Added proximity grid for agents.
This commit is contained in:
Mikko Mononen
parent
4cf5ab4d7b
commit
c11a3a950e
Binary file not shown.
File diff suppressed because it is too large
Load Diff
@ -284,13 +284,14 @@
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||||
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||||
@ -325,7 +326,7 @@
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||||
<key>PBXProjectModuleGUID</key>
|
||||
<string>6B8632A30F78115100E2684A</string>
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||||
<key>PBXProjectModuleLabel</key>
|
||||
<string>CrowdManager.cpp</string>
|
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<string>CrowdTool.cpp</string>
|
||||
<key>PBXSplitModuleInNavigatorKey</key>
|
||||
<dict>
|
||||
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|
||||
@ -333,11 +334,11 @@
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||||
<key>PBXProjectModuleGUID</key>
|
||||
<string>6B8632A40F78115100E2684A</string>
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||||
<key>PBXProjectModuleLabel</key>
|
||||
<string>CrowdManager.cpp</string>
|
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<string>CrowdTool.cpp</string>
|
||||
<key>_historyCapacity</key>
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<integer>0</integer>
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@ -370,7 +371,6 @@
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@ -415,16 +413,23 @@
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</dict>
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@ -438,18 +443,18 @@
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<key>GeometryConfiguration</key>
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<dict>
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<key>Frame</key>
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<string>{{0, 0}, {994, 487}}</string>
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<string>{{0, 0}, {994, 516}}</string>
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<key>RubberWindowFrame</key>
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||||
<string>0 112 1280 666 0 0 1280 778 </string>
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</dict>
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<key>Module</key>
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<string>PBXNavigatorGroup</string>
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<key>Proportion</key>
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<string>487pt</string>
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<string>516pt</string>
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</dict>
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<dict>
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<key>Proportion</key>
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<string>133pt</string>
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<string>104pt</string>
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<key>Tabs</key>
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<array>
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<dict>
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@ -463,7 +468,7 @@
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<key>GeometryConfiguration</key>
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<dict>
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<key>Frame</key>
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<string>{{10, 27}, {994, 66}}</string>
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<string>{{10, 27}, {994, 53}}</string>
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</dict>
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<key>Module</key>
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<string>XCDetailModule</string>
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@ -517,7 +522,7 @@
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<key>GeometryConfiguration</key>
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<dict>
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<key>Frame</key>
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<string>{{10, 27}, {994, 106}}</string>
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||||
<string>{{10, 27}, {994, 77}}</string>
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<string>0 112 1280 666 0 0 1280 778 </string>
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</dict>
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@ -547,11 +552,11 @@
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</array>
|
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<key>TableOfContents</key>
|
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<array>
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<string>6BBB02B71247291B00533229</string>
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@ -699,14 +704,14 @@
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</array>
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<key>TableOfContents</key>
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<array>
|
||||
<string>6BBB02BA1247291B00533229</string>
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</array>
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<key>ToolbarConfigUserDefaultsMinorVersion</key>
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<string>2</string>
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@ -738,8 +743,8 @@
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<integer>5</integer>
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<key>WindowOrderList</key>
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<array>
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<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
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</array>
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<key>WindowString</key>
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@ -178,6 +178,8 @@
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6B555DF5100B25FC00247EA3 /* Samples */,
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6BB7FE8E10F4A175006DA0A6 /* Tools */,
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6B25B6180FFA62BE004F1BC4 /* main.cpp */,
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6BD667D8123D27EC0021A7A4 /* CrowdManager.h */,
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6BD667D9123D28100021A7A4 /* CrowdManager.cpp */,
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6BAF4440121C3D0A008CFCDF /* SampleInterfaces.h */,
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6BAF4441121C3D26008CFCDF /* SampleInterfaces.cpp */,
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6BF5F2C511747E9F000502A6 /* stb_image.h */,
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@ -204,8 +206,6 @@
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6BD402001224279400995864 /* PerfTimer.cpp */,
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6B847774122D220D00ADF63D /* ValueHistory.h */,
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6B847776122D221C00ADF63D /* ValueHistory.cpp */,
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6BD667D8123D27EC0021A7A4 /* CrowdManager.h */,
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6BD667D9123D28100021A7A4 /* CrowdManager.cpp */,
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);
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name = Classes;
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sourceTree = "<group>";
