Add Astar RVO benchmark adapter

2026-06-13 14:41:55 +08:00
parent ab1d376b45
commit e7daa63010
7 changed files with 371 additions and 19 deletions
--- a/FishROV/Assets/Scripts/Benchmark/AvoidancePerfBootstrap.cs
+++ b/FishROV/Assets/Scripts/Benchmark/AvoidancePerfBootstrap.cs
@@ -26,8 +26,8 @@ namespace FishROV.AvoidanceBenchmark

        private void Start()
        {
-            Application.targetFrameRate = 60;
            QualitySettings.vSyncCount = 0;
+            Application.targetFrameRate = -1;
            pendingFishCount = fishCount;
            metrics.Start();
            EnsureCameraAndLight();
@@ -63,33 +63,34 @@ namespace FishROV.AvoidanceBenchmark
        private void OnGUI()
        {
            GUILayout.BeginArea(new Rect(12, 12, 390, Screen.height - 24), GUI.skin.box);
-            GUILayout.Label("FishROV Local Avoidance Benchmark");
-            GUILayout.Label($"Adapter: {adapter?.Name ?? "None"}");
-            GUILayout.Label($"Status: {adapter?.Status ?? "Not initialized"}");
-            GUILayout.Label($"Agents: fish {fishCount}, shark {sharkCount}, total {agents.Count}");
-            GUILayout.Label($"FPS avg {metrics.AverageFps:F1} | 1% low {metrics.OnePercentLowFps:F1}");
-            GUILayout.Label($"Simulation {metrics.SimulationMs:F2} ms | GC {metrics.GcAllocBytes / 1024f:F1} KB");
+            GUILayout.Label("FishROV 本地避障压测");
+            GUILayout.Label($"当前方案：{adapter?.Name ?? "未初始化"}");
+            GUILayout.Label($"状态：{adapter?.Status ?? "未初始化"}");
+            GUILayout.Label($"对象数量：小鱼 {fishCount}，鲨鱼 {sharkCount}，总数 {agents.Count}");
+            GUILayout.Label($"帧率：平均 {metrics.AverageFps:F1} | 1% Low {metrics.OnePercentLowFps:F1}");
+            GUILayout.Label($"模拟耗时：{metrics.SimulationMs:F2} ms | GC：{metrics.GcAllocBytes / 1024f:F1} KB");
+            GUILayout.Label($"帧率限制：不锁帧，vSync={QualitySettings.vSyncCount}，targetFrameRate={Application.targetFrameRate}");

            GUILayout.Space(8);
-            DrawEnumButtons("Framework", framework, value =>
+            DrawEnumButtons("避障方案", framework, value =>
            {
                framework = value;
                ResetBenchmark();
            });
-            DrawEnumButtons("Scenario", scenario, value =>
+            DrawEnumButtons("测试场景", scenario, value =>
            {
                scenario = value;
                ResetBenchmark();
            });
-            DrawEnumButtons("Dimension", dimensionMode, value =>
+            DrawEnumButtons("计算维度", dimensionMode, value =>
            {
                dimensionMode = value;
                ResetBenchmark();
            });
-            DrawEnumButtons("View", viewMode, value => viewMode = value);
+            DrawEnumButtons("观察视角", viewMode, value => viewMode = value);

            GUILayout.Space(8);
-            GUILayout.Label($"Fish Count: {pendingFishCount}");
+            GUILayout.Label($"小鱼数量：{pendingFishCount}");
            GUILayout.BeginHorizontal();
            foreach (var preset in CountPresets)
            {
@@ -105,18 +106,18 @@ namespace FishROV.AvoidanceBenchmark
            pendingFishCount = Mathf.RoundToInt(GUILayout.HorizontalSlider(pendingFishCount, 10, 5000));

            GUILayout.BeginHorizontal();
-            if (GUILayout.Button("Apply Count"))
+            if (GUILayout.Button("应用数量"))
            {
                fishCount = pendingFishCount;
                ResetBenchmark();
            }

-            if (GUILayout.Button(paused ? "Resume" : "Pause"))
+            if (GUILayout.Button(paused ? "继续" : "暂停"))
            {
                paused = !paused;
            }

