Minor code clean up and bug fixes for DetourCrowd implementation.

Avoid using multiple vectors to hold the same set of objects in the DetourCrowd sample.

Source/Samples/39_CrowdNavigation/CrowdNavigation.cpp

@@ -57,6 +57,8 @@
 
 #include <Urho3D/DebugNew.h>
 
+const String INSTRUCTION("instructionText");
+
 DEFINE_APPLICATION_MAIN(CrowdNavigation)
 
 CrowdNavigation::CrowdNavigation(Context* context) :
@@ -121,10 +123,10 @@ void CrowdNavigation::CreateScene()
     light->SetShadowCascade(CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f));
 
     // Create randomly sized boxes. If boxes are big enough, make them occluders
-    Vector< SharedPtr<Node> > boxes;
+    Node* boxGroup = scene_->CreateChild("Boxes");
     for (unsigned i = 0; i < 20; ++i)
     {
-        Node* boxNode = scene_->CreateChild("Box");
+        Node* boxNode = boxGroup->CreateChild("Box");
         float size = 1.0f + Random(10.0f);
         boxNode->SetPosition(Vector3(Random(80.0f) - 40.0f, size * 0.5f, Random(80.0f) - 40.0f));
         boxNode->SetScale(size);
@@ -133,46 +135,43 @@ void CrowdNavigation::CreateScene()
         boxObject->SetMaterial(cache->GetResource<Material>("Materials/Stone.xml"));
         boxObject->SetCastShadows(true);
         if (size >= 3.0f)
-        {
             boxObject->SetOccluder(true);
-            boxes.Push(SharedPtr<Node>(boxNode));
-        }
     }
 
     // Create a DynamicNavigationMesh component to the scene root
-    navMesh_ = scene_->CreateComponent<DynamicNavigationMesh>();
+    DynamicNavigationMesh* navMesh = scene_->CreateComponent<DynamicNavigationMesh>();
     // Enable drawing debug geometry for obstacles and off-mesh connections
-    navMesh_->SetDrawObstacles(true);
-    navMesh_->SetDrawOffMeshConnections(true);
+    navMesh->SetDrawObstacles(true);
+    navMesh->SetDrawOffMeshConnections(true);
     // Set the agent height large enough to exclude the layers under boxes
-    navMesh_->SetAgentHeight(10.0f);
+    navMesh->SetAgentHeight(10.0f);
     // Set nav mesh cell height to minimum (allows agents to be grounded)
-    navMesh_->SetCellHeight(0.05f);
+    navMesh->SetCellHeight(0.05f);
     // 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_->SetPadding(Vector3(0.0f, 10.0f, 0.0f));
+    navMesh->SetPadding(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();
+    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(boxes);
+    CreateBoxOffMeshConnections(navMesh, boxGroup);
 
     // Create some mushrooms as obstacles. Note that obstacles are non-walkable areas
     for (unsigned i = 0; i < 100; ++i)
         CreateMushroom(Vector3(Random(90.0f) - 45.0f, 0.0f, Random(90.0f) - 45.0f));
 
     // Create a DetourCrowdManager component to the scene root
-    crowdManager_ = scene_->CreateComponent<DetourCrowdManager>();
+    scene_->CreateComponent<DetourCrowdManager>();
 
     // 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();
+    CreateMovingBarrels(navMesh);
 
     // Create Jack node as crowd agent
     SpawnJack(Vector3(-5.0f, 0.0f, 20.0f));
@@ -183,8 +182,10 @@ void CrowdNavigation::CreateScene()
     Camera* camera = cameraNode_->CreateComponent<Camera>();
     camera->SetFarClip(300.0f);
 
-    // Set an initial position for the camera scene node above the plane
-    cameraNode_->SetPosition(Vector3(0.0f, 5.0f, 0.0f));
+    // Set an initial position for the camera scene node above the plane and looking down
+    cameraNode_->SetPosition(Vector3(0.0f, 50.0f, 0.0f));
+    pitch_ = 80.0f;
+    cameraNode_->SetRotation(Quaternion(pitch_, yaw_, 0.0f));
 }
 
 void CrowdNavigation::CreateUI()
@@ -204,16 +205,17 @@ void CrowdNavigation::CreateUI()
     cursor->SetPosition(graphics->GetWidth() / 2, graphics->GetHeight() / 2);
 
     // Construct new Text object, set string to display and font to use
-    Text* instructionText = ui->GetRoot()->CreateChild<Text>();
+    Text* instructionText = ui->GetRoot()->CreateChild<Text>(INSTRUCTION);
     instructionText->SetText(
         "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"
+        "Space to toggle debug geometry\n"
+        "F12 to toggle this instruction text"
     );
-    instructionText->SetFont(cache->GetResource<Font>("Fonts/Anonymous Pro.ttf"), 12);
+    instructionText->SetFont(cache->GetResource<Font>("Fonts/Anonymous Pro.ttf"), 15);
     // The text has multiple rows. Center them in relation to each other
     instructionText->SetTextAlignment(HA_CENTER);
 
@@ -237,13 +239,15 @@ void CrowdNavigation::SubscribeToEvents()
     // Subscribe HandleUpdate() function for processing update events
     SubscribeToEvent(E_UPDATE, HANDLER(CrowdNavigation, HandleUpdate));
 
-    // Subscribe HandlePostRenderUpdate() function for processing the post-render update event, during which we request
-    // debug geometry
+    // Subscribe HandlePostRenderUpdate() function for processing the post-render update event, during which we request debug geometry
     SubscribeToEvent(E_POSTRENDERUPDATE, HANDLER(CrowdNavigation, HandlePostRenderUpdate));
 
     // Subscribe HandleCrowdAgentFailure() function for resolving invalidation issues with agents, during which we
     // use a larger extents for finding a point on the navmesh to fix the agent's position
     SubscribeToEvent(E_CROWD_AGENT_FAILURE, HANDLER(CrowdNavigation, HandleCrowdAgentFailure));
+
+    // Subscribe HandleCrowdAgentReposition() function for controlling the animation
+    SubscribeToEvent(E_CROWD_AGENT_REPOSITION, HANDLER(CrowdNavigation, HandleCrowdAgentReposition));
 }
 
 void CrowdNavigation::SpawnJack(const Vector3& pos)
@@ -260,9 +264,8 @@ void CrowdNavigation::SpawnJack(const Vector3& pos)
     // Create a CrowdAgent component and set its height and realistic max speed/acceleration. Use default radius
     CrowdAgent* agent = jackNode->CreateComponent<CrowdAgent>();
     agent->SetHeight(2.0f);
-    agent->SetMaxSpeed(4.0f);
+    agent->SetMaxSpeed(3.0f);
     agent->SetMaxAccel(100.0f);
-    agents_ = crowdManager_->GetActiveAgents(); // Update agents container
 }
 
 void CrowdNavigation::CreateMushroom(const Vector3& pos)
@@ -284,8 +287,9 @@ void CrowdNavigation::CreateMushroom(const Vector3& pos)
     obstacle->SetHeight(mushroomNode->GetScale().y_);
 }
 
-void CrowdNavigation::CreateBoxOffMeshConnections(Vector< SharedPtr<Node> > boxes)
+void CrowdNavigation::CreateBoxOffMeshConnections(DynamicNavigationMesh* navMesh, Node* boxGroup)
 {
+    const Vector<SharedPtr<Node> >& boxes = boxGroup->GetChildren();
     for (unsigned i=0; i < boxes.Size(); ++i)
     {
         Node* box = boxes[i];
@@ -294,9 +298,9 @@ void CrowdNavigation::CreateBoxOffMeshConnections(Vector< SharedPtr<Node> > boxe
 
         // Create 2 empty nodes for the start & end points of the connection. Note that order matters only when using one-way/unidirectional connection.
         Node* connectionStart = box->CreateChild("ConnectionStart");
-        connectionStart->SetWorldPosition(navMesh_->FindNearestPoint(boxPos + Vector3(boxHalfSize, -boxHalfSize, 0))); // Base of box
+        connectionStart->SetWorldPosition(navMesh->FindNearestPoint(boxPos + Vector3(boxHalfSize, -boxHalfSize, 0))); // Base of box
         Node* connectionEnd = connectionStart->CreateChild("ConnectionEnd");
-        connectionEnd->SetWorldPosition(navMesh_->FindNearestPoint(boxPos + Vector3(boxHalfSize, boxHalfSize, 0))); // Top of box
+        connectionEnd->SetWorldPosition(navMesh->FindNearestPoint(boxPos + Vector3(boxHalfSize, boxHalfSize, 0))); // Top of box
 
         // Create the OffMeshConnection component to one node and link the other node
         OffMeshConnection* connection = connectionStart->CreateComponent<OffMeshConnection>();
@@ -304,7 +308,7 @@ void CrowdNavigation::CreateBoxOffMeshConnections(Vector< SharedPtr<Node> > boxe
     }
 }
 
-void CrowdNavigation::CreateMovingBarrels()
+void CrowdNavigation::CreateMovingBarrels(DynamicNavigationMesh* navMesh)
 {
     ResourceCache* cache = GetSubsystem<ResourceCache>();
     Node* barrel = scene_->CreateChild("Barrel");
@@ -314,12 +318,12 @@ void CrowdNavigation::CreateMovingBarrels()
     model->SetMaterial(material);
     material->SetTexture(TU_DIFFUSE, cache->GetResource<Texture2D>("Textures/TerrainDetail2.dds"));
     model->SetCastShadows(true);
-    for (unsigned i = 0;  i < NUM_BARRELS; ++i)
+    for (unsigned i = 0;  i < 20; ++i)
     {
         Node* clone = barrel->Clone();
         float size = 0.5f + Random(1.0f);
         clone->SetScale(Vector3(size / 1.5f, size * 2.0f, size / 1.5f));
-        clone->SetPosition(navMesh_->FindNearestPoint(Vector3(Random(80.0f) - 40.0, size * 0.5 , Random(80.0f) - 40.0)));
+        clone->SetPosition(navMesh->FindNearestPoint(Vector3(Random(80.0f) - 40.0, size * 0.5 , Random(80.0f) - 40.0)));
         CrowdAgent* agent = clone->CreateComponent<CrowdAgent>();
         agent->SetRadius(clone->GetScale().x_ * 0.5f);
         agent->SetHeight(size);
@@ -327,49 +331,21 @@ void CrowdNavigation::CreateMovingBarrels()
     barrel->Remove();
 }
 
