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Added avg, min, max, sampling updated times in CrowdAgentProfilingTool

This commit is contained in:
ikpil 2024-02-04 12:14:18 +09:00 committed by Ikpil
parent 6b033ab058
commit 2dc8593c78
3 changed files with 100 additions and 43 deletions
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1
CHANGELOG.md
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@ -8,6 +8,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
### Added
- Added DtNodePool tests
- Added avg, min, max, sampling updated times in CrowdAgentProfilingTool
### Fixed
- Fixed SOH issue in DtNavMeshQuery.Raycast

6
src/DotRecast.Recast.Demo/Tools/CrowdAgentProfilingSampleTool.cs
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@ -118,7 +118,11 @@ public class CrowdAgentProfilingSampleTool : ISampleTool
ImGui.Text($"{rtt.Key}: {rtt.Micros} us");
}
ImGui.Text($"Update Time: {_tool.GetCrowdUpdateTime()} ms");
ImGui.Text($"Current Update Time: {_tool.GetCrowdUpdateTime()} ms");
ImGui.Text($"Sampling Update Time: {_tool.GetCrowdUpdateSamplingTime()} ms");
ImGui.Text($"Avg Update Time: {_tool.GetCrowdUpdateAvgTime()} ms");
ImGui.Text($"Max Update Time: {_tool.GetCrowdUpdateMaxTime()} ms");
ImGui.Text($"Min Update Time: {_tool.GetCrowdUpdateMinTime()} ms");
}
}

138
src/DotRecast.Recast.Toolset/Tools/RcCrowdAgentProfilingTool.cs
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@ -1,5 +1,6 @@
using System;
using System.Collections.Generic;
using System.Linq;
using DotRecast.Core;
using DotRecast.Core.Collections;
using DotRecast.Core.Numerics;
@ -14,20 +15,28 @@ namespace DotRecast.Recast.Toolset.Tools
private RcCrowdAgentProfilingToolConfig _cfg;
private DtCrowdConfig _crowdCfg;
private DtCrowd crowd;
private DtCrowd _crowd;
private readonly DtCrowdAgentConfig _agCfg;
private DtNavMesh navMesh;
private DtNavMesh _navMesh;
private RcRand rnd;
private IRcRand _rand;
private readonly List<DtPolyPoint> _polyPoints;
private long crowdUpdateTime;
private const int SamplingCount = 500;
private long _samplingUpdateTime;
private readonly List<long> _updateTimes;
private long _curUpdateTime;
private long _avgUpdateTime;
private long _minUpdateTime;
private long _maxUpdateTime;
public RcCrowdAgentProfilingTool()
{
_cfg = new RcCrowdAgentProfilingToolConfig();
_agCfg = new DtCrowdAgentConfig();
_polyPoints = new List<DtPolyPoint>();
_updateTimes = new List<long>();
}
public string GetName()
@ -47,12 +56,12 @@ namespace DotRecast.Recast.Toolset.Tools
public DtCrowd GetCrowd()
{
return crowd;
return _crowd;
}
public void Setup(float maxAgentRadius, DtNavMesh nav)
{
navMesh = nav;
_navMesh = nav;
if (nav != null)
{
_crowdCfg = new DtCrowdConfig(maxAgentRadius);
@ -76,7 +85,7 @@ namespace DotRecast.Recast.Toolset.Tools
private DtStatus GetMobPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt)
{
return navquery.FindRandomPoint(filter, rnd, out var randomRef, out randomPt);
return navquery.FindRandomPoint(filter, _rand, out var randomRef, out randomPt);
}
private DtStatus GetVillagerPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt)
@ -86,8 +95,8 @@ namespace DotRecast.Recast.Toolset.Tools
if (0 >= _polyPoints.Count)
return DtStatus.DT_FAILURE;
int zone = (int)(rnd.Next() * _polyPoints.Count);
return navquery.FindRandomPointWithinCircle(_polyPoints[zone].refs, _polyPoints[zone].pt, _cfg.zoneRadius, filter, rnd,
int zone = (int)(_rand.Next() * _polyPoints.Count);
return navquery.FindRandomPointWithinCircle(_polyPoints[zone].refs, _polyPoints[zone].pt, _cfg.zoneRadius, filter, _rand,
out var randomRef, out randomPt);
}
@ -95,13 +104,13 @@ namespace DotRecast.Recast.Toolset.Tools
{
_polyPoints.Clear();
IDtQueryFilter filter = new DtQueryDefaultFilter();
DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
DtNavMeshQuery navquery = new DtNavMeshQuery(_navMesh);
for (int i = 0; i < _cfg.numberOfZones; i++)
{
float zoneSeparation = _cfg.zoneRadius * _cfg.zoneRadius * 16;
for (int k = 0; k < 100; k++)
{
var status = navquery.FindRandomPoint(filter, rnd, out var randomRef, out var randomPt);
var status = navquery.FindRandomPoint(filter, _rand, out var randomRef, out var randomPt);
if (status.Succeeded())
{
bool valid = true;
@ -126,57 +135,65 @@ namespace DotRecast.Recast.Toolset.Tools
private void CreateCrowd()
{
crowd = new DtCrowd(_crowdCfg, navMesh, __ => new DtQueryDefaultFilter(
_crowd = new DtCrowd(_crowdCfg, _navMesh, __ => new DtQueryDefaultFilter(
SampleAreaModifications.SAMPLE_POLYFLAGS_ALL,
SampleAreaModifications.SAMPLE_POLYFLAGS_DISABLED,
new float[] { 1f, 10f, 1f, 1f, 2f, 1.5f })
);
DtObstacleAvoidanceParams option = new DtObstacleAvoidanceParams(crowd.GetObstacleAvoidanceParams(0));
DtObstacleAvoidanceParams option = new DtObstacleAvoidanceParams(_crowd.GetObstacleAvoidanceParams(0));
// Low (11)
option.velBias = 0.5f;
option.adaptiveDivs = 5;
option.adaptiveRings = 2;
option.adaptiveDepth = 1;
crowd.SetObstacleAvoidanceParams(0, option);
_crowd.SetObstacleAvoidanceParams(0, option);
// Medium (22)
option.velBias = 0.5f;
option.adaptiveDivs = 5;
option.adaptiveRings = 2;
option.adaptiveDepth = 2;
crowd.SetObstacleAvoidanceParams(1, option);
_crowd.SetObstacleAvoidanceParams(1, option);
// Good (45)
option.velBias = 0.5f;
option.adaptiveDivs = 7;
option.adaptiveRings = 2;
option.adaptiveDepth = 3;
crowd.SetObstacleAvoidanceParams(2, option);
_crowd.SetObstacleAvoidanceParams(2, option);
// High (66)
option.velBias = 0.5f;
option.adaptiveDivs = 7;
option.adaptiveRings = 3;
option.adaptiveDepth = 3;
crowd.SetObstacleAvoidanceParams(3, option);
_crowd.SetObstacleAvoidanceParams(3, option);
}
public void StartProfiling(float agentRadius, float agentHeight, float agentMaxAcceleration, float agentMaxSpeed)
{
if (null == navMesh)
if (null == _navMesh)
return;
rnd = new RcRand(_cfg.randomSeed);
// for benchmark
_updateTimes.Clear();
_samplingUpdateTime = 0;
_curUpdateTime = 0;
_avgUpdateTime = 0;
_minUpdateTime = 0;
_maxUpdateTime = 0;
_rand = new RcRand(_cfg.randomSeed);
CreateCrowd();
CreateZones();
DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
DtNavMeshQuery navquery = new DtNavMeshQuery(_navMesh);
IDtQueryFilter filter = new DtQueryDefaultFilter();
for (int i = 0; i < _cfg.agents; i++)
{
float tr = rnd.Next();
float tr = _rand.Next();
RcCrowdAgentType type = RcCrowdAgentType.MOB;
float mobsPcnt = _cfg.percentMobs / 100f;
if (tr > mobsPcnt)
{
tr = rnd.Next();
tr = _rand.Next();
float travellerPcnt = _cfg.percentTravellers / 100f;
if (tr > travellerPcnt)
{
@ -213,19 +230,19 @@ namespace DotRecast.Recast.Toolset.Tools
public void Update(float dt)
{
long startTime = RcFrequency.Ticks;
if (crowd != null)
if (_crowd != null)
{
crowd.Config().pathQueueSize = _cfg.pathQueueSize;
crowd.Config().maxFindPathIterations = _cfg.maxIterations;
crowd.Update(dt, null);
_crowd.Config().pathQueueSize = _cfg.pathQueueSize;
_crowd.Config().maxFindPathIterations = _cfg.maxIterations;
_crowd.Update(dt, null);
}
long endTime = RcFrequency.Ticks;
if (crowd != null)
if (_crowd != null)
{
DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
DtNavMeshQuery navquery = new DtNavMeshQuery(_navMesh);
IDtQueryFilter filter = new DtQueryDefaultFilter();
foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
foreach (DtCrowdAgent ag in _crowd.GetActiveAgents())
{
