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ludic.nav (18.1): a DetourCrowd per kind of walker

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The shim builds DetourCrowd from the same pinned Recast & Detour tag. nav_crowd_start puts a crowd on a kind's mesh, with the mesh's tastes as its filters. Walkers are added (snapped to the mesh), sent and sped through verbs, stepped together, and read back into nav_agent_*. nav_crowd_us times the stepping with the OS clock. Dropping a mesh drops its crowd first. On the test meadow, twenty walkers crossing head-on never come closer than their two radii (0.7003 m), all arrive, and a step costs about 12 us. nav 15/15 on the Mac and the PC; the DLL still imports KERNEL32 alone.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Orkun ÇAKILKAYA 2026-09-28 00:24:30 +03:00
parent c2902a2246
commit 521efe67db
12 changed files with 267 additions and 10 deletions
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8
packages/ludic.nav/native/build.sh
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@ -1,7 +1,7 @@
#!/bin/sh
# builds lib/<target>/ for ludic.nav: Recast & Detour at a pinned tag, and the shim over them.
# Recast builds the mesh, Detour answers it; DetourTileCache and DetourCrowd come with phases 17.8
# and 18. Polygon refs are 64-bit (DT_POLYREF64): an 8 km map in 64 m tiles is 16384 tiles, which
# Recast builds the mesh, Detour answers it, DetourCrowd steers many walkers at once (phase 18);
# DetourTileCache would come with 17.8. Polygon refs are 64-bit (DT_POLYREF64): an 8 km map in 64 m tiles is 16384 tiles, which
# 32-bit refs would leave 256 polygons each. Objects go to build/native; a few seconds on eight cores.
set -eu
PKG="$(cd "$(dirname "$0")/.." && pwd)"
@ -14,12 +14,12 @@ native_fetch "$SRC" "https://github.com/recastnavigation/recastnavigation/archiv
OBJ="$PKG/build/native/$(native_target)"
mkdir -p "$OBJ"
CXX="$(native_cxx)"
INC="-I$SRC/Recast/Include -I$SRC/Detour/Include"
INC="-I$SRC/Recast/Include -I$SRC/Detour/Include -I$SRC/DetourCrowd/Include"
FLAGS="$(native_cflags) -std=c++17 -ffp-contract=off -fno-exceptions -fno-rtti -DNDEBUG -DDT_POLYREF64 $INC"
case "$(native_target)" in windows-*) FLAGS="$FLAGS -D_CRT_SECURE_NO_WARNINGS" ;; esac
JOBS="$(getconf _NPROCESSORS_ONLN 2>/dev/null || echo 4)"
( cd "$SRC" && ls Recast/Source/*.cpp Detour/Source/*.cpp ) | while read -r f; do
( cd "$SRC" && ls Recast/Source/*.cpp Detour/Source/*.cpp DetourCrowd/Source/*.cpp ) | while read -r f; do
o="$OBJ/$(basename "$f" .cpp).o"
[ "$o" -nt "$SRC/$f" ] || echo "$f $o"
done | xargs -P "$JOBS" -n 2 sh -c '"$0" '"$FLAGS"' -c "'"$SRC"'/$1" -o "$2"' "$CXX"