DotRecastNetSim/src/DotRecast.Recast.Demo/Tools/CrowdProfilingTool.cs

/*
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org

This software is provided 'as-is', without any express or implied
warranty.  In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
 claim that you wrote the original software. If you use this software
 in a product, an acknowledgment in the product documentation would be
 appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
 misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

using System;
using System.Collections.Generic;
using System.Diagnostics;
using DotRecast.Core;
using DotRecast.Detour;
using DotRecast.Detour.Crowd;
using DotRecast.Recast.Demo.Builder;
using DotRecast.Recast.Demo.Draw;
using Silk.NET.Windowing;

using static DotRecast.Recast.Demo.Draw.DebugDraw;

namespace DotRecast.Recast.Demo.Tools;

public class CrowdProfilingTool {

    private readonly Func<CrowdAgentParams> agentParamsSupplier;
    private readonly int[] expandSimOptions = new[] { 1 };
    private readonly int[] expandCrowdOptions = new[] { 1 };
    private readonly int[] agents = new[] { 1000 };
    private readonly int[] randomSeed = new[] { 270 };
    private readonly int[] numberOfZones = new[] { 4 };
    private readonly float[] zoneRadius = new[] { 20f };
    private readonly float[] percentMobs = new[] { 80f };
    private readonly float[] percentTravellers = new[] { 15f };
    private readonly int[] pathQueueSize = new[] { 32 };
    private readonly int[] maxIterations = new[] { 300 };
    private Crowd crowd;
    private NavMesh navMesh;
    private CrowdConfig config;
    private NavMeshQuery.FRand rnd;
    private readonly List<FindRandomPointResult> zones = new();
    private long crowdUpdateTime;

    public CrowdProfilingTool(Func<CrowdAgentParams> agentParamsSupplier) {
        this.agentParamsSupplier = agentParamsSupplier;
    }

    public void layout(IWindow ctx) {
        // 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);
        //     nk_property_int(ctx, "Agents", 0, agents, 10000, 1, 1);
        //     nk_layout_row_dynamic(ctx, 20, 1);
        //     nk_property_int(ctx, "Random Seed", 0, randomSeed, 1024, 1, 1);
        //     nk_layout_row_dynamic(ctx, 20, 1);
        //     nk_property_int(ctx, "Number of Zones", 0, numberOfZones, 10, 1, 1);
        //     nk_layout_row_dynamic(ctx, 20, 1);
        //     nk_property_float(ctx, "Zone Radius", 0, zoneRadius, 100, 1, 1);
        //     nk_layout_row_dynamic(ctx, 20, 1);
        //     nk_property_float(ctx, "Mobs %", 0, percentMobs, 100, 1, 1);
        //     nk_layout_row_dynamic(ctx, 20, 1);
        //     nk_property_float(ctx, "Travellers %", 0, percentTravellers, 100, 1, 1);
        //     nk_tree_state_pop(ctx);
        // }
        // if (nk_tree_state_push(ctx, 0, "Crowd Options", expandCrowdOptions)) {
        //     nk_layout_row_dynamic(ctx, 20, 1);
        //     nk_property_int(ctx, "Path Queue Size", 0, pathQueueSize, 1024, 1, 1);
        //     nk_layout_row_dynamic(ctx, 20, 1);
        //     nk_property_int(ctx, "Max Iterations", 0, maxIterations, 4000, 1, 1);
        //     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);
        // }
    }

    private float[] getMobPosition(NavMeshQuery navquery, QueryFilter filter, float[] pos) {
        Result<FindRandomPointResult> result = navquery.findRandomPoint(filter, rnd);
        if (result.succeeded()) {
            pos = result.result.getRandomPt();
        }
        return pos;
    }

    private float[] getVillagerPosition(NavMeshQuery navquery, QueryFilter filter, float[] pos) {
        if (0 < zones.Count) {
            int zone = (int) (rnd.frand() * zones.Count);
            Result<FindRandomPointResult> result = navquery.findRandomPointWithinCircle(zones[zone].getRandomRef(),
                    zones[zone].getRandomPt(), zoneRadius[0], filter, rnd);
            if (result.succeeded()) {
                pos = result.result.getRandomPt();
            }
        }
        return pos;
    }

