waymark-crowd

Multi-agent crowd simulation on navigation meshes.

Lines: ~7,100 | WASM: Yes | Depends on: landmark-common, waymark

Overview

The waymark-crowd crate manages multiple agents navigating on a shared navigation mesh. It handles local steering, collision avoidance, and path following.

Main Types

Crowd

The simulation manager. Creates agents, sets targets, and steps the simulation.

use waymark_crowd::{Crowd, AgentParams};
use glam::Vec3;

let mut crowd = Crowd::new(&nav_mesh, 128, 0.6);

// Add an agent
let mut params = AgentParams::default();
params.radius = 0.6;
params.height = 2.0;
params.max_acceleration = 8.0;
params.max_speed = 3.5;
let agent_id = crowd.add_agent(start_pos, params)?;

// Set target
crowd.request_move_target(agent_id, target_poly, target_pos)?;

// Step simulation
crowd.update(delta_time)?;

// Read agent state
if let Some(agent) = crowd.get_agent(agent_id) {
    let position = agent.get_pos();
    let velocity = agent.get_vel();
}

PathCorridor

Manages per-agent navigation state. Maintains a corridor of polygons from the agent’s current position to the target, and smooths movement along the path.

DtObstacleAvoidanceQuery

RVO-based (Reciprocal Velocity Obstacles) collision avoidance. Agents compute velocities that avoid collisions with nearby agents while progressing toward their targets.

ProximityGrid

Spatial indexing grid for neighbor queries. Used internally by the crowd system to find nearby agents for collision avoidance.

DtLocalBoundary

Detects nearby navmesh boundaries and obstacles for local steering.

Formations

Group movement patterns. Assign agents to formations and set group targets:

use waymark_crowd::Formation;

let formation = Formation::new(/* ... */);
crowd.assign_formation(agent_id, &formation)?;

Behaviors

Customizable steering behaviors for agent AI. Agents can have different behavior profiles affecting how they steer and avoid obstacles.