/// <summary>
/// Initializes a new instance of the <see cref="Crowd" /> class.
/// </summary>
/// <param name="maxAgents">The maximum agents allowed</param>
/// <param name="maxAgentRadius">The maximum radius for an agent</param>
/// <param name="navMesh">The navigation mesh</param>
public Crowd(int maxAgents, float maxAgentRadius, ref TiledNavMesh navMesh)
{
this.maxAgents = maxAgents;
this.maxAgentRadius = maxAgentRadius;
this.ext = new Vector3(maxAgentRadius * 2.0f, maxAgentRadius * 1.5f, maxAgentRadius * 2.0f);
//initialize proximity grid
this.grid = new ProximityGrid<Agent>(maxAgents * 4, maxAgentRadius * 3);
//allocate obstacle avoidance query
this.obstacleQuery = new ObstacleAvoidanceQuery(6, 8);
//initialize obstancle query params
this.obstacleQueryParams = new ObstacleAvoidanceQuery.ObstacleAvoidanceParams[AgentMaxObstacleAvoidanceParams];
for (int i = 0; i < this.obstacleQueryParams.Length; i++)
{
this.obstacleQueryParams[i].VelBias = 0.4f;
this.obstacleQueryParams[i].WeightDesVel = 2.0f;
this.obstacleQueryParams[i].WeightCurVel = 0.75f;
this.obstacleQueryParams[i].WeightSide = 0.75f;
this.obstacleQueryParams[i].WeightToi = 2.5f;
this.obstacleQueryParams[i].HorizTime = 2.5f;
this.obstacleQueryParams[i].GridSize = 33;
this.obstacleQueryParams[i].AdaptiveDivs = 7;
this.obstacleQueryParams[i].AdaptiveRings = 2;
this.obstacleQueryParams[i].AdaptiveDepth = 5;
}
//allocate temp buffer for merging paths
this.maxPathResult = 256;
this.pathResult = new PolyId[this.maxPathResult];
this.pathq = new PathQueue(maxPathResult, 4096, ref navMesh);
this.agents = new Agent[maxAgents];
this.activeAgents = new Agent[maxAgents];
this.agentAnims = new AgentAnimation[maxAgents];
for (int i = 0; i < maxAgents; i++)
{
this.agents[i] = new Agent(maxPathResult);
}
for (int i = 0; i < maxAgents; i++)
{
this.agentAnims[i].Active = false;
}
//allocate nav mesh query
this.navQuery = new NavMeshQuery(navMesh, 512);
}
/// <summary>
/// Get the crowd agent's neighbors.
/// </summary>
/// <param name="pos">Current position</param>
/// <param name="height">The height</param>
/// <param name="range">The range to search within</param>
/// <param name="skip">The current crowd agent</param>
/// <param name="result">The neihbors array</param>
/// <param name="maxResult">The maximum number of neighbors that can be stored</param>
/// <param name="agents">Array of all crowd agents</param>
/// <param name="grid">The ProximityGrid</param>
/// <returns>The number of neighbors</returns>
public int GetNeighbors(Vector3 pos, float height, float range, Agent skip, CrowdNeighbor[] result, int maxResult, Agent[] agents, ProximityGrid<Agent> grid)
{
int n = 0;
const int MAX_NEIS = 32;
Agent[] ids = new Agent[MAX_NEIS];
int nids = grid.QueryItems(pos.X - range, pos.Z - range, pos.X + range, pos.Z + range, ids, MAX_NEIS);
for (int i = 0; i < nids; i++)
{
Agent ag = ids[i];
if (ag == skip)
continue;
//check for overlap
Vector3 diff = pos - ag.Position;
if (Math.Abs(diff.Y) >= (height + ag.Parameters.Height) / 2.0f)
continue;
diff.Y = 0;
float distSqr = diff.LengthSquared();
if (distSqr > range * range)
continue;
n = AddNeighbor(ids[i], distSqr, result, n, maxResult);
}
return n;
}
