
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|| !ag.boundary.isValid(_navQuery, _filters[ag.option.queryFilterType]))
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{
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ag.boundary.update(ag.corridor.getFirstPoly(), ag.npos, ag.option.collisionQueryRange, navQuery,
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m_filters[ag.option.queryFilterType]);
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ag.boundary.update(ag.corridor.getFirstPoly(), ag.npos, ag.option.collisionQueryRange, _navQuery,
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_filters[ag.option.queryFilterType]);
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}
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// Query neighbour agents
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ag.neis = getNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, m_grid);
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ag.neis = getNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, _grid);
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}
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_telemetry.stop("buildNeighbours");
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@ -953,15 +953,15 @@ namespace DotRecast.Detour.Crowd
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}
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// Find corners for steering
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ag.corners = ag.corridor.findCorners(DT_CROWDAGENT_MAX_CORNERS, navQuery, m_filters[ag.option.queryFilterType]);
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ag.corners = ag.corridor.findCorners(DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
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// Check to see if the corner after the next corner is directly visible,
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// and short cut to there.
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if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.corners.Count > 0)
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{
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Vector3f target = ag.corners[Math.Min(1, ag.corners.Count - 1)].getPos();
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ag.corridor.optimizePathVisibility(target, ag.option.pathOptimizationRange, navQuery,
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m_filters[ag.option.queryFilterType]);
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ag.corridor.optimizePathVisibility(target, ag.option.pathOptimizationRange, _navQuery,
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_filters[ag.option.queryFilterType]);
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// Copy data for debug purposes.
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if (debugAgent == ag)
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@ -1010,7 +1010,7 @@ namespace DotRecast.Detour.Crowd
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// Adjust the path over the off-mesh connection.
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long[] refs = new long[2];
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if (ag.corridor.moveOverOffmeshConnection(ag.corners[ag.corners.Count - 1].getRef(), refs, ref anim.startPos,
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ref anim.endPos, navQuery))
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ref anim.endPos, _navQuery))
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{
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anim.initPos = ag.npos;
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anim.polyRef = refs[1];
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@ -1144,13 +1144,13 @@ namespace DotRecast.Detour.Crowd
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if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE) != 0)
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{
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m_obstacleQuery.reset();
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_obstacleQuery.reset();
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// Add neighbours as obstacles.
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for (int j = 0; j < ag.neis.Count; ++j)
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{
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CrowdAgent nei = ag.neis[j].agent;
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m_obstacleQuery.addCircle(nei.npos, nei.option.radius, nei.vel, nei.dvel);
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_obstacleQuery.addCircle(nei.npos, nei.option.radius, nei.vel, nei.dvel);
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}
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// Append neighbour segments as obstacles.
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@ -1164,7 +1164,7 @@ namespace DotRecast.Detour.Crowd
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continue;
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}
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m_obstacleQuery.addSegment(s[0], s3);
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_obstacleQuery.addSegment(s[0], s3);
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}
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ObstacleAvoidanceDebugData vod = null;
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@ -1177,24 +1177,24 @@ namespace DotRecast.Detour.Crowd
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bool adaptive = true;
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int ns = 0;
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ObstacleAvoidanceParams option = m_obstacleQueryParams[ag.option.obstacleAvoidanceType];
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ObstacleAvoidanceParams option = _obstacleQueryParams[ag.option.obstacleAvoidanceType];
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if (adaptive)
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{
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var nsnvel = m_obstacleQuery.sampleVelocityAdaptive(ag.npos, ag.option.radius,
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var nsnvel = _obstacleQuery.sampleVelocityAdaptive(ag.npos, ag.option.radius,
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ag.desiredSpeed, ag.vel, ag.dvel, option, vod);
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ns = nsnvel.Item1;
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ag.nvel = nsnvel.Item2;
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}
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else
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{
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var nsnvel = m_obstacleQuery.sampleVelocityGrid(ag.npos, ag.option.radius,
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var nsnvel = _obstacleQuery.sampleVelocityGrid(ag.npos, ag.option.radius,
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ag.desiredSpeed, ag.vel, ag.dvel, option, vod);
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ns = nsnvel.Item1;
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ag.nvel = nsnvel.Item2;
|
||||
}
|
||||
|
||||
m_velocitySampleCount += ns;
|
||||
_velocitySampleCount += ns;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -1310,7 +1310,7 @@ namespace DotRecast.Detour.Crowd
|
|||
}
|
||||
|
||||
// Move along navmesh.
|
||||
ag.corridor.movePosition(ag.npos, navQuery, m_filters[ag.option.queryFilterType]);
|
||||
ag.corridor.movePosition(ag.npos, _navQuery, _filters[ag.option.queryFilterType]);
|
||||
// Get valid constrained position back.
|
||||
ag.npos = ag.corridor.getPos();
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue