public bool Init(int maxAgents, float maxAgentRadius, NavMesh nav)
{
Purge();
_maxAgents = maxAgents;
_maxAgentRadius = maxAgentRadius;
Helper.VSet(ref _ext, _maxAgentRadius * 2.0f, _maxAgentRadius * 1.5f, _maxAgentRadius * 2.0f);
_grid = new ProximityGrid();
_grid.Init(_maxAgents * 4, maxAgentRadius * 3);
_obstacleQuery = new ObstacleAvoidanceQuery();
_obstacleQuery.Init(6, 8);
for (int i = 0; i < _obstacleQueryParams.Length; i++)
{
_obstacleQueryParams[i] = new ObstacleAvoidanceParams
{
velBias = 0.4f,
weightDesVel = 2.0f,
weightCurVel = 0.75f,
weightSide = 0.75f,
weightToi = 2.5f,
horizTime = 2.5f,
gridSize = 33,
adaptiveDivs = 7,
adaptiveRings = 2,
adaptiveDepth = 5
};
}
_maxPathResult = 256;
_pathResult = new long[_maxPathResult];
_pathq = new PathQueue();
_pathq.Init(_maxPathResult, MaxPathQueueNodes, nav);
_agents = new CrowdAgent[_maxAgents];
_activeAgents = new CrowdAgent[_maxAgents];
_agentAnims = new CrowdAgentAnimation[_maxAgents];
for (int i = 0; i < _maxAgents; i++)
{
_agents[i] = new CrowdAgent();
_agents[i].Active = false;
_agents[i].Corridor.Init(_maxPathResult);
}
for (int i = 0; i < _maxAgents; i++)
{
_agentAnims[i] = new CrowdAgentAnimation();
_agentAnims[i].Active = false;
}
_navQuery = new NavMeshQuery();
_navQuery.Init(nav, MaxCommonNodes);
return(true);
}
private void Purge()
{
_agents = null;
_maxAgents = 0;
_activeAgents = null;
_agentAnims = null;
_pathResult = null;
_grid = null;
_obstacleQuery = null;
_navQuery = null;
}
public Crowd()
{
_maxAgents = 0;
_agents = null;
_activeAgents = null;
_agentAnims = null;
_obstacleQuery = null;
_grid = null;
_pathResult = null;
_maxPathResult = 0;
_maxAgentRadius = 0;
_velocitySampleCount = 0;
_navQuery = null;
_filter = new QueryFilter();
}
public static int GetNeighbors(float[] pos, float height, float range, CrowdAgent skip,
ref CrowdNeighbor[] result, int maxResult, CrowdAgent[] agents, int nagents,
ProximityGrid grid)
{
int n = 0;
int MaxNeis = 32;
int[] ids = new int[MaxNeis];
int nids = grid.QueryItems(pos[0] - range, pos[2] - range, pos[0] + range, pos[2] + range, ref ids, MaxNeis);
for (int i = 0; i < nids; i++)
{
CrowdAgent ag = agents[ids[i]];
if (ag == skip)
{
continue;
}
float[] diff = Helper.VSub(pos[0], pos[1], pos[2], ag.npos[0], ag.npos[1], ag.npos[2]);
if (Math.Abs(diff[1]) >= (height + ag.Param.Height) / 2.0f)
{
continue;
}
diff[1] = 0;
float distSqr = Helper.VLenSqr(diff);
if (distSqr > range * range)
{
continue;
}
n = AddNeighbor(ids[i], distSqr, ref result, n, maxResult);
}
return(n);
}