server_common/recastnavigation_v1.6.0
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

query filter for each agent type with changes

Browse Source
This commit is contained in:
JimmyJames707 2014-04-11 22:17:21 +10:00
parent ce552fd578
commit 907b67bd18
2 changed files with 41 additions and 59 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
DetourCrowd/Include/DetourCrowd.h
View File

@ -45,6 +45,9 @@ static const int DT_CROWDAGENT_MAX_CORNERS = 4;
/// dtCrowdAgentParams::obstacleAvoidanceType
static const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8;
/// The maximum number of query filter types
static const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
/// Provides neighbor data for agents managed by the crowd.
/// @ingroup crowd
/// @see dtCrowdAgent::neis, dtCrowd
@ -87,7 +90,7 @@ struct dtCrowdAgentParams
/// [Limits: 0 <= value <= #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
unsigned char obstacleAvoidanceType;
// [F]
/// The index of the query filter used by this agent.
unsigned char queryFilterType;
/// User defined data attached to the agent.
@ -105,9 +108,6 @@ enum MoveRequestState
DT_CROWDAGENT_TARGET_VELOCITY,
};
// [F]
static const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
/// Represents an agent managed by a #dtCrowd object.
/// @ingroup crowd
struct dtCrowdAgent
@ -163,9 +163,6 @@ struct dtCrowdAgent
dtPathQueueRef targetPathqRef; ///< Path finder ref.
bool targetReplan; ///< Flag indicating that the current path is being replanned.
float targetReplanTime; /// <Time since the agent's target was replanned.
// [F]
unsigned char queryFilterType;
};
struct dtCrowdAgentAnimation
@ -199,8 +196,6 @@ struct dtCrowdAgentDebugInfo
/// @ingroup crowd
class dtCrowd
{
public:
int m_maxAgents;
dtCrowdAgent* m_agents;
dtCrowdAgent** m_activeAgents;
@ -217,8 +212,7 @@ class dtCrowd
int m_maxPathResult;
float m_ext[3];
//dtQueryFilter m_filter;
// [F]
dtQueryFilter m_filters[DT_CROWD_MAX_QUERY_FILTER_TYPE];
float m_maxAgentRadius;
@ -262,7 +256,12 @@ public:
/// Gets the specified agent from the pool.
/// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()]
/// @return The requested agent.
dtCrowdAgent* getAgent(const int idx);
const dtCrowdAgent* getAgent(const int idx);
/// Gets the specified agent from the pool.
/// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()]
/// @return The requested agent.
dtCrowdAgent* getEditableAgent(const int idx);
/// The maximum number of agents that can be managed by the object.
/// @return The maximum number of agents.
@ -314,17 +313,11 @@ public:
/// Gets the filter used by the crowd.
/// @return The filter used by the crowd.
//const dtQueryFilter* getFilter() const { return &m_filter; }
// [F]
//const dtQueryFilter* getFilter() const {return &m_filters[0];}
const dtQueryFilter* getIndexedFilter(const int i = 0) const { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
inline const dtQueryFilter* getFilter(const int i) const { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
/// Gets the filter used by the crowd.
/// @return The filter used by the crowd.
//dtQueryFilter* getEditableFilter() { return &m_filter; }
// [F]
//dtQueryFilter* getEditableFilter() {return &m_filters[0];}
dtQueryFilter* getIndexedEditableFilter(const int i = 0) { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
inline dtQueryFilter* getEditableFilter(const int i) { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
/// Gets the search extents [(x, y, z)] used by the crowd for query operations.
/// @return The search extents used by the crowd. [(x, y, z)]

