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DotRecastNetSim
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C# style

This commit is contained in:
ikpil 2023-05-05 08:13:42 +09:00
parent 136c8d040d
commit bef429e5dc
1 changed files with 69 additions and 69 deletions
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138
src/DotRecast.Detour.Crowd/Crowd.cs
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@ -142,19 +142,19 @@ namespace DotRecast.Detour.Crowd
/// dtCrowdAgentParams::queryFilterType /// dtCrowdAgentParams::queryFilterType
public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16; public const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
private readonly AtomicInteger agentId = new AtomicInteger(); private readonly AtomicInteger _agentId = new AtomicInteger();
private readonly List<CrowdAgent> m_agents; private readonly List<CrowdAgent> _agents;
private readonly PathQueue m_pathq; private readonly PathQueue _pathQ;
private readonly ObstacleAvoidanceParams[] m_obstacleQueryParams = new ObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]; private readonly ObstacleAvoidanceParams[] _obstacleQueryParams = new ObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
private readonly ObstacleAvoidanceQuery m_obstacleQuery; private readonly ObstacleAvoidanceQuery _obstacleQuery;
private ProximityGrid m_grid; private ProximityGrid _grid;
private readonly Vector3f m_ext = new Vector3f(); private readonly Vector3f _ext = new Vector3f();
private readonly QueryFilter[] m_filters = new QueryFilter[DT_CROWD_MAX_QUERY_FILTER_TYPE]; private readonly QueryFilter[] _filters = new QueryFilter[DT_CROWD_MAX_QUERY_FILTER_TYPE];
private NavMeshQuery navQuery; private NavMeshQuery _navQuery;
private NavMesh navMesh; private NavMesh _navMesh;
private readonly CrowdConfig _config; private readonly CrowdConfig _config;
private readonly CrowdTelemetry _telemetry = new CrowdTelemetry(); private readonly CrowdTelemetry _telemetry = new CrowdTelemetry();
int m_velocitySampleCount; private int _velocitySampleCount;
public Crowd(CrowdConfig config, NavMesh nav) : public Crowd(CrowdConfig config, NavMesh nav) :
this(config, nav, i => new DefaultQueryFilter()) this(config, nav, i => new DefaultQueryFilter())
@ -164,34 +164,34 @@ namespace DotRecast.Detour.Crowd
public Crowd(CrowdConfig config, NavMesh nav, Func<int, QueryFilter> queryFilterFactory) public Crowd(CrowdConfig config, NavMesh nav, Func<int, QueryFilter> queryFilterFactory)
{ {
_config = config; _config = config;
vSet(ref m_ext, config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f); vSet(ref _ext, config.maxAgentRadius * 2.0f, config.maxAgentRadius * 1.5f, config.maxAgentRadius * 2.0f);
m_obstacleQuery = new ObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments); _obstacleQuery = new ObstacleAvoidanceQuery(config.maxObstacleAvoidanceCircles, config.maxObstacleAvoidanceSegments);
for (int i = 0; i < DT_CROWD_MAX_QUERY_FILTER_TYPE; i++) for (int i = 0; i < DT_CROWD_MAX_QUERY_FILTER_TYPE; i++)
{ {
m_filters[i] = queryFilterFactory.Invoke(i); _filters[i] = queryFilterFactory.Invoke(i);
} }
// Init obstacle query option. // Init obstacle query option.
for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i) for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
{ {
m_obstacleQueryParams[i] = new ObstacleAvoidanceParams(); _obstacleQueryParams[i] = new ObstacleAvoidanceParams();
} }
// Allocate temp buffer for merging paths. // Allocate temp buffer for merging paths.
m_pathq = new PathQueue(config); _pathQ = new PathQueue(config);
m_agents = new List<CrowdAgent>(); _agents = new List<CrowdAgent>();
// The navQuery is mostly used for local searches, no need for large node pool. // The navQuery is mostly used for local searches, no need for large node pool.
navMesh = nav; _navMesh = nav;
navQuery = new NavMeshQuery(nav); _navQuery = new NavMeshQuery(nav);
} }
public void setNavMesh(NavMesh nav) public void setNavMesh(NavMesh nav)
{ {
navMesh = nav; _navMesh = nav;
navQuery = new NavMeshQuery(nav); _navQuery = new NavMeshQuery(nav);
} }
/// Sets the shared avoidance configuration for the specified index. /// Sets the shared avoidance configuration for the specified index.
