88 lines
3.7 KiB
C++
88 lines
3.7 KiB
C++
// nav_crowd.inl - DetourCrowd over a navmesh: many walkers steered along their paths at once, each
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// kept clear of the others. The mechanic decides where and how fast; the crowd only moves them.
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struct Crowd {
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dtCrowd *crowd = nullptr;
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Nav *nav = nullptr;
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long long ns = 0; // time spent stepping it, for the measure (18.8)
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};
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// a crowd of at most max walkers, none wider than max_radius, with the mesh's tastes as its filters
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NAV_SHIM void *nav_crowd_new(void *h, int max, float max_radius) {
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Nav *n = static_cast<Nav *>(h);
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Crowd *c = new Crowd();
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c->nav = n;
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c->crowd = dtAllocCrowd();
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if (!c->crowd || !c->crowd->init(max, max_radius, n->mesh)) { dtFreeCrowd(c->crowd); delete c; return nullptr; }
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for (int f = 0; f < NAV_FILTERS && f < DT_CROWD_MAX_QUERY_FILTER_TYPE; ++f) *c->crowd->getEditableFilter(f) = n->filters[f];
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return c;
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}
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NAV_SHIM void nav_crowd_free(void *p) {
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Crowd *c = static_cast<Crowd *>(p);
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if (!c) return;
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dtFreeCrowd(c->crowd);
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delete c;
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}
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// a walker at (x, y, z): its index, or -1 when the crowd is full or the point is off the mesh
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NAV_SHIM int nav_crowd_add(void *p, float x, float y, float z, float radius, float height, float speed, int filter) {
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Crowd *c = static_cast<Crowd *>(p);
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dtCrowdAgentParams ap;
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memset(&ap, 0, sizeof(ap));
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ap.radius = radius;
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ap.height = height;
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ap.maxSpeed = speed;
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ap.maxAcceleration = speed * 4.0f;
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ap.collisionQueryRange = radius * 12.0f;
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ap.pathOptimizationRange = radius * 30.0f;
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ap.separationWeight = 2.0f;
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ap.updateFlags = DT_CROWD_ANTICIPATE_TURNS | DT_CROWD_OBSTACLE_AVOIDANCE | DT_CROWD_SEPARATION | DT_CROWD_OPTIMIZE_TOPO | DT_CROWD_OPTIMIZE_VIS;
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ap.obstacleAvoidanceType = 3;
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ap.queryFilterType = (unsigned char)(filter >= 0 && filter < NAV_FILTERS ? filter : 0);
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float pos[3] = {x, y, z}, near[3];
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dtPolyRef ref = 0;
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c->nav->query->findNearestPoly(pos, c->nav->ext, c->crowd->getFilter(ap.queryFilterType), &ref, near);
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if (!ref) return -1;
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return c->crowd->addAgent(near, &ap);
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}
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NAV_SHIM void nav_crowd_remove(void *p, int i) { static_cast<Crowd *>(p)->crowd->removeAgent(i); }
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// send walker i toward (x, y, z), snapped to the mesh; 0 when the point is off it
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NAV_SHIM int nav_crowd_target(void *p, int i, float x, float y, float z) {
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Crowd *c = static_cast<Crowd *>(p);
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const dtCrowdAgent *a = c->crowd->getAgent(i);
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if (!a || !a->active) return 0;
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float e[3] = {x, y, z}, near[3];
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dtPolyRef ref = 0;
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c->nav->query->findNearestPoly(e, c->nav->ext, c->crowd->getFilter(a->params.queryFilterType), &ref, near);
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if (!ref) return 0;
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return c->crowd->requestMoveTarget(i, ref, near) ? 1 : 0;
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}
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// a new top speed, as a walker goes from a walk to a run; 0 stands it still (a new target moves it again)
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NAV_SHIM void nav_crowd_speed(void *p, int i, float speed) {
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Crowd *c = static_cast<Crowd *>(p);
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const dtCrowdAgent *a = c->crowd->getAgent(i);
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if (!a || !a->active) return;
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if (speed < 0.01f) { c->crowd->resetMoveTarget(i); return; } // standing: no target, not no acceleration
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dtCrowdAgentParams ap = a->params;
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ap.maxSpeed = speed;
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ap.maxAcceleration = speed * 4.0f;
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c->crowd->updateAgentParameters(i, &ap);
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}
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NAV_SHIM void nav_crowd_update(void *p, float dt) {
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Crowd *c = static_cast<Crowd *>(p);
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long long t0 = nav_now_ns();
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c->crowd->update(dt, nullptr);
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c->ns += nav_now_ns() - t0;
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}
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// walker i's position and velocity into out[0..5]; 0 when there is no such walker
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NAV_SHIM int nav_crowd_read(void *p, int i, float *out) {
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const dtCrowdAgent *a = static_cast<Crowd *>(p)->crowd->getAgent(i);
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if (!a || !a->active) return 0;
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dtVcopy(out, a->npos);
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dtVcopy(out + 3, a->vel);
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return 1;
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}
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NAV_SHIM int nav_crowd_us(void *p) { return static_cast<int>(static_cast<Crowd *>(p)->ns / 1000); }
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