Tiny fix for imgui drawing. Implemented adjusting of the moving target without path finding.

RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3

@@ -284,13 +284,13 @@
 							<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
 							<array>
 								<array>
-									<integer>61</integer>
+									<integer>62</integer>
 									<integer>1</integer>
 									<integer>0</integer>
 								</array>
 							</array>
 							<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
-							<string>{{0, 623}, {264, 660}}</string>
+							<string>{{0, 824}, {264, 660}}</string>
 						</dict>
 						<key>PBXTopSmartGroupGIDs</key>
 						<array/>
@@ -325,7 +325,7 @@
 								<key>PBXProjectModuleGUID</key>
 								<string>6B8632A30F78115100E2684A</string>
 								<key>PBXProjectModuleLabel</key>
-								<string>SlideShow.cpp</string>
+								<string>CrowdManager.cpp</string>
 								<key>PBXSplitModuleInNavigatorKey</key>
 								<dict>
 									<key>Split0</key>
@@ -333,11 +333,11 @@
 										<key>PBXProjectModuleGUID</key>
 										<string>6B8632A40F78115100E2684A</string>
 										<key>PBXProjectModuleLabel</key>
-										<string>SlideShow.cpp</string>
+										<string>CrowdManager.cpp</string>
 										<key>_historyCapacity</key>
 										<integer>0</integer>
 										<key>bookmark</key>
-										<string>6BB9C2C612744A1C00B97C1C</string>
+										<string>6B8D55EA127AAE680077C699</string>
 										<key>history</key>
 										<array>
 											<string>6BBB4C34115B7A3D00CF791D</string>
@@ -370,7 +370,6 @@
 											<string>6B84778B122D279700ADF63D</string>
 											<string>6B8477BB122D297200ADF63D</string>
 											<string>6B8477E1122D2B9100ADF63D</string>
-											<string>6B8477FC122D2E2A00ADF63D</string>
 											<string>6B8477FE122D2E2A00ADF63D</string>
 											<string>6B8477FF122D2E2A00ADF63D</string>
 											<string>6BD6681812434B790021A7A4</string>
@@ -392,21 +391,17 @@
 											<string>6BA8CF511255D44700272A3B</string>
 											<string>6BA8CF5B1255D49B00272A3B</string>
 											<string>6BA8CF951255D97400272A3B</string>
-											<string>6BA8CFA81255DC6500272A3B</string>
 											<string>6BA8CFBE1255DE0500272A3B</string>
 											<string>6BB2EDF91261C75400E350F8</string>
 											<string>6BB2EE241261C92300E350F8</string>
 											<string>6BB2EE261261C92300E350F8</string>
 											<string>6BB2EE271261C92300E350F8</string>
-											<string>6BB2EE351261CEB800E350F8</string>
 											<string>6BB2EE361261CEB800E350F8</string>
 											<string>6BB2EE3F1261D02000E350F8</string>
 											<string>6BB2EE661261D48100E350F8</string>
 											<string>6BB2EE691261D48100E350F8</string>
 											<string>6BB2EE731261DA0400E350F8</string>
-											<string>6BB2EE7B1264CD7900E350F8</string>
 											<string>6B1633101268326F0083FC15</string>
-											<string>6B1633111268326F0083FC15</string>
 											<string>6B1633121268326F0083FC15</string>
 											<string>6B1633141268326F0083FC15</string>
 											<string>6B163317126832D20083FC15</string>
@@ -423,14 +418,20 @@
 											<string>6B16360A126891A40083FC15</string>
 											<string>6BB9C228126F4A9100B97C1C</string>
