Copy 15_Navigation and 39_CrowdNavigation samples.

Source/Samples/48_NavigationStreaming/CMakeLists.txt

@@ -0,0 +1,37 @@
+#
+# Copyright (c) 2008-2017 the Urho3D project.
+#
+# 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.
+#
+
+if (NOT URHO3D_NAVIGATION)
+    return ()
+endif ()
+
+# Define target name
+set (TARGET_NAME 48_NavigationStreaming)
+
+# Define source files
+define_source_files (EXTRA_H_FILES ${COMMON_SAMPLE_H_FILES})
+
+# Setup target with resource copying
+setup_main_executable ()
+
+# Setup test cases
+setup_test ()

Source/Samples/48_NavigationStreaming/Navigation.cpp

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+//
+// Copyright (c) 2008-2017 the Urho3D project.
+//
+// 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.
+//
+
+#include <Urho3D/Core/CoreEvents.h>
+#include <Urho3D/Engine/Engine.h>
+#include <Urho3D/Graphics/AnimatedModel.h>
+#include <Urho3D/Graphics/Camera.h>
+#include <Urho3D/Graphics/DebugRenderer.h>
+#include <Urho3D/Graphics/Graphics.h>
+#include <Urho3D/Graphics/Light.h>
+#include <Urho3D/Graphics/Material.h>
+#include <Urho3D/Graphics/Octree.h>
+#include <Urho3D/Graphics/Renderer.h>
+#include <Urho3D/Graphics/Zone.h>
+#include <Urho3D/Input/Input.h>
+#include <Urho3D/Navigation/Navigable.h>
+#include <Urho3D/Navigation/NavigationMesh.h>
+#include <Urho3D/Resource/ResourceCache.h>
+#include <Urho3D/Scene/Scene.h>
+#include <Urho3D/UI/Font.h>
+#include <Urho3D/UI/Text.h>
+#include <Urho3D/UI/UI.h>
+
+#include "Navigation.h"
+
+#include <Urho3D/DebugNew.h>
+
+URHO3D_DEFINE_APPLICATION_MAIN(Navigation)
+
+Navigation::Navigation(Context* context) :
+    Sample(context),
+    drawDebug_(false)
+{
+}
+
+void Navigation::Start()
+{
+    // Execute base class startup
+    Sample::Start();
+
+    // Create the scene content
+    CreateScene();
+
+    // Create the UI content
+    CreateUI();
+
+    // Setup the viewport for displaying the scene
+    SetupViewport();
+
+    // Hook up to the frame update and render post-update events
+    SubscribeToEvents();
+
+    // Set the mouse mode to use in the sample
+    Sample::InitMouseMode(MM_RELATIVE);
+}
+
+void Navigation::CreateScene()
+{
+    ResourceCache* cache = GetSubsystem<ResourceCache>();
+
+    scene_ = new Scene(context_);
+
+    // Create octree, use default volume (-1000, -1000, -1000) to (1000, 1000, 1000)
+    // Also create a DebugRenderer component so that we can draw debug geometry
+    scene_->CreateComponent<Octree>();
+    scene_->CreateComponent<DebugRenderer>();
+
+    // Create scene node & StaticModel component for showing a static plane
+    Node* planeNode = scene_->CreateChild("Plane");
+    planeNode->SetScale(Vector3(100.0f, 1.0f, 100.0f));
+    StaticModel* planeObject = planeNode->CreateComponent<StaticModel>();
+    planeObject->SetModel(cache->GetResource<Model>("Models/Plane.mdl"));
+    planeObject->SetMaterial(cache->GetResource<Material>("Materials/StoneTiled.xml"));
+
+    // Create a Zone component for ambient lighting & fog control
+    Node* zoneNode = scene_->CreateChild("Zone");
+    Zone* zone = zoneNode->CreateComponent<Zone>();
+    zone->SetBoundingBox(BoundingBox(-1000.0f, 1000.0f));
+    zone->SetAmbientColor(Color(0.15f, 0.15f, 0.15f));
+    zone->SetFogColor(Color(0.5f, 0.5f, 0.7f));
+    zone->SetFogStart(100.0f);
+    zone->SetFogEnd(300.0f);
+
+    // Create a directional light to the world. Enable cascaded shadows on it
+    Node* lightNode = scene_->CreateChild("DirectionalLight");
+    lightNode->SetDirection(Vector3(0.6f, -1.0f, 0.8f));
+    Light* light = lightNode->CreateComponent<Light>();
+    light->SetLightType(LIGHT_DIRECTIONAL);
+    light->SetCastShadows(true);
+    light->SetShadowBias(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->SetShadowCascade(CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f));
+
+    // Create some mushrooms
+    const unsigned NUM_MUSHROOMS = 100;
+    for (unsigned i = 0; i < NUM_MUSHROOMS; ++i)
+        CreateMushroom(Vector3(Random(90.0f) - 45.0f, 0.0f, Random(90.0f) - 45.0f));
+
+    // Create randomly sized boxes. If boxes are big enough, make them occluders
+    const unsigned NUM_BOXES = 20;
+    for (unsigned i = 0; i < NUM_BOXES; ++i)
+    {
+        Node* boxNode = scene_->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);
+        StaticModel* boxObject = boxNode->CreateComponent<StaticModel>();
+        boxObject->SetModel(cache->GetResource<Model>("Models/Box.mdl"));
+        boxObject->SetMaterial(cache->GetResource<Material>("Materials/Stone.xml"));
+        boxObject->SetCastShadows(true);
+        if (size >= 3.0f)
+            boxObject->SetOccluder(true);
+    }
+
+    // Create Jack node that will follow the path
+    jackNode_ = scene_->CreateChild("Jack");
+    jackNode_->SetPosition(Vector3(-5.0f, 0.0f, 20.0f));
+    AnimatedModel* modelObject = jackNode_->CreateComponent<AnimatedModel>();
+    modelObject->SetModel(cache->GetResource<Model>("Models/Jack.mdl"));
+    modelObject->SetMaterial(cache->GetResource<Material>("Materials/Jack.xml"));
+    modelObject->SetCastShadows(true);
+
+    // Create a NavigationMesh component to the scene root
+    NavigationMesh* navMesh = scene_->CreateComponent<NavigationMesh>();
+    // 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));
+    // 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 the camera. Limit far clip distance to match the fog
+    cameraNode_ = scene_->CreateChild("Camera");
