Ejemplo n.º 1
0
void dtCrowd::updateStepSteering(const float dt, dtCrowdAgentDebugInfo*)
{
	// Calculate steering.
	for (int i = 0; i < m_numActiveAgents; ++i)
	{
		dtCrowdAgent* ag = m_activeAgents[i];

		if (ag->state != DT_CROWDAGENT_STATE_WALKING)
			continue;
		if (ag->targetState == DT_CROWDAGENT_TARGET_NONE)
			continue;

		float dvel[3] = { 0, 0, 0 };

		if (ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
		{
			dtVcopy(dvel, ag->targetPos);
			ag->desiredSpeed = dtVlen(ag->targetPos);
		}
		else
		{
			// Calculate steering direction.
			if (ag->params.updateFlags & DT_CROWD_ANTICIPATE_TURNS)
				calcSmoothSteerDirection(ag, dvel);
			else
				calcStraightSteerDirection(ag, dvel);

			float speedScale = 1.0f;

			if (ag->params.updateFlags & DT_CROWD_SLOWDOWN_AT_GOAL)
			{
				// Calculate speed scale, which tells the agent to slowdown at the end of the path.
				const float slowDownRadius = ag->params.radius * 2;	// TODO: make less hacky.
				speedScale = getDistanceToGoal(ag, slowDownRadius) / slowDownRadius;
			}

			ag->desiredSpeed = ag->params.maxSpeed;
			dtVscale(dvel, dvel, ag->desiredSpeed * speedScale);
		}

		// Separation
		if (ag->params.updateFlags & DT_CROWD_SEPARATION)
		{
			const float separationDist = ag->params.collisionQueryRange;
			const float invSeparationDist = 1.0f / separationDist;
			const float separationWeight = ag->params.separationWeight;

			float w = 0;
			float disp[3] = { 0, 0, 0 };

			for (int j = 0; j < ag->nneis; ++j)
			{
				const dtCrowdAgent* nei = &m_agents[ag->neis[j].idx];

				float diff[3];
				dtVsub(diff, ag->npos, nei->npos);
				diff[1] = 0;

				const float distSqr = dtVlenSqr(diff);
				if (distSqr < 0.00001f)
					continue;
				if (distSqr > dtSqr(separationDist))
					continue;
				const float dist = sqrtf(distSqr);
				const float weight = separationWeight * (1.0f - dtSqr(dist*invSeparationDist));

				dtVmad(disp, disp, diff, weight / dist);
				w += 1.0f;
			}

			if (w > 0.0001f)
			{
				// Adjust desired velocity.
				dtVmad(dvel, dvel, disp, 1.0f / w);
				// Clamp desired velocity to desired speed.
				const float speedSqr = dtVlenSqr(dvel);
				const float desiredSqr = dtSqr(ag->desiredSpeed);
				if (speedSqr > desiredSqr)
					dtVscale(dvel, dvel, desiredSqr / speedSqr);
			}
		}

		// Set the desired velocity.
		dtVcopy(ag->dvel, dvel);
	}
}
Ejemplo n.º 2
0
void dtCrowd::update(const float dt, dtCrowdAgentDebugInfo* debug)
{
	m_velocitySampleCount = 0;
	
	const int debugIdx = debug ? debug->idx : -1;
	
	dtCrowdAgent** agents = m_activeAgents;
	int nagents = getActiveAgents(agents, m_maxAgents);
	
	// Check that all agents still have valid paths.
	checkPathValidity(agents, nagents, dt);
	
	// Update async move request and path finder.
	updateMoveRequest(dt);

	// Optimize path topology.
	updateTopologyOptimization(agents, nagents, dt);
	
	// Register agents to proximity grid.
	m_grid->clear();
	for (int i = 0; i < nagents; ++i)
	{
		dtCrowdAgent* ag = agents[i];
		const float* p = ag->npos;
		const float r = ag->params.radius;
		m_grid->addItem((unsigned short)i, p[0]-r, p[2]-r, p[0]+r, p[2]+r);
	}
	
	// Get nearby navmesh segments and agents to collide with.
	for (int i = 0; i < nagents; ++i)
	{
		dtCrowdAgent* ag = agents[i];
		if (ag->state != DT_CROWDAGENT_STATE_WALKING)
			continue;

		// Update the collision boundary after certain distance has been passed or
		// 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_filter))
		{
			ag->boundary.update(ag->corridor.getFirstPoly(), ag->npos, ag->params.collisionQueryRange,
								m_navquery, &m_filter);
		}
		// Query neighbour agents
		ag->nneis = getNeighbours(ag->npos, ag->params.height, ag->params.collisionQueryRange,
								  ag, ag->neis, DT_CROWDAGENT_MAX_NEIGHBOURS,
								  agents, nagents, m_grid);
		for (int j = 0; j < ag->nneis; j++)
			ag->neis[j].idx = getAgentIndex(agents[ag->neis[j].idx]);
	}
	
	// Find next corner to steer to.
	for (int i = 0; i < nagents; ++i)
	{
		dtCrowdAgent* ag = agents[i];
		
		if (ag->state != DT_CROWDAGENT_STATE_WALKING)
			continue;
		if (ag->targetState == DT_CROWDAGENT_TARGET_NONE || ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
			continue;
		
		// Find corners for steering
		ag->ncorners = ag->corridor.findCorners(ag->cornerVerts, ag->cornerFlags, ag->cornerPolys,
												DT_CROWDAGENT_MAX_CORNERS, m_navquery, &m_filter);
		
		// 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_filter);
			
			// Copy data for debug purposes.
			if (debugIdx == i)
			{
				dtVcopy(debug->optStart, ag->corridor.getPos());
				dtVcopy(debug->optEnd, target);
			}
		}
		else
		{
			// Copy data for debug purposes.
			if (debugIdx == i)
			{
				dtVset(debug->optStart, 0,0,0);
				dtVset(debug->optEnd, 0,0,0);
			}
		}
	}
	
	// Trigger off-mesh connections (depends on corners).
	for (int i = 0; i < nagents; ++i)
	{
		dtCrowdAgent* ag = agents[i];
		
		if (ag->state != DT_CROWDAGENT_STATE_WALKING)
			continue;
		if (ag->targetState == DT_CROWDAGENT_TARGET_NONE || ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
			continue;
		
		// Check 
		const float triggerRadius = ag->params.radius*2.25f;
		if (overOffmeshConnection(ag, triggerRadius))
		{
			// Prepare to off-mesh connection.
			const int idx = (int)(ag - m_agents);
			dtCrowdAgentAnimation* anim = &m_agentAnims[idx];
			
			// Adjust the path over the off-mesh connection.
			dtPolyRef refs[2];
			if (ag->corridor.moveOverOffmeshConnection(ag->cornerPolys[ag->ncorners-1], refs,
													   anim->startPos, anim->endPos, m_navquery))
			{
				dtVcopy(anim->initPos, ag->npos);
				anim->polyRef = refs[1];
				anim->active = 1;
				anim->t = 0.0f;
				anim->tmax = (dtVdist2D(anim->startPos, anim->endPos) / ag->params.maxSpeed) * 0.5f;
				
				ag->state = DT_CROWDAGENT_STATE_OFFMESH;
				ag->ncorners = 0;
				ag->nneis = 0;
				continue;
			}
			else
			{
				// Path validity check will ensure that bad/blocked connections will be replanned.
			}
		}
	}
		
	// Calculate steering.
	for (int i = 0; i < nagents; ++i)
	{
		dtCrowdAgent* ag = agents[i];

		if (ag->state != DT_CROWDAGENT_STATE_WALKING)
			continue;
		if (ag->targetState == DT_CROWDAGENT_TARGET_NONE)
			continue;
		
		float dvel[3] = {0,0,0};

		if (ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
		{
			dtVcopy(dvel, ag->targetPos);
			ag->desiredSpeed = dtVlen(ag->targetPos);
		}
		else
		{
			// Calculate steering direction.
			if (ag->params.updateFlags & DT_CROWD_ANTICIPATE_TURNS)
				calcSmoothSteerDirection(ag, dvel);
			else
				calcStraightSteerDirection(ag, dvel);
			
