Orkuncakilkaya
521efe67db
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>
84 lines
3.1 KiB
Text
84 lines
3.1 KiB
Text
# crowd_test.ludic - a crowd on the test meadow: ten walkers crossing ten head-on, and none walks
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# through another; a crowd goes with its mesh, and nothing off the mesh joins it
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import "ludic.nav"
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import "ludic.base"
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import "fakes/meadow.ludic"
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program CrowdTest {
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numbers float
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state CrowdTestState {
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ids: []int = new []int
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gx: []float = new []float
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gz: []float = new []float
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}
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# ten from the west side to the east and ten back, in rows 2.4 m apart that meet in the middle
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function cross(nav_st: mut NavState, ct: mut CrowdTestState) -> void {
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expect(nav_build(nav_st, NAV_PERSON, ground(40, 0), new NavConfig))
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expect(nav_crowd_start(nav_st, NAV_PERSON, 32, 0.6))
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for i in 0 .. 20 {
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let east = i < 10
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let z = 8.0 + float(i % 10) * 2.4
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var x0 = 4.0
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var x1 = 36.0
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if not east {
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x0 = 36.0
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x1 = 4.0
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}
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let id = nav_crowd_add(nav_st, NAV_PERSON, x0, 0.0, z, 0.35, 1.8, 1.4, 0)
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expect(id >= 0)
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expect(nav_crowd_target(nav_st, NAV_PERSON, id, x1, 0.0, z))
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push(ct.ids, id)
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push(ct.gx, x1)
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push(ct.gz, z)
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}
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}
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# the closest any two walkers are now
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function closest(nav_st: NavState, ct: CrowdTestState, xs: []float, zs: []float) -> float {
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for i in 0 .. 20 {
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nav_crowd_read(nav_st, NAV_PERSON, ct.ids[i])
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xs[i] = nav_agent_x(nav_st)
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zs[i] = nav_agent_z(nav_st)
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}
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var best = 1000.0
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for i in 0 .. 20 {
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for j in i + 1 .. 20 { best = Math.min(best, Math.sqrt((xs[i] - xs[j]) * (xs[i] - xs[j]) + (zs[i] - zs[j]) * (zs[i] - zs[j]))) }
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}
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return best
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}
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test "twenty cross head-on and none walks through another; all arrive" (nav_st: mut NavState, ct: mut CrowdTestState) {
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cross(nav_st, ct)
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let xs = floats(20)
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let zs = floats(20)
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var worst = 1000.0
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for k in 0 .. 1800 {
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nav_crowd_step(nav_st, 1.0 / 60.0)
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worst = Math.min(worst, closest(nav_st, ct, xs, zs))
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}
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var arrived = 0
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for i in 0 .. 20 {
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nav_crowd_read(nav_st, NAV_PERSON, ct.ids[i])
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let dx = nav_agent_x(nav_st) - ct.gx[i]
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let dz = nav_agent_z(nav_st) - ct.gz[i]
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if dx * dx + dz * dz < 1.5 * 1.5 { arrived += 1 }
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}
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print(`crowd: closest two ever {worst} m (two radii 0.7), {arrived} of 20 arrived, {nav_crowd_us(nav_st)} us over 1800 steps`)
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expect(worst > 0.55)
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expect(arrived >= 18)
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nav_reset(nav_st)
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}
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test "a crowd goes with its mesh, and a walker off the mesh is refused" (nav_st: mut NavState) {
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expect(not nav_crowd_start(nav_st, NAV_PERSON, 8, 0.6))
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expect(nav_build(nav_st, NAV_PERSON, ground(40, 0), new NavConfig))
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expect(nav_crowd_start(nav_st, NAV_PERSON, 8, 0.6))
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expect_eq(nav_crowd_add(nav_st, NAV_PERSON, -50.0, 0.0, -50.0, 0.35, 1.8, 1.4, 0), -1)
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let a = nav_crowd_add(nav_st, NAV_PERSON, 5.0, 0.0, 5.0, 0.35, 1.8, 1.4, 0)
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expect(a >= 0)
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expect(not nav_crowd_target(nav_st, NAV_PERSON, a, -50.0, 0.0, -50.0))
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nav_drop(nav_st, NAV_PERSON)
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expect(not nav_crowd_read(nav_st, NAV_PERSON, a))
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expect_eq(nav_crowd_add(nav_st, NAV_PERSON, 5.0, 0.0, 5.0, 0.35, 1.8, 1.4, 0), -1)
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}
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}
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