Crowds In A Polygon Soup NextGen Path Planning
- Slides: 40
Crowds In A Polygon Soup Next-Gen Path Planning David Miles 3/23/2006
Automated Build Process
Voxelize Polygon Soup
Identify Walkable Surfaces
Simplify Surface Perimeter
Partition Into Convex Areas
Convex Partitioning
Convex Area Graph Complete
Holes in the Surfaces
Splice Location
Single Polygon Surface
Convex Area Graph Complete
Overhead Obstacles
Walkable Surface Removal
Changing Worlds Dynamic Obstacles • Dynamic obstacles reconfigure world • Dynamic areas added • Pathfinding algorithm unchanged
Boolean Subtract - =
Boolean Subtract One Area
Non-Convex Dynamic Areas
Establish Connectivity
Match Up Remaining Edges
Dynamic Obstacle Summary • • • Find areas affected by dynamic obstacle Record any edges entering from outside Boolean subtract Partition any non-convex dynamic areas Match up unconnected edges
Fluid AI Navigation What can I do with my convex area graph? – Very fast navigational ray-casts – Distance to edge queries – Repulsion fields on edges – “Next corner” determination
Path Following in Flocking Desired flocking behavior Common approach attracts each flock member to the minimum distance path. Does not adapt to available freespace. Repulsion from edges can easily trap individuals in local minima.
For The Pathing Connoisseur Unneeded return to the original path annoys the pathing connoisseur Ahhh, much better
It’s Easy Each member of the flock steers left or right to head towards the “next corner”.
Finding the Next Corner
“Portals” Between Areas
Initializing the Loop
First Update, Left Side
First Update Complete
Second Update, Left Side
Second Update Complete
Third Update, Left Side
Final Output
“Next Corner” Summary • • • Easy to compute from convex graph < 2 cross-products per iteration Can limit iterations Never explicitly create min-dist path Fluid motion even with large disturbances
Conclusions • Automated build of convex area graph – efficiently represents the walkable free space – operates on polygon soup mesh – settable enemy size and shape • Dynamic obstacles update graph – no speed overhead once updated • Fluid AI navigation using the graph – Many useful queries performed rapidly
Special Thanks • Meilin Wong • Hong Park and David Modiano • Crystal Dynamics • dmiles@babelflux. com • www. babelflux. com
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