@ -202,7 +202,7 @@ namespace DotRecast.Detour.Crowd
{ {
if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS) if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
{ {
m_obstacleQueryParams[idx] = new ObstacleAvoidanceParams(option); _obstacleQueryParams[idx] = new ObstacleAvoidanceParams(option);
} }
} }
@ -214,7 +214,7 @@ namespace DotRecast.Detour.Crowd
{ {
if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS) if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
{ {
return m_obstacleQueryParams[idx]; return _obstacleQueryParams[idx];
} }
return null; return null;
@ -239,12 +239,12 @@ namespace DotRecast.Detour.Crowd
*/ */
public CrowdAgent addAgent(Vector3f pos, CrowdAgentParams option) public CrowdAgent addAgent(Vector3f pos, CrowdAgentParams option)
{ {
CrowdAgent ag = new CrowdAgent(agentId.GetAndIncrement()); CrowdAgent ag = new CrowdAgent(_agentId.GetAndIncrement());
m_agents.Add(ag); _agents.Add(ag);
updateAgentParameters(ag, option); updateAgentParameters(ag, option);
// Find nearest position on navmesh and place the agent there. // Find nearest position on navmesh and place the agent there.
Result<FindNearestPolyResult> nearestPoly = navQuery.findNearestPoly(pos, m_ext, m_filters[ag.option.queryFilterType]); Result<FindNearestPolyResult> nearestPoly = _navQuery.findNearestPoly(pos, _ext, _filters[ag.option.queryFilterType]);
var nearest = nearestPoly.Succeeded() ? nearestPoly.result.getNearestPos() : pos; var nearest = nearestPoly.Succeeded() ? nearestPoly.result.getNearestPos() : pos;
long refs = nearestPoly.Succeeded() ? nearestPoly.result.getNearestRef() : 0L; long refs = nearestPoly.Succeeded() ? nearestPoly.result.getNearestRef() : 0L;
@ -284,7 +284,7 @@ namespace DotRecast.Detour.Crowd
*/ */
public void removeAgent(CrowdAgent agent) public void removeAgent(CrowdAgent agent)
{ {
m_agents.Remove(agent); _agents.Remove(agent);
} }
private bool requestMoveTargetReplan(CrowdAgent ag, long refs, Vector3f pos) private bool requestMoveTargetReplan(CrowdAgent ag, long refs, Vector3f pos)
@ -356,27 +356,27 @@ namespace DotRecast.Detour.Crowd
*/ */
public ICollection<CrowdAgent> getActiveAgents() public ICollection<CrowdAgent> getActiveAgents()
{ {
return m_agents; return _agents;
} }
public Vector3f getQueryExtents() public Vector3f getQueryExtents()
{ {
return m_ext; return _ext;
} }
public QueryFilter getFilter(int i) public QueryFilter getFilter(int i)
{ {
return i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE ? m_filters[i] : null; return i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE ? _filters[i] : null;
} }
public ProximityGrid getGrid() public ProximityGrid getGrid()
{ {
return m_grid; return _grid;
} }
public PathQueue getPathQueue() public PathQueue getPathQueue()
{ {
return m_pathq; return _pathQ;
} }
public CrowdTelemetry telemetry() public CrowdTelemetry telemetry()
@ -391,7 +391,7 @@ namespace DotRecast.Detour.Crowd
public CrowdTelemetry update(float dt, CrowdAgentDebugInfo debug) public CrowdTelemetry update(float dt, CrowdAgentDebugInfo debug)
{ {
m_velocitySampleCount = 0; _velocitySampleCount = 0;
_telemetry.start(); _telemetry.start();
@ -457,12 +457,12 @@ namespace DotRecast.Detour.Crowd
Vector3f agentPos = new Vector3f(); Vector3f agentPos = new Vector3f();
long agentRef = ag.corridor.getFirstPoly(); long agentRef = ag.corridor.getFirstPoly();
agentPos = ag.npos; agentPos = ag.npos;
if (!navQuery.isValidPolyRef(agentRef, m_filters[ag.option.queryFilterType])) if (!_navQuery.isValidPolyRef(agentRef, _filters[ag.option.queryFilterType]))
{ {
// Current location is not valid, try to reposition. // Current location is not valid, try to reposition.
// TODO: this can snap agents, how to handle that? // TODO: this can snap agents, how to handle that?