    private void createZones() {
        zones.Clear();
        QueryFilter filter = new DefaultQueryFilter();
        NavMeshQuery navquery = new NavMeshQuery(navMesh);
        for (int i = 0; i < numberOfZones[0]; i++) {
            float zoneSeparation = zoneRadius[0] * zoneRadius[0] * 16;
            for (int k = 0; k < 100; k++) {
                Result<FindRandomPointResult> result = navquery.findRandomPoint(filter, rnd);
                if (result.succeeded()) {
                    bool valid = true;
                    foreach (FindRandomPointResult zone in zones) {
                        if (DemoMath.vDistSqr(zone.getRandomPt(), result.result.getRandomPt(), 0) < zoneSeparation) {
                            valid = false;
                            break;
                        }
                    }
                    if (valid) {
                        zones.Add(result.result);
                        break;
                    }
                }
            }
        }
    }

    private void createCrowd() {
        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));
        // Low (11)
        option.velBias = 0.5f;
        option.adaptiveDivs = 5;
        option.adaptiveRings = 2;
        option.adaptiveDepth = 1;
        crowd.setObstacleAvoidanceParams(0, option);
        // Medium (22)
        option.velBias = 0.5f;
        option.adaptiveDivs = 5;
        option.adaptiveRings = 2;
        option.adaptiveDepth = 2;
        crowd.setObstacleAvoidanceParams(1, option);
        // Good (45)
        option.velBias = 0.5f;
        option.adaptiveDivs = 7;
        option.adaptiveRings = 2;
        option.adaptiveDepth = 3;
        crowd.setObstacleAvoidanceParams(2, option);
        // High (66)
        option.velBias = 0.5f;
        option.adaptiveDivs = 7;
        option.adaptiveRings = 3;
        option.adaptiveDepth = 3;
        crowd.setObstacleAvoidanceParams(3, option);
    }

    public void update(float dt) {
        long startTime = Stopwatch.GetTimestamp();
        if (crowd != null) {
            crowd.config().pathQueueSize = pathQueueSize[0];
            crowd.config().maxFindPathIterations = maxIterations[0];
            crowd.update(dt, null);
        }
        long endTime = Stopwatch.GetTimestamp();
        if (crowd != null) {

            NavMeshQuery navquery = new NavMeshQuery(navMesh);
            QueryFilter filter = new DefaultQueryFilter();
            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
                if (needsNewTarget(ag)) {
                    AgentData agentData = (AgentData) ag.option.userData;
                    switch (agentData.type) {
                    case AgentType.MOB:
                        moveMob(navquery, filter, ag, agentData);
                        break;
                    case AgentType.VILLAGER:
                        moveVillager(navquery, filter, ag, agentData);
                        break;
                    case AgentType.TRAVELLER:
                        moveTraveller(navquery, filter, ag, agentData);
                        break;
                    }
                }
            }
        }
        crowdUpdateTime = (endTime - startTime) / 1_000_000;
    }

    private void moveMob(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData) {
        // Move somewhere
        Result<FindNearestPolyResult> nearestPoly = navquery.findNearestPoly(ag.npos, crowd.getQueryExtents(), filter);
        if (nearestPoly.succeeded()) {
            Result<FindRandomPointResult> result = navquery.findRandomPointAroundCircle(nearestPoly.result.getNearestRef(),
                    agentData.home, zoneRadius[0] * 2f, filter, rnd);
            if (result.succeeded()) {
                crowd.requestMoveTarget(ag, result.result.getRandomRef(), result.result.getRandomPt());
            }
        }
    }

    private void moveVillager(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData) {
        // Move somewhere close
        Result<FindNearestPolyResult> nearestPoly = navquery.findNearestPoly(ag.npos, crowd.getQueryExtents(), filter);
        if (nearestPoly.succeeded()) {
            Result<FindRandomPointResult> result = navquery.findRandomPointAroundCircle(nearestPoly.result.getNearestRef(),
                    agentData.home, zoneRadius[0] * 0.2f, filter, rnd);
            if (result.succeeded()) {
                crowd.requestMoveTarget(ag, result.result.getRandomRef(), result.result.getRandomPt());
            }
        }
    }