-void CrowdNavigation::SetPathPoint()
+void CrowdNavigation::SetPathPoint(bool spawning)
 {
     Vector3 hitPos;
     Drawable* hitDrawable;
 
     if (Raycast(250.0f, hitPos, hitDrawable))
     {
-        Vector3 pathPos = navMesh_->FindNearestPoint(hitPos, Vector3(1.0f, 1.0f, 1.0f));
-
-        if (GetSubsystem<Input>()->GetQualifierDown(QUAL_SHIFT))
+        DynamicNavigationMesh* navMesh = scene_->GetComponent<DynamicNavigationMesh>();
+        Vector3 pathPos = navMesh->FindNearestPoint(hitPos, Vector3(1.0f, 1.0f, 1.0f));
+        if (spawning)
             // Spawn a jack at the target position
             SpawnJack(pathPos);
-        else if (GetSubsystem<Input>()->GetQualifierDown(QUAL_CTRL) && agents_.Size() > NUM_BARRELS)
-        {
-            // Teleport
-            CrowdAgent* agent = agents_[NUM_BARRELS]; // Get first Jack agent
-            Node* node = agent->GetNode();
-            if (node->GetName() == "Barrel")
-                return;
-            node->LookAt(pathPos); // Face target
-            agent->SetMoveVelocity(Vector3(0.0f, 0.0f, 0.0f)); // Stop agent
-            node->SetPosition(pathPos);
-        }
         else
-        {
-            // Set target position and init agents' move
-            for (unsigned i = NUM_BARRELS; i < agents_.Size(); ++i)
-            {
-                CrowdAgent* agent = agents_[i];
-                if (i == NUM_BARRELS)
-                {
-                    // The first Jack agent will always move to the exact position and is strong enough to push barrels and his siblings (no avoidance)
-                    agent->SetNavigationPushiness(PUSHINESS_HIGH);
-                    agent->SetMoveTarget(pathPos);
-                }
-                else
-                {
-                    // Other Jack agents will move to a random point nearby
-                    Vector3 targetPos = navMesh_->FindNearestPoint(pathPos + Vector3(Random(-4.5f, 4.5f), 0.0f, Random(-4.5f, 4.5f)), Vector3(1.0f, 1.0f, 1.0f));
-                    agent->SetMoveTarget(targetPos);
-                }
-            }
-        }
+            // Set crowd agents target position
+            scene_->GetComponent<DetourCrowdManager>()->SetCrowdTarget(pathPos);
     }
 }
 
@@ -387,10 +363,7 @@ void CrowdNavigation::AddOrRemoveObject()
         if (hitNode->GetName() == "Mushroom")
             hitNode->Remove();
         else if (hitNode->GetName() == "Jack")
-        {
             hitNode->Remove();
-            agents_ = crowdManager_->GetActiveAgents(); // Update agents container
-        }
         else
             CreateMushroom(hitPos);
     }
@@ -465,9 +438,9 @@ void CrowdNavigation::MoveCamera(float timeStep)
 
     // Set destination or spawn a new jack with left mouse button
     if (input->GetMouseButtonPress(MOUSEB_LEFT))
-        SetPathPoint();
+        SetPathPoint(input->GetQualifierDown(QUAL_SHIFT));
     // Add new obstacle or remove existing obstacle/agent with middle mouse button
-    if (input->GetMouseButtonPress(MOUSEB_MIDDLE))
+    else if (input->GetMouseButtonPress(MOUSEB_MIDDLE))
         AddOrRemoveObject();
 
     // Check for loading/saving the scene from/to the file Data/Scenes/CrowdNavigation.xml relative to the executable directory
@@ -476,20 +449,22 @@ void CrowdNavigation::MoveCamera(float timeStep)
         File saveFile(context_, GetSubsystem<FileSystem>()->GetProgramDir() + "Data/Scenes/CrowdNavigation.xml", FILE_WRITE);
         scene_->SaveXML(saveFile);
     }
-    if (input->GetKeyPress(KEY_F7))
+    else if (input->GetKeyPress(KEY_F7))
     {
         File loadFile(context_, GetSubsystem<FileSystem>()->GetProgramDir() + "Data/Scenes/CrowdNavigation.xml", FILE_READ);
         scene_->LoadXML(loadFile);
-
-        // After reload, reacquire navMesh, crowd manager & agents
-        navMesh_ = scene_->GetComponent<DynamicNavigationMesh>();
-        crowdManager_ = scene_->GetComponent<DetourCrowdManager>();
-        agents_ = crowdManager_->GetActiveAgents();
     }
 
     // Toggle debug geometry with space
-    if (input->GetKeyPress(KEY_SPACE))
+    else if (input->GetKeyPress(KEY_SPACE))
         drawDebug_ = !drawDebug_;
+
+    // Toggle instruction text with F12
+    else if (input->GetKeyPress(KEY_F12))
+    {
+        UIElement* instruction = ui->GetRoot()->GetChild(INSTRUCTION);
+        instruction->SetVisible(!instruction->IsVisible());
+    }
 }
 
 void CrowdNavigation::HandleUpdate(StringHash eventType, VariantMap& eventData)
@@ -501,24 +476,6 @@ void CrowdNavigation::HandleUpdate(StringHash eventType, VariantMap& eventData)
 
     // Move the camera, scale movement with time step
     MoveCamera(timeStep);
-
-    // Make the Jack CrowdAgents face the direction of their velocity and update animation
-    for (unsigned i = NUM_BARRELS; i < agents_.Size(); ++i)
-    {
-        CrowdAgent* agent = agents_[i];
-        Node* node = agent->GetNode();
-        AnimationController* animCtrl = node->GetComponent<AnimationController>();
-        Vector3 velocity = agent->GetActualVelocity();
-
-        if (velocity.Length() < 0.6)
-            animCtrl->Stop("Models/Jack_Walk.ani", 0.2);
-        else
-        {
-            node->SetWorldDirection(velocity);
-            animCtrl->PlayExclusive("Models/Jack_Walk.ani", 0, true, 0.2);
-            animCtrl->SetSpeed("Models/Jack_Walk.ani", velocity.Length() * 0.3);
-        }
-    }
 }
 
 void CrowdNavigation::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
@@ -526,9 +483,9 @@ void CrowdNavigation::HandlePostRenderUpdate(StringHash eventType, VariantMap& e
     if (drawDebug_)
     {
         // Visualize navigation mesh, obstacles and off-mesh connections
-        navMesh_->DrawDebugGeometry(true);
+        scene_->GetComponent<DynamicNavigationMesh>()->DrawDebugGeometry(true);
         // Visualize agents' path and position to reach
-        crowdManager_->DrawDebugGeometry(true);
+        scene_->GetComponent<DetourCrowdManager>()->DrawDebugGeometry(true);
     }
 }
 
@@ -543,8 +500,37 @@ void CrowdNavigation::HandleCrowdAgentFailure(StringHash eventType, VariantMap&
     if (agentState == CROWD_AGENT_INVALID)
     {
         // Get a point on the navmesh using more generous extents
-        Vector3 newPos = navMesh_->FindNearestPoint(node->GetPosition(), Vector3(5.0f, 5.0f, 5.0f));
+        Vector3 newPos = scene_->GetComponent<DynamicNavigationMesh>()->FindNearestPoint(node->GetPosition(), Vector3(5.0f, 5.0f, 5.0f));
         // Set the new node position, CrowdAgent component will automatically reset the state of the agent
         node->SetPosition(newPos);
     }
-}
+}
+
+void CrowdNavigation::HandleCrowdAgentReposition(StringHash eventType, VariantMap& eventData)
+{
+    const char* WALKING_ANI = "Models/Jack_Walk.ani";
+
+    using namespace CrowdAgentReposition;
+
+    Node* node = static_cast<Node*>(eventData[P_NODE].GetPtr());
+    CrowdAgent* agent = static_cast<CrowdAgent*>(eventData[P_CROWD_AGENT].GetPtr());
+    Vector3 velocity = eventData[P_VELOCITY].GetVector3();
+
+    // Only Jack agent has animation controller
+    AnimationController* animCtrl = node->GetComponent<AnimationController>();
+    if (animCtrl)
+    {
+        float speed = velocity.Length();
+        if (speed < agent->GetRadius())
+            // If speed is too low then stopping the animation
+            animCtrl->Stop(WALKING_ANI, 0.8f);
+        else
+        {
+            // Face the direction of its velocity
+            node->SetWorldDirection(velocity);
+            animCtrl->Play(WALKING_ANI, 0, true);
+            // Throttle the animation speed based on agent speed ratio (ratio = 1 is full throttle)
+            animCtrl->SetSpeed(WALKING_ANI, speed / agent->GetMaxSpeed());
+        }
+    }
+}

Source/Samples/39_CrowdNavigation/CrowdNavigation.h

@@ -33,8 +33,6 @@ class Scene;
 
 }
 
-const int NUM_BARRELS = 20;
-
 /// CrowdNavigation example.
 /// This sample demonstrates:
 ///     - Generating a dynamic navigation mesh into the scene
@@ -140,8 +138,8 @@ private:
     void SubscribeToEvents();
     /// Read input and moves the camera.
     void MoveCamera(float timeStep);
-    /// Set path start or end point.
-    void SetPathPoint();
+    /// Set crowd agents target or spawn another jack.
+    void SetPathPoint(bool spawning);
     /// Add new obstacle or remove existing obstacle/agent.
     void AddOrRemoveObject();
     /// Create a "Jack" object at position.
@@ -149,9 +147,9 @@ private:
     /// Create a mushroom object at position.
     void CreateMushroom(const Vector3& pos);
     /// Create an off-mesh connection for each box to make it climbable.
-    void CreateBoxOffMeshConnections(Vector< SharedPtr<Node> > boxes);
+    void CreateBoxOffMeshConnections(DynamicNavigationMesh* navMesh, Node* boxGroup);
     /// Create some movable barrels as crowd agents.
-    void CreateMovingBarrels();
+    void CreateMovingBarrels(DynamicNavigationMesh* navMesh);
     /// Utility function to raycast to the cursor position. Return true if hit.
     bool Raycast(float maxDistance, Vector3& hitPos, Drawable*& hitDrawable);
     /// Handle the logic update event.
@@ -160,13 +158,9 @@ private:
     void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData);
     /// Handle problems with crowd agent placement.
     void HandleCrowdAgentFailure(StringHash eventType, VariantMap& eventData);
+    /// Handle crowd agent reposition.
+    void HandleCrowdAgentReposition(StringHash eventType, VariantMap& eventData);
 
-    /// Dynamic navigation mesh.
-    DynamicNavigationMesh* navMesh_;
-    /// Crowd Manager.
-    DetourCrowdManager* crowdManager_;
-    /// Crowd Agents.
-    PODVector<CrowdAgent*> agents_;
     /// Flag for drawing debug geometry.
     bool drawDebug_;
 };

Source/Urho3D/LuaScript/pkgs/Navigation/CrowdAgent.pkg

@@ -6,10 +6,9 @@ enum CrowdTargetState
     CROWD_AGENT_TARGET_FAILED,
     CROWD_AGENT_TARGET_VALID,
     CROWD_AGENT_TARGET_REQUESTING,
-    CROWD_AGENT_TARGET_WAITINGFORPATH,
     CROWD_AGENT_TARGET_WAITINGFORQUEUE,
-    CROWD_AGENT_TARGET_VELOCITY,
-    CROWD_AGENT_TARGET_ARRIVED
+    CROWD_AGENT_TARGET_WAITINGFORPATH,
+    CROWD_AGENT_TARGET_VELOCITY
 };
 
 enum CrowdAgentState
@@ -24,8 +23,8 @@ enum CrowdAgentState
 class CrowdAgent : public Component
 {
     void SetNavigationFilterType(unsigned filterID);
-    bool SetMoveTarget(const Vector3& position);
-    bool SetMoveVelocity(const Vector3& velocity);
+    void SetMoveTarget(const Vector3& position);
+    void SetMoveVelocity(const Vector3& velocity);
     void SetUpdateNodePosition(bool unodepos);
     void SetMaxAccel(float val);
     void SetMaxSpeed(float val);
@@ -45,6 +44,7 @@ class CrowdAgent : public Component
     float GetMaxAccel() const;
     NavigationQuality GetNavigationQuality() const;
     NavigationPushiness GetNavigationPushiness() const;
+    bool HasArrived() const;
     float GetRadius() const;
     float GetHeight() const;
     Vector3 GetPosition() const;

Source/Urho3D/LuaScript/pkgs/Navigation/DetourCrowdManager.pkg

@@ -19,27 +19,19 @@ class DetourCrowdManager : public Component
     void DrawDebugGeometry(bool depthTest);
 
     void SetNavigationMesh(NavigationMesh *navMesh);
-    void SetMaxAgents(unsigned agentCt);
     void SetAreaCost(unsigned filterID, unsigned areaID, float cost);
+    void SetMaxAgents(unsigned agentCt);
+    void SetCrowdTarget(const Vector3& position, int startId = 0, int endId = M_MAX_INT);
+    void ResetCrowdTarget(int startId = 0, int endId = M_MAX_INT);
+    void SetCrowdVelocity(const Vector3& velocity, int startId = 0, int endId = M_MAX_INT);
 
-    NavigationMesh* GetNavigationMesh();
+    NavigationMesh* GetNavigationMesh() const;
     unsigned GetMaxAgents() const;
     float GetAreaCost(unsigned filterID, unsigned areaID) const;
     unsigned GetAgentCount() const;
-    tolua_outside const PODVector<CrowdAgent*>& DetourCrowdManagerGetActiveAgents @ GetActiveAgents();
+    const PODVector<CrowdAgent*>& GetActiveAgents() const;
 
     tolua_property__get_set NavigationMesh* navigationMesh;
     tolua_property__get_set int maxAgents;
     tolua_readonly tolua_property__get_set unsigned agentCount;
 };
-
-${
-
-static const PODVector<CrowdAgent*>& DetourCrowdManagerGetActiveAgents(DetourCrowdManager* crowdManager)
-{
-    static PODVector<CrowdAgent*> result;
-    result = crowdManager->GetActiveAgents();
-    return result;
-}
-
-$}

Source/Urho3D/Navigation/CrowdAgent.cpp

@@ -45,8 +45,8 @@ namespace Urho3D
 extern const char* NAVIGATION_CATEGORY;
 
 static const unsigned DEFAULT_AGENT_NAVIGATION_FILTER_TYPE = 0;
-static const float DEFAULT_AGENT_MAX_SPEED = 5.0f;
-static const float DEFAULT_AGENT_MAX_ACCEL = 3.6f;
+static const float DEFAULT_AGENT_MAX_SPEED = 0.f;
+static const float DEFAULT_AGENT_MAX_ACCEL = 0.f;
 static const NavigationQuality DEFAULT_AGENT_AVOIDANCE_QUALITY = NAVIGATIONQUALITY_HIGH;
 static const NavigationPushiness DEFAULT_AGENT_NAVIGATION_PUSHINESS = PUSHINESS_MEDIUM;
 
@@ -97,6 +97,7 @@ void CrowdAgent::RegisterObject(Context* context)
     ACCESSOR_ATTRIBUTE("Max Speed", GetMaxSpeed, SetMaxSpeed, float, DEFAULT_AGENT_MAX_SPEED, AM_DEFAULT);
     ACCESSOR_ATTRIBUTE("Radius", GetRadius, SetRadius, float, 0.0f, AM_DEFAULT);
     ACCESSOR_ATTRIBUTE("Height", GetHeight, SetHeight, float, 0.0f, AM_DEFAULT);
+    ACCESSOR_ATTRIBUTE("Target Position", GetTargetPosition, SetMoveTarget, Vector3, Vector3::ZERO, AM_DEFAULT);
     ACCESSOR_ATTRIBUTE("Navigation Filter", GetNavigationFilterType, SetNavigationFilterType, unsigned, DEFAULT_AGENT_NAVIGATION_FILTER_TYPE, AM_DEFAULT);
     ENUM_ACCESSOR_ATTRIBUTE("Navigation Pushiness", GetNavigationPushiness, SetNavigationPushiness, NavigationPushiness, crowdAgentPushinessNames, PUSHINESS_LOW, AM_DEFAULT);
     ENUM_ACCESSOR_ATTRIBUTE("Navigation Quality", GetNavigationQuality, SetNavigationQuality, NavigationQuality, crowdAgentAvoidanceQualityNames, NAVIGATIONQUALITY_LOW, AM_DEFAULT);
@@ -154,7 +155,7 @@ void CrowdAgent::DrawDebugGeometry(DebugRenderer* debug, bool depthTest)
 
         debug->AddLine(pos, pos + vel, Color::GREEN, depthTest);
         debug->AddLine(pos + agentHeightVec, pos + desiredVel + agentHeightVec, Color::RED, depthTest);
-        debug->AddCylinder(pos, radius_, height_, Color::GREEN, depthTest);
+        debug->AddCylinder(pos, radius_, height_, HasArrived() ? Color::WHITE : Color::GREEN, depthTest);
     }
 }
 
@@ -175,8 +176,6 @@ void CrowdAgent::AddAgentToCrowd()
             LOGERROR("AddAgentToCrowd: Could not add agent to crowd");
             return;
         }
-        dtCrowdAgentParams& params = crowdManager_->GetCrowd()->getEditableAgent(agentCrowdId_)->params;
-        params.userData = this;
         crowdManager_->UpdateAgentNavigationQuality(this, navQuality_);
         crowdManager_->UpdateAgentPushiness(this, navPushiness_);
         previousAgentState_ = GetAgentState();
@@ -198,6 +197,9 @@ void CrowdAgent::AddAgentToCrowd()
             previousAgentState_ = GetAgentState();
             previousTargetState_ = GetTargetState();
         }
+
+        // Save the initial position to prevent CrowdAgentReposition event being triggered unnecessarily
+        previousPosition_ = GetPosition();
     }
 }
 
@@ -224,23 +226,32 @@ void CrowdAgent::SetNavigationFilterType(unsigned filterType)
     }
 }
 
-bool CrowdAgent::SetMoveTarget(const Vector3& position)
+void CrowdAgent::SetMoveTarget(const Vector3& position)
 {
-    if (crowdManager_ && !inCrowd_)
-        AddAgentToCrowd();
-    if (crowdManager_ && inCrowd_)
-    {
+    if (crowdManager_) {
+        if (!inCrowd_)
+            AddAgentToCrowd();
         targetPosition_ = position;
         if (crowdManager_->SetAgentTarget(this, position, targetRef_))
+            MarkNetworkUpdate();
+    }
+}
+
+void CrowdAgent::ResetMoveTarget()
+{
+    if (crowdManager_ && inCrowd_)
+    {
+        const dtCrowdAgent* agent = crowdManager_->GetCrowdAgent(agentCrowdId_);
+        if (agent && agent->active)
         {
+            targetPosition_ = Vector3::ZERO;
+            crowdManager_->GetCrowd()->resetMoveTarget(agentCrowdId_);
             MarkNetworkUpdate();
-            return true;
         }
     }
-    return false;
 }
 
-bool CrowdAgent::SetMoveVelocity(const Vector3& velocity)
+void CrowdAgent::SetMoveVelocity(const Vector3& velocity)
 {
     if (crowdManager_ && inCrowd_)
     {
@@ -251,7 +262,6 @@ bool CrowdAgent::SetMoveVelocity(const Vector3& velocity)
             MarkNetworkUpdate();
         }
     }
-    return false;
 }
 
 void CrowdAgent::SetMaxSpeed(float speed)
@@ -369,30 +379,17 @@ Urho3D::CrowdAgentState CrowdAgent::GetAgentState() const
 
 Urho3D::CrowdTargetState CrowdAgent::GetTargetState() const
 {
-    if (crowdManager_ && inCrowd_)
-    {
-        const dtCrowdAgent* agent = crowdManager_->GetCrowdAgent(agentCrowdId_);
-        if (!agent || !agent->active)
-            return CROWD_AGENT_TARGET_NONE;
+    const dtCrowdAgent* agent = crowdManager_ && inCrowd_ ? crowdManager_->GetCrowdAgent(agentCrowdId_) : 0;
+    return agent && agent->active ? (CrowdTargetState)agent->targetState : CROWD_AGENT_TARGET_NONE;
+}
 
-        // Determine if we've arrived at the target
-        if (agent->targetState == DT_CROWDAGENT_TARGET_VALID)
-        {
-            if (agent->ncorners)
-            {
-                // Is the agent at the end of its path?
-                if (agent->cornerFlags[agent->ncorners - 1] & DT_STRAIGHTPATH_END)
-                {
-                    // Within its own radius of the goal?
-                    if (dtVdist2D(agent->npos, &agent->cornerVerts[(agent->ncorners - 1) * 3]) <= agent->params.radius)
-                        return CROWD_AGENT_TARGET_ARRIVED;
-            
-                }
-            }
-        }
-        return (CrowdTargetState)agent->targetState;
-    }
-    return CROWD_AGENT_TARGET_NONE;
+bool CrowdAgent::HasArrived() const
+{
+    // Is the agent at the end of its path and within its own radius of the goal?
+    const dtCrowdAgent* agent = crowdManager_->GetCrowdAgent(agentCrowdId_);
+    return agent && agent->active && (!agent->ncorners ||
+        (agent->cornerFlags[agent->ncorners - 1] & DT_STRAIGHTPATH_END &&
+            Equals(dtVdist2D(agent->npos, &agent->cornerVerts[(agent->ncorners - 1) * 3]), 0.f)));
 }
 
 void CrowdAgent::SetUpdateNodePosition(bool unodepos)
@@ -401,23 +398,29 @@ void CrowdAgent::SetUpdateNodePosition(bool unodepos)
     MarkNetworkUpdate();
 }
 