Result<FindNearestPolyResult> nearestPoly = navQuery.findNearestPoly(ag.npos, m_ext, Result<FindNearestPolyResult> nearestPoly = _navQuery.findNearestPoly(ag.npos, _ext,
m_filters[ag.option.queryFilterType]); _filters[ag.option.queryFilterType]);
agentRef = nearestPoly.Succeeded() ? nearestPoly.result.getNearestRef() : 0L; agentRef = nearestPoly.Succeeded() ? nearestPoly.result.getNearestRef() : 0L;
if (nearestPoly.Succeeded()) if (nearestPoly.Succeeded())
{ {
@ -503,11 +503,11 @@ namespace DotRecast.Detour.Crowd
if (ag.targetState != MoveRequestState.DT_CROWDAGENT_TARGET_NONE if (ag.targetState != MoveRequestState.DT_CROWDAGENT_TARGET_NONE
&& ag.targetState != MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) && ag.targetState != MoveRequestState.DT_CROWDAGENT_TARGET_FAILED)
{ {
if (!navQuery.isValidPolyRef(ag.targetRef, m_filters[ag.option.queryFilterType])) if (!_navQuery.isValidPolyRef(ag.targetRef, _filters[ag.option.queryFilterType]))
{ {
// Current target is not valid, try to reposition. // Current target is not valid, try to reposition.
Result<FindNearestPolyResult> fnp = navQuery.findNearestPoly(ag.targetPos, m_ext, Result<FindNearestPolyResult> fnp = _navQuery.findNearestPoly(ag.targetPos, _ext,
m_filters[ag.option.queryFilterType]); _filters[ag.option.queryFilterType]);
ag.targetRef = fnp.Succeeded() ? fnp.result.getNearestRef() : 0L; ag.targetRef = fnp.Succeeded() ? fnp.result.getNearestRef() : 0L;
if (fnp.Succeeded()) if (fnp.Succeeded())
{ {
@ -527,7 +527,7 @@ namespace DotRecast.Detour.Crowd
} }
// If nearby corridor is not valid, replan. // If nearby corridor is not valid, replan.
if (!ag.corridor.isValid(_config.checkLookAhead, navQuery, m_filters[ag.option.queryFilterType])) if (!ag.corridor.isValid(_config.checkLookAhead, _navQuery, _filters[ag.option.queryFilterType]))
{ {
// Fix current path. // Fix current path.
// ag.corridor.trimInvalidPath(agentRef, agentPos, m_navquery, // ag.corridor.trimInvalidPath(agentRef, agentPos, m_navquery,
@ -589,20 +589,20 @@ namespace DotRecast.Detour.Crowd
} }
// Quick search towards the goal. // Quick search towards the goal.
navQuery.initSlicedFindPath(path[0], ag.targetRef, ag.npos, ag.targetPos, _navQuery.initSlicedFindPath(path[0], ag.targetRef, ag.npos, ag.targetPos,
m_filters[ag.option.queryFilterType], 0); _filters[ag.option.queryFilterType], 0);
navQuery.updateSlicedFindPath(_config.maxTargetFindPathIterations); _navQuery.updateSlicedFindPath(_config.maxTargetFindPathIterations);
Result<List<long>> pathFound; Result<List<long>> pathFound;
if (ag.targetReplan) // && npath > 10) if (ag.targetReplan) // && npath > 10)
{ {
// Try to use existing steady path during replan if // Try to use existing steady path during replan if
// possible. // possible.
pathFound = navQuery.finalizeSlicedFindPathPartial(path); pathFound = _navQuery.finalizeSlicedFindPathPartial(path);
} }
else else
{ {
// Try to move towards target when goal changes. // Try to move towards target when goal changes.
pathFound = navQuery.finalizeSlicedFindPath(); pathFound = _navQuery.finalizeSlicedFindPath();
} }
List<long> reqPath = pathFound.result; List<long> reqPath = pathFound.result;
@ -614,7 +614,7 @@ namespace DotRecast.Detour.Crowd
{ {
// Partial path, constrain target position inside the // Partial path, constrain target position inside the
// last polygon. // last polygon.
Result<ClosestPointOnPolyResult> cr = navQuery.closestPointOnPoly(reqPath[reqPath.Count - 1], Result<ClosestPointOnPolyResult> cr = _navQuery.closestPointOnPoly(reqPath[reqPath.Count - 1],
ag.targetPos); ag.targetPos);
if (cr.Succeeded()) if (cr.Succeeded())
{ {
@ -666,8 +666,8 @@ namespace DotRecast.Detour.Crowd
while (!queue.IsEmpty()) while (!queue.IsEmpty())
{ {
CrowdAgent ag = queue.Dequeue(); CrowdAgent ag = queue.Dequeue();
ag.targetPathQueryResult = m_pathq.request(ag.corridor.getLastPoly(), ag.targetRef, ag.corridor.getTarget(), ag.targetPathQueryResult = _pathQ.request(ag.corridor.getLastPoly(), ag.targetRef, ag.corridor.getTarget(),
ag.targetPos, m_filters[ag.option.queryFilterType]); ag.targetPos, _filters[ag.option.queryFilterType]);
if (ag.targetPathQueryResult != null) if (ag.targetPathQueryResult != null)
{ {
ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH; ag.targetState = MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH;
@ -681,7 +681,7 @@ namespace DotRecast.Detour.Crowd
// Update requests. // Update requests.