    private void moveTraveller(NavMeshQuery navquery, QueryFilter filter, CrowdAgent ag, AgentData agentData) {
        // Move to another zone
        List<FindRandomPointResult> potentialTargets = new();
        foreach (FindRandomPointResult zone in zones) {
            if (DemoMath.vDistSqr(zone.getRandomPt(), ag.npos, 0) > zoneRadius[0] * zoneRadius[0]) {
                potentialTargets.Add(zone);
            }
        }
        if (0 < potentialTargets.Count) {
            potentialTargets.Shuffle();
            crowd.requestMoveTarget(ag, potentialTargets[0].getRandomRef(), potentialTargets[0].getRandomPt());
        }
    }

    private bool needsNewTarget(CrowdAgent ag) {
        if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_NONE
                || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED) {
            return true;
        }
        if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VALID) {
            float dx = ag.targetPos[0] - ag.npos[0];
            float dy = ag.targetPos[1] - ag.npos[1];
            float dz = ag.targetPos[2] - ag.npos[2];
            return dx * dx + dy * dy + dz * dz < 0.3f;
        }
        return false;
    }

    public void setup(float maxAgentRadius, NavMesh nav) {
        navMesh = nav;
        if (nav != null) {
            config = new CrowdConfig(maxAgentRadius);
        }
    }

    public void handleRender(NavMeshRenderer renderer) {
        RecastDebugDraw dd = renderer.getDebugDraw();
        dd.depthMask(false);
        if (crowd != null) {
            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
                float radius = ag.option.radius;
                float[] pos = ag.npos;
                dd.debugDrawCircle(pos[0], pos[1], pos[2], radius, duRGBA(0, 0, 0, 32), 2.0f);
            }

            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
                AgentData agentData = (AgentData) ag.option.userData;

                float height = ag.option.height;
                float radius = ag.option.radius;
                float[] pos = ag.npos;

                int col = duRGBA(220, 220, 220, 128);
                if (agentData.type == AgentType.TRAVELLER) {
                    col = duRGBA(100, 160, 100, 128);
                }
                if (agentData.type == AgentType.VILLAGER) {
                    col = duRGBA(120, 80, 160, 128);
                }
                if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_REQUESTING
                        || ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE)
                    col = duLerpCol(col, duRGBA(255, 255, 32, 128), 128);
                else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_WAITING_FOR_PATH)
                    col = duLerpCol(col, duRGBA(255, 64, 32, 128), 128);
                else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_FAILED)
                    col = duRGBA(255, 32, 16, 128);
                else if (ag.targetState == CrowdAgent.MoveRequestState.DT_CROWDAGENT_TARGET_VELOCITY)
                    col = duLerpCol(col, duRGBA(64, 255, 0, 128), 128);

                dd.debugDrawCylinder(pos[0] - radius, pos[1] + radius * 0.1f, pos[2] - radius, pos[0] + radius, pos[1] + height,
                        pos[2] + radius, col);
            }
        }

        dd.depthMask(true);
    }

    private CrowdAgent addAgent(float[] p, AgentType type) {
        CrowdAgentParams ap = agentParamsSupplier.Invoke();
        ap.userData = new AgentData(type, p);
        return crowd.addAgent(p, ap);
    }

    public enum AgentType {
        VILLAGER, TRAVELLER, MOB,
    }

    private class AgentData {
        public readonly AgentType type;
        public readonly float[] home = new float[3];

        public AgentData(AgentType type, float[] home) {
            this.type = type;
            RecastVectors.copy(this.home, home);
        }

    }

    public void updateAgentParams(int updateFlags, int obstacleAvoidanceType, float separationWeight) {
        if (crowd != null) {
            foreach (CrowdAgent ag in crowd.getActiveAgents()) {
                CrowdAgentParams option = new CrowdAgentParams();
                option.radius = ag.option.radius;
                option.height = ag.option.height;
                option.maxAcceleration = ag.option.maxAcceleration;
                option.maxSpeed = ag.option.maxSpeed;
                option.collisionQueryRange = ag.option.collisionQueryRange;
                option.pathOptimizationRange = ag.option.pathOptimizationRange;
                option.queryFilterType = ag.option.queryFilterType;
                option.userData = ag.option.userData;
                option.updateFlags = updateFlags;
                option.obstacleAvoidanceType = obstacleAvoidanceType;
                option.separationWeight = separationWeight;
                crowd.updateAgentParameters(ag, option);
            }
        }
    }
}