SharpNav

Robert Rouhani, Samuel Yuan,

RenJie Xie, Ryan Lin,

Dashiell Kieler

What is it?

SharpNav is a library with an editor, all written in C#

It generates navigation meshes
It finds paths through navigation meshes
It coordinates crowds navigating a mesh
It integrates well with a lot of game engines

How do I use it?

Provide high-detail geometry (a level in a game)
Provide size of characters and units
Receive a navigation mesh

Is it hard to use?

No.

//prepare the geometry from your mesh data
var tris = TriangleEnumerable.FromIndexedVertices( ... );

//use the default generation settings
var settings = NavMeshGenerationSettings.Default;
settings.AgentHeight = 1.7f;
settings.AgentWidth = 0.6f;

//generate the mesh
var navMesh = NavMesh.Generate(tris, settings);

What else does it do?

Finds paths

var navMeshQuery = new NavMeshQuery(navMesh, 2048);
Vector3 startPos = agent.Position;
int startRef = agent.NavPoly;

Vector3 ext = new Vector3(5, 5, 5);
Vector3 endPos = new Vector3(35.6f, 20.1f, 200f);
int endRef;
navMeshQuery.FindNearestPoly(ref endPos, ref ext, out endRef, out endPos);

var path = new List<int>();
navMeshQuery.FindPath(startRef, endRef, ref startPos, ref endPos, path);

(API still needs some work)

What else?

Manages crowds

var crowd = new Crowd(30, 0.5f, navMesh); //crowd with up to 30 agents
// ...
foreach (var agent in Agents)
    crowd.AddAgent( ... );


// ... in game loop

crowd.Update(frameTime);
for (int i = 0; i < Agents.Count; i++)
    Agents[i].Position = crowd.Agents[i].NPos;

(API also needs some work)

Editor

Accepts various formats for input geometry
Allows transforming objects
Create off-mesh connections
Save navigation mesh and project

Demo

Thanks

Professor Moorthy

Professor Goldschmidt

Sean O' Sullivan

RCOS