-void CrowdAgent::OnCrowdAgentReposition(const Vector3& newPos, const Vector3& newDirection)
+void CrowdAgent::OnCrowdAgentReposition(const Vector3& newPos, const Vector3& newVel)
 {
     if (node_)
     {
         // Notify parent node of the reposition
-        VariantMap& map = GetContext()->GetEventDataMap();
-        map[CrowdAgentReposition::P_NODE] = GetNode();
-        map[CrowdAgentReposition::P_CROWD_AGENT] = this;
-        map[CrowdAgentReposition::P_POSITION] = newPos;
-        map[CrowdAgentReposition::P_VELOCITY] = GetActualVelocity();
-        SendEvent(E_CROWD_AGENT_REPOSITION, map);
-        
-        if (updateNodePosition_)
+        if (newPos != previousPosition_)
         {
-            ignoreTransformChanges_ = true;
-            node_->SetPosition(newPos);
-            ignoreTransformChanges_ = false;
+            previousPosition_ = newPos;
+
+            VariantMap& map = GetContext()->GetEventDataMap();
+            map[CrowdAgentReposition::P_NODE] = GetNode();
+            map[CrowdAgentReposition::P_CROWD_AGENT] = this;
+            map[CrowdAgentReposition::P_POSITION] = newPos;
+            map[CrowdAgentReposition::P_VELOCITY] = newVel;
+            map[CrowdAgentReposition::P_ARRIVED] = HasArrived();
+            SendEvent(E_CROWD_AGENT_REPOSITION, map);
+
+            if (updateNodePosition_)
+            {
+                ignoreTransformChanges_ = true;
+                node_->SetPosition(newPos);
+                ignoreTransformChanges_ = false;
+            }
         }
 
         // Send a notification event if we've reached the destination
@@ -431,7 +434,7 @@ void CrowdAgent::OnCrowdAgentReposition(const Vector3& newPos, const Vector3& ne
             map[CrowdAgentStateChanged::P_CROWD_TARGET_STATE] = newTargetState;
             map[CrowdAgentStateChanged::P_CROWD_AGENT_STATE] = newAgentState;
             map[CrowdAgentStateChanged::P_POSITION] = newPos;
-            map[CrowdAgentStateChanged::P_VELOCITY] = GetActualVelocity();
+            map[CrowdAgentStateChanged::P_VELOCITY] = newVel;
             SendEvent(E_CROWD_AGENT_STATE_CHANGED, map);
 
             // Send a failure event if either state is a failed status
@@ -443,7 +446,7 @@ void CrowdAgent::OnCrowdAgentReposition(const Vector3& newPos, const Vector3& ne
                 map[CrowdAgentFailure::P_CROWD_TARGET_STATE] = newTargetState;
                 map[CrowdAgentFailure::P_CROWD_AGENT_STATE] = newAgentState;
                 map[CrowdAgentFailure::P_POSITION] = newPos;
-                map[CrowdAgentFailure::P_VELOCITY] = GetActualVelocity();
+                map[CrowdAgentFailure::P_VELOCITY] = newVel;
                 SendEvent(E_CROWD_AGENT_FAILURE, map);
             }
 
@@ -460,7 +463,7 @@ PODVector<unsigned char> CrowdAgent::GetAgentDataAttr() const
         return Variant::emptyBuffer;
     dtCrowd* crowd = crowdManager_->GetCrowd();
     const dtCrowdAgent* agent = crowd->getAgent(agentCrowdId_);
-    
+
     // Reading it back in isn't this simple, see SetAgentDataAttr
     VectorBuffer ret;
     ret.Write(agent, sizeof(dtCrowdAgent));

Source/Urho3D/Navigation/CrowdAgent.h

@@ -34,17 +34,16 @@ enum CrowdTargetState
     CROWD_AGENT_TARGET_FAILED,
     CROWD_AGENT_TARGET_VALID,
     CROWD_AGENT_TARGET_REQUESTING,
-    CROWD_AGENT_TARGET_WAITINGFORPATH,
     CROWD_AGENT_TARGET_WAITINGFORQUEUE,
-    CROWD_AGENT_TARGET_VELOCITY,
-    CROWD_AGENT_TARGET_ARRIVED
+    CROWD_AGENT_TARGET_WAITINGFORPATH,
+    CROWD_AGENT_TARGET_VELOCITY
 };
 
 enum CrowdAgentState
 {
-    CROWD_AGENT_INVALID = 0,	///< The agent is not in a valid state.
-    CROWD_AGENT_READY,			///< The agent is traversing a normal navigation mesh polygon.
-    CROWD_AGENT_TRAVERSINGLINK	///< The agent is traversing an off-mesh connection.
+    CROWD_AGENT_INVALID = 0,      ///< The agent is not in a valid state.
+    CROWD_AGENT_READY,            ///< The agent is traversing a normal navigation mesh polygon.
+    CROWD_AGENT_TRAVERSINGLINK    ///< The agent is traversing an off-mesh connection.
 };
 
 /// DetourCrowd Agent, requires a DetourCrowdManager in the scene. Agent's radius and height is set through the navigation mesh.
@@ -71,9 +70,11 @@ public:
     /// Set the navigation filter type the agent will use.
     void SetNavigationFilterType(unsigned filterTypeID);
     /// Submit a new move request for this agent.
-    bool SetMoveTarget(const Vector3& position);
+    void SetMoveTarget(const Vector3& position);
+    /// Reset any request for the specified agent.
+    void ResetMoveTarget();
     /// Submit a new move velocity request for this agent.
-    bool SetMoveVelocity(const Vector3& velocity);
+    void SetMoveVelocity(const Vector3& velocity);
     /// Update the node position. When set to false, the node position should be updated by other means (e.g. using Physics) in response to the E_CROWD_AGENT_REPOSITION event.
     void SetUpdateNodePosition(bool unodepos);
     /// Set the agent's max acceleration.
@@ -110,7 +111,7 @@ public:
     /// Get the agent's max velocity.
     float GetMaxSpeed() const { return maxSpeed_; }
     /// Get the agent's max acceleration.
-    float GetMaxAccel()	const { return maxAccel_; }
+    float GetMaxAccel() const { return maxAccel_; }
     /// Get the agent's radius.
     float GetRadius() const { return radius_; }
     /// Get the agent's height.
@@ -119,6 +120,8 @@ public:
     NavigationQuality GetNavigationQuality() const {return navQuality_; }
     /// Get the agent's navigation pushiness.
     NavigationPushiness GetNavigationPushiness() const {return navPushiness_; }
+    /// Return true when the agent has arrived at its target.
+    bool HasArrived() const;
 
     /// Get serialized data of internal state.
     PODVector<unsigned char> GetAgentDataAttr() const;
@@ -127,7 +130,7 @@ public:
 
 protected:
     /// Update the nodes position if updateNodePosition is set. Is called in DetourCrowdManager::Update().
-    virtual void OnCrowdAgentReposition(const Vector3& newPos, const Vector3& newDirection);
+    virtual void OnCrowdAgentReposition(const Vector3& newPos, const Vector3& newVel);
     /// Handle node being assigned.
     virtual void OnNodeSet(Node* node);
     /// \todo Handle node transform being dirtied.
@@ -144,9 +147,9 @@ private:
     /// DetourCrowd reference to this agent.
     int agentCrowdId_;
     /// Reference to poly closest to requested target position.
-    unsigned int targetRef_;         
+    unsigned int targetRef_;
     /// Actual target position, closest to that requested.
-    Vector3 targetPosition_;   
+    Vector3 targetPosition_;
     /// Flag indicating the node's position should be updated by Detour crowd manager.
     bool updateNodePosition_;
     /// Agent's max acceleration.
@@ -163,6 +166,8 @@ private:
     NavigationQuality navQuality_;
     /// Agent's Navigation Pushiness.
     NavigationPushiness navPushiness_;
+    /// Agent's previous position used to check for position changes.
+    Vector3 previousPosition_;
     /// Agent's previous target state used to check for state changes.
     CrowdTargetState previousTargetState_;
     /// Agent's previous agent state used to check for state changes.

Source/Urho3D/Navigation/DetourCrowdManager.cpp

@@ -117,9 +117,44 @@ void DetourCrowdManager::SetMaxAgents(unsigned agentCt)
     MarkNetworkUpdate();
 }
 
-NavigationMesh* DetourCrowdManager::GetNavigationMesh()
+void DetourCrowdManager::SetCrowdTarget(const Vector3& position, int startId, int endId)
 {
-    return navigationMesh_.Get();
+    startId = Max(0, startId);
+    endId = Clamp(endId, startId, agents_.Size() - 1);
+    Vector3 moveTarget(position);
+    for (int i = startId; i <= endId; ++i)
+    {
+        // Skip agent that does not have acceleration
+        if (agents_[i]->GetMaxAccel() > 0.f)
+        {
+            agents_[i]->SetMoveTarget(moveTarget);
+            // FIXME: Should reimplement this using event callback, i.e. it should be application-specific to decide what is the desired crowd formation when they reach the target
+            if (navigationMesh_)
+                moveTarget = navigationMesh_->FindNearestPoint(position + Vector3(Random(-4.5f, 4.5f), 0.0f, Random(-4.5f, 4.5f)), Vector3(1.0f, 1.0f, 1.0f));
+        }
+    }
+}
+
+void DetourCrowdManager::ResetCrowdTarget(int startId, int endId)
+{
+    startId = Max(0, startId);
+    endId = Clamp(endId, startId, agents_.Size() - 1);
+    for (int i = startId; i <= endId; ++i)
+    {
+        if (agents_[i]->GetMaxAccel() > 0.f)
+            agents_[i]->ResetMoveTarget();
+    }
+}
+
+void DetourCrowdManager::SetCrowdVelocity(const Vector3& velocity, int startId, int endId)
+{
+    startId = Max(0, startId);
+    endId = Clamp(endId, startId, agents_.Size() - 1);
+    for (int i = startId; i <= endId; ++i)
+    {
+        if (agents_[i]->GetMaxAccel() > 0.f)
+            agents_[i]->SetMoveVelocity(velocity);
+    }
 }
 
 float DetourCrowdManager::GetAreaCost(unsigned filterID, unsigned areaID) const
@@ -149,9 +184,17 @@ void DetourCrowdManager::DrawDebugGeometry(DebugRenderer* debug, bool depthTest)
             if (!ag->active)
                 continue;
 
