Adding CrowdNavigation feature test

FeatureExamples/Resources/Scripts/39_CrowdNavigation.cs

@@ -0,0 +1,442 @@
+//
+// Copyright (c) 2008-2015 the Urho3D project.
+// Copyright (c) 2015 Xamarin Inc
+// Copyright (c) 2016 THUNDERBEAST GAMES LLC
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+//
+
+using System.Linq;
+
+using AtomicEngine;
+
+namespace FeatureExamples
+{
+    public class CrowdNavigationSample : Sample
+    {
+        Scene scene;
+        bool drawDebug;
+        CrowdManager crowdManager;
+
+        public CrowdNavigationSample() : base() { }
+
+        public override void Start()
+        {
+            base.Start();
+            CreateScene();
+            CreateUI();
+                SetupViewport();
+            SubscribeToEvents();
+        }
+
+        void CreateUI()
+        {
+            var cache = GetSubsystem<ResourceCache>();
+
+
+            SimpleCreateInstructions(
+                "Use WASD keys to move, RMB to rotate view\n" +
+                "LMB to set destination, SHIFT+LMB to spawn a Jack\n" +
+                "CTRL+LMB to teleport main agent\n" +
+                "MMB to add obstacles or remove obstacles/agents\n" +
+                "F5 to save scene, F7 to load\n" +
+                "Space to toggle debug geometry");
+
+        }
+
+        protected override void Update(float timeStep)
+        {
+            MoveCamera(timeStep);
+            base.Update(timeStep);
+        }
+
+        void SubscribeToEvents()
+        {
+            SubscribeToEvent<PostRenderUpdateEvent>(e =>
+            {
+                if (drawDebug)
+                {
+                    // Visualize navigation mesh, obstacles and off-mesh connections
+                    scene.GetComponent<DynamicNavigationMesh>().DrawDebugGeometry(true);
+                    // Visualize agents' path and position to reach
+                    crowdManager.DrawDebugGeometry(true);
+                }
+            });
+
+            SubscribeToEvent<CrowdAgentFailureEvent>(e =>
+            {
+                Node node = e.Node;
+                CrowdAgentState agentState = (CrowdAgentState) e.CrowdAgentState;
+
+                // If the agent's state is invalid, likely from spawning on the side of a box, find a point in a larger area
+                if (agentState == CrowdAgentState.CA_STATE_INVALID)
+                {
+                    // Get a point on the navmesh using more generous extents
+                    Vector3 newPos = scene.GetComponent<DynamicNavigationMesh>().FindNearestPoint(node.Position, new Vector3(5.0f, 5.0f, 5.0f));
+                    // Set the new node position, CrowdAgent component will automatically reset the state of the agent
+                    node.Position = newPos;
+                }
+            });
+
+            SubscribeToEvent<CrowdAgentRepositionEvent>(e =>
+            {
+                string WALKING_ANI = "Models/Jack_Walk.ani";
+
+                Node node = e.Node;
+                Vector3 velocity = e.Velocity;
+
+                // Only Jack agent has animation controller
+                AnimationController animCtrl = node.GetComponent<AnimationController>();
+                if (animCtrl != null)
+                {
+                    float speed = velocity.Length;
+                    if (animCtrl.IsPlaying(WALKING_ANI))
+                    {
+                        float speedRatio = speed / e.CrowdAgent.MaxSpeed;
+                        // Face the direction of its velocity but moderate the turning speed based on the speed ratio as we do not have timeStep here
+                        node.Rotation = Quaternion.Slerp(node.Rotation, Quaternion.FromRotationTo(Vector3.UnitZ, velocity), 10f * e.TimeStep * speedRatio);
+                        // Throttle the animation speed based on agent speed ratio (ratio = 1 is full throttle)
+                        animCtrl.SetSpeed(WALKING_ANI, speedRatio);
+                    }
+                    else
+                        animCtrl.Play(WALKING_ANI, 0, true, 0.1f);
+