+    Camera* camera = cameraNode_->CreateComponent<Camera>();
+    camera->SetFarClip(300.0f);
+
+    // 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 Navigation::CreateUI()
+{
+    ResourceCache* cache = GetSubsystem<ResourceCache>();
+    UI* ui = GetSubsystem<UI>();
+
+    // Create a Cursor UI element because we want to be able to hide and show it at will. When hidden, the mouse cursor will
+    // control the camera, and when visible, it will point the raycast target
+    XMLFile* style = cache->GetResource<XMLFile>("UI/DefaultStyle.xml");
+    SharedPtr<Cursor> cursor(new Cursor(context_));
+    cursor->SetStyleAuto(style);
+    ui->SetCursor(cursor);
+
+    // Set starting position of the cursor at the rendering window center
+    Graphics* graphics = GetSubsystem<Graphics>();
+    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>();
+    instructionText->SetText(
+        "Use WASD keys to move, RMB to rotate view\n"
+        "LMB to set destination, SHIFT+LMB to teleport\n"
+        "MMB or O key to add or remove obstacles\n"
+        "Space to toggle debug geometry"
+    );
+    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);
+
+    // Position the text relative to the screen center
+    instructionText->SetHorizontalAlignment(HA_CENTER);
+    instructionText->SetVerticalAlignment(VA_CENTER);
+    instructionText->SetPosition(0, ui->GetRoot()->GetHeight() / 4);
+}
+
+void Navigation::SetupViewport()
+{
+    Renderer* renderer = GetSubsystem<Renderer>();
+
+    // Set up a viewport to the Renderer subsystem so that the 3D scene can be seen
+    SharedPtr<Viewport> viewport(new Viewport(context_, scene_, cameraNode_->GetComponent<Camera>()));
+    renderer->SetViewport(0, viewport);
+}
+
+void Navigation::SubscribeToEvents()
+{
+    // Subscribe HandleUpdate() function for processing update events
+    SubscribeToEvent(E_UPDATE, URHO3D_HANDLER(Navigation, HandleUpdate));
+
+    // Subscribe HandlePostRenderUpdate() function for processing the post-render update event, during which we request
+    // debug geometry
+    SubscribeToEvent(E_POSTRENDERUPDATE, URHO3D_HANDLER(Navigation, HandlePostRenderUpdate));
+}
+
+void Navigation::MoveCamera(float timeStep)
+{
+    // Right mouse button controls mouse cursor visibility: hide when pressed
+    UI* ui = GetSubsystem<UI>();
+    Input* input = GetSubsystem<Input>();
+    ui->GetCursor()->SetVisible(!input->GetMouseButtonDown(MOUSEB_RIGHT));
+
+    // Do not move if the UI has a focused element (the console)
+    if (ui->GetFocusElement())
+        return;
+
+    // Movement speed as world units per second
+    const float MOVE_SPEED = 20.0f;
+    // Mouse sensitivity as degrees per pixel
+    const float MOUSE_SENSITIVITY = 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 (!ui->GetCursor()->IsVisible())
+    {
+        IntVector2 mouseMove = input->GetMouseMove();
+        yaw_ += MOUSE_SENSITIVITY * mouseMove.x_;
+        pitch_ += MOUSE_SENSITIVITY * mouseMove.y_;
+        pitch_ = Clamp(pitch_, -90.0f, 90.0f);
+
+        // Construct new orientation for the camera scene node from yaw and pitch. Roll is fixed to zero
+        cameraNode_->SetRotation(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(KEY_W))
+        cameraNode_->Translate(Vector3::FORWARD * MOVE_SPEED * timeStep);
+    if (input->GetKeyDown(KEY_S))
+        cameraNode_->Translate(Vector3::BACK * MOVE_SPEED * timeStep);
+    if (input->GetKeyDown(KEY_A))
+        cameraNode_->Translate(Vector3::LEFT * MOVE_SPEED * timeStep);
+    if (input->GetKeyDown(KEY_D))
+        cameraNode_->Translate(Vector3::RIGHT * MOVE_SPEED * timeStep);
+
+    // Set destination or teleport with left mouse button
+    if (input->GetMouseButtonPress(MOUSEB_LEFT))
+        SetPathPoint();
+    // Add or remove objects with middle mouse button, then rebuild navigation mesh partially
+    if (input->GetMouseButtonPress(MOUSEB_MIDDLE) || input->GetKeyPress(KEY_O))
+        AddOrRemoveObject();
+
+    // Toggle debug geometry with space
+    if (input->GetKeyPress(KEY_SPACE))
+        drawDebug_ = !drawDebug_;
+}
+
+void Navigation::SetPathPoint()
+{
+    Vector3 hitPos;
+    Drawable* hitDrawable;
+    NavigationMesh* navMesh = scene_->GetComponent<NavigationMesh>();
+
+    if (Raycast(250.0f, hitPos, hitDrawable))
+    {
+        Vector3 pathPos = navMesh->FindNearestPoint(hitPos, Vector3(1.0f, 1.0f, 1.0f));
+
+        if (GetSubsystem<Input>()->GetQualifierDown(QUAL_SHIFT))
+        {
+            // Teleport
+            currentPath_.Clear();
+            jackNode_->LookAt(Vector3(pathPos.x_, jackNode_->GetPosition().y_, pathPos.z_), Vector3::UP);
+            jackNode_->SetPosition(pathPos);
+        }
+        else
+        {
+            // Calculate path from Jack's current position to the end point
+            endPos_ = pathPos;
+            navMesh->FindPath(currentPath_, jackNode_->GetPosition(), endPos_);
+        }
+    }
+}
+
+void Navigation::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, hitPos, hitDrawable))
+    {
+        // The part of the navigation mesh we must update, which is the world bounding box of the associated
+        // drawable component
+        BoundingBox updateBox;
+
+        Node* hitNode = hitDrawable->GetNode();
+        if (hitNode->GetName() == "Mushroom")
+        {
+            updateBox = hitDrawable->GetWorldBoundingBox();
+            hitNode->Remove();
+        }
