// // 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 { bool drawDebug; CrowdManager crowdManager; public CrowdNavigationSample() : base() { } public override void Start() { base.Start(); CreateScene(); CreateUI(); SetupViewport(); SubscribeToEvents(); } void CreateUI() { var cache = GetSubsystem(); 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(e => { if (drawDebug) { // Visualize navigation mesh, obstacles and off-mesh connections scene.GetComponent().DrawDebugGeometry(true); // Visualize agents' path and position to reach crowdManager.DrawDebugGeometry(true); } }); SubscribeToEvent(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().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(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(); 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(); 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(); hitDrawable = null; hitPos = new Vector3(); var graphics = GetSubsystem(); Camera camera = CameraNode.GetComponent(); 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().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(); 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().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.SetViewport(0, new Viewport(scene, CameraNode.GetComponent())); } void CreateScene() { var cache = GetSubsystem(); 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(); scene.CreateComponent(); // 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(); planeObject.Model = (cache.Get("Models/Plane.mdl")); planeObject.SetMaterial(cache.Get("Materials/StoneTiled.xml")); // Create a Zone component for ambient lighting & fog control Node zoneNode = scene.CreateChild("Zone"); Zone zone = zoneNode.CreateComponent(); 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.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(); boxObject.Model = (cache.Get("Models/Box.mdl")); boxObject.SetMaterial(cache.Get("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(); // 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(); // 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(); 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.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(); Node jackNode = jackGroup.CreateChild("Jack"); jackNode.Position = pos; AnimatedModel modelObject = jackNode.CreateComponent(); modelObject.Model = (cache.Get("Models/Jack.mdl")); modelObject.SetMaterial(cache.Get("Materials/Jack.xml")); modelObject.CastShadows = true; jackNode.CreateComponent(); // Create the CrowdAgent var agent = jackNode.CreateComponent(); agent.Height = 2.0f; agent.MaxSpeed = 3.0f; agent.MaxAccel = 3.0f; } void CreateMushroom(Vector3 pos) { var cache = GetSubsystem(); 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(); mushroomObject.Model = (cache.Get("Models/Mushroom.mdl")); mushroomObject.SetMaterial(cache.Get("Materials/Mushroom.xml")); mushroomObject.CastShadows = true; // Create the navigation obstacle Obstacle obstacle = mushroomNode.CreateComponent(); 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(); connection.EndPoint = connectionEnd; } } void CreateMovingBarrels(DynamicNavigationMesh navMesh) { var cache = GetSubsystem(); Node barrel = scene.CreateChild("Barrel"); StaticModel model = barrel.CreateComponent(); model.Model = cache.Get("Models/Cylinder.mdl"); Material material = cache.Get("Materials/StoneTiled.xml"); model.SetMaterial(material); material.SetTexture(TextureUnit.TU_DIFFUSE, cache.Get("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(); agent.Radius = clone.Scale.X * 0.5f; agent.Height = size; agent.NavigationQuality = NavigationQuality.NAVIGATIONQUALITY_LOW; } barrel.Remove(); } } }