+                    // If speed is too low then stopping the animation
+                    if (speed < e.CrowdAgent.Radius)
+                        animCtrl.Stop(WALKING_ANI, 0.8f);
+                }
+            });
+        }
+
+        void MoveCamera(float timeStep)
+        {
+            // Right mouse button controls mouse cursor visibility: hide when pressed
+            Input input = GetSubsystem<Input>();
+            var rightMouseDown = input.GetMouseButtonDown(Constants.MOUSEB_RIGHT);
+
+            // Movement speed as world units per second
+            const float moveSpeed = 20.0f;
+            // Mouse sensitivity as degrees per pixel
+            const float mouseSensitivity = 0.1f;
+
+            // Use this frame's mouse motion to adjust camera node yaw and pitch. Clamp the pitch between -90 and 90 degrees
+            // Only move the camera when the cursor is hidden
+            if (rightMouseDown)
+            {
+                IntVector2 mouseMove = input.MouseMove;
+                Yaw += mouseSensitivity * mouseMove.X;
+                Pitch += mouseSensitivity * mouseMove.Y;
+                Pitch = MathHelper.Clamp(Pitch, -90.0f, 90.0f);
+
+                // Construct new orientation for the camera scene node from yaw and pitch. Roll is fixed to zero
+                CameraNode.Rotation = new Quaternion(Pitch, Yaw, 0.0f);
+            }
+
+            // Read WASD keys and move the camera scene node to the corresponding direction if they are pressed
+            if (input.GetKeyDown(Constants.KEY_W)) CameraNode.Translate(Vector3.UnitZ * moveSpeed * timeStep);
+            if (input.GetKeyDown(Constants.KEY_S)) CameraNode.Translate(-Vector3.UnitZ * moveSpeed * timeStep);
+            if (input.GetKeyDown(Constants.KEY_A)) CameraNode.Translate(-Vector3.UnitX * moveSpeed * timeStep);
+            if (input.GetKeyDown(Constants.KEY_D)) CameraNode.Translate(Vector3.UnitX * moveSpeed * timeStep);
+
+            const int qualShift = 1;
+
+            // Set destination or spawn a new jack with left mouse button
+            if (input.GetMouseButtonPress(Constants.MOUSEB_LEFT))
+                SetPathPoint(input.GetQualifierDown(qualShift));
+            // Add or remove objects with middle mouse button, then rebuild navigation mesh partially
+            if (input.GetMouseButtonPress(Constants.MOUSEB_MIDDLE))
+                AddOrRemoveObject();
+
+            /*
+            // Check for loading/saving the scene. Save the scene to the file Data/Scenes/CrowdNavigation.xml relative to the executable
+            // directory
+            if (input.GetKeyPress(Key.F5))
+                scene.SaveXml(FileSystem.ProgramDir + "Data/Scenes/CrowdNavigation.xml");
+
+            if (input.GetKeyPress(Key.F7))
+                scene.LoadXml(FileSystem.ProgramDir + "Data/Scenes/CrowdNavigation.xml");
+            */
+
+            // Toggle debug geometry with space
+            if (input.GetKeyPress(Constants.KEY_SPACE))
+                drawDebug = !drawDebug;
+        }
+
+        bool Raycast(float maxDistance, out Vector3 hitPos, out Drawable hitDrawable)
+        {
+            var input = GetSubsystem<Input>();
+
+            hitDrawable = null;
+            hitPos = new Vector3();
+
+            var graphics = GetSubsystem<Graphics>();
+            Camera camera = CameraNode.GetComponent<Camera>();
+
+            IntVector2 pos = input.MousePosition;
+            Ray cameraRay = camera.GetScreenRay((float)pos.X / graphics.Width, (float)pos.Y / graphics.Height);
+            RayOctreeQuery query = new RayOctreeQuery(cameraRay, RayQueryLevel.RAY_TRIANGLE, maxDistance, Constants.DRAWABLE_GEOMETRY);
+
+            // Pick only geometry objects, not eg. zones or lights, only get the first (closest) hit
+            scene.GetComponent<Octree>().RaycastSingle(query);
+
+            if (query.Results.Count > 0)
+            {
+                var first = query.Results.First();
+                hitPos = first.Position;
+                hitDrawable = first.Drawable;