if (NeedsNewTarget(ag))
{
@ -246,20 +263,34 @@ namespace DotRecast.Recast.Toolset.Tools
}
}
crowdUpdateTime = (endTime - startTime) / TimeSpan.TicksPerMillisecond;
var currentTime = endTime - startTime;
_updateTimes.Add(currentTime);
if ((int)(SamplingCount * 1.25f) < _updateTimes.Count)
{
_updateTimes.RemoveRange(0, _updateTimes.Count - SamplingCount);
}
// for benchmark
_samplingUpdateTime = _updateTimes.Sum() / TimeSpan.TicksPerMillisecond;
_curUpdateTime = currentTime / TimeSpan.TicksPerMillisecond;
_avgUpdateTime = (long)(_updateTimes.Average() / TimeSpan.TicksPerMillisecond);
_minUpdateTime = _updateTimes.Min() / TimeSpan.TicksPerMillisecond;
_maxUpdateTime = _updateTimes.Max() / TimeSpan.TicksPerMillisecond;
}
private void MoveMob(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, RcCrowdAgentData crowAgentData)
{
// Move somewhere
var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
var status = navquery.FindNearestPoly(ag.npos, _crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
if (status.Succeeded())
{
status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 2f, filter, rnd,
status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 2f, filter, _rand,
out var randomRef, out var randomPt);
if (status.Succeeded())
{
crowd.RequestMoveTarget(ag, randomRef, randomPt);
_crowd.RequestMoveTarget(ag, randomRef, randomPt);
}
}
}
@ -267,14 +298,14 @@ namespace DotRecast.Recast.Toolset.Tools
private void MoveVillager(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, RcCrowdAgentData crowAgentData)
{
// Move somewhere close
var status = navquery.FindNearestPoly(ag.npos, crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
var status = navquery.FindNearestPoly(ag.npos, _crowd.GetQueryExtents(), filter, out var nearestRef, out var nearestPt, out var _);
if (status.Succeeded())
{
status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 0.2f, filter, rnd,
status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 0.2f, filter, _rand,
out var randomRef, out var randomPt);
if (status.Succeeded())
{
crowd.RequestMoveTarget(ag, randomRef, randomPt);
_crowd.RequestMoveTarget(ag, randomRef, randomPt);
}
}
}
@ -294,7 +325,7 @@ namespace DotRecast.Recast.Toolset.Tools
if (0 < potentialTargets.Count)
{
potentialTargets.Shuffle();
crowd.RequestMoveTarget(ag, potentialTargets[0].refs, potentialTargets[0].pt);
_crowd.RequestMoveTarget(ag, potentialTargets[0].refs, potentialTargets[0].pt);
}
}
@ -321,14 +352,14 @@ namespace DotRecast.Recast.Toolset.Tools
{
DtCrowdAgentParams ap = GetAgentParams(agentRadius, agentHeight, agentMaxAcceleration, agentMaxSpeed);
ap.userData = new RcCrowdAgentData(type, p);
return crowd.AddAgent(p, ap);
return _crowd.AddAgent(p, ap);
}
public void UpdateAgentParams()
{
if (crowd != null)
if (_crowd != null)
{
foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
foreach (DtCrowdAgent ag in _crowd.GetActiveAgents())
{
DtCrowdAgentParams option = new DtCrowdAgentParams();
option.radius = ag.option.radius;
@ -342,14 +373,35 @@ namespace DotRecast.Recast.Toolset.Tools
option.updateFlags = _agCfg.GetUpdateFlags();
option.obstacleAvoidanceType = _agCfg.obstacleAvoidanceType;
option.separationWeight = _agCfg.separationWeight;
crowd.UpdateAgentParameters(ag, option);
_crowd.UpdateAgentParameters(ag, option);
}
}
}
public long GetCrowdUpdateSamplingTime()
{
return _samplingUpdateTime;
}
public long GetCrowdUpdateTime()
{
return crowdUpdateTime;
}
return _curUpdateTime;
}
public long GetCrowdUpdateAvgTime()
{
return _avgUpdateTime;
}
public long GetCrowdUpdateMinTime()
{
return _minUpdateTime;
}
public long GetCrowdUpdateMaxTime()
{
return _maxUpdateTime;
}
}
}