_telemetry.start("pathQueueUpdate"); _telemetry.start("pathQueueUpdate");
m_pathq.update(navMesh); _pathQ.update(_navMesh);
_telemetry.stop("pathQueueUpdate"); _telemetry.stop("pathQueueUpdate");
// Process path results. // Process path results.
@ -783,7 +783,7 @@ namespace DotRecast.Detour.Crowd
{ {
// Partial path, constrain target position inside // Partial path, constrain target position inside
// the last polygon. // the last polygon.
Result<ClosestPointOnPolyResult> cr = navQuery.closestPointOnPoly(res[res.Count - 1], targetPos); Result<ClosestPointOnPolyResult> cr = _navQuery.closestPointOnPoly(res[res.Count - 1], targetPos);
if (cr.Succeeded()) if (cr.Succeeded())
{ {
targetPos = cr.result.getClosest(); targetPos = cr.result.getClosest();
@ -854,7 +854,7 @@ namespace DotRecast.Detour.Crowd
while (!queue.IsEmpty()) while (!queue.IsEmpty())
{ {
CrowdAgent ag = queue.Dequeue(); CrowdAgent ag = queue.Dequeue();
ag.corridor.optimizePathTopology(navQuery, m_filters[ag.option.queryFilterType], _config.maxTopologyOptimizationIterations); ag.corridor.optimizePathTopology(_navQuery, _filters[ag.option.queryFilterType], _config.maxTopologyOptimizationIterations);
ag.topologyOptTime = 0; ag.topologyOptTime = 0;
} }
@ -864,12 +864,12 @@ namespace DotRecast.Detour.Crowd
private void buildProximityGrid(ICollection<CrowdAgent> agents) private void buildProximityGrid(ICollection<CrowdAgent> agents)
{ {
_telemetry.start("buildProximityGrid"); _telemetry.start("buildProximityGrid");
m_grid = new ProximityGrid(_config.maxAgentRadius * 3); _grid = new ProximityGrid(_config.maxAgentRadius * 3);
foreach (CrowdAgent ag in agents) foreach (CrowdAgent ag in agents)
{ {
Vector3f p = ag.npos; Vector3f p = ag.npos;
float r = ag.option.radius; float r = ag.option.radius;
m_grid.AddItem(ag, p.x - r, p.z - r, p.x + r, p.z + r); _grid.AddItem(ag, p.x - r, p.z - r, p.x + r, p.z + r);
} }
_telemetry.stop("buildProximityGrid"); _telemetry.stop("buildProximityGrid");
@ -889,14 +889,14 @@ namespace DotRecast.Detour.Crowd
// if it has become invalid. // if it has become invalid.
float updateThr = ag.option.collisionQueryRange * 0.25f; float updateThr = ag.option.collisionQueryRange * 0.25f;
if (vDist2DSqr(ag.npos, ag.boundary.getCenter()) > sqr(updateThr) if (vDist2DSqr(ag.npos, ag.boundary.getCenter()) > sqr(updateThr)
|| !ag.boundary.isValid(navQuery, m_filters[ag.option.queryFilterType])) || !ag.boundary.isValid(_navQuery, _filters[ag.option.queryFilterType]))
{ {
ag.boundary.update(ag.corridor.getFirstPoly(), ag.npos, ag.option.collisionQueryRange, navQuery, ag.boundary.update(ag.corridor.getFirstPoly(), ag.npos, ag.option.collisionQueryRange, _navQuery,
m_filters[ag.option.queryFilterType]); _filters[ag.option.queryFilterType]);
} }
// Query neighbour agents // Query neighbour agents
ag.neis = getNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, m_grid); ag.neis = getNeighbours(ag.npos, ag.option.height, ag.option.collisionQueryRange, ag, _grid);
} }
_telemetry.stop("buildNeighbours"); _telemetry.stop("buildNeighbours");
@ -953,15 +953,15 @@ namespace DotRecast.Detour.Crowd
} }
// Find corners for steering // Find corners for steering
ag.corners = ag.corridor.findCorners(DT_CROWDAGENT_MAX_CORNERS, navQuery, m_filters[ag.option.queryFilterType]); ag.corners = ag.corridor.findCorners(DT_CROWDAGENT_MAX_CORNERS, _navQuery, _filters[ag.option.queryFilterType]);
// Check to see if the corner after the next corner is directly visible, // Check to see if the corner after the next corner is directly visible,
// and short cut to there. // and short cut to there.
