#include <DetourCrowd.h>

Public Member Functions
NAVMESH_API	dtCrowd ()

NAVMESH_API	~dtCrowd ()

NAVMESH_API bool	init (const int maxAgents, const dtReal maxAgentRadius, dtNavMesh *nav)

NAVMESH_API bool	initAvoidance (const int maxNeighbors, const int maxWalls, const int maxCustomPatterns)

NAVMESH_API void	setObstacleAvoidanceParams (const int idx, const dtObstacleAvoidanceParams *params)

NAVMESH_API const dtObstacleAvoidanceParams *	getObstacleAvoidanceParams (const int idx) const

NAVMESH_API void	setObstacleAvoidancePattern (int idx, const dtReal angles, const dtReal radii, int nsamples)

NAVMESH_API bool	getObstacleAvoidancePattern (int idx, dtReal angles, dtReal radii, int *nsamples)

NAVMESH_API const dtCrowdAgent *	getAgent (const int idx)

NAVMESH_API const int	getAgentCount () const

NAVMESH_API int	addAgent (const dtReal pos, const dtCrowdAgentParams &params, const dtQueryFilter filter)

NAVMESH_API void	updateAgentParameters (const int idx, const dtCrowdAgentParams &params)

NAVMESH_API bool	updateAgentFilter (const int idx, const dtQueryFilter *filter)

NAVMESH_API void	updateAgentState (const int idx, bool repath)

NAVMESH_API void	removeAgent (const int idx)

NAVMESH_API bool	requestMoveTarget (const int idx, dtPolyRef ref, const dtReal *pos)

NAVMESH_API bool	requestMoveVelocity (const int idx, const dtReal *vel)

NAVMESH_API bool	resetMoveTarget (const int idx)

NAVMESH_API bool	setAgentWaiting (const int idx)

NAVMESH_API bool	setAgentBackOnLink (const int idx)

NAVMESH_API bool	resetAgentVelocity (const int idx)

NAVMESH_API int	getActiveAgents (dtCrowdAgent **agents, const int maxAgents)

NAVMESH_API int	cacheActiveAgents ()

NAVMESH_API void	update (const dtReal dt, dtCrowdAgentDebugInfo *debug)

NAVMESH_API void	updateStepPaths (const dtReal dt, dtCrowdAgentDebugInfo *debug)

NAVMESH_API void	updateStepProximityData (const dtReal dt, dtCrowdAgentDebugInfo *debug)

NAVMESH_API void	updateStepNextMovePoint (const dtReal dt, dtCrowdAgentDebugInfo *debug)

NAVMESH_API void	updateStepSteering (const dtReal dt, dtCrowdAgentDebugInfo *debug)

NAVMESH_API void	updateStepAvoidance (const dtReal dt, dtCrowdAgentDebugInfo *debug)

NAVMESH_API void	updateStepMove (const dtReal dt, dtCrowdAgentDebugInfo *debug)

NAVMESH_API void	updateStepCorridor (const dtReal dt, dtCrowdAgentDebugInfo *debug)

NAVMESH_API void	updateStepOffMeshAnim (const dtReal dt, dtCrowdAgentDebugInfo *debug)

NAVMESH_API void	updateStepOffMeshVelocity (const dtReal dt, dtCrowdAgentDebugInfo *debug)

NAVMESH_API void	setAgentCheckInterval (const dtReal t)

NAVMESH_API bool	setAgentCorridor (const int idx, const dtPolyRef *path, const int npath)

NAVMESH_API void	setSingleAreaVisibilityOptimization (bool bEnable)

NAVMESH_API void	setPruneStartedOffmeshConnections (bool bRemoveFromCorridor)

NAVMESH_API void	setEarlyReachTestOptimization (bool bEnable)
	[UE]

NAVMESH_API void	setPathOffsetRadiusMultiplier (dtReal RadiusMultiplier)
	[UE] Set agent radius multiplier for offseting path from corners