+            // Draw CrowdAgent shape (from its radius & height)
+            CrowdAgent* crowdAgent = static_cast<CrowdAgent*>(ag->params.userData);
+            crowdAgent->DrawDebugGeometry(debug, depthTest);
+
+            // Draw move target if any
+            if (crowdAgent->GetTargetState() == CROWD_AGENT_TARGET_NONE)
+                continue;
+
             Color color(0.6f, 0.2f, 0.2f, 1.0f);
 
-            // Render line to target:
+            // Draw line to target
             Vector3 pos1(ag->npos[0], ag->npos[1], ag->npos[2]);
             Vector3 pos2;
             for (int i = 0; i < ag->ncorners; ++i)
@@ -167,12 +210,8 @@ void DetourCrowdManager::DrawDebugGeometry(DebugRenderer* debug, bool depthTest)
             pos2.z_ = ag->targetPos[2];
             debug->AddLine(pos1, pos2, color, depthTest);
 
-            // Target circle
+            // Draw target circle
             debug->AddSphere(Sphere(pos2, 0.5f), color, depthTest);
-
-            // Draw CrowdAgent shape (from its radius & height)
-            CrowdAgent* crowdAgent = static_cast<CrowdAgent*>(ag->params.userData);
-            crowdAgent->DrawDebugGeometry(debug, depthTest);
         }
     }
 }
@@ -246,6 +285,7 @@ int DetourCrowdManager::AddAgent(CrowdAgent* agent, const Vector3& pos)
     if (!crowd_ || navigationMesh_.Expired())
         return -1;
     dtCrowdAgentParams params;
+    params.userData = agent;
     if (agent->radius_ <= 0.0f)
         agent->radius_ = navigationMesh_->GetAgentRadius();
     params.radius = agent->radius_;
@@ -444,11 +484,6 @@ const dtCrowdAgent* DetourCrowdManager::GetCrowdAgent(int agent)
     return crowd_ ? crowd_->getAgent(agent) : 0;
 }
 
-dtCrowd* DetourCrowdManager::GetCrowd()
-{
-    return crowd_;
-}
-
 void DetourCrowdManager::HandleSceneSubsystemUpdate(StringHash eventType, VariantMap& eventData)
 {
     using namespace SceneSubsystemUpdate;

Source/Urho3D/Navigation/DetourCrowdManager.h

@@ -43,7 +43,7 @@ enum NavigationQuality
 
 enum NavigationPushiness
 {
-    PUSHINESS_LOW,
+    PUSHINESS_LOW = 0,
     PUSHINESS_MEDIUM,
     PUSHINESS_HIGH
 };
@@ -69,9 +69,15 @@ public:
     void SetAreaCost(unsigned filterTypeID, unsigned areaID, float weight);
     /// Set the maximum number of agents.
     void SetMaxAgents(unsigned agentCt);
+    /// Set the crowd move target. The move target is applied to all crowd agents within the id range, excluding crowd agent which does not have acceleration.
+    void SetCrowdTarget(const Vector3& position, int startId = 0, int endId = M_MAX_INT);
+    /// Reset the crowd move target to all crowd agents within the id range, excluding crowd agent which does not have acceleration.
+    void ResetCrowdTarget(int startId = 0, int endId = M_MAX_INT);
+    /// Set the crowd move velocity. The move velocity is applied to all crowd agents within the id range, excluding crowd agent which does not have acceleration.
+    void SetCrowdVelocity(const Vector3& velocity, int startId = 0, int endId = M_MAX_INT);
 
     /// Get the Navigation mesh assigned to the crowd.
-    NavigationMesh* GetNavigationMesh();
+    NavigationMesh* GetNavigationMesh() const { return navigationMesh_; }
     /// Get the cost of an area-type for the specified navigation filter type.
     float GetAreaCost(unsigned filterTypeID, unsigned areaID) const;
     /// Get the maximum number of agents.
@@ -84,7 +90,7 @@ public:
     /// Add debug geometry to the debug renderer.
     void DrawDebugGeometry(bool depthTest);
     /// Get the currently included agents.
-    PODVector<CrowdAgent*> GetActiveAgents() const { return agents_; }
+    const PODVector<CrowdAgent*>& GetActiveAgents() const { return agents_; }
     /// Create detour crowd component for the specified navigation mesh.
     bool CreateCrowd();
 
@@ -115,7 +121,7 @@ protected:
     /// Get the detour crowd agent.
     const dtCrowdAgent* GetCrowdAgent(int agent);
     /// Get the internal detour crowd component.
-    dtCrowd* GetCrowd();
+    dtCrowd* GetCrowd() const { return crowd_; }
 
 private:
     /// Handle the scene subsystem update event.

Source/Urho3D/Navigation/NavigationEvents.h

@@ -50,6 +50,7 @@ EVENT(E_CROWD_AGENT_REPOSITION, CrowdAgentReposition)
     PARAM(P_CROWD_AGENT, CrowdAgent); // CrowdAgent pointer
     PARAM(P_POSITION, Position); // Vector3
     PARAM(P_VELOCITY, Velocity); // Vector3
+    PARAM(P_ARRIVED, Arrived); // bool
 }
 
 /// Crowd agent's internal state has become invalidated.

Source/Urho3D/Navigation/OffMeshConnection.cpp

@@ -41,9 +41,9 @@ OffMeshConnection::OffMeshConnection(Context* context) :
     endPointID_(0),
     radius_(DEFAULT_RADIUS),
     bidirectional_(true),
+    endPointDirty_(false),
     mask_(DEFAULT_MASK_FLAG),
-    areaId_(DEFAULT_AREA),
-    endPointDirty_(false)
+    areaId_(DEFAULT_AREA)
 {
 }
 
@@ -54,7 +54,7 @@ OffMeshConnection::~OffMeshConnection()
 void OffMeshConnection::RegisterObject(Context* context)
 {
     context->RegisterFactory<OffMeshConnection>(NAVIGATION_CATEGORY);
-    
+
     ACCESSOR_ATTRIBUTE("Is Enabled", IsEnabled, SetEnabled, bool, true, AM_DEFAULT);
     ATTRIBUTE("Endpoint NodeID", int, endPointID_, 0, AM_DEFAULT | AM_NODEID);
     ATTRIBUTE("Radius", float, radius_, DEFAULT_RADIUS, AM_DEFAULT);
@@ -66,7 +66,7 @@ void OffMeshConnection::RegisterObject(Context* context)
 void OffMeshConnection::OnSetAttribute(const AttributeInfo& attr, const Variant& src)
 {
     Serializable::OnSetAttribute(attr, src);
-    
+
     if (attr.offset_ == offsetof(OffMeshConnection, endPointID_))
         endPointDirty_ = true;
 }
@@ -85,10 +85,10 @@ void OffMeshConnection::DrawDebugGeometry(DebugRenderer* debug, bool depthTest)
 {
     if (!node_ || !endPoint_)
         return;
-    
+
     Vector3 start = node_->GetWorldPosition();
     Vector3 end = endPoint_->GetWorldPosition();
-    
+
     debug->AddSphere(Sphere(start, radius_), Color::WHITE, depthTest);
     debug->AddSphere(Sphere(end, radius_), Color::WHITE, depthTest);
     debug->AddLine(start, end, Color::WHITE, depthTest);

Source/Urho3D/Script/NavigationAPI.cpp

@@ -57,7 +57,7 @@ static CScriptArray* DynamicNavigationMeshFindPath(const Vector3& start, const V
 
 static CScriptArray* DetourCrowdManagerGetActiveAgents(DetourCrowdManager* crowd)
 {
-    PODVector<CrowdAgent*> agents = crowd->GetActiveAgents();
+    const PODVector<CrowdAgent*>& agents = crowd->GetActiveAgents();
     return VectorToHandleArray<CrowdAgent>(agents, "Array<CrowdAgent@>");
 }
 
@@ -185,6 +185,9 @@ void RegisterDetourCrowdManager(asIScriptEngine* engine)
     engine->RegisterObjectMethod("DetourCrowdManager", "Array<CrowdAgent@>@ GetActiveAgents()", asFUNCTION(DetourCrowdManagerGetActiveAgents), asCALL_CDECL_OBJLAST);
     engine->RegisterObjectMethod("DetourCrowdManager", "void SetAreaCost(uint, uint, float)", asMETHOD(DetourCrowdManager, SetAreaCost), asCALL_THISCALL);
     engine->RegisterObjectMethod("DetourCrowdManager", "float GetAreaCost(uint, uint)", asMETHOD(DetourCrowdManager, GetAreaCost), asCALL_THISCALL);
+    engine->RegisterObjectMethod("DetourCrowdManager", "void SetCrowdTarget(const Vector3&in, int startId = 0, int endId = M_MAX_INT)", asMETHOD(DetourCrowdManager, SetCrowdTarget), asCALL_THISCALL);
+    engine->RegisterObjectMethod("DetourCrowdManager", "void ResetCrowdTarget(int startId = 0, int endId = M_MAX_INT)", asMETHOD(DetourCrowdManager, ResetCrowdTarget), asCALL_THISCALL);
+    engine->RegisterObjectMethod("DetourCrowdManager", "void SetCrowdVelocity(const Vector3&in, int startId = 0, int endId = M_MAX_INT)", asMETHOD(DetourCrowdManager, SetCrowdVelocity), asCALL_THISCALL);
 }
 
 void RegisterCrowdAgent(asIScriptEngine* engine)
@@ -197,7 +200,6 @@ void RegisterCrowdAgent(asIScriptEngine* engine)
     engine->RegisterEnumValue("CrowdTargetState", "CROWD_AGENT_TARGET_WAITINGFORPATH", CROWD_AGENT_TARGET_WAITINGFORPATH);
     engine->RegisterEnumValue("CrowdTargetState", "CROWD_AGENT_TARGET_WAITINGFORQUEUE", CROWD_AGENT_TARGET_WAITINGFORQUEUE);
     engine->RegisterEnumValue("CrowdTargetState", "CROWD_AGENT_TARGET_VELOCITY", CROWD_AGENT_TARGET_VELOCITY);
-    engine->RegisterEnumValue("CrowdTargetState", "CROWD_AGENT_TARGET_ARRIVED", CROWD_AGENT_TARGET_ARRIVED);
 
