Crowd avoidance works. Roaming and following a player, not so much

src/world/Actor/BNpc.cpp

@@ -232,7 +232,7 @@ bool Sapphire::Entity::BNpc::moveTo( const FFXIVARR_POSITION3& pos )
   {
     // Reached destination
     m_naviLastPath.clear();
-    return true;
+  //  return true;
   }
 
   auto pNaviMgr = m_pFw->get< World::Manager::NaviMgr >();
@@ -246,7 +246,7 @@ bool Sapphire::Entity::BNpc::moveTo( const FFXIVARR_POSITION3& pos )
     return false;
   }
 
-  auto path = pNaviProvider->findFollowPath( m_pos, pos );
+  /*auto path = pNaviProvider->findFollowPath( m_pos, pos );
 
   if( !path.empty() )
   {
@@ -283,12 +283,17 @@ bool Sapphire::Entity::BNpc::moveTo( const FFXIVARR_POSITION3& pos )
     }
   }
 
-  step();
+  step();*/
+
+  //pNaviProvider->setMoveTarget( *this, pos );
   auto pos1 = pNaviProvider->getMovePos( *this );
 
-  Logger::debug( "{} {} {}", pos1.x, pos1.y, pos1.z );
-  setPos( pos1 );
+  //Logger::debug( "{} {} {}", pos1.x, pos1.y, pos1.z );
+
   m_pCurrentZone->updateActorPosition( *this );
+  face( pos1 );
+  setPos( pos1 );
+  sendPositionUpdate();
   return false;
 }
 
@@ -477,9 +482,10 @@ void Sapphire::Entity::BNpc::update( uint64_t tickCount )
       auto pNaviMgr = m_pFw->get< World::Manager::NaviMgr >();
       auto pNaviProvider = pNaviMgr->getNaviProvider( m_pCurrentZone->getBgPath() );
 
-      if( !pNaviProvider )
+      if( pNaviProvider )
       {
-        pNaviProvider->setMoveTarget( *this, m_roamPos );
+        //if( !pNaviProvider->isAgentActive( *this ) )
+          pNaviProvider->setMoveTarget( *this, m_roamPos );
       }
 
       if( moveTo( m_roamPos ) )

src/world/Navi/NaviProvider.cpp

@@ -48,6 +48,42 @@ bool Sapphire::World::Navi::NaviProvider::init()
     if( !m_pCrowd->init( 1000, 10.f, m_naviMesh ) )
       return false;
 
+    dtObstacleAvoidanceParams params;
+    // Use mostly default settings, copy from dtCrowd.
+    memcpy(&params, m_pCrowd->getObstacleAvoidanceParams(0), sizeof(dtObstacleAvoidanceParams));
+
+    // Low (11)
+    params.velBias = 0.5f;
+    params.adaptiveDivs = 5;
+    params.adaptiveRings = 2;
+    params.adaptiveDepth = 1;
+    m_pCrowd->setObstacleAvoidanceParams(0, &params);
+
+    // Medium (22)
+    params.velBias = 0.5f;
+    params.adaptiveDivs = 5;
+    params.adaptiveRings = 2;
+    params.adaptiveDepth = 2;
+    m_pCrowd->setObstacleAvoidanceParams(1, &params);
+
+    // Good (45)
+    params.velBias = 0.5f;
+    params.adaptiveDivs = 7;
+    params.adaptiveRings = 2;
+    params.adaptiveDepth = 3;
+    m_pCrowd->setObstacleAvoidanceParams(2, &params);
+
+    // High (66)
+    params.velBias = 0.5f;
+    params.adaptiveDivs = 7;
+    params.adaptiveRings = 3;
+    params.adaptiveDepth = 3;
+
+    m_pCrowd->setObstacleAvoidanceParams(3, &params);
+
+    m_vod = dtAllocObstacleAvoidanceDebugData();
+    m_vod->init( 2048 );
+
     initQuery();
 
     return true;
@@ -535,19 +571,23 @@ int32_t Sapphire::World::Navi::NaviProvider::addAgent( Entity::Chara& chara )
   dtCrowdAgentParams params;
   std::memset( &params, 0, sizeof( params ) );
   params.height = 7.f;
-  params.maxAcceleration = 8.f;
-  params.maxSpeed = 3.5f;
-  params.radius = 5.f;
+  params.maxAcceleration = 16.f;
+  params.maxSpeed = 13.5f;
+  params.radius = 2.f;
   params.collisionQueryRange = params.radius * 12.0f;
   params.pathOptimizationRange = params.radius * 30.0f;
-
+  params.updateFlags = 0;
+  //params.updateFlags |= DT_CROWD_OBSTACLE_AVOIDANCE;
   float position[] = { chara.getPos().x, chara.getPos().y, chara.getPos().z };
   return m_pCrowd->addAgent( position, &params );
 }
 
 void Sapphire::World::Navi::NaviProvider::updateCrowd( float timeInSeconds )
 {
+
   dtCrowdAgentDebugInfo info;
+  info.idx = -1;
+  info.vod = m_vod;
   m_pCrowd->update( timeInSeconds, &info );
 }
 
@@ -574,7 +614,7 @@ void Sapphire::World::Navi::NaviProvider::setMoveTarget( Entity::Chara& chara,
   const float* halfExtents = m_pCrowd->getQueryExtents();
 
   float vel[ 3 ];
-  float p[ 3 ] = { chara.getPos().x, chara.getPos().y, chara.getPos().z };
+  float p[ 3 ] = { endPos.x, endPos.y, endPos.z };
 
   const dtCrowdAgent* ag = m_pCrowd->getAgent( chara.getAgentId() );
   if( ag && ag->active )
@@ -591,3 +631,10 @@ Sapphire::Common::FFXIVARR_POSITION3 Sapphire::World::Navi::NaviProvider::getMov
     return { 0.f, 0.f, 0.f };
   return { ag->npos[ 0 ], ag->npos[ 1 ], ag->npos[ 2 ] };
 }
+
+bool Sapphire::World::Navi::NaviProvider::isAgentActive( Entity::Chara& chara ) const
+{
+  const dtCrowdAgent* ag = m_pCrowd->getAgent( chara.getAgentId() );
+  return ag && ag->active;
+
+}

src/world/Navi/NaviProvider.h

@@ -60,11 +60,14 @@ namespace Sapphire::World::Navi
 
     Common::FFXIVARR_POSITION3 getMovePos( Entity::Chara& chara );
 
+    bool isAgentActive( Entity::Chara& chara ) const;
+
   protected:
     std::string m_internalName;
 
     dtNavMesh* m_naviMesh;
     dtNavMeshQuery* m_naviMeshQuery;
+    dtObstacleAvoidanceDebugData* m_vod;
     std::unique_ptr< dtCrowd > m_pCrowd;
 
     float m_polyFindRange[ 3 ];

src/world/Territory/Zone.cpp

@@ -474,7 +474,7 @@ bool Sapphire::Zone::update( uint64_t tickCount )
   bool changedWeather = checkWeather();
 
   if( m_pNaviProvider )
-    m_pNaviProvider->updateCrowd( 0.001f * tickCount  );
+    m_pNaviProvider->updateCrowd( 0.02f );
 
   updateSessions( tickCount, changedWeather );
   onUpdate( tickCount );