NAVMESH_API void	setSeparationFilter (dtReal InFilter)
	[UE] Set separation filter param

NAVMESH_API bool	isOutsideCorridor (const int idx) const
	[UE] Check if agent moved away from its path corridor

NAVMESH_API const dtQueryFilter *	getFilter (const int idx) const

NAVMESH_API dtQueryFilter *	getEditableFilter (const int idx)

const dtReal *	getQueryExtents () const

int	getVelocitySampleCount () const

const dtProximityGrid *	getGrid () const

const dtPathQueue *	getPathQueue () const

const dtNavMeshQuery *	getNavMeshQuery () const
	Gets the query object used by the crowd.

const dtSharedBoundary *	getSharedBoundary () const
	Gets shared boundary cache.

dtCrowdAgent **	getActiveAgents () const
	Gets all cached active agents.

int	getNumActiveAgents () const

int	getAgentIndex (const dtCrowdAgent *agent) const

const dtCrowdAgentAnimation *	getAgentAnims () const
	Gets all agent animations.

Detailed Description

Provides local steering behaviors for a group of agents.

This is the core class of the Crowd module. See the Crowd documentation for a summary of the crowd features.

A common method for setting up the crowd is as follows:

Allocate the crowd using dtAllocCrowd.
Initialize the crowd using init().
Set the avoidance configurations using setObstacleAvoidanceParams().
Add agents using addAgent() and make an initial movement request using requestMoveTarget().

A common process for managing the crowd is as follows:

Call update() to allow the crowd to manage its agents.
Retrieve agent information using getActiveAgents().
Make movement requests using requestMoveTarget() when movement goal changes.
Repeat every frame.

Some agent configuration settings can be updated using updateAgentParameters(). But the crowd owns the agent position. So it is not possible to update an active agent's position. If agent position must be fed back into the crowd, the agent must be removed and re-added.

Notes:

Path related information is available for newly added agents only after an update() has been performed.
Agent objects are kept in a pool and re-used. So it is important when using agent objects to check the value of dtCrowdAgent::active to determine if the agent is actually in use or not.
This class is meant to provide 'local' movement. There is a limit of 256 polygons in the path corridor.
So it is not meant to provide automatic pathfinding services over long distances.

See also: dtAllocCrowd(), dtFreeCrowd(), init(), dtCrowdAgent

Constructor & Destructor Documentation

◆ dtCrowd()

dtCrowd::dtCrowd ( )

◆ ~dtCrowd()

dtCrowd::~dtCrowd ( )

Member Function Documentation

◆ addAgent()

int dtCrowd::addAgent	(	const dtReal *	pos,
		const dtCrowdAgentParams &	params,
		const dtQueryFilter *	filter
	)

Adds a new agent to the crowd.

Parameters

[in]	pos	The requested position of the agent. [(x, y, z)]
[in]	params	The configutation of the agent.
[in]	filter	[UE] query filter used by agent

Returns: The index of the agent in the agent pool. Or -1 if the agent could not be added.

The agent's position will be constrained to the surface of the navigation mesh.

◆ cacheActiveAgents()

int dtCrowd::cacheActiveAgents ( )

Cache list of active agents

Returns: The number of active agents

◆ getActiveAgents() [1/2]

dtCrowdAgent ** dtCrowd::getActiveAgents ( ) const

inline

Gets all cached active agents.

◆ getActiveAgents() [2/2]

int dtCrowd::getActiveAgents	(	dtCrowdAgent **	agents,
		const int	maxAgents
	)

Gets the active agents int the agent pool.

Parameters

[out]	agents	An array of agent pointers. [(dtCrowdAgent ) maxAgents]
[in]	maxAgents	The size of the crowd agent array.

Returns: The number of agents returned in agents.

◆ getAgent()

const dtCrowdAgent * dtCrowd::getAgent ( const int idx )

Gets the specified agent from the pool.

