move ObstacleAvoidanceParams

src/DotRecast.Detour.Crowd/Crowd.cs

@@ -145,7 +145,7 @@ namespace DotRecast.Detour.Crowd
         private readonly AtomicInteger agentId = new AtomicInteger();
         private readonly List<CrowdAgent> m_agents;
         private readonly PathQueue m_pathq;
-        private readonly ObstacleAvoidanceQuery.ObstacleAvoidanceParams[] m_obstacleQueryParams = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
+        private readonly ObstacleAvoidanceParams[] m_obstacleQueryParams = new ObstacleAvoidanceParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
         private readonly ObstacleAvoidanceQuery m_obstacleQuery;
         private ProximityGrid m_grid;
         private readonly Vector3f m_ext = new Vector3f();
@@ -176,7 +176,7 @@ namespace DotRecast.Detour.Crowd
             // Init obstacle query option.
             for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
             {
-                m_obstacleQueryParams[i] = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams();
+                m_obstacleQueryParams[i] = new ObstacleAvoidanceParams();
             }
 
             // Allocate temp buffer for merging paths.
@@ -198,11 +198,11 @@ namespace DotRecast.Detour.Crowd
         /// @param[in] idx The index. [Limits: 0 <= value <
         /// #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
         /// @param[in] option The new configuration.
-        public void setObstacleAvoidanceParams(int idx, ObstacleAvoidanceQuery.ObstacleAvoidanceParams option)
+        public void setObstacleAvoidanceParams(int idx, ObstacleAvoidanceParams option)
         {
             if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
             {
-                m_obstacleQueryParams[idx] = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(option);
+                m_obstacleQueryParams[idx] = new ObstacleAvoidanceParams(option);
             }
         }
 
@@ -210,7 +210,7 @@ namespace DotRecast.Detour.Crowd
         /// @param[in] idx The index of the configuration to retreive.
         /// [Limits: 0 <= value < #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
         /// @return The requested configuration.
-        public ObstacleAvoidanceQuery.ObstacleAvoidanceParams getObstacleAvoidanceParams(int idx)
+        public ObstacleAvoidanceParams getObstacleAvoidanceParams(int idx)
         {
             if (idx >= 0 && idx < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS)
             {
@@ -1177,7 +1177,7 @@ namespace DotRecast.Detour.Crowd
                     bool adaptive = true;
                     int ns = 0;
 
-                    ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = m_obstacleQueryParams[ag.option.obstacleAvoidanceType];
+                    ObstacleAvoidanceParams option = m_obstacleQueryParams[ag.option.obstacleAvoidanceType];
 
                     if (adaptive)
                     {

src/DotRecast.Detour.Crowd/DotRecast.Detour.Crowd.csproj

@@ -6,7 +6,7 @@
     </PropertyGroup>
 
     <ItemGroup>
-        <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj"/>
+        <ProjectReference Include="..\DotRecast.Detour\DotRecast.Detour.csproj" />
     </ItemGroup>
 
 </Project>

src/DotRecast.Detour.Crowd/ObstacleAvoidanceParams.cs

@@ -0,0 +1,51 @@
+namespace DotRecast.Detour.Crowd
+{
+    public class ObstacleAvoidanceParams
+    {
+        public float velBias;
+        public float weightDesVel;
+        public float weightCurVel;
+        public float weightSide;
+        public float weightToi;
+        public float horizTime;
+        public int gridSize;
+
+        /// < grid
+        public int adaptiveDivs;
+
+        /// < adaptive
+        public int adaptiveRings;
+
+        /// < adaptive
+        public int adaptiveDepth;
+
+        /// < adaptive
+        public ObstacleAvoidanceParams()
+        {
+            velBias = 0.4f;
+            weightDesVel = 2.0f;
+            weightCurVel = 0.75f;
+            weightSide = 0.75f;
+            weightToi = 2.5f;
+            horizTime = 2.5f;
+            gridSize = 33;
+            adaptiveDivs = 7;
+            adaptiveRings = 2;
+            adaptiveDepth = 5;
+        }
+
+        public ObstacleAvoidanceParams(ObstacleAvoidanceParams option)
+        {
+            velBias = option.velBias;
+            weightDesVel = option.weightDesVel;
+            weightCurVel = option.weightCurVel;
+            weightSide = option.weightSide;
+            weightToi = option.weightToi;
+            horizTime = option.horizTime;
+            gridSize = option.gridSize;
+            adaptiveDivs = option.adaptiveDivs;
+            adaptiveRings = option.adaptiveRings;
+            adaptiveDepth = option.adaptiveDepth;
+        }
+    };
+}