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@ -34,6 +34,50 @@
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AGENT_TARGET_FAILED = 5,
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};*/
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class ProximityGrid
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{
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int m_maxItems;
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float m_cellSize;
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float m_invCellSize;
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struct Item
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{
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unsigned short id;
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short x,y;
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unsigned short next;
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};
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Item* m_pool;
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int m_poolHead;
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int m_poolSize;
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unsigned short* m_buckets;
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int m_bucketsSize;
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int m_bounds[4];
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public:
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ProximityGrid();
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~ProximityGrid();
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bool init(const int maxItems, const float cellSize);
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void clear();
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void addItem(const unsigned short id,
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const float minx, const float miny,
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const float maxx, const float maxy);
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int queryItems(const float minx, const float miny,
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const float maxx, const float maxy,
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unsigned short* ids, const int maxIds) const;
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int getItemCountAt(const int x, const int y) const;
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const int* getBounds() const { return m_bounds; }
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const float getCellSize() const { return m_cellSize; }
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};
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static const int AGENT_MAX_PATH = 256;
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static const int AGENT_MAX_CORNERS = 4;
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static const int AGENT_MAX_TRAIL = 64;
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@ -202,6 +246,7 @@ class CrowdManager
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dtObstacleAvoidanceDebugData* m_vodebug[MAX_AGENTS];
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dtObstacleAvoidanceQuery* m_obstacleQuery;
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PathQueue m_pathq;
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ProximityGrid m_grid;
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int m_totalTime;
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int m_rvoTime;
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@ -229,6 +274,8 @@ public:
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inline int getTotalTime() const { return m_totalTime; }
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inline int getRVOTime() const { return m_rvoTime; }
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inline int getSampleCount() const { return m_sampleCount; }
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const ProximityGrid* getGrid() const { return &m_grid; }
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};
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@ -68,6 +68,7 @@ class CrowdTool : public SampleTool
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bool m_showPath;
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bool m_showVO;
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bool m_showOpt;
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bool m_showGrid;
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bool m_expandOptions;
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bool m_anticipateTurns;
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@ -29,12 +29,165 @@
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#include "CrowdManager.h"
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#include "SampleInterfaces.h" // For timer
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#include "DetourAssert.h"
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#include "DetourAlloc.h"
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static const int VO_ADAPTIVE_GRID_SIZE = 4;
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static const int VO_ADAPTIVE_GRID_DEPTH = 5;
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static const int VO_GRID_SIZE = 33;
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inline int hashPos2(int x, int y, int n)
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{
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return ((x*73856093) ^ (y*19349663)) & (n-1);
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}
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ProximityGrid::ProximityGrid() :
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m_maxItems(0),
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m_cellSize(0),
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m_pool(0),
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m_poolHead(0),
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m_poolSize(0),
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m_buckets(0),
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m_bucketsSize(0)
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{
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}
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ProximityGrid::~ProximityGrid()
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{
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dtFree(m_buckets);
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dtFree(m_pool);
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}
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bool ProximityGrid::init(const int maxItems, const float cellSize)
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{
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dtAssert(maxItems > 0);
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dtAssert(cellSize > 0.0f);
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m_cellSize = cellSize;
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m_invCellSize = 1.0f / m_cellSize;
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// Allocate hashs buckets
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m_bucketsSize = dtNextPow2(maxItems);
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m_buckets = (unsigned short*)dtAlloc(sizeof(unsigned short)*m_bucketsSize, DT_ALLOC_PERM);
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if (!m_buckets)
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return false;
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// Allocate pool of items.
