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- added finalizeSlicedFindPathPartial()

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- added handleStep()/handleToggle() to samples
- changed how crowds are rendered
- added path topology optimization step
This commit is contained in:
Mikko Mononen
2010-11-07 10:56:48 +00:00
parent e5d603ac92
commit ccf401d3da
26 changed files with 2619 additions and 1964 deletions
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112
RecastDemo/Source/CrowdManager.cpp
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@@ -506,8 +506,8 @@ int PathCorridor::findCorners(float* cornerVerts, unsigned char* cornerFlags,
return ncorners;
}
void PathCorridor::optimizePath(const float* next, const float pathOptimizationRange,
dtNavMeshQuery* navquery, const dtQueryFilter* filter)
void PathCorridor::optimizePathVisibility(const float* next, const float pathOptimizationRange,
dtNavMeshQuery* navquery, const dtQueryFilter* filter)
{
dtAssert(m_path);
@@ -539,6 +539,31 @@ void PathCorridor::optimizePath(const float* next, const float pathOptimizationR
}
}
bool PathCorridor::optimizePathTopology(dtNavMeshQuery* navquery, const dtQueryFilter* filter)
{
dtAssert(m_path);
if (m_npath < 3)
return false;
static const int MAX_ITER = 32;
static const int MAX_RES = 32;
dtPolyRef res[MAX_RES];
int nres = 0;
navquery->initSlicedFindPath(m_path[0], m_path[m_npath-1], m_pos, m_target, filter);
navquery->updateSlicedFindPath(MAX_ITER);
dtStatus status = navquery->finalizeSlicedFindPathPartial(m_path, m_npath, res, &nres, MAX_RES);
if (status == DT_SUCCESS && nres > 0)
{
m_npath = mergeCorridor(m_path, m_npath, m_maxPath, res, nres);
return true;
}
return false;
}
void PathCorridor::movePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter)
{
dtAssert(m_path);
@@ -876,6 +901,7 @@ int CrowdManager::addAgent(const float* pos, const float radius, const float hei
ag->height = height;
ag->collisionQueryRange = radius * 8;
ag->pathOptimizationRange = radius * 30;
ag->topologyOptTime = 0;
ag->nneis = 0;
dtVset(ag->dvel, 0,0,0);
@@ -901,7 +927,9 @@ int CrowdManager::addAgent(const float* pos, const float radius, const float hei
void CrowdManager::removeAgent(const int idx)
{
if (idx >= 0 && idx < MAX_AGENTS)
memset(&m_agents[idx], 0, sizeof(Agent));
{
m_agents[idx].active = 0;
}
}
bool CrowdManager::requestMoveTarget(const int idx, dtPolyRef ref, const float* pos)
@@ -1231,6 +1259,76 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery, c
}
static int addToOptQueue(Agent* newag, Agent** agents, const int nagents, const int maxAgents)
{
// Insert neighbour based on greatest time.
int slot = 0;
if (!nagents)
{
slot = nagents;
}
else if (newag->topologyOptTime <= agents[nagents-1]->topologyOptTime)
{
if (nagents >= maxAgents)
return nagents;
slot = nagents;
}
else
{
int i;
for (i = 0; i < nagents; ++i)
if (newag->topologyOptTime >= agents[i]->topologyOptTime)
break;
const int tgt = i+1;
const int n = dtMin(nagents-i, maxAgents-tgt);
dtAssert(tgt+n <= maxAgents);
if (n > 0)
memmove(&agents[tgt], &agents[i], sizeof(Agent*)*n);
slot = i;
}
agents[slot] = newag;
return dtMin(nagents+1, maxAgents);
}
void CrowdManager::updateTopologyOptimization(const float dt, dtNavMeshQuery* navquery, const dtQueryFilter* filter)
{
Agent* agents[MAX_AGENTS];
int nagents = getActiveAgents(agents, MAX_AGENTS);
if (!nagents)
return;
const float OPT_TIME_THR = 0.5f; // seconds
const int OPT_MAX_AGENTS = 1;
Agent* queue[OPT_MAX_AGENTS];
int nqueue = 0;
for (int i = 0; i < nagents; ++i)
{
Agent* ag = agents[i];
ag->topologyOptTime += dt;
if (ag->topologyOptTime >= OPT_TIME_THR)
{
nqueue = addToOptQueue(ag, queue, nqueue, OPT_MAX_AGENTS);
}
}
for (int i = 0; i < nqueue; ++i)
{
Agent* ag = queue[i];
ag->corridor.optimizePathTopology(navquery, filter);
ag->topologyOptTime = 0;
}
}
void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* navquery)
{
m_sampleCount = 0;
@@ -1251,6 +1349,10 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
// Update async move request and path finder.
updateMoveRequest(dt, navquery, &m_filter);
// Optimize path topology.
if (flags & CROWDMAN_OPTIMIZE_TOPO)
updateTopologyOptimization(dt, navquery, &m_filter);
// Register agents to proximity grid.
m_grid.clear();
for (int i = 0; i < nagents; ++i)
@@ -1283,12 +1385,12 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
// Check to see if the corner after the next corner is directly visible,
// and short cut to there.
if (ag->ncorners > 0)
if ((flags & CROWDMAN_OPTIMIZE_VIS) && ag->ncorners > 0)
{
const float* target = &ag->cornerVerts[dtMin(1,ag->ncorners-1)*3];
dtVcopy(ag->opts, ag->corridor.getPos());
dtVcopy(ag->opte, target);
ag->corridor.optimizePath(target, ag->pathOptimizationRange, navquery, &m_filter);
ag->corridor.optimizePathVisibility(target, ag->pathOptimizationRange, navquery, &m_filter);
}
else
{