     engine->RegisterEnum("CrowdAgentState");
     engine->RegisterEnumValue("CrowdAgentState", "CROWD_AGENT_INVALID", CROWD_AGENT_INVALID);
@@ -218,8 +220,8 @@ void RegisterCrowdAgent(asIScriptEngine* engine)
     engine->RegisterObjectMethod("CrowdAgent", "void DrawDebugGeometry(bool)", asMETHODPR(CrowdAgent, DrawDebugGeometry, (bool), void), asCALL_THISCALL);
     engine->RegisterObjectMethod("CrowdAgent", "uint get_navigationFilterType()", asMETHOD(CrowdAgent, GetNavigationFilterType), asCALL_THISCALL);
     engine->RegisterObjectMethod("CrowdAgent", "void set_navigationFilterType(uint)", asMETHOD(CrowdAgent, SetNavigationFilterType), asCALL_THISCALL);
-    engine->RegisterObjectMethod("CrowdAgent", "bool SetMoveTarget(const Vector3&in)", asMETHOD(CrowdAgent, SetMoveTarget), asCALL_THISCALL);
-    engine->RegisterObjectMethod("CrowdAgent", "bool SetMoveVelocity(const Vector3&in)", asMETHOD(CrowdAgent, SetMoveVelocity), asCALL_THISCALL);
+    engine->RegisterObjectMethod("CrowdAgent", "void SetMoveTarget(const Vector3&in)", asMETHOD(CrowdAgent, SetMoveTarget), asCALL_THISCALL);
+    engine->RegisterObjectMethod("CrowdAgent", "void SetMoveVelocity(const Vector3&in)", asMETHOD(CrowdAgent, SetMoveVelocity), asCALL_THISCALL);
     engine->RegisterObjectMethod("CrowdAgent", "void set_updateNodePosition(bool)", asMETHOD(CrowdAgent, SetUpdateNodePosition), asCALL_THISCALL);
     engine->RegisterObjectMethod("CrowdAgent", "bool get_updateNodePosition() const", asMETHOD(CrowdAgent, GetUpdateNodePosition), asCALL_THISCALL);
     engine->RegisterObjectMethod("CrowdAgent", "void set_maxAccel(float)", asMETHOD(CrowdAgent, SetMaxAccel), asCALL_THISCALL);
@@ -230,6 +232,7 @@ void RegisterCrowdAgent(asIScriptEngine* engine)
     engine->RegisterObjectMethod("CrowdAgent", "NavigationAvoidanceQuality get_navigationQuality()", asMETHOD(CrowdAgent, GetNavigationQuality), asCALL_THISCALL);
     engine->RegisterObjectMethod("CrowdAgent", "void set_navigationPushiness(NavigationPushiness)", asMETHOD(CrowdAgent, SetNavigationPushiness), asCALL_THISCALL);
     engine->RegisterObjectMethod("CrowdAgent", "NavigationPushiness get_navigationPushiness()", asMETHOD(CrowdAgent, GetNavigationPushiness), asCALL_THISCALL);
+    engine->RegisterObjectMethod("CrowdAgent", "bool get_arrived() const", asMETHOD(CrowdAgent, HasArrived), asCALL_THISCALL);
     engine->RegisterObjectMethod("CrowdAgent", "Vector3 get_desiredVelocity() const", asMETHOD(CrowdAgent, GetDesiredVelocity), asCALL_THISCALL);
     engine->RegisterObjectMethod("CrowdAgent", "Vector3 get_actualVelocity() const", asMETHOD(CrowdAgent, GetActualVelocity), asCALL_THISCALL);
     engine->RegisterObjectMethod("CrowdAgent", "Vector3 get_targetPosition() const", asMETHOD(CrowdAgent, GetTargetPosition), asCALL_THISCALL);

bin/Data/LuaScripts/39_CrowdNavigation.lua

@@ -11,10 +11,7 @@
 
 require "LuaScripts/Utilities/Sample"
 
-local navMesh = nil
-local crowdManager = nil
-local agents = {}
-local NUM_BARRELS = 20
+local INSTRUCTION = "instructionText"
 
 function Start()
     -- Execute the common startup for samples
@@ -68,9 +65,9 @@ function CreateScene()
 
     -- Create randomly sized boxes. If boxes are big enough, make them occluders. Occluders will be software rasterized before
     -- rendering to a low-resolution depth-only buffer to test the objects in the view frustum for visibility
-    local boxes = {}
+    local boxGroup = scene_:CreateChild("Boxes")
     for i = 1, 20 do
-        local boxNode = scene_:CreateChild("Box")
+        local boxNode = boxGroup:CreateChild("Box")
         local size = 1.0 + Random(10.0)
         boxNode.position = Vector3(Random(80.0) - 40.0, size * 0.5, Random(80.0) - 40.0)
         boxNode:SetScale(size)
@@ -80,12 +77,11 @@ function CreateScene()
         boxObject.castShadows = true
         if size >= 3.0 then
             boxObject.occluder = true
-            table.insert(boxes, boxNode)
         end
     end
 
     -- Create a DynamicNavigationMesh component to the scene root
-    navMesh = scene_:CreateComponent("DynamicNavigationMesh")
+    local navMesh = scene_:CreateComponent("DynamicNavigationMesh")
     -- Enable drawing debug geometry for obstacles and off-mesh connections
     navMesh.drawObstacles = true
     navMesh.drawOffMeshConnections = true
@@ -107,7 +103,7 @@ function CreateScene()
     -- Create an off-mesh connection for each box to make it climbable (tiny boxes are skipped).
     -- 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(boxes)
+    CreateBoxOffMeshConnections(navMesh, boxGroup)
 
     -- Create some mushrooms as obstacles. Note that obstacles are non-walkable areas
     for i = 1, 100 do
@@ -115,10 +111,10 @@ function CreateScene()
     end
 
     -- Create a DetourCrowdManager component to the scene root (mandatory for crowd agents)
-    crowdManager = scene_:CreateComponent("DetourCrowdManager")
+    scene_:CreateComponent("DetourCrowdManager")
 
     -- 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()
+    CreateMovingBarrels(navMesh)
 
     -- Create Jack node as crowd agent
     SpawnJack(Vector3(-5, 0, 20))
@@ -129,8 +125,10 @@ function CreateScene()
     local camera = cameraNode:CreateComponent("Camera")
     camera.farClip = 300.0
 
-    -- Set an initial position for the camera scene node above the plane
-    cameraNode.position = Vector3(0.0, 5.0, 0.0)
+    -- Set an initial position for the camera scene node above the plane and looking down
+    cameraNode.position = Vector3(0.0, 50.0, 0.0)
+    pitch = 80.0
+    cameraNode.rotation = Quaternion(pitch, yaw, 0.0)
 end
 
 function CreateUI()
@@ -144,14 +142,15 @@ function CreateUI()
     cursor:SetPosition(graphics.width / 2, graphics.height / 2)
 
     -- Construct new Text object, set string to display and font to use
-    local instructionText = ui.root:CreateChild("Text")
+    local instructionText = ui.root:CreateChild("Text", INSTRUCTION)
     instructionText.text = "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"
-    instructionText:SetFont(cache:GetResource("Font", "Fonts/Anonymous Pro.ttf"), 12)
+        "Space to toggle debug geometry\n"..
+        "F12 to toggle this instruction text"
+    instructionText:SetFont(cache:GetResource("Font", "Fonts/Anonymous Pro.ttf"), 15)
     -- The text has multiple rows. Center them in relation to each other
     instructionText.textAlignment = HA_CENTER
 
@@ -171,13 +170,15 @@ function SubscribeToEvents()
     -- Subscribe HandleUpdate() function for processing update events
     SubscribeToEvent("Update", "HandleUpdate")
 
-    -- Subscribe HandlePostRenderUpdate() function for processing the post-render update event, during which we request
-    -- debug geometry
+    -- Subscribe HandlePostRenderUpdate() function for processing the post-render update event, during which we request debug geometry
     SubscribeToEvent("PostRenderUpdate", "HandlePostRenderUpdate")
 
     -- Subscribe HandleCrowdAgentFailure() function for resolving invalidation issues with agents, during which we
     -- use a larger extents for finding a point on the navmesh to fix the agent's position
     SubscribeToEvent("CrowdAgentFailure", "HandleCrowdAgentFailure")
+
+    -- Subscribe HandleCrowdAgentReposition() function for controlling the animation
+    SubscribeToEvent("CrowdAgentReposition", "HandleCrowdAgentReposition")
 end
 
 function SpawnJack(pos)
@@ -192,9 +193,8 @@ function SpawnJack(pos)
     -- Create a CrowdAgent component and set its height and realistic max speed/acceleration. Use default radius
     local agent = jackNode:CreateComponent("CrowdAgent")
     agent.height = 2.0
-    agent.maxSpeed = 4.0
+    agent.maxSpeed = 3.0
     agent.maxAccel = 100.0
-    agents = crowdManager:GetActiveAgents() -- Update agents container
 end
 
 function CreateMushroom(pos)
@@ -213,7 +213,8 @@ function CreateMushroom(pos)
     obstacle.height = mushroomNode.scale.y
 end
 
-function CreateBoxOffMeshConnections(boxes)
+function CreateBoxOffMeshConnections(navMesh, boxGroup)
+    boxes = boxGroup:GetChildren()
     for i, box in ipairs(boxes) do
         local boxPos = box.position
         local boxHalfSize = box.scale.x / 2
@@ -230,14 +231,14 @@ function CreateBoxOffMeshConnections(boxes)
     end
 end
 
-function CreateMovingBarrels()
+function CreateMovingBarrels(navMesh)
     local barrel = scene_:CreateChild("Barrel")
     local model = barrel:CreateComponent("StaticModel")
     model.model = cache:GetResource("Model", "Models/Cylinder.mdl")
     model.material = cache:GetResource("Material", "Materials/StoneTiled.xml")
     model.material:SetTexture(TU_DIFFUSE, cache:GetResource("Texture2D", "Textures/TerrainDetail2.dds"))
     model.castShadows = true
-    for i = 1, NUM_BARRELS do
+    for i = 1, 20 do
         local clone = barrel:Clone()
         local size = 0.5 + Random(1)
         clone.scale = Vector3(size / 1.5, size * 2, size / 1.5)
@@ -249,38 +250,19 @@ function CreateMovingBarrels()
     barrel:Remove()
 end
 
-function SetPathPoint()
+function SetPathPoint(spawning)
     local hitPos, hitDrawable = Raycast(250.0)
 
     if hitDrawable then
+        local navMesh = scene_:GetComponent("DynamicNavigationMesh")
         local pathPos = navMesh:FindNearestPoint(hitPos, Vector3.ONE)
 