+        else
+        {
+            Node* newNode = CreateMushroom(hitPos);
+            updateBox = newNode->GetComponent<StaticModel>()->GetWorldBoundingBox();
+        }
+
+        // Rebuild part of the navigation mesh, then recalculate path if applicable
+        NavigationMesh* navMesh = scene_->GetComponent<NavigationMesh>();
+        navMesh->Build(updateBox);
+        if (currentPath_.Size())
+            navMesh->FindPath(currentPath_, jackNode_->GetPosition(), endPos_);
+    }
+}
+
+Node* Navigation::CreateMushroom(const Vector3& pos)
+{
+    ResourceCache* cache = GetSubsystem<ResourceCache>();
+
+    Node* mushroomNode = scene_->CreateChild("Mushroom");
+    mushroomNode->SetPosition(pos);
+    mushroomNode->SetRotation(Quaternion(0.0f, Random(360.0f), 0.0f));
+    mushroomNode->SetScale(2.0f + Random(0.5f));
+    StaticModel* mushroomObject = mushroomNode->CreateComponent<StaticModel>();
+    mushroomObject->SetModel(cache->GetResource<Model>("Models/Mushroom.mdl"));
+    mushroomObject->SetMaterial(cache->GetResource<Material>("Materials/Mushroom.xml"));
+    mushroomObject->SetCastShadows(true);
+
+    return mushroomNode;
+}
+
+bool Navigation::Raycast(float maxDistance, Vector3& hitPos, Drawable*& hitDrawable)
+{
+    hitDrawable = 0;
+
+    UI* ui = GetSubsystem<UI>();
+    IntVector2 pos = ui->GetCursorPosition();
+    // Check the cursor is visible and there is no UI element in front of the cursor
+    if (!ui->GetCursor()->IsVisible() || ui->GetElementAt(pos, true))
+        return false;
+
+    Graphics* graphics = GetSubsystem<Graphics>();
+    Camera* camera = cameraNode_->GetComponent<Camera>();
+    Ray cameraRay = camera->GetScreenRay((float)pos.x_ / graphics->GetWidth(), (float)pos.y_ / graphics->GetHeight());
+    // Pick only geometry objects, not eg. zones or lights, only get the first (closest) hit
+    PODVector<RayQueryResult> results;
+    RayOctreeQuery query(results, cameraRay, RAY_TRIANGLE, maxDistance, DRAWABLE_GEOMETRY);
+    scene_->GetComponent<Octree>()->RaycastSingle(query);
+    if (results.Size())
+    {
+        RayQueryResult& result = results[0];
+        hitPos = result.position_;
+        hitDrawable = result.drawable_;
+        return true;
+    }
+
+    return false;
+}
+
+void Navigation::FollowPath(float timeStep)
+{
+    if (currentPath_.Size())
+    {
+        Vector3 nextWaypoint = currentPath_[0]; // NB: currentPath[0] is the next waypoint in order
+
+        // Rotate Jack toward next waypoint to reach and move. Check for not overshooting the target
+        float move = 5.0f * timeStep;
+        float distance = (jackNode_->GetPosition() - nextWaypoint).Length();
+        if (move > distance)
+            move = distance;
+
+        jackNode_->LookAt(nextWaypoint, Vector3::UP);
+        jackNode_->Translate(Vector3::FORWARD * move);
+
+        // Remove waypoint if reached it
+        if (distance < 0.1f)
+            currentPath_.Erase(0);
+    }
+}
+
+void Navigation::HandleUpdate(StringHash eventType, VariantMap& eventData)
+{
+    using namespace Update;
+
+    // Take the frame time step, which is stored as a float
+    float timeStep = eventData[P_TIMESTEP].GetFloat();
+
+    // Move the camera, scale movement with time step
+    MoveCamera(timeStep);
+
+    // Make Jack follow the Detour path
+    FollowPath(timeStep);
+}
+
+void Navigation::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
+{
+    // If draw debug mode is enabled, draw navigation mesh debug geometry
+    if (drawDebug_)
+        scene_->GetComponent<NavigationMesh>()->DrawDebugGeometry(true);
+
+    if (currentPath_.Size())
+    {
+        // Visualize the current calculated path
+        DebugRenderer* debug = scene_->GetComponent<DebugRenderer>();
+        debug->AddBoundingBox(BoundingBox(endPos_ - Vector3(0.1f, 0.1f, 0.1f), endPos_ + Vector3(0.1f, 0.1f, 0.1f)),
+            Color(1.0f, 1.0f, 1.0f));
+
+        // Draw the path with a small upward bias so that it does not clip into the surfaces
+        Vector3 bias(0.0f, 0.05f, 0.0f);
+        debug->AddLine(jackNode_->GetPosition() + bias, currentPath_[0] + bias, Color(1.0f, 1.0f, 1.0f));
+
+        if (currentPath_.Size() > 1)
+        {
+            for (unsigned i = 0; i < currentPath_.Size() - 1; ++i)
+                debug->AddLine(currentPath_[i] + bias, currentPath_[i + 1] + bias, Color(1.0f, 1.0f, 1.0f));
+        }
+    }
+}

Source/Samples/48_NavigationStreaming/Navigation.h

@@ -0,0 +1,162 @@
+//
+// Copyright (c) 2008-2017 the Urho3D project.
+//
+// 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.
+//
+
+#pragma once
+
+#include "Sample.h"
+
+namespace Urho3D
+{
+
+class Drawable;
+class Node;
+class Scene;
+
+}
+
+/// Navigation example.
+/// This sample demonstrates:
+///     - Generating a navigation mesh into the scene
+///     - Performing path queries to the navigation mesh
+///     - Rebuilding the navigation mesh partially when adding or removing objects
+///     - Visualizing custom debug geometry
+///     - Raycasting drawable components
+///     - Making a node follow the Detour path
+class Navigation : public Sample
+{
+    URHO3D_OBJECT(Navigation, Sample);
+
+public:
+    /// Construct.
+    Navigation(Context* context);
+
+    /// Setup after engine initialization and before running the main loop.
+    virtual void Start();
+
+protected:
+    /// Return XML patch instructions for screen joystick layout for a specific sample app, if any.