Parameters

[in] idx The agent index. [Limits: 0 <= value < getAgentCount()]

Returns: The requested agent.

agents in the pool may not be in use. Check dtCrowdAgent.active before using the returned object.

◆ getAgentAnims()

const dtCrowdAgentAnimation * dtCrowd::getAgentAnims ( ) const

inline

Gets all agent animations.

◆ getAgentCount()

const int dtCrowd::getAgentCount ( ) const

The maximum number of agents that can be managed by the object.

Returns: The maximum number of agents.

◆ getAgentIndex()

int dtCrowd::getAgentIndex ( const dtCrowdAgent * agent ) const

inline

◆ getEditableFilter()

dtQueryFilter * dtCrowd::getEditableFilter ( const int idx )

Gets the filter used by the crowd.

Parameters

[in] idx [UE] The agent index. [Limits: 0 <= value < getAgentCount()]

Returns: The filter used by the crowd.

◆ getFilter()

const dtQueryFilter * dtCrowd::getFilter ( const int idx ) const

Gets the filter used by the crowd.

Parameters

[in] idx [UE] The agent index. [Limits: 0 <= value < getAgentCount()]

Returns: The filter used by the crowd.

◆ getGrid()

const dtProximityGrid * dtCrowd::getGrid ( ) const

inline

Gets the crowd's proximity grid.

Returns: The crowd's proximity grid.

◆ getNavMeshQuery()

const dtNavMeshQuery * dtCrowd::getNavMeshQuery ( ) const

inline

Gets the query object used by the crowd.

◆ getNumActiveAgents()

int dtCrowd::getNumActiveAgents ( ) const

inline

◆ getObstacleAvoidanceParams()

const dtObstacleAvoidanceParams * dtCrowd::getObstacleAvoidanceParams ( const int idx ) const

Gets the shared avoidance configuration for the specified index.

Parameters

[in] idx The index of the configuration to retreive. [Limits: 0 <= value < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]

Returns: The requested configuration.

◆ getObstacleAvoidancePattern()

bool dtCrowd::getObstacleAvoidancePattern	(	int	idx,
		dtReal *	angles,
		dtReal *	radii,
		int *	nsamples
	)

[UE] Gets the shared avoidance sampling pattern for the specified index.

Parameters

[in]	idx	The index.
[in]	angles	radians from direction of desired velocity [Count: nsamples]
[in]	radii	normalized radii (0..1) for each sample [Count: nsamples]
[in]	nsamples	The number of samples

Returns: true if pattern was found

◆ getPathQueue()

const dtPathQueue * dtCrowd::getPathQueue ( ) const

inline

Gets the crowd's path request queue.

Returns: The crowd's path request queue.

◆ getQueryExtents()

const dtReal * dtCrowd::getQueryExtents ( ) const

inline

Gets the search extents [(x, y, z)] used by the crowd for query operations.

Returns: The search extents used by the crowd. [(x, y, z)]

◆ getSharedBoundary()

const dtSharedBoundary * dtCrowd::getSharedBoundary ( ) const

inline

Gets shared boundary cache.

◆ getVelocitySampleCount()

int dtCrowd::getVelocitySampleCount ( ) const

inline

Gets the velocity sample count.

Returns: The velocity sample count.

◆ init()

bool dtCrowd::init	(	const int	maxAgents,
		const dtReal	maxAgentRadius,
		dtNavMesh *	nav
	)

Initializes the crowd.

Parameters

[in]	maxAgents	The maximum number of agents the crowd can manage. [Limit: >= 1]
[in]	maxAgentRadius	The maximum radius of any agent that will be added to the crowd. [Limit: > 0]
[in]	nav	The navigation mesh to use for planning.

Returns: True if the initialization succeeded.

May be called more than once to purge and re-initialize the crowd.