-        if input:GetQualifierDown(QUAL_SHIFT) then
-            -- Spawn a Jack
+        if spawning then
+            -- Spawn a jack at the target position
             SpawnJack(pathPos)
-
-        elseif input:GetQualifierDown(QUAL_CTRL) and table.maxn(agents) > NUM_BARRELS then
-            -- Teleport
-            local agent = agents[NUM_BARRELS + 1] -- Get first Jack agent
-            local node = agent.node
-            node:LookAt(pathPos) -- Face target
-            agent:SetMoveVelocity(Vector3.ZERO) -- Stop agent
-            node.position = pathPos
-
         else
-            -- Set target position and init agents' move
-            for i = NUM_BARRELS + 1, table.maxn(agents) do
-                local agent = agents[i]
-                if i == NUM_BARRELS + 1 then
-                    -- The first Jack agent will always move to the exact position and is strong enough to push barrels and his siblings (no avoidance)
-                    agent.navigationPushiness = PUSHINESS_HIGH
-                    agent:SetMoveTarget(pathPos)
-                else
-                    -- Other Jack agents will move to a random point nearby
-                    local targetPos = navMesh:FindNearestPoint(pathPos + Vector3(Random(-4.5, 4.5), 0, Random(-4.5, 4.5)), Vector3.ONE)
-                    agent:SetMoveTarget(targetPos)
-                end
-            end
+            -- Set crowd agents target position
+            scene_:GetComponent("DetourCrowdManager"):SetCrowdTarget(pathPos)
         end
     end
 end
@@ -295,7 +277,6 @@ function AddOrRemoveObject()
             hitNode:Remove()
         elseif hitNode.name == "Jack" then
             hitNode:Remove()
-            agents = crowdManager:GetActiveAgents() -- Update agents container
         else
             CreateMushroom(hitPos)
         end
@@ -360,30 +341,29 @@ function MoveCamera(timeStep)
     if input:GetKeyDown(KEY_D) then
         cameraNode:Translate(Vector3(1.0, 0.0, 0.0) * MOVE_SPEED * timeStep)
     end
+
     -- Set destination or spawn a jack with left mouse button
     if input:GetMouseButtonPress(MOUSEB_LEFT) then
-        SetPathPoint()
-    end
+        SetPathPoint(input:GetQualifierDown(QUAL_SHIFT))
     -- Add new obstacle or remove existing obstacle/agent with middle mouse button
-    if input:GetMouseButtonPress(MOUSEB_MIDDLE) then
+    elseif input:GetMouseButtonPress(MOUSEB_MIDDLE) then
         AddOrRemoveObject()
     end
 
     -- Check for loading/saving the scene from/to the file Data/Scenes/CrowdNavigation.xml relative to the executable directory
     if input:GetKeyPress(KEY_F5) then
         scene_:SaveXML(fileSystem:GetProgramDir().."Data/Scenes/CrowdNavigation.xml")
-    end
-    if input:GetKeyPress(KEY_F7) then
+    elseif input:GetKeyPress(KEY_F7) then
         scene_:LoadXML(fileSystem:GetProgramDir().."Data/Scenes/CrowdNavigation.xml")
-        -- After reload, reacquire navMesh, crowd manager & agents
-        navMesh = scene_:GetComponent("DynamicNavigationMesh")
-        crowdManager = scene_:GetComponent("DetourCrowdManager")
-        agents = crowdManager:GetActiveAgents()
-    end
 
     -- Toggle debug geometry with space
-    if input:GetKeyPress(KEY_SPACE) then
+    elseif input:GetKeyPress(KEY_SPACE) then
         drawDebug = not drawDebug
+
+    -- Toggle instruction text with F12
+    elseif input:GetKeyPress(KEY_F12) then
+        instruction = ui.root:GetChild(INSTRUCTION)
+        instruction.visible = not instruction.visible
     end
 end
 
@@ -393,30 +373,14 @@ function HandleUpdate(eventType, eventData)
 
     -- Move the camera, scale movement with time step
     MoveCamera(timeStep)
-
-    -- Make the Jack CrowdAgents face the direction of their velocity and update animation
-    for i = NUM_BARRELS + 1, table.maxn(agents) do
-        local agent = agents[i]
-        local node = agent.node
-        local animCtrl = node:GetComponent("AnimationController")
-        local velocity = agent.actualVelocity
-
-        if velocity:Length() < 0.6 then
-            animCtrl:Stop("Models/Jack_Walk.ani", 0.2)
-        else
-            node.worldDirection = velocity
-            animCtrl:PlayExclusive("Models/Jack_Walk.ani", 0, true, 0.2)
-            animCtrl:SetSpeed("Models/Jack_Walk.ani", velocity:Length() * 0.3)
-        end
-    end
 end
 
 function HandlePostRenderUpdate(eventType, eventData)
     if drawDebug then
         -- Visualize navigation mesh, obstacles and off-mesh connections
-        navMesh:DrawDebugGeometry(true)
+        scene_:GetComponent("DynamicNavigationMesh"):DrawDebugGeometry(true)
         -- Visualize agents' path and position to reach
-        crowdManager:DrawDebugGeometry(true)
+        scene_:GetComponent("DetourCrowdManager"):DrawDebugGeometry(true)
     end
 end
 
@@ -427,12 +391,36 @@ function HandleCrowdAgentFailure(eventType, eventData)
     -- 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 == CROWD_AGENT_INVALID then
         -- Get a point on the navmesh using more generous extents
-        local newPos = navMesh:FindNearestPoint(node.position, Vector3(5, 5, 5))
+        local newPos = scene_:GetComponent("DynamicNavigationMesh"):FindNearestPoint(node.position, Vector3(5, 5, 5))
         -- Set the new node position, CrowdAgent component will automatically reset the state of the agent
         node.position = newPos
     end
 end
 
+function HandleCrowdAgentReposition(eventType, eventData)
+    local WALKING_ANI = "Models/Jack_Walk.ani"
+
+    local node = eventData:GetPtr("Node", "Node")
+    local agent = eventData:GetPtr("CrowdAgent", "CrowdAgent")
+    local velocity = eventData:GetVector3("Velocity")
+
+    -- Only Jack agent has animation controller
+    local animCtrl = node:GetComponent("AnimationController")
+    if animCtrl ~= nil then
+        local speed = velocity:Length()
+        if speed < agent.radius then
+            -- If speed is too low then stopping the animation
+            animCtrl:Stop(WALKING_ANI, 0.8)
+        else
+            -- Face the direction of its velocity
+            node.worldDirection = velocity
+            animCtrl:Play(WALKING_ANI, 0, true)
+            -- Throttle the animation speed based on agent speed ratio (ratio = 1 is full throttle)
+            animCtrl:SetSpeed(WALKING_ANI, speed / agent.maxSpeed)
+        end
+    end
+end
+
 -- Create XML patch instructions for screen joystick layout specific to this sample app
 function GetScreenJoystickPatchString()
     return

bin/Data/Scripts/39_CrowdNavigation.as

@@ -11,9 +11,7 @@
 
 #include "Scripts/Utilities/Sample.as"
 
-DynamicNavigationMesh@ navMesh;
-DetourCrowdManager@ crowdManager;
-const int NUM_BARRELS = 20;
+const String INSTRUCTION("instructionText");
 
 void Start()
 {
@@ -70,10 +68,10 @@ void CreateScene()
 
     // Create randomly sized boxes. If boxes are big enough, make them occluders. Occluders will be software rasterized before
     // rendering to a low-resolution depth-only buffer to test the objects in the view frustum for visibility
-    Array<Node@> boxes;
+    Node@ boxGroup = scene_.CreateChild("Boxes");
     for (uint i = 0; i < 20; ++i)
     {
-        Node@ boxNode = scene_.CreateChild("Box");
+        Node@ boxNode = boxGroup.CreateChild("Box");
         float size = 1.0f + Random(10.0f);
         boxNode.position = Vector3(Random(80.0f) - 40.0f, size * 0.5f, Random(80.0f) - 40.0f);
         boxNode.SetScale(size);
@@ -82,14 +80,11 @@ void CreateScene()
         boxObject.material = cache.GetResource("Material", "Materials/Stone.xml");
         boxObject.castShadows = true;
         if (size >= 3.0f)
-        {
             boxObject.occluder = true;
-            boxes.Push(boxNode);
-        }
     }
 
     // Create a DynamicNavigationMesh component to the scene root
-    navMesh = scene_.CreateComponent("DynamicNavigationMesh");
+    DynamicNavigationMesh@ navMesh = scene_.CreateComponent("DynamicNavigationMesh");
     // Enable drawing debug geometry for obstacles and off-mesh connections
     navMesh.drawObstacles = true;
     navMesh.drawOffMeshConnections = true;
@@ -111,17 +106,17 @@ void CreateScene()
     // Create an off-mesh connection to each box to make it 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(boxes);
+    CreateBoxOffMeshConnections(navMesh, boxGroup);
 
     // Create some mushrooms as obstacles. Note that obstacles are non-walkable areas
     for (uint i = 0; i < 100; ++i)
         CreateMushroom(Vector3(Random(90.0f) - 45.0f, 0.0f, Random(90.0f) - 45.0f));
 
     // Create a DetourCrowdManager component to the scene root (mandatory for crowd agents)
-    crowdManager = scene_.CreateComponent("DetourCrowdManager");
+    scene_.CreateComponent("DetourCrowdManager");
 
     // 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();
+    CreateMovingBarrels(navMesh);
 
     // Create Jack node as crowd agent
     SpawnJack(Vector3(-5.0f, 0, 20.0f));
@@ -132,8 +127,10 @@ void CreateScene()
     Camera@ camera = cameraNode.CreateComponent("Camera");
     camera.farClip = 300.0f;
 
-    // Set an initial position for the camera scene node above the plane
-    cameraNode.position = Vector3(0.0f, 5.0f, 0.0f);
+    // Set an initial position for the camera scene node above the plane and looking down
+    cameraNode.position = Vector3(0.0f, 50.0f, 0.0f);
+    pitch = 80.0f;
+    cameraNode.rotation = Quaternion(pitch, yaw, 0.0f);
 }
 
 void CreateUI()
@@ -148,15 +145,16 @@ void CreateUI()
     cursor.SetPosition(graphics.width / 2, graphics.height / 2);
 
     // Construct new Text object, set string to display and font to use
-    Text@ instructionText = ui.root.CreateChild("Text");
+    Text@ instructionText = ui.root.CreateChild("Text", INSTRUCTION);
     instructionText.text =
         "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";
-    instructionText.SetFont(cache.GetResource("Font", "Fonts/Anonymous Pro.ttf"), 12);
+        "Space to toggle debug geometry\n"
+        "F12 to toggle this instruction text";
+    instructionText.SetFont(cache.GetResource("Font", "Fonts/Anonymous Pro.ttf"), 15);
     // The text has multiple rows. Center them in relation to each other
     instructionText.textAlignment = HA_CENTER;
 