 											<string>6BB9C229126F4A9100B97C1C</string>
-											<string>6BB9C22C126F4A9100B97C1C</string>
 											<string>6BB9C253126F555F00B97C1C</string>
 											<string>6BB9C2A2126F623D00B97C1C</string>
 											<string>6BB9C2AA126F62C000B97C1C</string>
-											<string>6BB9C2AB126F62C000B97C1C</string>
 											<string>6BB9C2B5127449CE00B97C1C</string>
 											<string>6BB9C2BD127449CE00B97C1C</string>
-											<string>6BB9C2BF127449CE00B97C1C</string>
+											<string>6BB9C372127A0E5600B97C1C</string>
+											<string>6B8D5565127A98FB0077C699</string>
+											<string>6B8D5582127AA2270077C699</string>
+											<string>6B8D559E127AA3E70077C699</string>
+											<string>6B8D559F127AA3E70077C699</string>
+											<string>6B8D55A0127AA3E70077C699</string>
+											<string>6B8D55B5127AA5E60077C699</string>
+											<string>6B8D55D9127AABD80077C699</string>
+											<string>6B8D55DA127AABD80077C699</string>
 										</array>
 									</dict>
 									<key>SplitCount</key>
@@ -470,6 +471,8 @@
 									<dict>
 										<key>Frame</key>
 										<string>{{10, 27}, {992, -27}}</string>
+										<key>RubberWindowFrame</key>
+										<string>0 59 1278 719 0 0 1280 778 </string>
 									</dict>
 									<key>Module</key>
 									<string>XCDetailModule</string>
@@ -523,9 +526,7 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {992, -27}}</string>
+										<string>{{0, 0}, {568, 405}}</string>
-										<key>RubberWindowFrame</key>
-										<string>0 59 1278 719 0 0 1280 778 </string>
 									</dict>
 									<key>Module</key>
 									<string>PBXBuildResultsModule</string>
@@ -553,11 +554,11 @@
 			</array>
 			<key>TableOfContents</key>
 			<array>
-				<string>6BB9C1C0126B562300B97C1C</string>
+				<string>6B8D5569127A98FB0077C699</string>
 				<string>1CA23ED40692098700951B8B</string>
-				<string>6BB9C1C1126B562300B97C1C</string>
+				<string>6B8D556A127A98FB0077C699</string>
 				<string>6B8632A30F78115100E2684A</string>
-				<string>6BB9C1C2126B562300B97C1C</string>
+				<string>6B8D556B127A98FB0077C699</string>
 				<string>1CA23EDF0692099D00951B8B</string>
 				<string>1CA23EE00692099D00951B8B</string>
 				<string>1CA23EE10692099D00951B8B</string>
@@ -631,8 +632,8 @@
 								<string>yes</string>
 								<key>sizes</key>
 								<array>
-									<string>{{0, 0}, {578, 140}}</string>
+									<string>{{0, 0}, {580, 119}}</string>
-									<string>{{578, 0}, {700, 140}}</string>
+									<string>{{580, 0}, {698, 119}}</string>
 								</array>
 							</dict>
 							<key>VerticalSplitView</key>
@@ -647,8 +648,8 @@
 								<string>yes</string>
 								<key>sizes</key>
 								<array>
-									<string>{{0, 0}, {1278, 140}}</string>
+									<string>{{0, 0}, {1278, 119}}</string>
-									<string>{{0, 140}, {1278, 257}}</string>
+									<string>{{0, 119}, {1278, 278}}</string>
 								</array>
 							</dict>
 						</dict>
@@ -678,10 +679,10 @@
 								<string>Value</string>
 								<real>168</real>
 								<string>Summary</string>
-								<real>324</real>
+								<real>322</real>
 							</array>
 							<key>Frame</key>
-							<string>{{578, 0}, {700, 140}}</string>
+							<string>{{580, 0}, {698, 119}}</string>
