DetourCrowd.h

//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty.  In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
//    claim that you wrote the original software. If you use this software
//    in a product, an acknowledgment in the product documentation would be
//    appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
//    misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
 
#ifndef DETOURCROWD_H
#define DETOURCROWD_H
 
#include "DetourNavMeshQuery.h"
#include "DetourObstacleAvoidance.h"
#include "DetourLocalBoundary.h"
#include "DetourPathCorridor.h"
#include "DetourProximityGrid.h"
#include "DetourPathQueue.h"
 
static const int DT_CROWDAGENT_MAX_NEIGHBOURS = 6;
 
static const int DT_CROWDAGENT_MAX_CORNERS = 4;
 
static const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8;
 
static const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
 
struct dtCrowdNeighbour
{
    int idx;        
    float dist;     
};
 
enum CrowdAgentState
{
    DT_CROWDAGENT_STATE_INVALID,        
    DT_CROWDAGENT_STATE_WALKING,        
    DT_CROWDAGENT_STATE_OFFMESH,        
};
 
struct dtCrowdAgentParams
{
    float radius;                       
    float height;                       
    float maxAcceleration;              
    float maxSpeed;                     
 
    float collisionQueryRange;
 
    float pathOptimizationRange;        
 
    float separationWeight;
 
    unsigned char updateFlags;
 
    unsigned char obstacleAvoidanceType;    
 
    unsigned char queryFilterType;
 
    void* userData;
};
 
enum MoveRequestState
{
    DT_CROWDAGENT_TARGET_NONE = 0,
    DT_CROWDAGENT_TARGET_FAILED,
    DT_CROWDAGENT_TARGET_VALID,
    DT_CROWDAGENT_TARGET_REQUESTING,
    DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE,
    DT_CROWDAGENT_TARGET_WAITING_FOR_PATH,
    DT_CROWDAGENT_TARGET_VELOCITY,
};
 
struct dtCrowdAgent
{
    bool active;
 
    unsigned char state;
 
    bool partial;
 
    dtPathCorridor corridor;
 
    dtLocalBoundary boundary;
    
    float topologyOptTime;
    
    dtCrowdNeighbour neis[DT_CROWDAGENT_MAX_NEIGHBOURS];
 
    int nneis;
    
    float desiredSpeed;
 
    float npos[3];      
    float disp[3];      
    float dvel[3];      
    float nvel[3];      
    float vel[3];       
 
    dtCrowdAgentParams params;
 
    float cornerVerts[DT_CROWDAGENT_MAX_CORNERS*3];
 
    unsigned char cornerFlags[DT_CROWDAGENT_MAX_CORNERS];
 
    dtPolyRef cornerPolys[DT_CROWDAGENT_MAX_CORNERS];
 
    int ncorners;
    
    unsigned char targetState;          
    dtPolyRef targetRef;                
    float targetPos[3];                 
    dtPathQueueRef targetPathqRef;      
    bool targetReplan;                  
    float targetReplanTime;             
};
 
struct dtCrowdAgentAnimation
{
    bool active;
    float initPos[3], startPos[3], endPos[3];
    dtPolyRef polyRef;
    float t, tmax;
};
 
enum UpdateFlags
{
    DT_CROWD_ANTICIPATE_TURNS = 1,
    DT_CROWD_OBSTACLE_AVOIDANCE = 2,
    DT_CROWD_SEPARATION = 4,
    DT_CROWD_OPTIMIZE_VIS = 8,          
    DT_CROWD_OPTIMIZE_TOPO = 16,        
};
 
struct dtCrowdAgentDebugInfo
{
    int idx;
    float optStart[3], optEnd[3];
    dtObstacleAvoidanceDebugData* vod;
};
 
class dtCrowd
{
    int m_maxAgents;
    dtCrowdAgent* m_agents;
    dtCrowdAgent** m_activeAgents;
    dtCrowdAgentAnimation* m_agentAnims;
    
    dtPathQueue m_pathq;
 
    dtObstacleAvoidanceParams m_obstacleQueryParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
    dtObstacleAvoidanceQuery* m_obstacleQuery;
    
    dtProximityGrid* m_grid;
    
    dtPolyRef* m_pathResult;
    int m_maxPathResult;
    
    float m_agentPlacementHalfExtents[3];
 
    dtQueryFilter m_filters[DT_CROWD_MAX_QUERY_FILTER_TYPE];
 
    float m_maxAgentRadius;
 
    int m_velocitySampleCount;
 
    dtNavMeshQuery* m_navquery;
 
    void updateTopologyOptimization(dtCrowdAgent** agents, const int nagents, const float dt);
    void updateMoveRequest(const float dt);
    void checkPathValidity(dtCrowdAgent** agents, const int nagents, const float dt);
 
    inline int getAgentIndex(const dtCrowdAgent* agent) const  { return (int)(agent - m_agents); }
 
    bool requestMoveTargetReplan(const int idx, dtPolyRef ref, const float* pos);
 
    void purge();
    
public:
    dtCrowd();
    ~dtCrowd();
    
    bool init(const int maxAgents, const float maxAgentRadius, dtNavMesh* nav);
    
    void setObstacleAvoidanceParams(const int idx, const dtObstacleAvoidanceParams* params);
 
    const dtObstacleAvoidanceParams* getObstacleAvoidanceParams(const int idx) const;
    
    const dtCrowdAgent* getAgent(const int idx);
 
    dtCrowdAgent* getEditableAgent(const int idx);
 
    int getAgentCount() const;
    
    int addAgent(const float* pos, const dtCrowdAgentParams* params);
 
    void updateAgentParameters(const int idx, const dtCrowdAgentParams* params);
 
    void removeAgent(const int idx);
    
    bool requestMoveTarget(const int idx, dtPolyRef ref, const float* pos);
 
    bool requestMoveVelocity(const int idx, const float* vel);
 
    bool resetMoveTarget(const int idx);
 
    int getActiveAgents(dtCrowdAgent** agents, const int maxAgents);
 
    void update(const float dt, dtCrowdAgentDebugInfo* debug);
    
    inline const dtQueryFilter* getFilter(const int i) const { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
    
    inline dtQueryFilter* getEditableFilter(const int i) { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
 
    const float* getQueryHalfExtents() const { return m_agentPlacementHalfExtents; }
 
    const float* getQueryExtents() const { return m_agentPlacementHalfExtents; }
    
    inline int getVelocitySampleCount() const { return m_velocitySampleCount; }
    
    const dtProximityGrid* getGrid() const { return m_grid; }
 
    const dtPathQueue* getPathQueue() const { return &m_pathq; }
 
    const dtNavMeshQuery* getNavMeshQuery() const { return m_navquery; }
 
private:
    // Explicitly disabled copy constructor and copy assignment operator.
    dtCrowd(const dtCrowd&);
    dtCrowd& operator=(const dtCrowd&);
};
 
dtCrowd* dtAllocCrowd();
 
void dtFreeCrowd(dtCrowd* ptr);
 
 
#endif // DETOURCROWD_H
 
 
// This section contains detailed documentation for members that don't have
// a source file. It reduces clutter in the main section of the header.