if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.corners.Count > 0) if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS) != 0 && ag.corners.Count > 0)
{ {
Vector3f target = ag.corners[Math.Min(1, ag.corners.Count - 1)].getPos(); Vector3f target = ag.corners[Math.Min(1, ag.corners.Count - 1)].getPos();
ag.corridor.optimizePathVisibility(target, ag.option.pathOptimizationRange, navQuery, ag.corridor.optimizePathVisibility(target, ag.option.pathOptimizationRange, _navQuery,
m_filters[ag.option.queryFilterType]); _filters[ag.option.queryFilterType]);
// Copy data for debug purposes. // Copy data for debug purposes.
if (debugAgent == ag) if (debugAgent == ag)
@ -1010,7 +1010,7 @@ namespace DotRecast.Detour.Crowd
// Adjust the path over the off-mesh connection. // Adjust the path over the off-mesh connection.
long[] refs = new long[2]; long[] refs = new long[2];
if (ag.corridor.moveOverOffmeshConnection(ag.corners[ag.corners.Count - 1].getRef(), refs, ref anim.startPos, if (ag.corridor.moveOverOffmeshConnection(ag.corners[ag.corners.Count - 1].getRef(), refs, ref anim.startPos,
ref anim.endPos, navQuery)) ref anim.endPos, _navQuery))
{ {
anim.initPos = ag.npos; anim.initPos = ag.npos;
anim.polyRef = refs[1]; anim.polyRef = refs[1];
@ -1144,13 +1144,13 @@ namespace DotRecast.Detour.Crowd
if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE) != 0) if ((ag.option.updateFlags & CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE) != 0)
{ {
m_obstacleQuery.reset(); _obstacleQuery.reset();
// Add neighbours as obstacles. // Add neighbours as obstacles.
for (int j = 0; j < ag.neis.Count; ++j) for (int j = 0; j < ag.neis.Count; ++j)
{ {
CrowdAgent nei = ag.neis[j].agent; CrowdAgent nei = ag.neis[j].agent;
m_obstacleQuery.addCircle(nei.npos, nei.option.radius, nei.vel, nei.dvel); _obstacleQuery.addCircle(nei.npos, nei.option.radius, nei.vel, nei.dvel);
} }
// Append neighbour segments as obstacles. // Append neighbour segments as obstacles.
@ -1164,7 +1164,7 @@ namespace DotRecast.Detour.Crowd
continue; continue;
} }
m_obstacleQuery.addSegment(s[0], s3); _obstacleQuery.addSegment(s[0], s3);
} }
ObstacleAvoidanceDebugData vod = null; ObstacleAvoidanceDebugData vod = null;
@ -1177,24 +1177,24 @@ namespace DotRecast.Detour.Crowd
bool adaptive = true; bool adaptive = true;
int ns = 0; int ns = 0;
ObstacleAvoidanceParams option = m_obstacleQueryParams[ag.option.obstacleAvoidanceType]; ObstacleAvoidanceParams option = _obstacleQueryParams[ag.option.obstacleAvoidanceType];
if (adaptive) if (adaptive)
{ {
var nsnvel = m_obstacleQuery.sampleVelocityAdaptive(ag.npos, ag.option.radius, var nsnvel = _obstacleQuery.sampleVelocityAdaptive(ag.npos, ag.option.radius,
ag.desiredSpeed, ag.vel, ag.dvel, option, vod); ag.desiredSpeed, ag.vel, ag.dvel, option, vod);
ns = nsnvel.Item1; ns = nsnvel.Item1;
ag.nvel = nsnvel.Item2; ag.nvel = nsnvel.Item2;
} }
else else
{ {
var nsnvel = m_obstacleQuery.sampleVelocityGrid(ag.npos, ag.option.radius, var nsnvel = _obstacleQuery.sampleVelocityGrid(ag.npos, ag.option.radius,
ag.desiredSpeed, ag.vel, ag.dvel, option, vod); ag.desiredSpeed, ag.vel, ag.dvel, option, vod);
ns = nsnvel.Item1; ns = nsnvel.Item1;
ag.nvel = nsnvel.Item2; ag.nvel = nsnvel.Item2;
} }
m_velocitySampleCount += ns; _velocitySampleCount += ns;
} }
else else
{ {
@ -1310,7 +1310,7 @@ namespace DotRecast.Detour.Crowd
} }
// Move along navmesh. // 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. // Get valid constrained position back.
ag.npos = ag.corridor.getPos(); ag.npos = ag.corridor.getPos();