◆ initAvoidance()

bool dtCrowd::initAvoidance	(	const int	maxNeighbors,
		const int	maxWalls,
		const int	maxCustomPatterns
	)

[UE] Initializes the avoidance query.

Parameters

[in]	maxNeighbors	The maximum number of processed neighbors
[in]	maxWalls	The maximum number of processed wall segments
[in]	maxCustomPatterns	The maximum number of custom sampling patterns

Returns: True if the initialization succeeded.

◆ isOutsideCorridor()

bool dtCrowd::isOutsideCorridor ( const int idx ) const

[UE] Check if agent moved away from its path corridor

◆ removeAgent()

void dtCrowd::removeAgent ( const int idx )

Removes the agent from the crowd.

Parameters

[in] idx The agent index. [Limits: 0 <= value < getAgentCount()]

The agent is deactivated and will no longer be processed. Its dtCrowdAgent object is not removed from the pool. It is marked as inactive so that it is available for reuse.

◆ requestMoveTarget()

bool dtCrowd::requestMoveTarget	(	const int	idx,
		dtPolyRef	ref,
		const dtReal *	pos
	)

Submits a new move request for the specified agent.

Parameters

[in]	idx	The agent index. [Limits: 0 <= value < getAgentCount()]
[in]	ref	The position's polygon reference.
[in]	pos	The position within the polygon. [(x, y, z)]

Returns: True if the request was successfully submitted.

This method is used when a new target is set.

The position will be constrained to the surface of the navigation mesh.

The request will be processed during the next update().

◆ requestMoveVelocity()

bool dtCrowd::requestMoveVelocity	(	const int	idx,
		const dtReal *	vel
	)

Submits a new move request for the specified agent.

Parameters

[in]	idx	The agent index. [Limits: 0 <= value < getAgentCount()]
[in]	vel	The movement velocity. [(x, y, z)]

Returns: True if the request was successfully submitted.

◆ resetAgentVelocity()

bool dtCrowd::resetAgentVelocity ( const int idx )

[UE] Resets agent's velocity

Parameters

[in] idx The agent index. [Limits: 0 <= value < getAgentCount()]

◆ resetMoveTarget()

bool dtCrowd::resetMoveTarget ( const int idx )

Resets any request for the specified agent.

Parameters

[in] idx The agent index. [Limits: 0 <= value < getAgentCount()]

Returns: True if the request was successfully reseted.

◆ setAgentBackOnLink()

bool dtCrowd::setAgentBackOnLink ( const int idx )

[UE] Switch to offmesh link state

Parameters

[in] idx The agent index. [Limits: 0 <= value < getAgentCount()]

◆ setAgentCheckInterval()

void dtCrowd::setAgentCheckInterval ( const dtReal t )

[UE] Set time between attempts to restore agents state

Parameters

[in] t Time in seconds

◆ setAgentCorridor()

bool dtCrowd::setAgentCorridor	(	const int	idx,
		const dtPolyRef *	path,
		const int	npath
	)

[UE] Set agent corridor, works only just after requesting move target when agent didn't start any pathfinding operations yet Use with caution!

Parameters

[in]	idx	The agent index. [Limits: 0 <= value < getAgentCount()]
[in]	path	The path corridor. [(polyRef) * `npolys`]
[in]	npath	The number of polygons in the path.

◆ setAgentWaiting()

bool dtCrowd::setAgentWaiting ( const int idx )

[UE] Switch to waiting state

Parameters

[in] idx The agent index. [Limits: 0 <= value < getAgentCount()]

◆ setEarlyReachTestOptimization()

void dtCrowd::setEarlyReachTestOptimization ( bool bEnable )

[UE]

◆ setObstacleAvoidanceParams()

void dtCrowd::setObstacleAvoidanceParams	(	const int	idx,
		const dtObstacleAvoidanceParams *	params
	)

Sets the shared avoidance configuration for the specified index.

Parameters

[in]	idx	The index. [Limits: 0 <= value < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
[in]	params	The new configuration.