			// Calculate speed scale, which tells the agent to slowdown at the end of the path.
			const float slowDownRadius = ag->params.radius*2;	// TODO: make less hacky.
			const float speedScale = getDistanceToGoal(ag, slowDownRadius) / slowDownRadius;
				
			ag->desiredSpeed = ag->params.maxSpeed;
			dtVscale(dvel, dvel, ag->desiredSpeed * speedScale);
		}

		// Separation
		if (ag->params.updateFlags & DT_CROWD_SEPARATION)
		{
			const float separationDist = ag->params.collisionQueryRange; 
			const float invSeparationDist = 1.0f / separationDist; 
			const float separationWeight = ag->params.separationWeight;
			
			float w = 0;
			float disp[3] = {0,0,0};
			
			for (int j = 0; j < ag->nneis; ++j)
			{
				const dtCrowdAgent* nei = &m_agents[ag->neis[j].idx];
				
				float diff[3];
				dtVsub(diff, ag->npos, nei->npos);
				diff[1] = 0;
				
				const float distSqr = dtVlenSqr(diff);
				if (distSqr < 0.00001f)
					continue;
				if (distSqr > dtSqr(separationDist))
					continue;
				const float dist = dtMathSqrtf(distSqr);
				const float weight = separationWeight * (1.0f - dtSqr(dist*invSeparationDist));
				
				dtVmad(disp, disp, diff, weight/dist);
				w += 1.0f;
			}
			
			if (w > 0.0001f)
			{
				// Adjust desired velocity.
				dtVmad(dvel, dvel, disp, 1.0f/w);
				// Clamp desired velocity to desired speed.
				const float speedSqr = dtVlenSqr(dvel);
				const float desiredSqr = dtSqr(ag->desiredSpeed);
				if (speedSqr > desiredSqr)
					dtVscale(dvel, dvel, desiredSqr/speedSqr);
			}
		}
		
		// Set the desired velocity.
		dtVcopy(ag->dvel, dvel);
	}
	
	// Velocity planning.	
	for (int i = 0; i < nagents; ++i)
	{
		dtCrowdAgent* ag = agents[i];
		
		if (ag->state != DT_CROWDAGENT_STATE_WALKING)
			continue;
		
		if (ag->params.updateFlags & DT_CROWD_OBSTACLE_AVOIDANCE)
		{
			m_obstacleQuery->reset();
			
			// Add neighbours as obstacles.
			for (int j = 0; j < ag->nneis; ++j)
			{
				const dtCrowdAgent* nei = &m_agents[ag->neis[j].idx];
				m_obstacleQuery->addCircle(nei->npos, nei->params.radius, nei->vel, nei->dvel);
			}

			// Append neighbour segments as obstacles.
			for (int j = 0; j < ag->boundary.getSegmentCount(); ++j)
			{
				const float* s = ag->boundary.getSegment(j);
				if (dtTriArea2D(ag->npos, s, s+3) < 0.0f)
					continue;
				m_obstacleQuery->addSegment(s, s+3);
			}

			dtObstacleAvoidanceDebugData* vod = 0;
			if (debugIdx == i) 
				vod = debug->vod;
			
			// Sample new safe velocity.
			bool adaptive = true;
			int ns = 0;

			const dtObstacleAvoidanceParams* params = &m_obstacleQueryParams[ag->params.obstacleAvoidanceType];
				
			if (adaptive)
			{
				ns = m_obstacleQuery->sampleVelocityAdaptive(ag->npos, ag->params.radius, ag->desiredSpeed,
															 ag->vel, ag->dvel, ag->nvel, params, vod);
			}
			else
			{
				ns = m_obstacleQuery->sampleVelocityGrid(ag->npos, ag->params.radius, ag->desiredSpeed,
														 ag->vel, ag->dvel, ag->nvel, params, vod);
			}
			m_velocitySampleCount += ns;
		}
		else
		{
			// If not using velocity planning, new velocity is directly the desired velocity.
			dtVcopy(ag->nvel, ag->dvel);
		}
	}

	// Integrate.
	for (int i = 0; i < nagents; ++i)
	{
		dtCrowdAgent* ag = agents[i];
		if (ag->state != DT_CROWDAGENT_STATE_WALKING)
			continue;
		integrate(ag, dt);
	}
	