+    virtual String GetScreenJoystickPatchString() const { return
+        "<patch>"
+        "    <add sel=\"/element\">"
+        "        <element type=\"Button\">"
+        "            <attribute name=\"Name\" value=\"Button3\" />"
+        "            <attribute name=\"Position\" value=\"-120 -120\" />"
+        "            <attribute name=\"Size\" value=\"96 96\" />"
+        "            <attribute name=\"Horiz Alignment\" value=\"Right\" />"
+        "            <attribute name=\"Vert Alignment\" value=\"Bottom\" />"
+        "            <attribute name=\"Texture\" value=\"Texture2D;Textures/TouchInput.png\" />"
+        "            <attribute name=\"Image Rect\" value=\"96 0 192 96\" />"
+        "            <attribute name=\"Hover Image Offset\" value=\"0 0\" />"
+        "            <attribute name=\"Pressed Image Offset\" value=\"0 0\" />"
+        "            <element type=\"Text\">"
+        "                <attribute name=\"Name\" value=\"Label\" />"
+        "                <attribute name=\"Horiz Alignment\" value=\"Center\" />"
+        "                <attribute name=\"Vert Alignment\" value=\"Center\" />"
+        "                <attribute name=\"Color\" value=\"0 0 0 1\" />"
+        "                <attribute name=\"Text\" value=\"Teleport\" />"
+        "            </element>"
+        "            <element type=\"Text\">"
+        "                <attribute name=\"Name\" value=\"KeyBinding\" />"
+        "                <attribute name=\"Text\" value=\"LSHIFT\" />"
+        "            </element>"
+        "            <element type=\"Text\">"
+        "                <attribute name=\"Name\" value=\"MouseButtonBinding\" />"
+        "                <attribute name=\"Text\" value=\"LEFT\" />"
+        "            </element>"
+        "        </element>"
+        "        <element type=\"Button\">"
+        "            <attribute name=\"Name\" value=\"Button4\" />"
+        "            <attribute name=\"Position\" value=\"-120 -12\" />"
+        "            <attribute name=\"Size\" value=\"96 96\" />"
+        "            <attribute name=\"Horiz Alignment\" value=\"Right\" />"
+        "            <attribute name=\"Vert Alignment\" value=\"Bottom\" />"
+        "            <attribute name=\"Texture\" value=\"Texture2D;Textures/TouchInput.png\" />"
+        "            <attribute name=\"Image Rect\" value=\"96 0 192 96\" />"
+        "            <attribute name=\"Hover Image Offset\" value=\"0 0\" />"
+        "            <attribute name=\"Pressed Image Offset\" value=\"0 0\" />"
+        "            <element type=\"Text\">"
+        "                <attribute name=\"Name\" value=\"Label\" />"
+        "                <attribute name=\"Horiz Alignment\" value=\"Center\" />"
+        "                <attribute name=\"Vert Alignment\" value=\"Center\" />"
+        "                <attribute name=\"Color\" value=\"0 0 0 1\" />"
+        "                <attribute name=\"Text\" value=\"Obstacles\" />"
+        "            </element>"
+        "            <element type=\"Text\">"
+        "                <attribute name=\"Name\" value=\"MouseButtonBinding\" />"
+        "                <attribute name=\"Text\" value=\"MIDDLE\" />"
+        "            </element>"
+        "        </element>"
+        "    </add>"
+        "    <remove sel=\"/element/element[./attribute[@name='Name' and @value='Button0']]/attribute[@name='Is Visible']\" />"
+        "    <replace sel=\"/element/element[./attribute[@name='Name' and @value='Button0']]/element[./attribute[@name='Name' and @value='Label']]/attribute[@name='Text']/@value\">Set</replace>"
+        "    <add sel=\"/element/element[./attribute[@name='Name' and @value='Button0']]\">"
+        "        <element type=\"Text\">"
+        "            <attribute name=\"Name\" value=\"MouseButtonBinding\" />"
+        "            <attribute name=\"Text\" value=\"LEFT\" />"
+        "        </element>"
+        "    </add>"
+        "    <remove sel=\"/element/element[./attribute[@name='Name' and @value='Button1']]/attribute[@name='Is Visible']\" />"
+        "    <replace sel=\"/element/element[./attribute[@name='Name' and @value='Button1']]/element[./attribute[@name='Name' and @value='Label']]/attribute[@name='Text']/@value\">Debug</replace>"
+        "    <add sel=\"/element/element[./attribute[@name='Name' and @value='Button1']]\">"
+        "        <element type=\"Text\">"
+        "            <attribute name=\"Name\" value=\"KeyBinding\" />"
+        "            <attribute name=\"Text\" value=\"SPACE\" />"
+        "        </element>"
+        "    </add>"
+        "</patch>";
+    }
+
+private:
+    /// Construct the scene content.
+    void CreateScene();
+    /// Construct user interface elements.
+    void CreateUI();
+    /// Set up a viewport for displaying the scene.
+    void SetupViewport();
+    /// Subscribe to application-wide logic update and post-render update events.
+    void SubscribeToEvents();
+    /// Read input and moves the camera.
+    void MoveCamera(float timeStep);
+    /// Set path start or end point.
+    void SetPathPoint();
+    /// Add or remove object.
+    void AddOrRemoveObject();
+    /// Create a mushroom object at position.
+    Node* CreateMushroom(const Vector3& pos);
+    /// Utility function to raycast to the cursor position. Return true if hit
+    bool Raycast(float maxDistance, Vector3& hitPos, Drawable*& hitDrawable);
+    /// Make Jack follow the Detour path.
+    void FollowPath(float timeStep);
+    /// Handle the logic update event.
+    void HandleUpdate(StringHash eventType, VariantMap& eventData);
+    /// Handle the post-render update event.
+    void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData);
+
+    /// Last calculated path.
+    PODVector<Vector3> currentPath_;
+    /// Path end position.
+    Vector3 endPos_;
+    /// Jack scene node.
+    SharedPtr<Node> jackNode_;
+    /// Flag for drawing debug geometry.
+    bool drawDebug_;
+};

Source/Samples/49_CrowdNavigationStreaming/CMakeLists.txt

@@ -0,0 +1,37 @@
+#
+# Copyright (c) 2008-2017 the Urho3D project.
+#
+# 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.
+#
+
+if (NOT URHO3D_NAVIGATION)
+    return ()
+endif ()
+
+# Define target name
+set (TARGET_NAME 49_CrowdNavigationStreaming)
+
+# Define source files
+define_source_files (EXTRA_H_FILES ${COMMON_SAMPLE_H_FILES})
+
+# Setup target with resource copying
+setup_main_executable ()
+
+# Setup test cases
+setup_test ()

Source/Samples/49_CrowdNavigationStreaming/CrowdNavigation.cpp

@@ -0,0 +1,563 @@
+//
+// Copyright (c) 2008-2017 the Urho3D project.
+//
+// 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.