src/DotRecast.Detour.Crowd/ObstacleAvoidanceQuery.cs

@@ -65,56 +65,7 @@ namespace DotRecast.Detour.Crowd
 
             public bool touch;
         }
-
+        
-        public class ObstacleAvoidanceParams
-        {
-            public float velBias;
-            public float weightDesVel;
-            public float weightCurVel;
-            public float weightSide;
-            public float weightToi;
-            public float horizTime;
-            public int gridSize;
-
-            /// < grid
-            public int adaptiveDivs;
-
-            /// < adaptive
-            public int adaptiveRings;
-
-            /// < adaptive
-            public int adaptiveDepth;
-
-            /// < adaptive
-            public ObstacleAvoidanceParams()
-            {
-                velBias = 0.4f;
-                weightDesVel = 2.0f;
-                weightCurVel = 0.75f;
-                weightSide = 0.75f;
-                weightToi = 2.5f;
-                horizTime = 2.5f;
-                gridSize = 33;
-                adaptiveDivs = 7;
-                adaptiveRings = 2;
-                adaptiveDepth = 5;
-            }
-
-            public ObstacleAvoidanceParams(ObstacleAvoidanceParams option)
-            {
-                velBias = option.velBias;
-                weightDesVel = option.weightDesVel;
-                weightCurVel = option.weightCurVel;
-                weightSide = option.weightSide;
-                weightToi = option.weightToi;
-                horizTime = option.horizTime;
-                gridSize = option.gridSize;
-                adaptiveDivs = option.adaptiveDivs;
-                adaptiveRings = option.adaptiveRings;
-                adaptiveDepth = option.adaptiveDepth;
-            }
-        };
-
         private ObstacleAvoidanceParams m_params;
         private float m_invHorizTime;
         private float m_vmax;

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

@@ -211,7 +211,7 @@ public class CrowdProfilingTool
         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));
+        ObstacleAvoidanceParams option = new ObstacleAvoidanceParams(crowd.getObstacleAvoidanceParams(0));
         // Low (11)
         option.velBias = 0.5f;
         option.adaptiveDivs = 5;

src/DotRecast.Recast.Demo/Tools/CrowdTool.cs

@@ -112,7 +112,7 @@ public class CrowdTool : Tool
 
             // Setup local avoidance option to different qualities.
             // Use mostly default settings, copy from dtCrowd.
-            ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams(crowd.getObstacleAvoidanceParams(0));
+            ObstacleAvoidanceParams option = new ObstacleAvoidanceParams(crowd.getObstacleAvoidanceParams(0));
 
             // Low (11)
             option.velBias = 0.5f;

test/DotRecast.Detour.Crowd.Test/AbstractCrowdTest.cs

@@ -70,25 +70,25 @@ public class AbstractCrowdTest
         query = new NavMeshQuery(navmesh);
         CrowdConfig config = new CrowdConfig(0.6f);
         crowd = new Crowd(config, navmesh);
-        ObstacleAvoidanceQuery.ObstacleAvoidanceParams option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams();
+        ObstacleAvoidanceParams option = new ObstacleAvoidanceParams();
         option.velBias = 0.5f;
         option.adaptiveDivs = 5;
         option.adaptiveRings = 2;
         option.adaptiveDepth = 1;
         crowd.setObstacleAvoidanceParams(0, option);
-        option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams();
+        option = new ObstacleAvoidanceParams();
         option.velBias = 0.5f;
         option.adaptiveDivs = 5;
         option.adaptiveRings = 2;
         option.adaptiveDepth = 2;
         crowd.setObstacleAvoidanceParams(1, option);
-        option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams();
+        option = new ObstacleAvoidanceParams();
         option.velBias = 0.5f;
         option.adaptiveDivs = 7;
         option.adaptiveRings = 2;
         option.adaptiveDepth = 3;
         crowd.setObstacleAvoidanceParams(2, option);
-        option = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams();
+        option = new ObstacleAvoidanceParams();
         option.velBias = 0.5f;
         option.adaptiveDivs = 7;
         option.adaptiveRings = 3;