using System;
using System.Collections.Generic;
using DotRecast.Core;
using DotRecast.Core.Collections;
using DotRecast.Core.Numerics;
using DotRecast.Detour;
using DotRecast.Detour.Crowd;
using DotRecast.Recast.Toolset.Builder;
namespace DotRecast.Recast.Toolset.Tools
{
public class RcCrowdAgentProfilingTool : IRcToolable
{
private RcCrowdAgentProfilingToolConfig _cfg;
private DtCrowdConfig _crowdCfg;
private DtCrowd crowd;
private readonly DtCrowdAgentConfig _agCfg;
private DtNavMesh navMesh;
private RcRand rnd;
private readonly List<DtPolyPoint> _polyPoints;
private long crowdUpdateTime;
public RcCrowdAgentProfilingTool()
{
_cfg = new RcCrowdAgentProfilingToolConfig();
_agCfg = new DtCrowdAgentConfig();
_polyPoints = new List<DtPolyPoint>();
}
public string GetName()
{
return "Crowd Agent Profiling";
}
public RcCrowdAgentProfilingToolConfig GetToolConfig()
{
return _cfg;
}
public DtCrowdAgentConfig GetCrowdConfig()
{
return _agCfg;
}
public DtCrowd GetCrowd()
{
return crowd;
}
public void Setup(float maxAgentRadius, DtNavMesh nav)
{
navMesh = nav;
if (nav != null)
{
_crowdCfg = new DtCrowdConfig(maxAgentRadius);
}
}
private DtCrowdAgentParams GetAgentParams(float agentRadius, float agentHeight, float agentMaxAcceleration, float agentMaxSpeed)
{
DtCrowdAgentParams ap = new DtCrowdAgentParams();
ap.radius = agentRadius;
ap.height = agentHeight;
ap.maxAcceleration = agentMaxAcceleration;
ap.maxSpeed = agentMaxSpeed;
ap.collisionQueryRange = ap.radius * 12.0f;
ap.pathOptimizationRange = ap.radius * 30.0f;
ap.updateFlags = _agCfg.GetUpdateFlags();
ap.obstacleAvoidanceType = _agCfg.obstacleAvoidanceType;
ap.separationWeight = _agCfg.separationWeight;
return ap;
}
private DtStatus GetMobPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt)
{
return navquery.FindRandomPoint(filter, rnd, out var randomRef, out randomPt);
}
private DtStatus GetVillagerPosition(DtNavMeshQuery navquery, IDtQueryFilter filter, out RcVec3f randomPt)
{
randomPt = RcVec3f.Zero;
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,
out var randomRef, out randomPt);
}
private void CreateZones()
{
_polyPoints.Clear();
IDtQueryFilter filter = new DtQueryDefaultFilter();
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);
if (status.Succeeded())
{
bool valid = true;
foreach (var zone in _polyPoints)
{
if (RcVec3f.DistanceSquared(zone.pt, randomPt) < zoneSeparation)
{
valid = false;
break;
}
}
if (valid)
{
_polyPoints.Add(new DtPolyPoint(randomRef, randomPt));
break;
}
}
}
}
}
private void CreateCrowd()
{
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));
// 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 StartProfiling(float agentRadius, float agentHeight, float agentMaxAcceleration, float agentMaxSpeed)
{
if (null == navMesh)
return;
rnd = new RcRand(_cfg.randomSeed);
CreateCrowd();
CreateZones();
DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
IDtQueryFilter filter = new DtQueryDefaultFilter();
for (int i = 0; i < _cfg.agents; i++)
{
float tr = rnd.Next();
RcCrowdAgentType type = RcCrowdAgentType.MOB;
float mobsPcnt = _cfg.percentMobs / 100f;
if (tr > mobsPcnt)
{
tr = rnd.Next();
float travellerPcnt = _cfg.percentTravellers / 100f;
if (tr > travellerPcnt)
{
type = RcCrowdAgentType.VILLAGER;
}
else
{
type = RcCrowdAgentType.TRAVELLER;
}
}
var status = DtStatus.DT_FAILURE;
var randomPt = RcVec3f.Zero;
switch (type)
{
case RcCrowdAgentType.MOB:
status = GetMobPosition(navquery, filter, out randomPt);
break;
case RcCrowdAgentType.VILLAGER:
status = GetVillagerPosition(navquery, filter, out randomPt);
break;
case RcCrowdAgentType.TRAVELLER:
status = GetVillagerPosition(navquery, filter, out randomPt);
break;
}
if (status.Succeeded())
{
AddAgent(randomPt, type, agentRadius, agentHeight, agentMaxAcceleration, agentMaxSpeed);
}
}
}
public void Update(float dt)
{
long startTime = RcFrequency.Ticks;
if (crowd != null)
{
crowd.Config().pathQueueSize = _cfg.pathQueueSize;
crowd.Config().maxFindPathIterations = _cfg.maxIterations;
crowd.Update(dt, null);
}
long endTime = RcFrequency.Ticks;
if (crowd != null)
{
DtNavMeshQuery navquery = new DtNavMeshQuery(navMesh);
IDtQueryFilter filter = new DtQueryDefaultFilter();
foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
{
if (NeedsNewTarget(ag))
{
RcCrowdAgentData crowAgentData = (RcCrowdAgentData)ag.option.userData;
switch (crowAgentData.type)
{
case RcCrowdAgentType.MOB:
MoveMob(navquery, filter, ag, crowAgentData);
break;
case RcCrowdAgentType.VILLAGER:
MoveVillager(navquery, filter, ag, crowAgentData);
break;
case RcCrowdAgentType.TRAVELLER:
MoveTraveller(navquery, filter, ag, crowAgentData);
break;
}
}
}
}
crowdUpdateTime = (endTime - startTime) / 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 _);
if (status.Succeeded())
{
status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 2f, filter, rnd,
out var randomRef, out var randomPt);
if (status.Succeeded())
{
crowd.RequestMoveTarget(ag, randomRef, randomPt);
}
}
}
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 _);
if (status.Succeeded())
{
status = navquery.FindRandomPointAroundCircle(nearestRef, crowAgentData.home, _cfg.zoneRadius * 0.2f, filter, rnd,
out var randomRef, out var randomPt);
if (status.Succeeded())
{
crowd.RequestMoveTarget(ag, randomRef, randomPt);
}
}
}
private void MoveTraveller(DtNavMeshQuery navquery, IDtQueryFilter filter, DtCrowdAgent ag, RcCrowdAgentData crowAgentData)
{
// Move to another zone
List<DtPolyPoint> potentialTargets = new List<DtPolyPoint>();
foreach (var zone in _polyPoints)
{
if (RcVec3f.DistanceSquared(zone.pt, ag.npos) > _cfg.zoneRadius * _cfg.zoneRadius)
{
potentialTargets.Add(zone);
}
}
if (0 < potentialTargets.Count)
{
potentialTargets.Shuffle();
crowd.RequestMoveTarget(ag, potentialTargets[0].refs, potentialTargets[0].pt);
}
}
private bool NeedsNewTarget(DtCrowdAgent ag)
{
if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_NONE
|| ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_FAILED)
{
return true;
}
if (ag.targetState == DtMoveRequestState.DT_CROWDAGENT_TARGET_VALID)
{
float dx = ag.targetPos.X - ag.npos.X;
float dy = ag.targetPos.Y - ag.npos.Y;
float dz = ag.targetPos.Z - ag.npos.Z;
return dx * dx + dy * dy + dz * dz < 0.3f;
}
return false;
}
private DtCrowdAgent AddAgent(RcVec3f p, RcCrowdAgentType type, float agentRadius, float agentHeight, float agentMaxAcceleration, float agentMaxSpeed)
{
DtCrowdAgentParams ap = GetAgentParams(agentRadius, agentHeight, agentMaxAcceleration, agentMaxSpeed);
ap.userData = new RcCrowdAgentData(type, p);
return crowd.AddAgent(p, ap);
}
public void UpdateAgentParams()
{
if (crowd != null)
{
foreach (DtCrowdAgent ag in crowd.GetActiveAgents())
{
DtCrowdAgentParams option = new DtCrowdAgentParams();
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 = _agCfg.GetUpdateFlags();
option.obstacleAvoidanceType = _agCfg.obstacleAvoidanceType;
option.separationWeight = _agCfg.separationWeight;
crowd.UpdateAgentParameters(ag, option);
}
}
}
public long GetCrowdUpdateTime()
{
return crowdUpdateTime;
}
}
}