+//
+
+#include <Urho3D/Core/CoreEvents.h>
+#include <Urho3D/Engine/Engine.h>
+#include <Urho3D/Graphics/AnimatedModel.h>
+#include <Urho3D/Graphics/AnimationController.h>
+#include <Urho3D/Graphics/Camera.h>
+#include <Urho3D/Graphics/DebugRenderer.h>
+#include <Urho3D/Graphics/Graphics.h>
+#include <Urho3D/Graphics/Light.h>
+#include <Urho3D/Graphics/Material.h>
+#include <Urho3D/Graphics/Octree.h>
+#include <Urho3D/Graphics/Renderer.h>
+#include <Urho3D/Graphics/Zone.h>
+#include <Urho3D/Input/Input.h>
+#include <Urho3D/Navigation/CrowdAgent.h>
+#include <Urho3D/Navigation/DynamicNavigationMesh.h>
+#include <Urho3D/Navigation/Navigable.h>
+#include <Urho3D/Navigation/NavigationEvents.h>
+#include <Urho3D/Navigation/Obstacle.h>
+#include <Urho3D/Navigation/OffMeshConnection.h>
+#include <Urho3D/Resource/ResourceCache.h>
+#include <Urho3D/Scene/Scene.h>
+#include <Urho3D/UI/Font.h>
+#include <Urho3D/UI/Text.h>
+#include <Urho3D/UI/UI.h>
+
+#include "CrowdNavigation.h"
+
+#include <Urho3D/DebugNew.h>
+
+static const String INSTRUCTION("instructionText");
+
+URHO3D_DEFINE_APPLICATION_MAIN(CrowdNavigation)
+
+CrowdNavigation::CrowdNavigation(Context* context) :
+    Sample(context),
+    drawDebug_(false)
+{
+}
+
+void CrowdNavigation::Start()
+{
+    // Execute base class startup
+    Sample::Start();
+
+    // Create the scene content
+    CreateScene();
+
+    // Create the UI content
+    CreateUI();
+
+    // Setup the viewport for displaying the scene
+    SetupViewport();
+
+    // Hook up to the frame update and render post-update events
+    SubscribeToEvents();
+
+    // Set the mouse mode to use in the sample
+    Sample::InitMouseMode(MM_ABSOLUTE);
+}
+
+void CrowdNavigation::CreateScene()
+{
+    ResourceCache* cache = GetSubsystem<ResourceCache>();
+
+    scene_ = new Scene(context_);
+
+    // Create octree, use default volume (-1000, -1000, -1000) to (1000, 1000, 1000)
+    // Also create a DebugRenderer component so that we can draw debug geometry
+    scene_->CreateComponent<Octree>();
+    scene_->CreateComponent<DebugRenderer>();
+
+    // Create scene node & StaticModel component for showing a static plane
+    Node* planeNode = scene_->CreateChild("Plane");
+    planeNode->SetScale(Vector3(100.0f, 1.0f, 100.0f));
+    StaticModel* planeObject = planeNode->CreateComponent<StaticModel>();
+    planeObject->SetModel(cache->GetResource<Model>("Models/Plane.mdl"));
+    planeObject->SetMaterial(cache->GetResource<Material>("Materials/StoneTiled.xml"));
+
+    // Create a Zone component for ambient lighting & fog control
+    Node* zoneNode = scene_->CreateChild("Zone");
+    Zone* zone = zoneNode->CreateComponent<Zone>();
+    zone->SetBoundingBox(BoundingBox(-1000.0f, 1000.0f));
+    zone->SetAmbientColor(Color(0.15f, 0.15f, 0.15f));
+    zone->SetFogColor(Color(0.5f, 0.5f, 0.7f));
+    zone->SetFogStart(100.0f);
+    zone->SetFogEnd(300.0f);
+
+    // Create a directional light to the world. Enable cascaded shadows on it
+    Node* lightNode = scene_->CreateChild("DirectionalLight");
+    lightNode->SetDirection(Vector3(0.6f, -1.0f, 0.8f));
+    Light* light = lightNode->CreateComponent<Light>();
+    light->SetLightType(LIGHT_DIRECTIONAL);
+    light->SetCastShadows(true);
+    light->SetShadowBias(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->SetShadowCascade(CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f));
+
+    // Create randomly sized boxes. If boxes are big enough, make them occluders
+    Node* boxGroup = scene_->CreateChild("Boxes");
+    for (unsigned i = 0; i < 20; ++i)
+    {
+        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);
+        StaticModel* boxObject = boxNode->CreateComponent<StaticModel>();
+        boxObject->SetModel(cache->GetResource<Model>("Models/Box.mdl"));
+        boxObject->SetMaterial(cache->GetResource<Material>("Materials/Stone.xml"));
+        boxObject->SetCastShadows(true);
+        if (size >= 3.0f)
+            boxObject->SetOccluder(true);
+    }
+
+    // Create a DynamicNavigationMesh component to the scene root
+    DynamicNavigationMesh* navMesh = scene_->CreateComponent<DynamicNavigationMesh>();
+    // Enable drawing debug geometry for obstacles and off-mesh connections
+    navMesh->SetDrawObstacles(true);
+    navMesh->SetDrawOffMeshConnections(true);
+    // Set the agent height large enough to exclude the layers under boxes
+    navMesh->SetAgentHeight(10.0f);
+    // Set nav mesh cell height to minimum (allows agents to be grounded)
+    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));
+    // 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 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 CrowdManager component to the scene root
+    CrowdManager* crowdManager = scene_->CreateComponent<CrowdManager>();
+    CrowdObstacleAvoidanceParams params = crowdManager->GetObstacleAvoidanceParams(0);
+    // Set the params to "High (66)" setting
+    params.velBias = 0.5f;
+    params.adaptiveDivs = 7;
+    params.adaptiveRings = 3;
+    params.adaptiveDepth = 3;
+    crowdManager->SetObstacleAvoidanceParams(0, params);
+
+    // 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 as crowd agent
+    SpawnJack(Vector3(-5.0f, 0.0f, 20.0f), scene_->CreateChild("Jacks"));
+
+    // Create the camera. Set far clip to match the fog. Note: now we actually create the camera node outside the scene, because
+    // we want it to be unaffected by scene load / save
+    cameraNode_ = new Node(context_);
+    Camera* camera = cameraNode_->CreateComponent<Camera>();
+    camera->SetFarClip(300.0f);
+
+    // 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()
+{
+    ResourceCache* cache = GetSubsystem<ResourceCache>();
+    UI* ui = GetSubsystem<UI>();
+
+    // Create a Cursor UI element because we want to be able to hide and show it at will. When hidden, the mouse cursor will
+    // control the camera, and when visible, it will point the raycast target
+    XMLFile* style = cache->GetResource<XMLFile>("UI/DefaultStyle.xml");
+    SharedPtr<Cursor> cursor(new Cursor(context_));
+    cursor->SetStyleAuto(style);
+    ui->SetCursor(cursor);
+
+    // Set starting position of the cursor at the rendering window center
+    Graphics* graphics = GetSubsystem<Graphics>();