65
DetourCrowd/Source/DetourCrowd.cpp
View File

@ -482,7 +482,16 @@ int dtCrowd::getAgentCount() const
/// @par
///
/// Agents in the pool may not be in use. Check #dtCrowdAgent.active before using the returned object.
dtCrowdAgent* dtCrowd::getAgent(const int idx)
const dtCrowdAgent* dtCrowd::getAgent(const int idx)
{
if (idx < 0 || idx >= m_maxAgents)
return 0;
return &m_agents[idx];
}
///
/// Agents in the pool may not be in use. Check #dtCrowdAgent.active before using the returned object.
dtCrowdAgent* dtCrowd::getEditableAgent(const int idx)
{
if (idx < 0 || idx >= m_maxAgents)
return 0;
@ -514,20 +523,13 @@ int dtCrowd::addAgent(const float* pos, const dtCrowdAgentParams* params)
if (idx == -1)
return -1;
dtCrowdAgent* ag = &m_agents[idx];
// [F]
if (params->queryFilterType < DT_CROWD_MAX_QUERY_FILTER_TYPE)
ag->queryFilterType = params->queryFilterType;
else
ag->queryFilterType = 0;
dtCrowdAgent* ag = &m_agents[idx];
// Find nearest position on navmesh and place the agent there.
float nearest[3];
dtPolyRef ref = 0;
dtVcopy(nearest, pos);
dtStatus status = m_navquery->findNearestPoly(pos, m_ext, &m_filters[ag->queryFilterType], &ref, nearest);
dtStatus status = m_navquery->findNearestPoly(pos, m_ext, &m_filters[ag->params.queryFilterType], &ref, nearest);
if (dtStatusFailed(status))
{
dtVcopy(nearest, pos);
@ -700,7 +702,7 @@ void dtCrowd::updateMoveRequest(const float /*dt*/)
// Quick seach towards the goal.
static const int MAX_ITER = 20;
m_navquery->initSlicedFindPath(path[0], ag->targetRef, ag->npos, ag->targetPos, &m_filters[ag->queryFilterType]);
m_navquery->initSlicedFindPath(path[0], ag->targetRef, ag->npos, ag->targetPos, &m_filters[ag->params.queryFilterType]);
m_navquery->updateSlicedFindPath(MAX_ITER, 0);
dtStatus status = 0;
if (ag->targetReplan) // && npath > 10)
@ -767,7 +769,7 @@ void dtCrowd::updateMoveRequest(const float /*dt*/)
{
dtCrowdAgent* ag = queue[i];
ag->targetPathqRef = m_pathq.request(ag->corridor.getLastPoly(), ag->targetRef,
ag->corridor.getTarget(), ag->targetPos, &m_filters[ag->queryFilterType]);
ag->corridor.getTarget(), ag->targetPos, &m_filters[ag->params.queryFilterType]);
if (ag->targetPathqRef != DT_PATHQ_INVALID)
ag->targetState = DT_CROWDAGENT_TARGET_WAITING_FOR_PATH;
}
@ -921,7 +923,7 @@ void dtCrowd::updateTopologyOptimization(dtCrowdAgent** agents, const int nagent
for (int i = 0; i < nqueue; ++i)
{
dtCrowdAgent* ag = queue[i];
ag->corridor.optimizePathTopology(m_navquery, &m_filters[ag->queryFilterType]);
ag->corridor.optimizePathTopology(m_navquery, &m_filters[ag->params.queryFilterType]);
ag->topologyOptTime = 0;
}
@ -938,10 +940,6 @@ void dtCrowd::checkPathValidity(dtCrowdAgent** agents, const int nagents, const
if (ag->state != DT_CROWDAGENT_STATE_WALKING)
continue;
// BUG FIX: https://groups.google.com/forum/#!topic/recastnavigation/E6khmmKJkzk
//if (ag->targetState == DT_CROWDAGENT_TARGET_NONE || ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
// continue;
ag->targetReplanTime += dt;
@ -952,14 +950,14 @@ void dtCrowd::checkPathValidity(dtCrowdAgent** agents, const int nagents, const
float agentPos[3];
dtPolyRef agentRef = ag->corridor.getFirstPoly();
dtVcopy(agentPos, ag->npos);
if (!m_navquery->isValidPolyRef(agentRef, &m_filters[ag->queryFilterType]))
if (!m_navquery->isValidPolyRef(agentRef, &m_filters[ag->params.queryFilterType]))
{
// Current location is not valid, try to reposition.
// TODO: this can snap agents, how to handle that?
float nearest[3];
dtVcopy(nearest, agentPos);
agentRef = 0;
m_navquery->findNearestPoly(ag->npos, m_ext, &m_filters[ag->queryFilterType], &agentRef, nearest);
m_navquery->findNearestPoly(ag->npos, m_ext, &m_filters[ag->params.queryFilterType], &agentRef, nearest);
dtVcopy(agentPos, nearest);
if (!agentRef)
@ -981,20 +979,20 @@ void dtCrowd::checkPathValidity(dtCrowdAgent** agents, const int nagents, const
replan = true;
}
// Davo BUG FIX: https://groups.google.com/forum/#!topic/recastnavigation/E6khmmKJkzk
