bool dtCrowd::initAvoidance(const int maxNeighbors, const int maxWalls, const int maxCustomPatterns)
{
m_obstacleQuery = dtAllocObstacleAvoidanceQuery();
if (!m_obstacleQuery)
return false;
if (!m_obstacleQuery->init(maxNeighbors, maxWalls, maxCustomPatterns))
return false;
// Init obstacle query params.
memset(m_obstacleQueryParams, 0, sizeof(m_obstacleQueryParams));
for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
{
dtObstacleAvoidanceParams* params = &m_obstacleQueryParams[i];
params->velBias = 0.4f;
params->weightDesVel = 2.0f;
params->weightCurVel = 0.75f;
params->weightSide = 0.75f;
params->weightToi = 2.5f;
params->horizTime = 2.5f;
params->patternIdx = 0xff;
params->adaptiveDivs = 7;
params->adaptiveRings = 2;
params->adaptiveDepth = 5;
}
return true;
}
/// @par
///
/// May be called more than once to purge and re-initialize the crowd.
bool dtCrowd::init(const int maxAgents, const float maxAgentRadius, dtNavMesh* nav)
{
purge();
m_maxAgents = maxAgents;
m_maxAgentRadius = maxAgentRadius;
dtVset(m_ext, m_maxAgentRadius*2.0f,m_maxAgentRadius*1.5f,m_maxAgentRadius*2.0f);
m_grid = dtAllocProximityGrid();
if (!m_grid)
return false;
if (!m_grid->init(m_maxAgents*4, maxAgentRadius*3))
return false;
m_obstacleQuery = dtAllocObstacleAvoidanceQuery();
if (!m_obstacleQuery)
return false;
if (!m_obstacleQuery->init(6, 8))
return false;
// Init obstacle query params.
memset(m_obstacleQueryParams, 0, sizeof(m_obstacleQueryParams));
for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
{
dtObstacleAvoidanceParams* params = &m_obstacleQueryParams[i];
params->velBias = 0.4f;
params->weightDesVel = 2.0f;
params->weightCurVel = 0.75f;
params->weightSide = 0.75f;
params->weightToi = 2.5f;
params->horizTime = 2.5f;
params->gridSize = 33;
params->adaptiveDivs = 7;
params->adaptiveRings = 2;
params->adaptiveDepth = 5;
}
// Allocate temp buffer for merging paths.
m_maxPathResult = 256;
m_pathResult = (dtPolyRef*)dtAlloc(sizeof(dtPolyRef)*m_maxPathResult, DT_ALLOC_PERM);
if (!m_pathResult)
return false;
if (!m_pathq.init(m_maxPathResult, MAX_PATHQUEUE_NODES, nav))
return false;
m_agents = (dtCrowdAgent*)dtAlloc(sizeof(dtCrowdAgent)*m_maxAgents, DT_ALLOC_PERM);
if (!m_agents)
return false;
m_activeAgents = (dtCrowdAgent**)dtAlloc(sizeof(dtCrowdAgent*)*m_maxAgents, DT_ALLOC_PERM);
if (!m_activeAgents)
return false;
m_agentAnims = (dtCrowdAgentAnimation*)dtAlloc(sizeof(dtCrowdAgentAnimation)*m_maxAgents, DT_ALLOC_PERM);
if (!m_agentAnims)
return false;
for (int i = 0; i < m_maxAgents; ++i)
{
new(&m_agents[i]) dtCrowdAgent();
m_agents[i].active = 0;
if (!m_agents[i].corridor.init(m_maxPathResult))
return false;
}
for (int i = 0; i < m_maxAgents; ++i)
{
m_agentAnims[i].active = 0;
}
// The navquery is mostly used for local searches, no need for large node pool.
m_navquery = dtAllocNavMeshQuery();
if (!m_navquery)
return false;
if (dtStatusFailed(m_navquery->init(nav, MAX_COMMON_NODES)))
return false;
return true;
}
