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Published byRudy Balls Modified about 1 year ago

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Crowds In A Polygon Soup Next-Gen Path Planning David Miles 3/23/2006

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Automated Build Process

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Voxelize Polygon Soup

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Identify Walkable Surfaces

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Simplify Surface Perimeter

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Partition Into Convex Areas

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Convex Partitioning

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Convex Area Graph Complete

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Holes in the Surfaces

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Splice Location

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Single Polygon Surface

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Convex Area Graph Complete

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Overhead Obstacles

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Walkable Surface Removal

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Changing Worlds Dynamic Obstacles Dynamic obstacles reconfigure world Dynamic areas added Pathfinding algorithm unchanged

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Boolean Subtract - =

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Boolean Subtract One Area

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Non-Convex Dynamic Areas

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Establish Connectivity

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Match Up Remaining Edges

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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

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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

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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.

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For The Pathing Connoisseur Unneeded return to the original path annoys the pathing connoisseur Ahhh, much better

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It’s Easy Each member of the flock steers left or right to head towards the “next corner”.

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Finding the Next Corner

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“Portals” Between Areas

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Initializing the Loop

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First Update, Left Side

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First Update Complete

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Second Update, Left Side

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Second Update Complete

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Third Update, Left Side

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Final Output

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“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

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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

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Special Thanks Meilin Wong Hong Park and David Modiano Crystal Dynamics

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