// If the agent does not have move target or is controlled by velocity, no need to recover the target nor replan.
if (ag->targetState == DT_CROWDAGENT_TARGET_NONE || ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
continue;
// Try to recover move request position.
if (ag->targetState != DT_CROWDAGENT_TARGET_NONE && ag->targetState != DT_CROWDAGENT_TARGET_FAILED)
{
if (!m_navquery->isValidPolyRef(ag->targetRef, &m_filters[ag->queryFilterType]))
if (!m_navquery->isValidPolyRef(ag->targetRef, &m_filters[ag->params.queryFilterType]))
{
// Current target is not valid, try to reposition.
float nearest[3];
dtVcopy(nearest, ag->targetPos);
ag->targetRef = 0;
m_navquery->findNearestPoly(ag->targetPos, m_ext, &m_filters[ag->queryFilterType], &ag->targetRef, nearest);
m_navquery->findNearestPoly(ag->targetPos, m_ext, &m_filters[ag->params.queryFilterType], &ag->targetRef, nearest);
dtVcopy(ag->targetPos, nearest);
replan = true;
}
@ -1007,7 +1005,7 @@ void dtCrowd::checkPathValidity(dtCrowdAgent** agents, const int nagents, const
}
// If nearby corridor is not valid, replan.
if (!ag->corridor.isValid(CHECK_LOOKAHEAD, m_navquery, &m_filters[ag->queryFilterType]))
if (!ag->corridor.isValid(CHECK_LOOKAHEAD, m_navquery, &m_filters[ag->params.queryFilterType]))
{
// Fix current path.
// ag->corridor.trimInvalidPath(agentRef, agentPos, m_navquery, &m_filter);
@ -1043,13 +1041,6 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
dtCrowdAgent** agents = m_activeAgents;
int nagents = getActiveAgents(agents, m_maxAgents);
// [F]
for (int i = 0; i < nagents; ++i)
{
dtCrowdAgent* ag = agents[i];
ag->queryFilterType = ag->params.queryFilterType;
}
// Check that all agents still have valid paths.
checkPathValidity(agents, nagents, dt);
@ -1081,10 +1072,10 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
// if it has become invalid.
const float updateThr = ag->params.collisionQueryRange*0.25f;
if (dtVdist2DSqr(ag->npos, ag->boundary.getCenter()) > dtSqr(updateThr) ||
!ag->boundary.isValid(m_navquery, &m_filters[ag->queryFilterType]))
!ag->boundary.isValid(m_navquery, &m_filters[ag->params.queryFilterType]))
{
ag->boundary.update(ag->corridor.getFirstPoly(), ag->npos, ag->params.collisionQueryRange,
m_navquery, &m_filters[ag->queryFilterType]);
m_navquery, &m_filters[ag->params.queryFilterType]);
}
// Query neighbour agents
ag->nneis = getNeighbours(ag->npos, ag->params.height, ag->params.collisionQueryRange,
@ -1106,14 +1097,14 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
// Find corners for steering
ag->ncorners = ag->corridor.findCorners(ag->cornerVerts, ag->cornerFlags, ag->cornerPolys,
DT_CROWDAGENT_MAX_CORNERS, m_navquery, &m_filters[ag->queryFilterType]);
DT_CROWDAGENT_MAX_CORNERS, m_navquery, &m_filters[ag->params.queryFilterType]);
// Check to see if the corner after the next corner is directly visible,
// and short cut to there.
if ((ag->params.updateFlags & DT_CROWD_OPTIMIZE_VIS) && ag->ncorners > 0)
{
const float* target = &ag->cornerVerts[dtMin(1,ag->ncorners-1)*3];
ag->corridor.optimizePathVisibility(target, ag->params.pathOptimizationRange, m_navquery, &m_filters[ag->queryFilterType]);
ag->corridor.optimizePathVisibility(target, ag->params.pathOptimizationRange, m_navquery, &m_filters[ag->params.queryFilterType]);
// Copy data for debug purposes.
if (debugIdx == i)
@ -1285,7 +1276,7 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
if (debugIdx == i)
vod = debug->vod;
// MySample new safe velocity.
// Sample new safe velocity.
bool adaptive = true;
int ns = 0;
@ -1393,7 +1384,7 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
continue;
// Move along navmesh.
ag->corridor.movePosition(ag->npos, m_navquery, &m_filters[ag->queryFilterType]);
ag->corridor.movePosition(ag->npos, m_navquery, &m_filters[ag->params.queryFilterType]);
// Get valid constrained position back.
dtVcopy(ag->npos, ag->corridor.getPos());
@ -1443,5 +1434,3 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
}
}