@@ -178,13 +176,15 @@ void SubscribeToEvents()
     // Subscribe HandleUpdate() function for processing update events
     SubscribeToEvent("Update", "HandleUpdate");
 
-    // Subscribe HandlePostRenderUpdate() function for processing the post-render update event, during which we request
-    // debug geometry
+    // Subscribe HandlePostRenderUpdate() function for processing the post-render update event, during which we request debug geometry
     SubscribeToEvent("PostRenderUpdate", "HandlePostRenderUpdate");
 
     // Subscribe HandleCrowdAgentFailure() function for resolving invalidation issues with agents, during which we
     // use a larger extents for finding a point on the navmesh to fix the agent's position
     SubscribeToEvent("CrowdAgentFailure", "HandleCrowdAgentFailure");
+
+    // Subscribe HandleCrowdAgentReposition() function for controlling the animation
+    SubscribeToEvent("CrowdAgentReposition", "HandleCrowdAgentReposition");
 }
 
 void CreateMushroom(const Vector3& pos)
@@ -217,12 +217,13 @@ void SpawnJack(const Vector3& pos)
     // Create a CrowdAgent component and set its height and realistic max speed/acceleration. Use default radius
     CrowdAgent@ agent = jackNode.CreateComponent("CrowdAgent");
     agent.height = 2.0f;
-    agent.maxSpeed = 4.0f;
+    agent.maxSpeed = 3.0f;
     agent.maxAccel = 100.0f;
 }
 
-void CreateBoxOffMeshConnections(Array<Node@> boxes)
+void CreateBoxOffMeshConnections(DynamicNavigationMesh@ navMesh, Node@ boxGroup)
 {
+    Array<Node@>@ boxes = boxGroup.GetChildren();
     for (uint i=0; i < boxes.length; ++i)
     {
         Node@ box = boxes[i];
@@ -241,7 +242,7 @@ void CreateBoxOffMeshConnections(Array<Node@> boxes)
     }
 }
 
-void CreateMovingBarrels()
+void CreateMovingBarrels(DynamicNavigationMesh@ navMesh)
 {
     Node@ barrel = scene_.CreateChild("Barrel");
     StaticModel@ model = barrel.CreateComponent("StaticModel");
@@ -250,7 +251,7 @@ void CreateMovingBarrels()
     model.material = material;
     material.textures[TU_DIFFUSE] = cache.GetResource("Texture2D", "Textures/TerrainDetail2.dds");
     model.castShadows = true;
-    for (uint i = 0;  i < NUM_BARRELS; ++i)
+    for (uint i = 0;  i < 20; ++i)
     {
         Node@ clone = barrel.Clone();
         float size = 0.5 + Random(1);
@@ -263,52 +264,21 @@ void CreateMovingBarrels()
     barrel.Remove();
 }
 
-void SetPathPoint()
+void SetPathPoint(bool spawning)
 {
     Vector3 hitPos;
     Drawable@ hitDrawable;
 
     if (Raycast(250.0f, hitPos, hitDrawable))
     {
+        DynamicNavigationMesh@ navMesh = scene_.GetComponent("DynamicNavigationMesh");
         Vector3 pathPos = navMesh.FindNearestPoint(hitPos, Vector3(1.0f, 1.0f, 1.0f));
-
-        if (input.qualifierDown[QUAL_SHIFT])
-            // Spawn a jack
+        if (spawning)
+            // Spawn a jack at the target position
             SpawnJack(pathPos);
-        else if (input.qualifierDown[QUAL_CTRL])
-        {
-            // Teleport
-            Array<CrowdAgent@>@ agents = crowdManager.GetActiveAgents();
-            if (agents.length <= NUM_BARRELS)
-                return;
-            CrowdAgent@ agent = agents[NUM_BARRELS]; // Get first Jack agent
-            Node@ node = agent.node;
-            node.LookAt(pathPos); // Face target
-            agent.SetMoveVelocity(Vector3(0.0, 0.0, 0.0)); // Stop agent
-            node.position = pathPos;
-        }
         else
-        {
-            // Set target position and init agents' move
-            Array<CrowdAgent@>@ agents = crowdManager.GetActiveAgents();
-            for (uint i = NUM_BARRELS; i < agents.length; ++i)
-            {
-                CrowdAgent@ agent = agents[i];
-
-                if (i == NUM_BARRELS)
-                {
-                    // The first Jack agent will always move to the exact position and is strong enough to push barrels and his siblings (no avoidance)
-                    agent.navigationPushiness = PUSHINESS_HIGH;
-                    agent.SetMoveTarget(pathPos);
-                }
-                else
-                {
-                    // Other Jack agents will move to a random point nearby
-                    Vector3 targetPos = navMesh.FindNearestPoint(pathPos + Vector3(Random(-4.5f, 4.5f), 0.0f, Random(-4.5, 4.5f)), Vector3(1.0f, 1.0f, 1.0f));
-                    agent.SetMoveTarget(targetPos);
-                }
-            }
-        }
+            // Set crowd agents target position
+            cast<DetourCrowdManager>(scene_.GetComponent("DetourCrowdManager")).SetCrowdTarget(pathPos);
     }
 }
 
@@ -395,9 +365,9 @@ void MoveCamera(float timeStep)
 
     // Set destination or spawn a jack with left mouse button
     if (input.mouseButtonPress[MOUSEB_LEFT])
-        SetPathPoint();
+        SetPathPoint(input.qualifierDown[QUAL_SHIFT]);
     // Add new obstacle or remove existing obstacle/agent with middle mouse button
-    if (input.mouseButtonPress[MOUSEB_MIDDLE])
+    else if (input.mouseButtonPress[MOUSEB_MIDDLE])
         AddOrRemoveObject();
 
     // Check for loading/saving the scene from/to the file Data/Scenes/CrowdNavigation.xml relative to the executable directory
@@ -406,19 +376,22 @@ void MoveCamera(float timeStep)
         File saveFile(fileSystem.programDir + "Data/Scenes/CrowdNavigation.xml", FILE_WRITE);
         scene_.SaveXML(saveFile);
     }
-    if (input.keyPress[KEY_F7])
+    else if (input.keyPress[KEY_F7])
     {
         File loadFile(fileSystem.programDir + "Data/Scenes/CrowdNavigation.xml", FILE_READ);
         scene_.LoadXML(loadFile);
-
-        // After reload, reacquire navMesh & crowd manager
-        navMesh = scene_.GetComponent("DynamicNavigationMesh");
-        crowdManager = scene_.GetComponent("DetourCrowdManager");
     }
 
     // Toggle debug geometry with space
-    if (input.keyPress[KEY_SPACE])
+    else if (input.keyPress[KEY_SPACE])
         drawDebug = !drawDebug;
+
+    // Toggle instruction text with F12
+    else if (input.keyPress[KEY_F12])
+    {
+        UIElement@ instruction = ui.root.GetChild(INSTRUCTION);
+        instruction.visible = !instruction.visible;
+    }
 }
 
 void HandleUpdate(StringHash eventType, VariantMap& eventData)
@@ -428,25 +401,6 @@ void HandleUpdate(StringHash eventType, VariantMap& eventData)
 
     // Move the camera, scale movement with time step
     MoveCamera(timeStep);
-
-    // Make the Jack CrowdAgents face the direction of their velocity and update animation
-    Array<CrowdAgent@>@ agents = crowdManager.GetActiveAgents();
-    for (uint i = NUM_BARRELS; i < agents.length; ++i)
-    {
-        CrowdAgent@ agent = agents[i];
-        Node@ node = agent.node;
-        AnimationController@ animCtrl = node.GetComponent("AnimationController");
-        Vector3 velocity = agent.actualVelocity;
-
-        if (velocity.length < 0.6)
-            animCtrl.Stop("Models/Jack_Walk.ani", 0.2);
-        else
-        {
-            node.worldDirection = velocity;
-            animCtrl.PlayExclusive("Models/Jack_Walk.ani", 0, true, 0.2);
-            animCtrl.SetSpeed("Models/Jack_Walk.ani", velocity.length * 0.3);
-        }
-    }
 }
 
 void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
@@ -454,9 +408,9 @@ void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
     if (drawDebug)
     {
         // Visualize navigation mesh, obstacles and off-mesh connections
-        navMesh.DrawDebugGeometry(true);
+        cast<DynamicNavigationMesh>(scene_.GetComponent("DynamicNavigationMesh")).DrawDebugGeometry(true);
         // Visualize agents' path and position to reach
-        crowdManager.DrawDebugGeometry(true);
+        cast<DetourCrowdManager>(scene_.GetComponent("DetourCrowdManager")).DrawDebugGeometry(true);
     }
 }
 
@@ -469,12 +423,39 @@ void HandleCrowdAgentFailure(StringHash eventType, VariantMap& eventData)
     if (state == CrowdAgentState::CROWD_AGENT_INVALID)
     {
         // Get a point on the navmesh using more generous extents
-        Vector3 newPos = navMesh.FindNearestPoint(node.position, Vector3(5.0f,5.0f,5.0f));
+        Vector3 newPos = cast<DynamicNavigationMesh>(scene_.GetComponent("DynamicNavigationMesh")).FindNearestPoint(node.position, 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;
     }
 }
 
+void HandleCrowdAgentReposition(StringHash eventType, VariantMap& eventData)
+{
+    const String WALKING_ANI = "Models/Jack_Walk.ani";
+
+    Node@ node = eventData["Node"].GetPtr();
+    CrowdAgent@ agent = eventData["CrowdAgent"].GetPtr();
+    Vector3 velocity = eventData["Velocity"].GetVector3();
+
+    // Only Jack agent has animation controller
+    AnimationController@ animCtrl = node.GetComponent("AnimationController");
+    if (animCtrl !is null)
+    {
+        float speed = velocity.length;
+        if (speed < agent.radius)
+            // If speed is too low then stopping the animation
+            animCtrl.Stop(WALKING_ANI, 0.8f);
+        else
+        {
+            // Face the direction of its velocity
+            node.worldDirection = velocity;
+            animCtrl.Play(WALKING_ANI, 0, true);
+            // Throttle the animation speed based on agent speed ratio (ratio = 1 is full throttle)
+            animCtrl.SetSpeed(WALKING_ANI, speed / agent.maxSpeed);
+        }
+    }
+}
+
 // Create XML patch instructions for screen joystick layout specific to this sample app
 String patchInstructions =
         "<patch>" +