+    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>(INSTRUCTION);
+    instructionText->SetText(
+        "Use WASD keys to move, RMB to rotate view\n"
+        "LMB to set destination, SHIFT+LMB to spawn a Jack\n"
+        "MMB or O key to add obstacles or remove obstacles/agents\n"
+        "F5 to save scene, F7 to load\n"
+        "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->SetTextAlignment(HA_CENTER);
+
+    // Position the text relative to the screen center
+    instructionText->SetHorizontalAlignment(HA_CENTER);
+    instructionText->SetVerticalAlignment(VA_CENTER);
+    instructionText->SetPosition(0, ui->GetRoot()->GetHeight() / 4);
+}
+
+void CrowdNavigation::SetupViewport()
+{
+    Renderer* renderer = GetSubsystem<Renderer>();
+
+    // Set up a viewport to the Renderer subsystem so that the 3D scene can be seen
+    SharedPtr<Viewport> viewport(new Viewport(context_, scene_, cameraNode_->GetComponent<Camera>()));
+    renderer->SetViewport(0, viewport);
+}
+
+void CrowdNavigation::SubscribeToEvents()
+{
+    // Subscribe HandleUpdate() function for processing update events
+    SubscribeToEvent(E_UPDATE, URHO3D_HANDLER(CrowdNavigation, HandleUpdate));
+
+    // Subscribe HandlePostRenderUpdate() function for processing the post-render update event, during which we request debug geometry
+    SubscribeToEvent(E_POSTRENDERUPDATE, URHO3D_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, URHO3D_HANDLER(CrowdNavigation, HandleCrowdAgentFailure));
+
+    // Subscribe HandleCrowdAgentReposition() function for controlling the animation
+    SubscribeToEvent(E_CROWD_AGENT_REPOSITION, URHO3D_HANDLER(CrowdNavigation, HandleCrowdAgentReposition));
+
+    // Subscribe HandleCrowdAgentFormation() function for positioning agent into a formation
+    SubscribeToEvent(E_CROWD_AGENT_FORMATION, URHO3D_HANDLER(CrowdNavigation, HandleCrowdAgentFormation));
+}
+
+void CrowdNavigation::SpawnJack(const Vector3& pos, Node* jackGroup)
+{
+    ResourceCache* cache = GetSubsystem<ResourceCache>();
+    SharedPtr<Node> jackNode(jackGroup->CreateChild("Jack"));
+    jackNode->SetPosition(pos);
+    AnimatedModel* modelObject = jackNode->CreateComponent<AnimatedModel>();
+    modelObject->SetModel(cache->GetResource<Model>("Models/Jack.mdl"));
+    modelObject->SetMaterial(cache->GetResource<Material>("Materials/Jack.xml"));
+    modelObject->SetCastShadows(true);
+    jackNode->CreateComponent<AnimationController>();
+
+    // 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(3.0f);
+    agent->SetMaxAccel(5.0f);
+}
+
+void CrowdNavigation::CreateMushroom(const Vector3& pos)
+{
+    ResourceCache* cache = GetSubsystem<ResourceCache>();
+
+    Node* mushroomNode = scene_->CreateChild("Mushroom");
+    mushroomNode->SetPosition(pos);
+    mushroomNode->SetRotation(Quaternion(0.0f, Random(360.0f), 0.0f));
+    mushroomNode->SetScale(2.0f + Random(0.5f));
+    StaticModel* mushroomObject = mushroomNode->CreateComponent<StaticModel>();
+    mushroomObject->SetModel(cache->GetResource<Model>("Models/Mushroom.mdl"));
+    mushroomObject->SetMaterial(cache->GetResource<Material>("Materials/Mushroom.xml"));
+    mushroomObject->SetCastShadows(true);
+
+    // Create the navigation Obstacle component and set its height & radius proportional to scale
+    Obstacle* obstacle = mushroomNode->CreateComponent<Obstacle>();
+    obstacle->SetRadius(mushroomNode->GetScale().x_);
+    obstacle->SetHeight(mushroomNode->GetScale().y_);
+}
+
+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];
+        Vector3 boxPos = box->GetPosition();
+        float boxHalfSize = box->GetScale().x_ / 2;
+
+        // 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
+        Node* connectionEnd = connectionStart->CreateChild("ConnectionEnd");
+        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>();
+        connection->SetEndPoint(connectionEnd);
+    }
+}
+
+void CrowdNavigation::CreateMovingBarrels(DynamicNavigationMesh* navMesh)
+{
+    ResourceCache* cache = GetSubsystem<ResourceCache>();
+    Node* barrel = scene_->CreateChild("Barrel");
+    StaticModel* model = barrel->CreateComponent<StaticModel>();
+    model->SetModel(cache->GetResource<Model>("Models/Cylinder.mdl"));
+    Material* material = cache->GetResource<Material>("Materials/StoneTiled.xml");
+    model->SetMaterial(material);
+    material->SetTexture(TU_DIFFUSE, cache->GetResource<Texture2D>("Textures/TerrainDetail2.dds"));
+    model->SetCastShadows(true);
+    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) - 40.0f, size * 0.5f, Random(80.0f) - 40.0f)));
+        CrowdAgent* agent = clone->CreateComponent<CrowdAgent>();
+        agent->SetRadius(clone->GetScale().x_ * 0.5f);
+        agent->SetHeight(size);
+        agent->SetNavigationQuality(NAVIGATIONQUALITY_LOW);
+    }
+    barrel->Remove();
+}
+
+void CrowdNavigation::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));
+        Node* jackGroup = scene_->GetChild("Jacks");
+        if (spawning)
+            // Spawn a jack at the target position
+            SpawnJack(pathPos, jackGroup);
+        else
+            // Set crowd agents target position
+            scene_->GetComponent<CrowdManager>()->SetCrowdTarget(pathPos, jackGroup);
+    }
+}
+
+void CrowdNavigation::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, hitPos, hitDrawable))
+    {
+        Node* hitNode = hitDrawable->GetNode();
+
+        // Note that navmesh rebuild happens when the Obstacle component is removed
+        if (hitNode->GetName() == "Mushroom")
+            hitNode->Remove();
+        else if (hitNode->GetName() == "Jack")
+            hitNode->Remove();
+        else
+            CreateMushroom(hitPos);
+    }
+}
+
+bool CrowdNavigation::Raycast(float maxDistance, Vector3& hitPos, Drawable*& hitDrawable)
+{
+    hitDrawable = 0;
+
+    UI* ui = GetSubsystem<UI>();
+    IntVector2 pos = ui->GetCursorPosition();
+    // Check the cursor is visible and there is no UI element in front of the cursor
+    if (!ui->GetCursor()->IsVisible() || ui->GetElementAt(pos, true))
+        return false;
+
+    Graphics* graphics = GetSubsystem<Graphics>();
+    Camera* camera = cameraNode_->GetComponent<Camera>();