	// Handle collisions.
	static const float COLLISION_RESOLVE_FACTOR = 0.7f;
	
	for (int iter = 0; iter < 4; ++iter)
	{
		for (int i = 0; i < nagents; ++i)
		{
			dtCrowdAgent* ag = agents[i];
			const int idx0 = getAgentIndex(ag);
			
			if (ag->state != DT_CROWDAGENT_STATE_WALKING)
				continue;

			dtVset(ag->disp, 0,0,0);
			
			float w = 0;

			for (int j = 0; j < ag->nneis; ++j)
			{
				const dtCrowdAgent* nei = &m_agents[ag->neis[j].idx];
				const int idx1 = getAgentIndex(nei);

				float diff[3];
				dtVsub(diff, ag->npos, nei->npos);
				diff[1] = 0;
				
				float dist = dtVlenSqr(diff);
				if (dist > dtSqr(ag->params.radius + nei->params.radius))
					continue;
				dist = dtMathSqrtf(dist);
				float pen = (ag->params.radius + nei->params.radius) - dist;
				if (dist < 0.0001f)
				{
					// Agents on top of each other, try to choose diverging separation directions.
					if (idx0 > idx1)
						dtVset(diff, -ag->dvel[2],0,ag->dvel[0]);
					else
						dtVset(diff, ag->dvel[2],0,-ag->dvel[0]);
					pen = 0.01f;
				}
				else
				{
					pen = (1.0f/dist) * (pen*0.5f) * COLLISION_RESOLVE_FACTOR;
				}
				
				dtVmad(ag->disp, ag->disp, diff, pen);			
				
				w += 1.0f;
			}
			
			if (w > 0.0001f)
			{
				const float iw = 1.0f / w;
				dtVscale(ag->disp, ag->disp, iw);
			}
		}
		
		for (int i = 0; i < nagents; ++i)
		{
			dtCrowdAgent* ag = agents[i];
			if (ag->state != DT_CROWDAGENT_STATE_WALKING)
				continue;
			
			dtVadd(ag->npos, ag->npos, ag->disp);
		}
	}
	
	for (int i = 0; i < nagents; ++i)
	{
		dtCrowdAgent* ag = agents[i];
		if (ag->state != DT_CROWDAGENT_STATE_WALKING)
			continue;
		
		// Move along navmesh.
		ag->corridor.movePosition(ag->npos, m_navquery, &m_filter);
		// Get valid constrained position back.
		dtVcopy(ag->npos, ag->corridor.getPos());

		// If not using path, truncate the corridor to just one poly.
		if (ag->targetState == DT_CROWDAGENT_TARGET_NONE || ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
		{
			ag->corridor.reset(ag->corridor.getFirstPoly(), ag->npos);
		}

	}
	
	// Update agents using off-mesh connection.
	for (int i = 0; i < m_maxAgents; ++i)
	{
		dtCrowdAgentAnimation* anim = &m_agentAnims[i];
		if (!anim->active)
			continue;
		dtCrowdAgent* ag = agents[i];

		anim->t += dt;
		if (anim->t > anim->tmax)
		{
			// Reset animation
			anim->active = 0;
			// Prepare agent for walking.
			ag->state = DT_CROWDAGENT_STATE_WALKING;
			continue;
		}
		
		// Update position
		const float ta = anim->tmax*0.15f;
		const float tb = anim->tmax;
		if (anim->t < ta)
		{
			const float u = tween(anim->t, 0.0, ta);
			dtVlerp(ag->npos, anim->initPos, anim->startPos, u);
		}
		else
		{
			const float u = tween(anim->t, ta, tb);
			dtVlerp(ag->npos, anim->startPos, anim->endPos, u);
		}
			
		// Update velocity.
		dtVset(ag->vel, 0,0,0);
		dtVset(ag->dvel, 0,0,0);
	}
	
}
Ejemplo n.º 3
0
bool OgreDetourCrowd::destinationReached(const dtCrowdAgent* agent, const float maxDistanceFromTarget)
{
    return getDistanceToGoal(agent, maxDistanceFromTarget) < maxDistanceFromTarget;
}