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Made some buffer sizes runtime configurable.

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This commit is contained in:
Mikko Mononen
2010-10-23 09:19:26 +00:00
parent 7f84699bfe
commit ed7205308d
6 changed files with 465 additions and 167 deletions
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103
RecastDemo/Source/CrowdManager.cpp
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@@ -216,7 +216,8 @@ void PathQueue::update(dtNavMeshQuery* navquery)
PathQuery& q = m_queue[i];
if (q.ref == PATHQ_INVALID)
continue;
q.npath = navquery->findPath(q.startRef, q.endRef, q.startPos, q.endPos, q.filter, q.path, AGENT_MAX_PATH);
q.npath = navquery->findPath(q.startRef, q.endRef, q.startPos, q.endPos,
q.filter, q.path, PQ_MAX_PATH);
q.ready = true;
break;
}
@@ -394,17 +395,32 @@ static int mergeCorridor(dtPolyRef* path, const int npath, const int maxPath,
}
PathCorridor::PathCorridor() :
m_npath(0)
m_path(0),
m_npath(0),
m_maxPath(0)
{
}
PathCorridor::~PathCorridor()
{
dtFree(m_path);
}
void PathCorridor::init(dtPolyRef ref, const float* pos)
bool PathCorridor::init(const int maxPath)
{
dtAssert(!m_path);
m_path = (dtPolyRef*)dtAlloc(sizeof(dtPolyRef)*maxPath, DT_ALLOC_PERM);
if (!m_path)
return false;
m_npath = 0;
m_maxPath = maxPath;
return true;
}
void PathCorridor::reset(dtPolyRef ref, const float* pos)
{
dtAssert(m_path);
dtVcopy(m_pos, pos);
dtVcopy(m_target, pos);
m_path[0] = ref;
@@ -415,6 +431,7 @@ int PathCorridor::findCorners(float* cornerVerts, unsigned char* cornerFlags,
dtPolyRef* cornerPolys, const int maxCorners,
dtNavMeshQuery* navquery, const dtQueryFilter* filter)
{
dtAssert(m_path);
dtAssert(m_npath);
static const float MIN_TARGET_DIST = 0.01f;
@@ -453,6 +470,8 @@ int PathCorridor::findCorners(float* cornerVerts, unsigned char* cornerFlags,
void PathCorridor::optimizePath(const float* next, const float pathOptimizationRange,
dtNavMeshQuery* navquery, const dtQueryFilter* filter)
{
dtAssert(m_path);
// Clamp the ray to max distance.
float goal[3];
dtVcopy(goal, next);
@@ -476,43 +495,13 @@ void PathCorridor::optimizePath(const float* next, const float pathOptimizationR
const int nres = navquery->raycast(m_path[0], m_pos, goal, filter, t, norm, res, MAX_RES);
if (nres > 1 && t > 0.99f)
{
m_npath = mergeCorridor(m_path, m_npath, AGENT_MAX_PATH, res, nres);
m_npath = mergeCorridor(m_path, m_npath, m_maxPath, res, nres);
}
}
/*void PathCorridor::updateCorners(const float pathOptimizationRange,
dtNavMeshQuery* navquery, const dtQueryFilter* filter,
float* opts, float* opte)
{
dtAssert(m_npath);
m_ncorners = 0;
if (opts)
dtVset(opts, 0,0,0);
if (opte)
dtVset(opte, 0,0,0);
// Find next couple of corners for steering.
m_ncorners = findCorners(m_pos, m_target, m_path, m_npath,
m_cornerVerts, m_cornerFlags, m_cornerPolys,
AGENT_MAX_CORNERS, navquery);
// Check to see if the corner after the next corner is directly visible,
// and short cut to there.
if (m_ncorners > 1)
{
if (opts)
dtVcopy(opts, m_pos);
if (opte)
dtVcopy(opte, m_cornerVerts+3);
m_npath = optimizePath(m_pos, m_cornerVerts+3, pathOptimizationRange,
m_path, m_npath, navquery, filter);
}
}*/
void PathCorridor::updatePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter)
{
dtAssert(m_path);
dtAssert(m_npath);
// Move along navmesh and update new position.