 						</dict>
 					</dict>
 					<key>Module</key>
@@ -705,14 +706,14 @@
 			</array>
 			<key>TableOfContents</key>
 			<array>
-				<string>6BB9C1C3126B562300B97C1C</string>
+				<string>6B8D5585127AA2270077C699</string>
 				<string>1CCC7628064C1048000F2A68</string>
 				<string>1CCC7629064C1048000F2A68</string>
-				<string>6BB9C1C4126B562300B97C1C</string>
+				<string>6B8D5586127AA2270077C699</string>
-				<string>6BB9C1C5126B562300B97C1C</string>
+				<string>6B8D5587127AA2270077C699</string>
-				<string>6BB9C1C6126B562300B97C1C</string>
+				<string>6B8D5588127AA2270077C699</string>
-				<string>6BB9C1C7126B562300B97C1C</string>
+				<string>6B8D5589127AA2270077C699</string>
-				<string>6B8632A30F78115100E2684A</string>
+				<string>6B8D558A127AA2270077C699</string>
 			</array>
 			<key>ToolbarConfigUserDefaultsMinorVersion</key>
 			<string>2</string>
@@ -744,8 +745,9 @@
 	<integer>5</integer>
 	<key>WindowOrderList</key>
 	<array>
-		<string>6BB9C1C9126B562300B97C1C</string>
+		<string>6B8D55EB127AAE680077C699</string>
-		<string>6BB9C1CA126B562300B97C1C</string>
+		<string>6B8D558C127AA2270077C699</string>
+		<string>6B8D558D127AA2270077C699</string>
 		<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
 	</array>
 	<key>WindowString</key>
@@ -1075,16 +1077,18 @@
 			<string>Yes</string>
 		</dict>
 		<dict>
+			<key>FirstTimeWindowDisplayed</key>
+			<false/>
 			<key>Identifier</key>
 			<string>windowTool.debuggerConsole</string>
+			<key>IsVertical</key>
+			<true/>
 			<key>Layout</key>
 			<array>
 				<dict>
 					<key>Dock</key>
 					<array>
 						<dict>
-							<key>BecomeActive</key>
-							<integer>1</integer>
 							<key>ContentConfiguration</key>
 							<dict>
 								<key>PBXProjectModuleGUID</key>
@@ -1095,18 +1099,18 @@
 							<key>GeometryConfiguration</key>
 							<dict>
 								<key>Frame</key>
-								<string>{{0, 0}, {700, 358}}</string>
+								<string>{{0, 0}, {440, 359}}</string>
 								<key>RubberWindowFrame</key>
-								<string>149 87 700 400 0 0 1440 878 </string>
+								<string>21 355 440 400 0 0 1280 778 </string>
 							</dict>
 							<key>Module</key>
 							<string>PBXDebugCLIModule</string>
 							<key>Proportion</key>
-							<string>358pt</string>
+							<string>359pt</string>
 						</dict>
 					</array>
 					<key>Proportion</key>
-					<string>358pt</string>
+					<string>359pt</string>
 				</dict>
 			</array>
 			<key>Name</key>
@@ -1116,21 +1120,21 @@
 				<string>PBXDebugCLIModule</string>
 			</array>
 			<key>StatusbarIsVisible</key>
-			<integer>1</integer>
+			<true/>
 			<key>TableOfContents</key>
 			<array>
 				<string>1C530D5B069F1CE1000CFCEE</string>
-				<string>1C530D5C069F1CE1000CFCEE</string>
+				<string>6BB9C382127A0FB400B97C1C</string>
 				<string>1C78EAAC065D492600B07095</string>
 			</array>
 			<key>ToolbarConfiguration</key>
 			<string>xcode.toolbar.config.consoleV3</string>
 			<key>WindowString</key>
-			<string>149 87 440 400 0 0 1440 878 </string>
+			<string>21 355 440 400 0 0 1280 778 </string>
 			<key>WindowToolGUID</key>
 			<string>1C530D5B069F1CE1000CFCEE</string>
 			<key>WindowToolIsVisible</key>
-			<integer>0</integer>
+			<false/>
 		</dict>
 		<dict>
 			<key>Identifier</key>

