Method updateMoveRequest

Source/ThirdParty/recastnavigation/DetourCrowd.cpp:677–904

void dtCrowd::updateMoveRequest(const float /*dt*/)
{
	const int PATH_MAX_AGENTS = 8;
	dtCrowdAgent* queue[PATH_MAX_AGENTS];
	int nqueue = 0;
	
	// Fire off new requests.
	for (int i = 0; i < m_maxAgents; ++i)
	{
		dtCrowdAgent* ag = &m_agents[i];
		if (!ag->active)
			continue;
		if (ag->state == DT_CROWDAGENT_STATE_INVALID)
			continue;
		if (ag->targetState == DT_CROWDAGENT_TARGET_NONE || ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
			continue;

		if (ag->targetState == DT_CROWDAGENT_TARGET_REQUESTING)
		{
			const dtPolyRef* path = ag->corridor.getPath();
			const int npath = ag->corridor.getPathCount();
			dtAssert(npath);

			static const int MAX_RES = 32;
			float reqPos[3];
			dtPolyRef reqPath[MAX_RES];	// The path to the request location
			int reqPathCount = 0;

			// Quick search towards the goal.
			static const int MAX_ITER = 20;
			m_navquery->initSlicedFindPath(path[0], ag->targetRef, ag->npos, ag->targetPos, &m_filters[ag->params.queryFilterType]);
			m_navquery->updateSlicedFindPath(MAX_ITER, 0);
			dtStatus status = 0;
			if (ag->targetReplan) // && npath > 10)
			{
				// Try to use existing steady path during replan if possible.
				status = m_navquery->finalizeSlicedFindPathPartial(path, npath, reqPath, &reqPathCount, MAX_RES);
			}
			else
			{
				// Try to move towards target when goal changes.
				status = m_navquery->finalizeSlicedFindPath(reqPath, &reqPathCount, MAX_RES);
			}

			if (!dtStatusFailed(status) && reqPathCount > 0)
			{
				// In progress or succeed.
				if (reqPath[reqPathCount-1] != ag->targetRef)
				{
					// Partial path, constrain target position inside the last polygon.
					status = m_navquery->closestPointOnPoly(reqPath[reqPathCount-1], ag->targetPos, reqPos, 0);
					if (dtStatusFailed(status))
						reqPathCount = 0;
				}
				else
				{
					dtVcopy(reqPos, ag->targetPos);
				}