+    Ray cameraRay = camera->GetScreenRay((float)pos.x_ / graphics->GetWidth(), (float)pos.y_ / graphics->GetHeight());
+    // Pick only geometry objects, not eg. zones or lights, only get the first (closest) hit
+    PODVector<RayQueryResult> results;
+    RayOctreeQuery query(results, cameraRay, RAY_TRIANGLE, maxDistance, DRAWABLE_GEOMETRY);
+    scene_->GetComponent<Octree>()->RaycastSingle(query);
+    if (results.Size())
+    {
+        RayQueryResult& result = results[0];
+        hitPos = result.position_;
+        hitDrawable = result.drawable_;
+        return true;
+    }
+
+    return false;
+}
+
+void CrowdNavigation::MoveCamera(float timeStep)
+{
+    // Right mouse button controls mouse cursor visibility: hide when pressed
+    UI* ui = GetSubsystem<UI>();
+    Input* input = GetSubsystem<Input>();
+    ui->GetCursor()->SetVisible(!input->GetMouseButtonDown(MOUSEB_RIGHT));
+
+    // Do not move if the UI has a focused element (the console)
+    if (ui->GetFocusElement())
+        return;
+
+    // Movement speed as world units per second
+    const float MOVE_SPEED = 20.0f;
+    // Mouse sensitivity as degrees per pixel
+    const float MOUSE_SENSITIVITY = 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 (!ui->GetCursor()->IsVisible())
+    {
+        IntVector2 mouseMove = input->GetMouseMove();
+        yaw_ += MOUSE_SENSITIVITY * mouseMove.x_;
+        pitch_ += MOUSE_SENSITIVITY * mouseMove.y_;
+        pitch_ = Clamp(pitch_, -90.0f, 90.0f);
+
+        // Construct new orientation for the camera scene node from yaw and pitch. Roll is fixed to zero
+        cameraNode_->SetRotation(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(KEY_W))
+        cameraNode_->Translate(Vector3::FORWARD * MOVE_SPEED * timeStep);
+    if (input->GetKeyDown(KEY_S))
+        cameraNode_->Translate(Vector3::BACK * MOVE_SPEED * timeStep);
+    if (input->GetKeyDown(KEY_A))
+        cameraNode_->Translate(Vector3::LEFT * MOVE_SPEED * timeStep);
+    if (input->GetKeyDown(KEY_D))
+        cameraNode_->Translate(Vector3::RIGHT * MOVE_SPEED * timeStep);
+
+    // Set destination or spawn a new jack with left mouse button
+    if (input->GetMouseButtonPress(MOUSEB_LEFT))
+        SetPathPoint(input->GetQualifierDown(QUAL_SHIFT));
+    // Add new obstacle or remove existing obstacle/agent with middle mouse button
+    else if (input->GetMouseButtonPress(MOUSEB_MIDDLE) || input->GetKeyPress(KEY_O))
+        AddOrRemoveObject();
+
+    // Check for loading/saving the scene from/to the file Data/Scenes/CrowdNavigation.xml relative to the executable directory
+    if (input->GetKeyPress(KEY_F5))
+    {
+        File saveFile(context_, GetSubsystem<FileSystem>()->GetProgramDir() + "Data/Scenes/CrowdNavigation.xml", FILE_WRITE);
+        scene_->SaveXML(saveFile);
+    }
+    else if (input->GetKeyPress(KEY_F7))
+    {
+        File loadFile(context_, GetSubsystem<FileSystem>()->GetProgramDir() + "Data/Scenes/CrowdNavigation.xml", FILE_READ);
+        scene_->LoadXML(loadFile);
+    }
+
+    // Toggle debug geometry with 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)
+{
+    using namespace Update;
+
+    // Take the frame time step, which is stored as a float
+    float timeStep = eventData[P_TIMESTEP].GetFloat();
+
+    // Move the camera, scale movement with time step
+    MoveCamera(timeStep);
+}
+
+void CrowdNavigation::HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData)
+{
+    if (drawDebug_)
+    {
+        // Visualize navigation mesh, obstacles and off-mesh connections
+        scene_->GetComponent<DynamicNavigationMesh>()->DrawDebugGeometry(true);
+        // Visualize agents' path and position to reach
+        scene_->GetComponent<CrowdManager>()->DrawDebugGeometry(true);
+    }
+}
+
+void CrowdNavigation::HandleCrowdAgentFailure(StringHash eventType, VariantMap& eventData)
+{
+    using namespace CrowdAgentFailure;
+
+    Node* node = static_cast<Node*>(eventData[P_NODE].GetPtr());
+    CrowdAgentState agentState = (CrowdAgentState)eventData[P_CROWD_AGENT_STATE].GetInt();
+
+    // 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 == CA_STATE_INVALID)
+    {
+        // Get a point on the navmesh using more generous extents
+        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)
+{
+    static 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();
+    float timeStep = eventData[P_TIMESTEP].GetFloat();
+
+    // Only Jack agent has animation controller
+    AnimationController* animCtrl = node->GetComponent<AnimationController>();
+    if (animCtrl)
+    {
+        float speed = velocity.Length();
+        if (animCtrl->IsPlaying(WALKING_ANI))
+        {
+            float speedRatio = speed / agent->GetMaxSpeed();
+            // Face the direction of its velocity but moderate the turning speed based on the speed ratio and timeStep
+            node->SetRotation(node->GetRotation().Slerp(Quaternion(Vector3::FORWARD, velocity), 10.0f * timeStep * speedRatio));
+            // Throttle the animation speed based on agent speed ratio (ratio = 1 is full throttle)
+            animCtrl->SetSpeed(WALKING_ANI, speedRatio * 1.5f);
+        }
+        else
+            animCtrl->Play(WALKING_ANI, 0, true, 0.1f);
+
+        // If speed is too low then stop the animation
+        if (speed < agent->GetRadius())
+            animCtrl->Stop(WALKING_ANI, 0.5f);
+    }
+}
+
+void CrowdNavigation::HandleCrowdAgentFormation(StringHash eventType, VariantMap& eventData)
+{
+    using namespace CrowdAgentFormation;
+
+    unsigned index = eventData[P_INDEX].GetUInt();
+    unsigned size = eventData[P_SIZE].GetUInt();
+    Vector3 position = eventData[P_POSITION].GetVector3();
+
+    // The first agent will always move to the exact position, all other agents will select a random point nearby
+    if (index)
+    {
+        CrowdManager* crowdManager = static_cast<CrowdManager*>(GetEventSender());
+        CrowdAgent* agent = static_cast<CrowdAgent*>(eventData[P_CROWD_AGENT].GetPtr());
+        eventData[P_POSITION] = crowdManager->GetRandomPointInCircle(position, agent->GetRadius(), agent->GetQueryFilterType());
+    }
+}

Source/Samples/49_CrowdNavigationStreaming/CrowdNavigation.h

@@ -0,0 +1,168 @@
+//
+// Copyright (c) 2008-2017 the Urho3D project.
+//
+// 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.