RecastDemo/Include/CrowdManager.h

@@ -141,7 +141,8 @@ public:
 	void optimizePath(const float* next, const float pathOptimizationRange,
 					  dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
-	void updatePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
+	void movePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
+	void moveTargetPosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 	
 	void setCorridor(const float* target, const dtPolyRef* polys, const int npolys);
 
@@ -250,6 +251,7 @@ class CrowdManager
 	static const int MAX_AGENTS = 128;
 	Agent m_agents[MAX_AGENTS];
 	dtObstacleAvoidanceDebugData* m_vodebug[MAX_AGENTS];
+	
 	dtObstacleAvoidanceQuery* m_obstacleQuery;
 	PathQueue m_pathq;
 	ProximityGrid m_grid;
@@ -266,19 +268,26 @@ class CrowdManager
 
 	enum MoveRequestState
 	{
+		MR_TARGET_FAILED,
+		MR_TARGET_VALID,
 		MR_TARGET_REQUESTING,
 		MR_TARGET_WAITING_FOR_PATH,
-		MR_TARGET_VALID,
+		MR_TARGET_ADJUST,
-		MR_TARGET_FAILED,
 	};
 	
+	static const int MAX_TEMP_PATH = 32;
+
 	struct MoveRequest
 	{
-		int idx;
+		unsigned char state;			// State of the request
-		dtPolyRef ref;
+		int idx;						// Agent index
-		float pos[3];
+		dtPolyRef ref;					// Goal ref
-		unsigned char state;
+		float pos[3];					// Goal position
-		PathQueueRef pathqRef;
+		PathQueueRef pathqRef;			// Path find query ref
+		dtPolyRef aref;					// Goal adjustment ref
+		float apos[3];					// Goal adjustment pos
+		dtPolyRef temp[MAX_TEMP_PATH];	// Adjusted path to the goal
+		int ntemp;
 	};
 	MoveRequest m_moveRequests[MAX_AGENTS];
 	int m_moveRequestCount;
@@ -295,10 +304,12 @@ public:
 	const int getAgentCount() const;
 	int addAgent(const float* pos, const float radius, const float height, dtNavMeshQuery* navquery);
 	void removeAgent(const int idx);
+	
 	bool requestMoveTarget(const int idx, dtPolyRef ref, const float* pos);
+	bool adjustMoveTarget(const int idx, dtPolyRef ref, const float* pos);
 	
 	int getActiveAgents(Agent** agents, const int maxAgents);
-	void updateMoveRequest(const float dt, dtNavMeshQuery* navquery);
+	void updateMoveRequest(const float dt, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 	void update(const float dt, unsigned int flags, dtNavMeshQuery* navquery);
 	
 	const dtQueryFilter* getFilter() const { return &m_filter; }

RecastDemo/Include/CrowdTool.h

@@ -62,6 +62,7 @@ class CrowdTool : public SampleTool
 	{
 		TOOLMODE_CREATE,
 		TOOLMODE_MOVE,
+		TOOLMODE_MOVE_TARGET,
 	};
 	ToolMode m_mode;
 	

RecastDemo/Source/CrowdManager.cpp

@@ -190,7 +190,6 @@ int ProximityGrid::getItemCountAt(const int x, const int y) const
 	return n;
 }
 
-
 PathQueue::PathQueue() :
 	m_nextHandle(1),
 	m_delay(0)
@@ -207,6 +206,7 @@ void PathQueue::update(dtNavMeshQuery* navquery)
 {
 	// Artificial delay to test the code better,
 	// update only one request too.
+	
 	// TODO: Use sliced pathfinder.
 	m_delay++;
 	if ((m_delay % 4) == 0)
@@ -346,6 +346,44 @@ static int fixupCorridor(dtPolyRef* path, const int npath, const int maxPath,
 	return req+size;
 }
 