+                return true;
+            }
+
+            return false;
+        }
+
+        void SetPathPoint(bool spawning)
+        {
+            Vector3 hitPos;
+            Drawable hitDrawable;
+
+            if (Raycast(250.0f, out hitPos, out hitDrawable))
+            {
+                DynamicNavigationMesh navMesh = scene.GetComponent<DynamicNavigationMesh>();
+                Vector3 pathPos = navMesh.FindNearestPoint(hitPos, new Vector3(1.0f, 1.0f, 1.0f));
+                Node jackGroup = scene.GetChild("Jacks", false);
+                if (spawning)
+                    // Spawn a jack at the target position
+                    SpawnJack(pathPos, jackGroup);
+                else
+                    // Set crowd agents target position
+                    scene.GetComponent<CrowdManager>().SetCrowdTarget(pathPos, jackGroup);
+            }
+        }
+
+        void AddOrRemoveObject()
+        {
+            // Raycast and check if we hit a mushroom node. If yes, remove it, if no, create a new one
+            Vector3 hitPos;
+            Drawable hitDrawable;
+
+            if (Raycast(250.0f, out hitPos, out hitDrawable))
+            {
+                Node hitNode = hitDrawable.Node;
+
+                // Note that navmesh rebuild happens when the Obstacle component is removed
+                if (hitNode.Name == "Mushroom")
+                    hitNode.Remove();
+                else if (hitNode.Name == "Jack")
+                    hitNode.Remove();
+                else
+                    CreateMushroom(hitPos);
+            }
+        }
+
+        void SetupViewport()
+        {
+            var renderer = GetSubsystem<Renderer>();
+            renderer.SetViewport(0, new Viewport(scene, CameraNode.GetComponent<Camera>()));
+        }
+
+        void CreateScene()
+        {
+            var cache = GetSubsystem<ResourceCache>();
+
+            scene = new Scene();
+
+            // Create octree, use default volume (-1000, -1000, -1000) to (1000, 1000, 1000)
+            // Also create a DebugRenderer component so that we can draw debug geometry
+            scene.CreateComponent<Octree>();
+            scene.CreateComponent<DebugRenderer>();
+
+            // Create scene node & StaticModel component for showing a static plane
+            Node planeNode = scene.CreateChild("Plane");
+            planeNode.Scale = new Vector3(100.0f, 1.0f, 100.0f);
+            StaticModel planeObject = planeNode.CreateComponent<StaticModel>();
+            planeObject.Model = (cache.Get<Model>("Models/Plane.mdl"));
+            planeObject.SetMaterial(cache.Get<Material>("Materials/StoneTiled.xml"));
+
+            // Create a Zone component for ambient lighting & fog control
+            Node zoneNode = scene.CreateChild("Zone");
+            Zone zone = zoneNode.CreateComponent<Zone>();
+            zone.SetBoundingBox(new BoundingBox(-1000.0f, 1000.0f));
+            zone.AmbientColor = new Color(0.15f, 0.15f, 0.15f);
+            zone.FogColor = new Color(0.5f, 0.5f, 0.7f);
+            zone.FogStart = 100.0f;
+            zone.FogEnd = 300.0f;
+
+            // Create a directional light to the world. Enable cascaded shadows on it
+            Node lightNode = scene.CreateChild("DirectionalLight");
+            lightNode.SetDirection(new Vector3(0.6f, -1.0f, 0.8f));
+            Light light = lightNode.CreateComponent<Light>();
+            light.LightType = LightType.LIGHT_DIRECTIONAL;
+            light.CastShadows = true;
+            light.ShadowBias = new BiasParameters(0.00025f, 0.5f);
+            // Set cascade splits at 10, 50 and 200 world units, fade shadows out at 80% of maximum shadow distance
+            light.ShadowCascade = new CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f);
+
+            // Create randomly sized boxes. If boxes are big enough, make them occluders
+            const uint numBoxes = 20;
+            Node boxGroup = scene.CreateChild("Boxes");
+            for (uint i = 0; i < numBoxes; ++i)
+            {
