text: /*
      OgreCrowd
      ---------
  
      Copyright (c) 2012 Jonas Hauquier
  
      Additional contributions by:
  
      - mkultra333
      - Paul Wilson
  
      Sincere thanks and to:
  
      - Mikko Mononen (developer of Recast navigation libraries)
  
      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.
  
  */
  
  #ifndef OGREDETOURCROWD_H
  #define OGREDETOURCROWD_H
  
  #include "OgreRecastDefinitions.h"
  #include "OgreRecast.h"
  #include "DetourCrowd/DetourCrowd.h"
  #include <vector>
  
  
  /**
    * Ogre wrapper around DetourCrowd.
    * Controls a crowd of agents that can steer to avoid each other and follow
    * individual paths.
    *
    * This class is largely based on the CrowdTool used in the original recastnavigation
    * demo.
    **/
  class OgreDetourCrowd
  {
  public:
      /**
        * Initialize a detour crowd that will manage agents on the specified
        * recast navmesh. It does not matter how this navmesh is constructed
        * (either with OgreRecast directly or with DetourTileCache).
        * Parameters such as agent dimensions will be taken from the specified
        * recast component.
        **/
      OgreDetourCrowd(OgreRecast *recast);
      ~OgreDetourCrowd(void);
  
      /**
        * Add an agent to the crowd
        * Returns ID of created agent (-1 if maximum agents is already created)
        **/
      int addAgent(const Ogre::Vector3 position);
  
      /**
        * Retrieve agent with specified ID from the crowd.
        **/
      const dtCrowdAgent* getAgent(int id);
  
      /**
        * Remove agent with specified ID from the crowd.
        **/
      void removeAgent(const int idx);
  
      /**
        * Set global destination or target for all agents in the crowd.
        * Setting adjust to true will try to adjust the current calculated path
        * of the agents slightly to end at the new destination, avoiding the need
        * to calculate a completely new path. This only works if the destination is
        * close to the previously set one, for example when chasing a moving entity.
        **/
      void setMoveTarget(Ogre::Vector3 position, bool adjust);
  
      /**
        * Set target or destination for an individual agent.
        * Setting adjust to true will try to adjust the current calculated path
        * of the agent slightly to end at the new destination, avoiding the need
        * to calculate a completely new path. This only works if the destination is
        * close to the previously set one, for example when chasing a moving entity.
        **/
      void setMoveTarget(int agentId, Ogre::Vector3 position, bool adjust);
  
      /**
        * Request a specified velocity for the agent with specified index.
        * Requesting a velocity means manually controlling an agent.
        * Returns true if the request was successful.
        **/
      bool requestVelocity(int agentId, Ogre::Vector3 velocity);
  
      /**
        * Cancels any request for the specified agent, making it stop.
        * Returns true if the request was successul.
        **/
      bool stopAgent(int agentId);
  
      /**
        * Helper that calculates the needed velocity to steer an agent to a target destination.
        * Parameters:
        *     position    is the current position of the agent
        *     target      is the target destination to reach
        *     speed       is the (max) speed the agent can travel at
        * Returns the calculated velocity.
        *
        * This function can be used together with requestMoveVelocity to achieve the functionality
        * of adjustMoveTarget function.
        **/
      static Ogre::Vector3 calcVel(Ogre::Vector3 position, Ogre::Vector3 target, Ogre::Real speed);
  
      static float getDistanceToGoal(const dtCrowdAgent* agent, const float maxRange);
  
      static bool destinationReached(const dtCrowdAgent* agent, const float maxDistanceFromTarget);
  
      /**
        * Update method for the crowd manager. Will calculate new positions for moving agents.
        * Call this method in your frameloop every frame to make your agents move.
        *
        * DetourCrowd uses sampling based local steering to calculate a velocity vector for each
        * agent. The calculation time of this is limited to the number of agents in the crowd and
        * the sampling amount (which is a constant).
        *
        * Additionally pathfinding tasks are queued and the number of computations is limited, to
        * limit the maximum amount of time spent for preparing a frame. This can have as consequence
        * that some agents will only start to move after a few frames, when their paths are calculated.
        **/
      void updateTick(const float dt);
  
      /**
        * The height of agents in this crowd. All agents in a crowd have the same height, and height is
        * determined by the agent height parameter with which the navmesh is build.
        **/
      Ogre::Real getAgentHeight(void);
  
      /**
        * The radius of agents in this crowd. All agents in a crowd have the same radius, and radius
        * determined by the agent radius parameter with which the navmesh is build.
        **/
      Ogre::Real getAgentRadius(void);
  
      /**
        * The number of (active) agents in this crowd.
        **/
      int getNbAgents(void);
  
      /**
        * The maximum number of agents that are allowed in this crowd.
        **/
      int getMaxNbAgents(void);
  
      /**
        * Get all (active) agents in this crowd.
        **/
      std::vector<dtCrowdAgent*> getActiveAgents(void);
  
      /**
        * Get the IDs of all (active) agents in this crowd.
        **/
      std::vector<int> getActiveAgentIds(void);
  
      /**
        * The last set destination for the crowd. This is the destination
        * that will be assigned to newly added agents.
        **/
      Ogre::Vector3 getLastDestination(void);
  
      /**
        * Reference to the DetourCrowd object that is wrapped.
        **/
      dtCrowd* m_crowd;
  
      /**
        * Reference to the Recast/Detour wrapper object for Ogre.
        **/
      OgreRecast *m_recast;
  
      /**
        * The latest set target or destination section in the recast navmesh.
        **/
      dtPolyRef m_targetRef;
  
      /**
        * The latest set target or destination position.
        **/
      float m_targetPos[3];
  
      /**
        * Max pathlength for calculated paths.
        **/
      static const int AGENT_MAX_TRAIL = 64;
  
      /**
        * Max number of agents allowed in this crowd.
        **/
      static const int MAX_AGENTS = 128;
  
      /**
        * Stores the calculated paths for each agent in the crowd.
        **/
      struct AgentTrail
      {
              float trail[AGENT_MAX_TRAIL*3];
              int htrail;
      };
      AgentTrail m_trails[MAX_AGENTS];
  
      /**
        * Debug info object used in the original recast/detour demo, not used in this
        * application.
        **/
      dtCrowdAgentDebugInfo m_agentDebug;
  
      /**
        * Parameters for obstacle avoidance of DetourCrowd steering.
        **/
      dtObstacleAvoidanceDebugData* m_vod;
  
  
      // Agent configuration parameters
      bool m_anticipateTurns;
      bool m_optimizeVis;
      bool m_optimizeTopo;
      bool m_obstacleAvoidance;
      bool m_separation;
  
      float m_obstacleAvoidanceType;
      float m_separationWeight;
  
  
  protected:
      /**
        * Helper to calculate the needed velocity to steer an agent to a target destination.
        * Parameters:
        *     velocity    is the return parameter, the calculated velocity
        *     position    is the current position of the agent
        *     target      is the target destination to reach
        *     speed       is the (max) speed the agent can travel at
        *
        * This function can be used together with requestMoveVelocity to achieve the functionality
        * of the old adjustMoveTarget function.
        **/
      static void calcVel(float* velocity, const float* position, const float* target, const float speed);
  
  
  private:
      /**
        * Number of (active) agents in the crowd.
        **/
      int m_activeAgents;
  };
  
  #endif // OGREDETOURCROWD_H
  