+static int fixupCorridorEnd(dtPolyRef* path, const int npath, const int maxPath,
+							const dtPolyRef* visited, const int nvisited)
+{
+	int furthestPath = -1;
+	int furthestVisited = -1;
+	
+	// Find furthest common polygon.
+	for (int i = 0; i < npath; ++i)
+	{
+		bool found = false;
+		for (int j = nvisited-1; j >= 0; --j)
+		{
+			if (path[i] == visited[j])
+			{
+				furthestPath = i;
+				furthestVisited = j;
+				found = true;
+			}
+		}
+		if (found)
+			break;
+	}
+	
+	// If no intersection found just return current path. 
+	if (furthestPath == -1 || furthestVisited == -1)
+		return npath;
+	
+	// Concatenate paths.
+	const int ppos = furthestPath+1;
+	const int vpos = furthestVisited+1;
+	const int count = dtMin(nvisited-vpos, maxPath-ppos);
+	dtAssert(ppos+count <= maxPath);
+	if (count)
+		memcpy(path+ppos, visited+vpos, sizeof(dtPolyRef)*count);
+
+	return ppos+count;
+}
+
 static int mergeCorridor(dtPolyRef* path, const int npath, const int maxPath,
 						 const dtPolyRef* visited, const int nvisited)
 {
@@ -475,19 +513,19 @@ void PathCorridor::optimizePath(const float* next, const float pathOptimizationR
 	// Clamp the ray to max distance.
 	float goal[3];
 	dtVcopy(goal, next);
-	const float distSqr = dtVdist2DSqr(m_pos, goal);
+	float dist = dtVdist2D(m_pos, goal);
 	
 	// If too close to the goal, do not try to optimize.
-	if (distSqr < dtSqr(0.01f))
+	if (dist < 0.01f)
 		return;
+
+	// Overshoot a little. This helps to optimize open fields in tiled meshes.
+	dist = dtMin(dist+0.01f, pathOptimizationRange);
 	
-	// If too far truncate ray length.
+	// Adjust ray length.
-	if (distSqr > dtSqr(pathOptimizationRange))
+	float delta[3];
-	{
+	dtVsub(delta, goal, m_pos);
-		float delta[3];
+	dtVmad(goal, m_pos, delta, pathOptimizationRange/dist);
-		dtVsub(delta, goal, m_pos);
-		dtVmad(goal, m_pos, delta, dtSqr(pathOptimizationRange)/distSqr);
-	}
 	
 	static const int MAX_RES = 32;
 	dtPolyRef res[MAX_RES];
@@ -499,7 +537,7 @@ void PathCorridor::optimizePath(const float* next, const float pathOptimizationR
 	}
 }
 
-void PathCorridor::updatePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter)
+void PathCorridor::movePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter)
 {
 	dtAssert(m_path);
 	dtAssert(m_npath);
@@ -512,13 +550,35 @@ void PathCorridor::updatePosition(const float* npos, dtNavMeshQuery* navquery, c
 											  result, visited, MAX_VISITED);
 	m_npath = fixupCorridor(m_path, m_npath, m_maxPath, visited, nvisited);
 	
-	// Adjust agent height to stay on top of the navmesh.
+	// Adjust the position to stay on top of the navmesh.
 	float h = m_pos[1];
 	navquery->getPolyHeight(m_path[0], result, &h);
 	result[1] = h;
 	dtVcopy(m_pos, result);
 }
 
+void PathCorridor::moveTargetPosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter)
+{
+	dtAssert(m_path);
+	dtAssert(m_npath);
+	
+	// Move along navmesh and update new position.
+	float result[3];
+	static const int MAX_VISITED = 16;
+	dtPolyRef visited[MAX_VISITED];
+	int nvisited = navquery->moveAlongSurface(m_path[m_npath-1], m_target, npos, filter,
+											  result, visited, MAX_VISITED);
+	m_npath = fixupCorridorEnd(m_path, m_npath, m_maxPath, visited, nvisited);
+	
+	// TODO: should we do that?
+	// Adjust the position to stay on top of the navmesh.
+/*	float h = m_target[1];
+	navquery->getPolyHeight(m_path[m_npath-1], result, &h);
+	result[1] = h;*/
+	
+	dtVcopy(m_target, result);
+}
+
 void PathCorridor::setCorridor(const float* target, const dtPolyRef* path, const int npath)
 {
 	dtAssert(m_path);
@@ -859,6 +919,7 @@ bool CrowdManager::requestMoveTarget(const int idx, dtPolyRef ref, const float*
 		if (m_moveRequestCount >= MAX_AGENTS)
 			return false;
 		req = &m_moveRequests[m_moveRequestCount++];
+		memset(req, 0, sizeof(MoveRequest));
 	}
 	