+                Node boxNode = boxGroup.CreateChild("Box");
+                float size = 1.0f + NextRandom(10.0f);
+                boxNode.Position = (new Vector3(NextRandom(80.0f) - 40.0f, size * 0.5f, NextRandom(80.0f) - 40.0f));
+                boxNode.SetScale(size);
+                StaticModel boxObject = boxNode.CreateComponent<StaticModel>();
+                boxObject.Model = (cache.Get<Model>("Models/Box.mdl"));
+                boxObject.SetMaterial(cache.Get<Material>("Materials/Stone.xml"));
+                boxObject.CastShadows = true;
+                if (size >= 3.0f)
+                    boxObject.Occluder = true;
+            }
+
+            // Create a DynamicNavigationMesh component to the scene root
+            DynamicNavigationMesh navMesh = scene.CreateComponent<DynamicNavigationMesh>();
+            // Set the agent height large enough to exclude the layers under boxes
+            navMesh.AgentHeight = 10.0f;
+            navMesh.CellHeight = 0.05f;
+            navMesh.DrawObstacles = true;
+            navMesh.DrawOffMeshConnections = true;
+            // Create a Navigable component to the scene root. This tags all of the geometry in the scene as being part of the
+            // navigation mesh. By default this is recursive, but the recursion could be turned off from Navigable
+            scene.CreateComponent<Navigable>();
+            // Add padding to the navigation mesh in Y-direction so that we can add objects on top of the tallest boxes
+            // in the scene and still update the mesh correctly
+            navMesh.Padding = new Vector3(0.0f, 10.0f, 0.0f);
+            // Now build the navigation geometry. This will take some time. Note that the navigation mesh will prefer to use
+            // physics geometry from the scene nodes, as it often is simpler, but if it can not find any (like in this example)
+            // it will use renderable geometry instead
+            navMesh.Build();
+
+            // Create an off-mesh connection to each box to make them climbable (tiny boxes are skipped). A connection is built from 2 nodes.
+            // Note that OffMeshConnections must be added before building the navMesh, but as we are adding Obstacles next, tiles will be automatically rebuilt.
+            // Creating connections post-build here allows us to use FindNearestPoint() to procedurally set accurate positions for the connection
+            CreateBoxOffMeshConnections(navMesh, boxGroup);
+
+            // Create some mushrooms
+            const uint numMushrooms = 100;
+            for (uint i = 0; i < numMushrooms; ++i)
+                CreateMushroom(new Vector3(NextRandom(90.0f) - 45.0f, 0.0f, NextRandom(90.0f) - 45.0f));
+
+
+            // Create a CrowdManager component to the scene root
+            crowdManager = scene.CreateComponent<CrowdManager>();
+            var parameters = crowdManager.GetObstacleAvoidanceParams(0);
+            // Set the params to "High (66)" setting
+            parameters.VelBias = 0.5f;
+            parameters.AdaptiveDivs = 7;
+            parameters.AdaptiveRings = 3;
+            parameters.AdaptiveDepth = 3;
+            crowdManager.SetObstacleAvoidanceParams(0, parameters);
+
+            // Create some movable barrels. We create them as crowd agents, as for moving entities it is less expensive and more convenient than using obstacles
+            CreateMovingBarrels(navMesh);
+
+            // Create Jack node that will follow the path
+            SpawnJack(new Vector3(-5.0f, 0.0f, 20.0f), scene.CreateChild("Jacks"));
+
+            // Create the camera. Limit far clip distance to match the fog
+            CameraNode = new Node();
+            Camera camera = CameraNode.CreateComponent<Camera>();
+            camera.FarClip = 300.0f;
+
+            // Set an initial position for the camera scene node above the plane
+            CameraNode.Position = new Vector3(0.0f, 50.0f, 0.0f);
+            Pitch = 80.0f;
+            CameraNode.Rotation = new Quaternion(Pitch, Yaw, 0.0f);
+        }
+
