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Fix for strange neighbours. Was using m_agents, instead agents in few places.

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This commit is contained in:
Mikko Mononen 2011-03-15 07:30:55 +00:00
parent 4be11d07f8
commit f85bb4c52c
2 changed files with 41 additions and 42 deletions
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5
DetourCrowd/Include/DetourCrowd.h
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@ -164,12 +164,11 @@ class dtCrowd
dtNavMeshQuery* m_navquery;
int getNeighbours(const float* pos, const float height, const float range,
const dtCrowdAgent* skip, dtCrowdNeighbour* result, const int maxResult,
dtCrowdAgent** agents, const int nagents);
void updateTopologyOptimization(dtCrowdAgent** agents, const int nagents, const float dt);
void updateMoveRequest(const float dt);
inline int getAgentIndex(const dtCrowdAgent* agent) const { return agent - m_agents; }
void purge();
public:

78
DetourCrowd/Source/DetourCrowd.cpp
View File

@ -170,6 +170,39 @@ static int addNeighbour(const int idx, const float dist,
return dtMin(nneis+1, maxNeis);
}
static int getNeighbours(const float* pos, const float height, const float range,
const dtCrowdAgent* skip, dtCrowdNeighbour* result, const int maxResult,
dtCrowdAgent** agents, const int nagents, dtProximityGrid* grid)
{
int n = 0;
static const int MAX_NEIS = 32;
unsigned short ids[MAX_NEIS];
int nids = grid->queryItems(pos[0]-range, pos[2]-range,
pos[0]+range, pos[2]+range,
ids, MAX_NEIS);
for (int i = 0; i < nids; ++i)
{
const dtCrowdAgent* ag = agents[ids[i]];
if (ag == skip) continue;
// Check for overlap.
float diff[3];
dtVsub(diff, pos, ag->npos);
if (fabsf(diff[1]) >= (height+ag->params.height)/2.0f)
continue;
diff[1] = 0;
const float distSqr = dtVlenSqr(diff);
if (distSqr > dtSqr(range))
continue;
n = addNeighbour(ids[i], distSqr, result, n, maxResult);
}
return n;
}
dtCrowd::dtCrowd() :
@ -487,40 +520,6 @@ int dtCrowd::getActiveAgents(dtCrowdAgent** agents, const int maxAgents)
}
int dtCrowd::getNeighbours(const float* pos, const float height, const float range,
const dtCrowdAgent* skip, dtCrowdNeighbour* result, const int maxResult,
dtCrowdAgent** agents, const int nagents)
{
int n = 0;
static const int MAX_NEIS = 32;
unsigned short ids[MAX_NEIS];
int nids = m_grid->queryItems(pos[0]-range, pos[2]-range,
pos[0]+range, pos[2]+range,
ids, MAX_NEIS);
for (int i = 0; i < nids; ++i)
{
const dtCrowdAgent* ag = agents[ids[i]];
if (ag == skip) continue;
// Check for overlap.
float diff[3];
dtVsub(diff, pos, ag->npos);
if (fabsf(diff[1]) >= (height+ag->params.height)/2.0f)
continue;
diff[1] = 0;
const float distSqr = dtVlenSqr(diff);
if (distSqr > dtSqr(range))
continue;
n = addNeighbour(ids[i], distSqr, result, n, maxResult);
}
return n;
}
void dtCrowd::updateMoveRequest(const float /*dt*/)
{
// Fire off new requests.
@ -801,7 +800,8 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
}
// Query neighbour agents
ag->nneis = getNeighbours(ag->npos, ag->params.height, ag->params.collisionQueryRange,
ag, ag->neis, DT_CROWDAGENT_MAX_NEIGHBOURS, agents, nagents);
ag, ag->neis, DT_CROWDAGENT_MAX_NEIGHBOURS,
agents, nagents, m_grid);
}
// Find next corner to steer to.
@ -966,7 +966,7 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
// Add neighbours as obstacles.
for (int j = 0; j < ag->nneis; ++j)
{
const dtCrowdAgent* nei = &m_agents[ag->neis[j].idx];
const dtCrowdAgent* nei = agents[ag->neis[j].idx];
m_obstacleQuery->addCircle(nei->npos, nei->params.radius, nei->vel, nei->dvel);
}
@ -1025,7 +1025,7 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
for (int i = 0; i < nagents; ++i)
{
dtCrowdAgent* ag = agents[i];
const int idx0 = ag - m_agents;
const int idx0 = getAgentIndex(ag);
if (ag->state != DT_CROWDAGENT_STATE_WALKING)
continue;
@ -1036,8 +1036,8 @@ void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
for (int j = 0; j < ag->nneis; ++j)
{
const dtCrowdAgent* nei = &m_agents[ag->neis[j].idx];
const int idx1 = nei - m_agents;
const dtCrowdAgent* nei = agents[ag->neis[j].idx];
const int idx1 = getAgentIndex(nei);
float diff[3];
dtVsub(diff, ag->npos, nei->npos);