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m_poolSize = maxItems*4;
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m_poolHead = 0;
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m_pool = (Item*)dtAlloc(sizeof(Item)*m_poolSize, DT_ALLOC_PERM);
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if (!m_pool)
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return false;
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clear();
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return true;
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}
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void ProximityGrid::clear()
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{
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memset(m_buckets, 0xff, sizeof(unsigned short)*m_bucketsSize);
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m_poolHead = 0;
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m_bounds[0] = 0xffff;
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m_bounds[1] = 0xffff;
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m_bounds[2] = -0xffff;
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m_bounds[3] = -0xffff;
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}
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void ProximityGrid::addItem(const unsigned short id,
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const float minx, const float miny,
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const float maxx, const float maxy)
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{
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const int iminx = (int)floorf(minx * m_invCellSize);
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const int iminy = (int)floorf(miny * m_invCellSize);
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const int imaxx = (int)floorf(maxx * m_invCellSize);
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const int imaxy = (int)floorf(maxy * m_invCellSize);
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m_bounds[0] = dtMin(m_bounds[0], iminx);
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m_bounds[1] = dtMin(m_bounds[1], iminy);
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m_bounds[2] = dtMax(m_bounds[2], imaxx);
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m_bounds[3] = dtMax(m_bounds[3], imaxy);
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for (int y = iminy; y <= imaxy; ++y)
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{
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for (int x = iminx; x <= imaxx; ++x)
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{
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if (m_poolHead < m_poolSize)
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{
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const int h = hashPos2(x, y, m_bucketsSize);
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const unsigned short idx = (unsigned short)m_poolHead;
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m_poolHead++;
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Item& item = m_pool[idx];
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item.x = (short)x;
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item.y = (short)y;
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item.id = id;
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item.next = m_buckets[h];
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m_buckets[h] = idx;
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}
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}
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}
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}
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int ProximityGrid::queryItems(const float minx, const float miny,
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const float maxx, const float maxy,
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unsigned short* ids, const int maxIds) const
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{
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const int iminx = (int)floorf(minx * m_invCellSize);
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const int iminy = (int)floorf(miny * m_invCellSize);
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const int imaxx = (int)floorf(maxx * m_invCellSize);
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const int imaxy = (int)floorf(maxy * m_invCellSize);
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int n = 0;
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for (int y = iminy; y <= imaxy; ++y)
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{
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for (int x = iminx; x <= imaxx; ++x)
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{
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const int h = hashPos2(x, y, m_bucketsSize);
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unsigned short idx = m_buckets[h];
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while (idx != 0xffff)
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{
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Item& item = m_pool[idx];
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if ((int)item.x == x && (int)item.y == y)
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{
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// Check if the id exists already.
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const unsigned short* end = ids + n;
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unsigned short* i = ids;
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while (i != end && *i != item.id)
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++i;
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// Item not found, add it.
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if (i == end)
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{
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if (n >= maxIds)
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return n;
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ids[n++] = item.id;
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}
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}
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idx = item.next;
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}
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}
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}
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return n;
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}
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int ProximityGrid::getItemCountAt(const int x, const int y) const
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{
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int n = 0;
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const int h = hashPos2(x, y, m_bucketsSize);
|
||||
unsigned short idx = m_buckets[h];
|
||||
while (idx != 0xffff)
|
||||
{
|
||||
Item& item = m_pool[idx];
|
||||
if ((int)item.x == x && (int)item.y == y)
|
||||
n++;
|
||||
idx = item.next;
|
||||
}
|
||||
|
||||
return n;
|
||||
}
|
||||
|
||||
|
||||
PathQueue::PathQueue() :
|
||||
m_nextHandle(1),
|
||||
@ -673,6 +826,9 @@ CrowdManager::CrowdManager() :
|
||||
m_vodebug[i] = dtAllocObstacleAvoidanceDebugData();
|
||||
m_vodebug[i]->init(sampleCount);
|
||||
}
|
||||
|
||||
// TODO: the radius should be related to the agent radius used to create the navmesh!