+//
+
+#pragma once
+
+#include "Sample.h"
+
+namespace Urho3D
+{
+
+class Drawable;
+class Node;
+class Scene;
+
+}
+
+/// CrowdNavigation example.
+/// This sample demonstrates:
+///     - Generating a dynamic navigation mesh into the scene
+///     - Performing path queries to the navigation mesh
+///     - Adding and removing obstacles/agents at runtime
+///     - Raycasting drawable components
+///     - Crowd movement management
+///     - Accessing crowd agents with the crowd manager
+///     - Using off-mesh connections to make boxes climbable
+///     - Using agents to simulate moving obstacles
+class CrowdNavigation : public Sample
+{
+    URHO3D_OBJECT(CrowdNavigation, Sample);
+
+public:
+    /// Construct.
+    CrowdNavigation(Context* context);
+
+    /// Setup after engine initialization and before running the main loop.
+    virtual void Start();
+
+protected:
+    /// Return XML patch instructions for screen joystick layout for a specific sample app, if any.
+    virtual String GetScreenJoystickPatchString() const { return
+        "<patch>"
+        "    <add sel=\"/element\">"
+        "        <element type=\"Button\">"
+        "            <attribute name=\"Name\" value=\"Button3\" />"
+        "            <attribute name=\"Position\" value=\"-120 -120\" />"
+        "            <attribute name=\"Size\" value=\"96 96\" />"
+        "            <attribute name=\"Horiz Alignment\" value=\"Right\" />"
+        "            <attribute name=\"Vert Alignment\" value=\"Bottom\" />"
+        "            <attribute name=\"Texture\" value=\"Texture2D;Textures/TouchInput.png\" />"
+        "            <attribute name=\"Image Rect\" value=\"96 0 192 96\" />"
+        "            <attribute name=\"Hover Image Offset\" value=\"0 0\" />"
+        "            <attribute name=\"Pressed Image Offset\" value=\"0 0\" />"
+        "            <element type=\"Text\">"
+        "                <attribute name=\"Name\" value=\"Label\" />"
+        "                <attribute name=\"Horiz Alignment\" value=\"Center\" />"
+        "                <attribute name=\"Vert Alignment\" value=\"Center\" />"
+        "                <attribute name=\"Color\" value=\"0 0 0 1\" />"
+        "                <attribute name=\"Text\" value=\"Spawn\" />"
+        "            </element>"
+        "            <element type=\"Text\">"
+        "                <attribute name=\"Name\" value=\"KeyBinding\" />"
+        "                <attribute name=\"Text\" value=\"LSHIFT\" />"
+        "            </element>"
+        "            <element type=\"Text\">"
+        "                <attribute name=\"Name\" value=\"MouseButtonBinding\" />"
+        "                <attribute name=\"Text\" value=\"LEFT\" />"
+        "            </element>"
+        "        </element>"
+        "        <element type=\"Button\">"
+        "            <attribute name=\"Name\" value=\"Button4\" />"
+        "            <attribute name=\"Position\" value=\"-120 -12\" />"
+        "            <attribute name=\"Size\" value=\"96 96\" />"
+        "            <attribute name=\"Horiz Alignment\" value=\"Right\" />"
+        "            <attribute name=\"Vert Alignment\" value=\"Bottom\" />"
+        "            <attribute name=\"Texture\" value=\"Texture2D;Textures/TouchInput.png\" />"
+        "            <attribute name=\"Image Rect\" value=\"96 0 192 96\" />"
+        "            <attribute name=\"Hover Image Offset\" value=\"0 0\" />"
+        "            <attribute name=\"Pressed Image Offset\" value=\"0 0\" />"
+        "            <element type=\"Text\">"
+        "                <attribute name=\"Name\" value=\"Label\" />"
+        "                <attribute name=\"Horiz Alignment\" value=\"Center\" />"
+        "                <attribute name=\"Vert Alignment\" value=\"Center\" />"
+        "                <attribute name=\"Color\" value=\"0 0 0 1\" />"
+        "                <attribute name=\"Text\" value=\"Obstacles\" />"
+        "            </element>"
+        "            <element type=\"Text\">"
+        "                <attribute name=\"Name\" value=\"MouseButtonBinding\" />"
+        "                <attribute name=\"Text\" value=\"MIDDLE\" />"
+        "            </element>"
+        "        </element>"
+        "    </add>"
+        "    <remove sel=\"/element/element[./attribute[@name='Name' and @value='Button0']]/attribute[@name='Is Visible']\" />"
+        "    <replace sel=\"/element/element[./attribute[@name='Name' and @value='Button0']]/element[./attribute[@name='Name' and @value='Label']]/attribute[@name='Text']/@value\">Set</replace>"
+        "    <add sel=\"/element/element[./attribute[@name='Name' and @value='Button0']]\">"
+        "        <element type=\"Text\">"
+        "            <attribute name=\"Name\" value=\"MouseButtonBinding\" />"
+        "            <attribute name=\"Text\" value=\"LEFT\" />"
+        "        </element>"
+        "    </add>"
+        "    <remove sel=\"/element/element[./attribute[@name='Name' and @value='Button1']]/attribute[@name='Is Visible']\" />"
+        "    <replace sel=\"/element/element[./attribute[@name='Name' and @value='Button1']]/element[./attribute[@name='Name' and @value='Label']]/attribute[@name='Text']/@value\">Debug</replace>"
+        "    <add sel=\"/element/element[./attribute[@name='Name' and @value='Button1']]\">"
+        "        <element type=\"Text\">"
+        "            <attribute name=\"Name\" value=\"KeyBinding\" />"
+        "            <attribute name=\"Text\" value=\"SPACE\" />"
+        "        </element>"
+        "    </add>"
+        "</patch>";
+    }
+
+private:
+    /// Construct the scene content.
+    void CreateScene();
+    /// Construct user interface elements.
+    void CreateUI();
+    /// Set up a viewport for displaying the scene.
+    void SetupViewport();
+    /// Subscribe to application-wide logic update and post-render update events.
+    void SubscribeToEvents();
+    /// Read input and moves the camera.
+    void MoveCamera(float timeStep);
+    /// 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.
+    void SpawnJack(const Vector3& pos, Node* jackGroup);
+    /// 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(DynamicNavigationMesh* navMesh, Node* boxGroup);
+    /// Create some movable barrels as crowd agents.
+    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.
+    void HandleUpdate(StringHash eventType, VariantMap& eventData);
+    /// Handle the post-render update event.
+    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);
+    /// Handle crowd agent formation.
+    void HandleCrowdAgentFormation(StringHash eventType, VariantMap& eventData);
+
+    /// Flag for drawing debug geometry.
+    bool drawDebug_;
+};