 	// Initialize request.
@@ -868,6 +929,45 @@ bool CrowdManager::requestMoveTarget(const int idx, dtPolyRef ref, const float*
 	req->pathqRef = PATHQ_INVALID;
 	req->state = MR_TARGET_REQUESTING;
 
+	req->temp[0] = ref;
+	req->ntemp = 1;
+
+	return true;
+}
+
+bool CrowdManager::adjustMoveTarget(const int idx, dtPolyRef ref, const float* pos)
+{
+	if (idx < 0 || idx > MAX_AGENTS)
+		return false;
+	if (!ref)
+		return false;
+	
+	MoveRequest* req = 0;
+	// Check if there is existing request and update that instead.
+	for (int i = 0; i < m_moveRequestCount; ++i)
+	{
+		if (m_moveRequests[i].idx == idx)
+		{
+			req = &m_moveRequests[i];
+			break;
+		}
+	}
+	if (!req)
+	{
+		if (m_moveRequestCount >= MAX_AGENTS)
+			return false;
+		req = &m_moveRequests[m_moveRequestCount++];
+		memset(req, 0, sizeof(MoveRequest));
+
+		// New adjust request
+		req->state = MR_TARGET_ADJUST;
+		req->idx = idx;
+	}
+
+	// Set adjustment request.
+	req->aref = ref;
+	dtVcopy(req->apos, pos);
+
 	return true;
 }
 
@@ -955,9 +1055,9 @@ int CrowdManager::getNeighbours(const float* pos, const float height, const floa
 	return n;
 }
 
-void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery)
+void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery, const dtQueryFilter* filter)
 {
-	// Update move requests.
+	// Fire off new requests.
 	for (int i = 0; i < m_moveRequestCount; ++i)
 	{
 		MoveRequest* req = &m_moveRequests[i];
@@ -967,6 +1067,33 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery)
 		if (!ag->active)
 			req->state = MR_TARGET_FAILED;
 		
+		// Adjust target
+		if (req->aref)
+		{
+			if (req->state == MR_TARGET_ADJUST)
+			{
+				// Adjust existing path.
+				ag->corridor.moveTargetPosition(req->apos, navquery, filter);
+				req->state = MR_TARGET_VALID;
+			}
+			else
+			{
+				// Adjust on the flight request.
+				float result[3];
+				static const int MAX_VISITED = 16;
+				dtPolyRef visited[MAX_VISITED];
+				int nvisited = navquery->moveAlongSurface(req->temp[req->ntemp-1], req->pos, req->apos, filter,
+														  result, visited, MAX_VISITED);
+				req->ntemp = fixupCorridorEnd(req->temp, req->ntemp, MAX_TEMP_PATH, visited, nvisited);
+				dtVcopy(req->pos, result);
+				
+				// Reset adjustment.
+				dtVset(req->apos, 0,0,0);
+				req->aref = 0;
+			}
+		}
+		
+		
 		if (req->state == MR_TARGET_REQUESTING)
 		{
 			// Calculate request position.
@@ -991,7 +1118,19 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery)
 				req->state = MR_TARGET_WAITING_FOR_PATH;
 			}
 		}
-		else if (req->state == MR_TARGET_WAITING_FOR_PATH)
+	}
+	
+	// Update requests.
+	m_pathq.update(navquery);
+	
+
+	// Process path results.
+	for (int i = 0; i < m_moveRequestCount; ++i)
+	{
+		MoveRequest* req = &m_moveRequests[i];
+		Agent* ag = &m_agents[req->idx];
+		
+		if (req->state == MR_TARGET_WAITING_FOR_PATH)
 		{
 			// Poll path queue.
 			int state = m_pathq.getRequestState(req->pathqRef);
@@ -1016,6 +1155,12 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery)
 				if (!nres)
 					valid = false;
 				