◆ setObstacleAvoidancePattern()

void dtCrowd::setObstacleAvoidancePattern	(	int	idx,
		const dtReal *	angles,
		const dtReal *	radii,
		int	nsamples
	)

[UE] Sets the shared avoidance sampling pattern for the specified index.

Parameters

[in]	idx	The index.
[in]	angles	radians from direction of desired velocity [Count: nsamples]
[in]	radii	normalized radii (0..1) for each sample [Count: nsamples]
[in]	nsamples	The number of samples

◆ setPathOffsetRadiusMultiplier()

void dtCrowd::setPathOffsetRadiusMultiplier ( dtReal RadiusMultiplier )

[UE] Set agent radius multiplier for offseting path from corners

◆ setPruneStartedOffmeshConnections()

void dtCrowd::setPruneStartedOffmeshConnections ( bool bRemoveFromCorridor )

[UE] Set offmesh connection pruning This will allow removing offmesh connection poly ref from corridor as soon as offmesh connection anim is triggered (default behavior)

◆ setSeparationFilter()

void dtCrowd::setSeparationFilter ( dtReal InFilter )

[UE] Set separation filter param

◆ setSingleAreaVisibilityOptimization()

void dtCrowd::setSingleAreaVisibilityOptimization ( bool bEnable )

[UE] Set visibility optimization to use single area raycasts This will prevent from cutting through polys marked as different area which could have been avoided in corridor's path

Parameters

[in] bEnable New state of single area raycast mode

◆ update()

void dtCrowd::update	(	const dtReal	dt,
		dtCrowdAgentDebugInfo *	debug
	)

Updates the steering and positions of all agents.

Parameters

[in]	dt	The time, in seconds, to update the simulation. [Limit: > 0]
[out]	debug	A debug object to load with debug information. [Opt]

◆ updateAgentFilter()

bool dtCrowd::updateAgentFilter	(	const int	idx,
		const dtQueryFilter *	filter
	)

[UE] Updates the specified agent's query filter.

Parameters

[in]	idx	The agent index. [Limits: 0 <= value < getAgentCount()]
[in]	filter	The new filter.

Returns: True if the request was successfully submitted.

◆ updateAgentParameters()

void dtCrowd::updateAgentParameters	(	const int	idx,
		const dtCrowdAgentParams &	params
	)

Updates the specified agent's configuration.

Parameters

[in]	idx	The agent index. [Limits: 0 <= value < getAgentCount()]
[in]	params	The new agent configuration.

◆ updateAgentState()

void dtCrowd::updateAgentState	(	const int	idx,
		bool	repath
	)

[UE] Refresh state of agent, used after completing movement through offmesh links

Parameters

[in]	idx	The agent index. [Limits: 0 <= value < getAgentCount()]
[in]	repath	If set, agent will invalidate its path

◆ updateStepAvoidance()

void dtCrowd::updateStepAvoidance	(	const dtReal	dt,
		dtCrowdAgentDebugInfo *	debug
	)

[UE] Split update into several smaller components: avoidance

Parameters

[in]	dt	Delta time in seconds
[in]	nagents	Number of active agents

◆ updateStepCorridor()

void dtCrowd::updateStepCorridor	(	const dtReal	dt,
		dtCrowdAgentDebugInfo *	debug
	)

[UE] Split update into several smaller components: corridor updates at new position

Parameters

[in]	dt	Delta time in seconds
[in]	nagents	Number of active agents

◆ updateStepMove()

void dtCrowd::updateStepMove	(	const dtReal	dt,
		dtCrowdAgentDebugInfo *	debug
	)

[UE] Split update into several smaller components: integrate velocities and handle collisions

Parameters

[in]	dt	Delta time in seconds
[in]	nagents	Number of active agents

◆ updateStepNextMovePoint()

void dtCrowd::updateStepNextMovePoint	(	const dtReal	dt,
		dtCrowdAgentDebugInfo *	debug
	)