@@ -521,7 +510,7 @@ void PathCorridor::updatePosition(const float* npos, dtNavMeshQuery* navquery, c
dtPolyRef visited[MAX_VISITED];
int nvisited = navquery->moveAlongSurface(m_path[0], m_pos, npos, filter,
result, visited, MAX_VISITED);
m_npath = fixupCorridor(m_path, m_npath, AGENT_MAX_PATH, visited, nvisited);
m_npath = fixupCorridor(m_path, m_npath, m_maxPath, visited, nvisited);
// Adjust agent height to stay on top of the navmesh.
float h = m_pos[1];
@@ -532,8 +521,10 @@ void PathCorridor::updatePosition(const float* npos, dtNavMeshQuery* navquery, c
void PathCorridor::setCorridor(const float* target, const dtPolyRef* path, const int npath)
{
dtAssert(m_path);
dtAssert(npath > 0);
dtAssert(npath < AGENT_MAX_PATH);
dtAssert(npath < m_maxPath);
dtVcopy(m_target, target);
memcpy(m_path, path, sizeof(dtPolyRef)*npath);
m_npath = npath;
@@ -628,7 +619,7 @@ LocalBoundary::~LocalBoundary()
{
}
void LocalBoundary::init()
void LocalBoundary::reset()
{
dtVset(m_center, FLT_MAX,FLT_MAX,FLT_MAX);
m_nsegs = 0;
@@ -715,6 +706,8 @@ void LocalBoundary::update(dtPolyRef ref, const float* pos, const float collisio
CrowdManager::CrowdManager() :
m_obstacleQuery(0),
m_pathResult(0),
m_maxPathResult(0),
m_totalTime(0),
m_rvoTime(0),
m_sampleCount(0),
@@ -741,6 +734,16 @@ CrowdManager::CrowdManager() :
m_vodebug[i] = dtAllocObstacleAvoidanceDebugData();
m_vodebug[i]->init(sampleCount);
}
// Allocate temp buffer for merging paths.
m_maxPathResult = 256;
m_pathResult = (dtPolyRef*)dtAlloc(sizeof(dtPolyRef)*m_maxPathResult, DT_ALLOC_PERM);
// Alloca corridors.
for (int i = 0; i < MAX_AGENTS; ++i)
{
m_agents[i].corridor.init(m_maxPathResult);
}
// TODO: the radius should be related to the agent radius used to create the navmesh!
m_grid.init(100, 1.0f);
@@ -750,6 +753,8 @@ CrowdManager::CrowdManager() :
CrowdManager::~CrowdManager()
{
delete [] m_pathResult;
for (int i = 0; i < MAX_AGENTS; ++i)
dtFreeObstacleAvoidanceDebugData(m_vodebug[i]);
dtFreeObstacleAvoidanceQuery(m_obstacleQuery);
@@ -758,7 +763,7 @@ CrowdManager::~CrowdManager()
void CrowdManager::reset()
{
for (int i = 0; i < MAX_AGENTS; ++i)
memset(&m_agents[i], 0, sizeof(Agent));
m_agents[i].active = 0;
}
const int CrowdManager::getAgentCount() const
@@ -797,8 +802,8 @@ int CrowdManager::addAgent(const float* pos, const float radius, const float hei
return -1;
}
ag->corridor.init(ref, nearest);
ag->boundary.init();
ag->corridor.reset(ref, nearest);
ag->boundary.reset();
ag->radius = radius;
ag->height = height;
@@ -1005,9 +1010,9 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery)
float targetPos[3];
dtVcopy(targetPos, req->pos);
dtPolyRef* res = m_pathResult;
bool valid = true;
dtPolyRef res[AGENT_MAX_PATH];
int nres = m_pathq.getPathResult(req->pathqRef, res, AGENT_MAX_PATH);
int nres = m_pathq.getPathResult(req->pathqRef, res, m_maxPathResult);
if (!nres)
valid = false;
@@ -1028,8 +1033,8 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery)
if (npath > 1)
{
// Make space for the old path.
if ((npath-1)+nres > AGENT_MAX_PATH)
nres = AGENT_MAX_PATH - (npath-1);
if ((npath-1)+nres > m_maxPathResult)
nres = m_maxPathResult - (npath-1);
memmove(res+npath-1, res, sizeof(dtPolyRef)*nres);
// Copy old path in the beginning.
memcpy(res, path, sizeof(dtPolyRef)*(npath-1));
@@ -1112,7 +1117,7 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
if (dtVdist2DSqr(ag->npos, ag->boundary.getCenter()) > dtSqr(ag->collisionQueryRange*0.25f))
ag->boundary.update(ag->corridor.getFirstPoly(), ag->npos, ag->collisionQueryRange, navquery, &m_filter);
// Query neighbour agents
ag->nneis = getNeighbours(ag->npos, ag->height, ag->collisionQueryRange, ag, ag->neis, MAX_NEIGHBOURS);
ag->nneis = getNeighbours(ag->npos, ag->height, ag->collisionQueryRange, ag, ag->neis, AGENT_MAX_NEIGHBOURS);
}
// Find next corner to steer to.
@@ -1126,9 +1131,9 @@ 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 > 1)
if (ag->ncorners > 0)
{
const float* target = ag->cornerVerts+3;
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);
@@ -1139,7 +1144,7 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
dtVset(ag->opte, 0,0,0);
}
// ag->corridor.updateCorners(ag->pathOptimizationRange, navquery, &m_filter, ag->opts, ag->opte);
// Copy data for debug purposes.
}
// Calculate steering.