+				// Merge with any target adjustment that happened during the search.
+				if (req->ntemp > 1)
+				{
+					nres = fixupCorridorEnd(res, nres, m_maxPathResult, req->temp, req->ntemp);
+				}
+				
 				// Merge result and existing path.
 				// The agent might have moved whilst the request is
 				// being processed, so the path may have changed.
@@ -1056,7 +1201,7 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery)
 				if (valid)
 				{
 					ag->corridor.setCorridor(targetPos, res, nres);
-					req->state = MR_TARGET_FAILED;
+					req->state = MR_TARGET_VALID;
 				}
 				else
 				{
@@ -1066,7 +1211,7 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery)
 			}
 		}
 		
-		// Remove request.
+		// Remove request when done with it.
 		if (req->state == MR_TARGET_VALID || req->state == MR_TARGET_FAILED)
 		{
 			m_moveRequestCount--;
@@ -1076,7 +1221,6 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery)
 		}
 	}
 	
-	m_pathq.update(navquery);
 }
 
 void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* navquery)
@@ -1097,7 +1241,7 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 	static const float MAX_SPEED = 3.5f;
 
 	// Update async move request and path finder.
-	updateMoveRequest(dt, navquery);
+	updateMoveRequest(dt, navquery, &m_filter);
 
 	// Register agents to proximity grid.
 	m_grid.clear();
@@ -1306,7 +1450,7 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 	{
 		Agent* ag = agents[i];
 		// Move along navmesh.
-		ag->corridor.updatePosition(ag->npos, navquery, &m_filter);
+		ag->corridor.movePosition(ag->npos, navquery, &m_filter);
 		// Get valid constrained position back.
 		dtVcopy(ag->npos, ag->corridor.getPos());
 	}

RecastDemo/Source/CrowdTool.cpp

@@ -142,6 +142,8 @@ void CrowdTool::handleMenu()
 		m_mode = TOOLMODE_CREATE;
 	if (imguiCheck("Move Agents", m_mode == TOOLMODE_MOVE))
 		m_mode = TOOLMODE_MOVE;
+	if (imguiCheck("Move Target", m_mode == TOOLMODE_MOVE_TARGET))
+		m_mode = TOOLMODE_MOVE_TARGET;
 	
 	imguiSeparator();
 	
@@ -260,6 +262,23 @@ void CrowdTool::handleClick(const float* s, const float* p, bool shift)
 			}
 		}
 	}
+	else if (m_mode == TOOLMODE_MOVE_TARGET)
+	{
+		// Find nearest point on navmesh and set move request to that location.
+		dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
+		const dtQueryFilter* filter = m_crowd.getFilter();
+		const float* ext = m_crowd.getQueryExtents();
+		m_targetRef = navquery->findNearestPoly(p, ext, filter, m_targetPos);
+		if (m_targetRef)
+		{
+			for (int i = 0; i < m_crowd.getAgentCount(); ++i)
+			{
+				const Agent* ag = m_crowd.getAgent(i);
+				if (!ag->active) continue;
+				m_crowd.adjustMoveTarget(i, m_targetRef, m_targetPos);
+			}
+		}
+	}
 }
 
 void CrowdTool::handleStep()

RecastDemo/Source/imguiRenderGL.cpp

@@ -452,7 +452,7 @@ void imguiRenderGLDraw()
 			{
 				const float verts[3*2] =
 				{
-					(float)cmd.rect.x*s+0.5f, (float)cmd.rect.y*s+(float)cmd.rect.h*s-1,
+					(float)cmd.rect.x*s+0.5f, (float)cmd.rect.y*s+0.5f+(float)cmd.rect.h*s-1,
 					(float)cmd.rect.x*s+0.5f+(float)cmd.rect.w*s/2-0.5f, (float)cmd.rect.y*s+0.5f,
 					(float)cmd.rect.x*s+0.5f+(float)cmd.rect.w*s-1, (float)cmd.rect.y*s+0.5f+(float)cmd.rect.h*s-1,
 				};