[UE] Split update into several smaller components: next corner for move, trigger offmesh links

Parameters

[in]	dt	Delta time in seconds
[in]	nagents	Number of active agents

◆ updateStepOffMeshAnim()

void dtCrowd::updateStepOffMeshAnim	(	const dtReal	dt,
		dtCrowdAgentDebugInfo *	debug
	)

[UE] Split update into several smaller components: offmesh anims

Parameters

[in]	dt	Delta time in seconds
[in]	nagents	Number of active agents

◆ updateStepOffMeshVelocity()

void dtCrowd::updateStepOffMeshVelocity	(	const dtReal	dt,
		dtCrowdAgentDebugInfo *	debug
	)

[UE] Split update into several smaller components: offmesh link velocity (instead of playing animation)

Parameters

[in]	dt	Delta time in seconds
[in]	nagents	Number of active agents

◆ updateStepPaths()

void dtCrowd::updateStepPaths	(	const dtReal	dt,
		dtCrowdAgentDebugInfo *	debug
	)

[UE] Split update into several smaller components: path validity, path cache and path optimizations

Parameters

[in]	dt	Delta time in seconds
[in]	nagents	Number of active agents

◆ updateStepProximityData()

void dtCrowd::updateStepProximityData	(	const dtReal	dt,
		dtCrowdAgentDebugInfo *	debug
	)

[UE] Split update into several smaller components: neighbors and boundaries

Parameters

[in]	dt	Delta time in seconds
[in]	nagents	Number of active agents

◆ updateStepSteering()

void dtCrowd::updateStepSteering	(	const dtReal	dt,
		dtCrowdAgentDebugInfo *	debug
	)

[UE] Split update into several smaller components: steering

Parameters

[in]	dt	Delta time in seconds
[in]	nagents	Number of active agents

The documentation for this class was generated from the following files:

Engine/Source/Runtime/Navmesh/Public/DetourCrowd/DetourCrowd.h
Engine/Source/Runtime/Navmesh/Private/DetourCrowd/DetourCrowd.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ dtCrowd()

◆ ~dtCrowd()

Member Function Documentation

◆ addAgent()

◆ cacheActiveAgents()

◆ getActiveAgents() [1/2]

◆ getActiveAgents() [2/2]

◆ getAgent()

◆ getAgentAnims()

◆ getAgentCount()

◆ getAgentIndex()

◆ getEditableFilter()

◆ getFilter()

◆ getGrid()

◆ getNavMeshQuery()

◆ getNumActiveAgents()

◆ getObstacleAvoidanceParams()

◆ getObstacleAvoidancePattern()

◆ getPathQueue()

◆ getQueryExtents()

◆ getSharedBoundary()

◆ getVelocitySampleCount()

◆ init()

◆ initAvoidance()

◆ isOutsideCorridor()

◆ removeAgent()

◆ requestMoveTarget()

◆ requestMoveVelocity()

◆ resetAgentVelocity()

◆ resetMoveTarget()

◆ setAgentBackOnLink()

◆ setAgentCheckInterval()

◆ setAgentCorridor()

◆ setAgentWaiting()

◆ setEarlyReachTestOptimization()

◆ setObstacleAvoidanceParams()

◆ setObstacleAvoidancePattern()

◆ setPathOffsetRadiusMultiplier()

◆ setPruneStartedOffmeshConnections()

◆ setSeparationFilter()

◆ setSingleAreaVisibilityOptimization()

◆ update()

◆ updateAgentFilter()

◆ updateAgentParameters()

◆ updateAgentState()

◆ updateStepAvoidance()

◆ updateStepCorridor()

◆ updateStepMove()

◆ updateStepNextMovePoint()

◆ updateStepOffMeshAnim()

◆ updateStepOffMeshVelocity()

◆ updateStepPaths()

◆ updateStepProximityData()

◆ updateStepSteering()