+        void SpawnJack(Vector3 pos, Node jackGroup)
+        {
+            var cache = GetSubsystem<ResourceCache>();
+            Node jackNode = jackGroup.CreateChild("Jack");
+            jackNode.Position = pos;
+            AnimatedModel modelObject = jackNode.CreateComponent<AnimatedModel>();
+            modelObject.Model = (cache.Get<Model>("Models/Jack.mdl"));
+            modelObject.SetMaterial(cache.Get<Material>("Materials/Jack.xml"));
+            modelObject.CastShadows = true;
+            jackNode.CreateComponent<AnimationController>();
+
+            // Create the CrowdAgent
+            var agent = jackNode.CreateComponent<CrowdAgent>();
+            agent.Height = 2.0f;
+            agent.MaxSpeed = 3.0f;
+            agent.MaxAccel = 3.0f;
+        }
+
+        void CreateMushroom(Vector3 pos)
+        {
+            var cache = GetSubsystem<ResourceCache>();
+
+            Node mushroomNode = scene.CreateChild("Mushroom");
+            mushroomNode.Position = (pos);
+            mushroomNode.Rotation = new Quaternion(0.0f, NextRandom(360.0f), 0.0f);
+            mushroomNode.SetScale(2.0f + NextRandom(0.5f));
+            StaticModel mushroomObject = mushroomNode.CreateComponent<StaticModel>();
+            mushroomObject.Model = (cache.Get<Model>("Models/Mushroom.mdl"));
+            mushroomObject.SetMaterial(cache.Get<Material>("Materials/Mushroom.xml"));
+            mushroomObject.CastShadows = true;
+            // Create the navigation obstacle
+            Obstacle obstacle = mushroomNode.CreateComponent<Obstacle>();
+            obstacle.Radius = mushroomNode.Scale.X;
+            obstacle.Height = mushroomNode.Scale.Y;
+        }
+
+        void CreateBoxOffMeshConnections(DynamicNavigationMesh navMesh, Node boxGroup)
+        {
+            foreach (var box in boxGroup.GetChildren())
+            {
+                var boxPos = box.Position;
+                float boxHalfSize = box.Scale.X / 2;
+                var connectionStart = box.CreateChild("ConnectionStart");
+                connectionStart.SetWorldPosition(navMesh.FindNearestPoint(boxPos + new Vector3(boxHalfSize, -boxHalfSize, 0), Vector3.One));
+                var connectionEnd = box.CreateChild("ConnectionEnd");
+                connectionEnd.SetWorldPosition(navMesh.FindNearestPoint(boxPos + new Vector3(boxHalfSize, boxHalfSize, 0), Vector3.One));
+
+                OffMeshConnection connection = connectionStart.CreateComponent<OffMeshConnection>();
+                connection.EndPoint = connectionEnd;
+            }
+        }
+
+        void CreateMovingBarrels(DynamicNavigationMesh navMesh)
+        {
+            var cache = GetSubsystem<ResourceCache>();
+
+            Node barrel = scene.CreateChild("Barrel");
+            StaticModel model = barrel.CreateComponent<StaticModel>();
+            model.Model = cache.Get<Model>("Models/Cylinder.mdl");
+            Material material = cache.Get<Material>("Materials/StoneTiled.xml");
+            model.SetMaterial(material);
+            material.SetTexture(TextureUnit.TU_DIFFUSE, cache.Get<Texture2D>("Textures/TerrainDetail2.dds"));
+            model.CastShadows = true;
+            for (int i = 0; i < 20; ++i)
+            {
+                Node clone = barrel.Clone(CreateMode.REPLICATED);
+                float size = 0.5f + NextRandom(1.0f);
+                clone.Scale = new Vector3(size / 1.5f, size * 2.0f, size / 1.5f);
+                clone.Position = navMesh.FindNearestPoint(new Vector3(NextRandom(80.0f) - 40.0f, size * 0.5f, NextRandom(80.0f) - 40.0f), Vector3.One);
+                CrowdAgent agent = clone.CreateComponent<CrowdAgent>();
+                agent.Radius = clone.Scale.X * 0.5f;
+                agent.Height = size;
+                agent.NavigationQuality = NavigationQuality.NAVIGATIONQUALITY_LOW;
+            }
+            barrel.Remove();
+        }
+
+    }
+}

FeatureExamples/Resources/Scripts/39_CrowdNavigation.cs.asset

@@ -0,0 +1,5 @@
+{
+	"version": 1,
+	"guid": "e23eeba5cabdf2a2dc60f011dd950eeb",
+	"CSharpImporter": null
+}