|
||||
m_grid.init(100, 1.0f);
|
||||
|
||||
reset();
|
||||
}
|
||||
@ -767,10 +923,14 @@ int CrowdManager::getNeighbours(const float* pos, const float height, const floa
|
||||
{
|
||||
int n = 0;
|
||||
|
||||
for (int i = 0; i < MAX_AGENTS; ++i)
|
||||
unsigned short ids[MAX_AGENTS];
|
||||
int nids = m_grid.queryItems(pos[0]-range, pos[2]-range,
|
||||
pos[0]+range, pos[2]+range,
|
||||
ids, MAX_AGENTS);
|
||||
|
||||
for (int i = 0; i < nids; ++i)
|
||||
{
|
||||
if (!m_agents[i].active) continue;
|
||||
Agent* ag = &m_agents[i];
|
||||
Agent* ag = &m_agents[ids[i]];
|
||||
|
||||
if (ag == skip) continue;
|
||||
|
||||
@ -812,6 +972,21 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
|
||||
|
||||
m_pathq.update(navquery);
|
||||
|
||||
|
||||
m_grid.clear();
|
||||
for (int i = 0; i < nagents; ++i)
|
||||
{
|
||||
Agent* ag = agents[i];
|
||||
const float* p = ag->mover.m_pos;
|
||||
const float r = ag->mover.m_radius;
|
||||
const float minx = p[0] - r;
|
||||
const float miny = p[2] - r;
|
||||
const float maxx = p[0] + r;
|
||||
const float maxy = p[2] + r;
|
||||
m_grid.addItem((unsigned short)i, minx, miny, maxx, maxy);
|
||||
}
|
||||
|
||||
|
||||
// Update target and agent navigation state.
|
||||
// TODO: add queue for path queries.
|
||||
for (int i = 0; i < nagents; ++i)
|
||||
|
||||
@ -182,6 +182,7 @@ CrowdTool::CrowdTool() :
|
||||
m_showPath(false),
|
||||
m_showVO(false),
|
||||
m_showOpt(false),
|
||||
m_showGrid(false),
|
||||
m_expandOptions(true),
|
||||
m_anticipateTurns(true),
|
||||
m_useVO(true),
|
||||
@ -262,8 +263,10 @@ void CrowdTool::handleMenu()
|
||||
m_showPath = !m_showPath;
|
||||
if (imguiCheck("Show VO", m_showVO))
|
||||
m_showVO = !m_showVO;
|
||||
if (imguiCheck("Show Opt", m_showOpt))
|
||||
if (imguiCheck("Show Path Optimization", m_showOpt))
|
||||
m_showOpt = !m_showOpt;
|
||||
if (imguiCheck("Show Prox Grid", m_showGrid))
|
||||
m_showGrid = !m_showGrid;
|
||||
imguiUnindent();
|
||||
}
|
||||
}
|
||||
@ -591,6 +594,40 @@ void CrowdTool::handleRender()
|
||||
dd.depthMask(true);
|
||||
}
|
||||
|
||||
if (m_showGrid)
|
||||
{
|
||||
float gridy = -FLT_MAX;
|
||||
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
|
||||
{
|
||||
const Agent* ag = m_crowd.getAgent(i);
|
||||
if (!ag->active) continue;
|
||||
const float* pos = ag->mover.m_pos;
|
||||
gridy = dtMax(gridy, pos[1]);
|
||||
}
|
||||
gridy += 1.0f;
|
||||
|
||||
dd.depthMask(false);
|
||||
dd.begin(DU_DRAW_QUADS);
|
||||
const ProximityGrid* grid = m_crowd.getGrid();
|
||||
const int* bounds = grid->getBounds();
|
||||
const float cs = grid->getCellSize();
|
||||
for (int y = bounds[1]; y <= bounds[3]; ++y)
|
||||
{
|
||||
for (int x = bounds[0]; x <= bounds[2]; ++x)
|
||||
{
|
||||
const int count = grid->getItemCountAt(x,y);
|
||||
if (!count) continue;
|
||||
unsigned int col = duRGBA(128,0,0,dtMin(count*40,255));
|
||||
dd.vertex(x*cs, gridy, y*cs, col);
|
||||
dd.vertex(x*cs, gridy, y*cs+cs, col);
|
||||
dd.vertex(x*cs+cs, gridy, y*cs+cs, col);
|
||||
dd.vertex(x*cs+cs, gridy, y*cs, col);
|
||||
}
|
||||
}
|
||||
dd.end();
|
||||
dd.depthMask(true);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
for (int i = 0; i < m_form.npolys; ++i)
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user