-            if (GUILayout.Button("Reset"))
+            if (GUILayout.Button("重置"))
            {
                ResetBenchmark();
            }
@@ -322,7 +323,7 @@ namespace FishROV.AvoidanceBenchmark
            foreach (T value in System.Enum.GetValues(typeof(T)))
            {
                GUI.enabled = !EqualityComparer<T>.Default.Equals(value, current);
-                if (GUILayout.Button(value.ToString(), GUILayout.Height(24)))
+                if (GUILayout.Button(GetDisplayName(value), GUILayout.Height(24)))
                {
                    onChanged(value);
                }
@@ -330,5 +331,49 @@ namespace FishROV.AvoidanceBenchmark
            GUI.enabled = true;
            GUILayout.EndHorizontal();
        }
+
+        private static string GetDisplayName<T>(T value) where T : System.Enum
+        {
+            var boxed = (object)value;
+            switch (boxed)
+            {
+                case AvoidanceFrameworkKind.NoAvoidance:
+                    return "无避障";
+                case AvoidanceFrameworkKind.AstarRvo:
+                    return "A* RVO";
+                case AvoidanceFrameworkKind.Rvo2:
+                    return "RVO2";
+                case AvoidanceFrameworkKind.UnityNavMesh:
+                    return "NavMesh";
+                case AvoidanceScenarioKind.FreeSwim:
+                    return "自由巡游";
+                case AvoidanceScenarioKind.CrossFlow:
+                    return "对向穿流";
+                case AvoidanceScenarioKind.SharkCharge:
+                    return "鲨鱼冲群";
+                case AvoidanceScenarioKind.NarrowPassage:
+                    return "狭窄通道";
+                case AvoidanceScenarioKind.DenseCircleStress:
+                    return "圆阵高压";
+                case AvoidanceDimensionMode.XZ2D:
+                    return "2D/XZ";
+                case AvoidanceDimensionMode.XZ25D:
+                    return "2.5D";
+                case AvoidanceDimensionMode.XYZ3D:
+                    return "3D/XYZ";
+                case BenchmarkViewMode.Overview:
+                    return "总览";
+                case BenchmarkViewMode.TopDown:
+                    return "俯视";
+                case BenchmarkViewMode.Side:
+                    return "侧视";
+                case BenchmarkViewMode.Shark:
+                    return "跟鲨鱼";
+                case BenchmarkViewMode.FollowSchool:
+                    return "跟鱼群";
+                default:
+                    return value.ToString();
+            }
+        }
    }
 }
--- a/FishROV/Assets/Scripts/Benchmark/FrameworkAdapters/AstarRvoAdapter.cs
+++ b/FishROV/Assets/Scripts/Benchmark/FrameworkAdapters/AstarRvoAdapter.cs
@@ -0,0 +1,286 @@
+using System;
+using System.Collections.Generic;
+using System.Reflection;
+using UnityEngine;
+
+namespace FishROV.AvoidanceBenchmark
+{
+    public sealed class AstarRvoAdapter : IAvoidanceAdapter
+    {
+        private const BindingFlags MemberFlags = BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic;
+
+        private readonly Dictionary<BenchmarkAgent, RvoAgentBinding> bindings =
+            new Dictionary<BenchmarkAgent, RvoAgentBinding>(512);
+
+        private Type rvoControllerType;
+        private Type rvoSimulatorType;
+        private MethodInfo setTargetMethod;
+        private MethodInfo calculateMovementDeltaMethod;
+        private GameObject simulatorObject;
+        private AvoidanceBenchmarkConfig config;
+        private string status = "Not initialized";
+
+        public string Name => "A* RVO 本地避障";
+        public bool IsAvailable => rvoControllerType != null && rvoSimulatorType != null;
+        public string Status => status;
+
+        public void Initialize(AvoidanceBenchmarkConfig config)
+        {
+            this.config = config;
+            ResolveAstarTypes();
+
+            if (!IsAvailable)
+            {
+                status = "未检测到 A* Pathfinding Project Pro 的 RVO 模块；请导入 A* Pro，确保存在 Pathfinding.RVO.RVOController 和 RVOSimulator。当前退回基线移动。";
+                return;
+            }
+
+            simulatorObject = new GameObject("A* RVO 模拟器");
+            var simulator = simulatorObject.AddComponent(rvoSimulatorType);
+            ConfigureSimulator(simulator);
+
+            var dimensionNote = config.DimensionMode == AvoidanceDimensionMode.XYZ3D
+                ? "3D 压测会投影到 A* RVO 的 XZ 平面"
+                : "XZ 平面";
+            status = $"A* Pro RVO 已通过反射接入（{dimensionNote}）。";
+        }
+
+        public BenchmarkAgent CreateAgent(BenchmarkAgentSpawnInfo spawnInfo, Transform parent)
+        {
+            var agent = BenchmarkAgent.CreatePrimitive(spawnInfo, parent);
+            if (!IsAvailable)
+            {
+                return agent;
+            }
+
+            var controller = agent.gameObject.AddComponent(rvoControllerType);
+            ConfigureController(controller, spawnInfo);
+            bindings[agent] = new RvoAgentBinding(agent, controller);
+            return agent;
+        }
+
+        public void SetPreferredVelocity(BenchmarkAgent agent, Vector3 preferredVelocity)
+        {
+            if (!IsAvailable || !bindings.TryGetValue(agent, out var binding))
+            {
+                agent.ApplyVelocity(preferredVelocity);
+                return;
+            }
+
+            binding.PreferredVelocity = Vector3.ClampMagnitude(preferredVelocity, agent.MaxSpeed);
+        }
+
+        public void SetTarget(BenchmarkAgent agent, Vector3 target)
+        {
+            agent.Target = target;
+        }
+
+        public void Tick(float deltaTime)
+        {
+            if (!IsAvailable || deltaTime <= 0f)
+            {
+                return;
+            }
+
+            foreach (var binding in bindings.Values)
+            {
+                var velocity = CalculateAvoidedVelocity(binding, deltaTime);
+                binding.Agent.ApplyVelocity(velocity);
+            }
+        }
+
+        public void Dispose()
+        {
+            bindings.Clear();
+            if (simulatorObject != null)
+            {
+                UnityEngine.Object.Destroy(simulatorObject);
+                simulatorObject = null;
+            }
+        }
+
+        private void ResolveAstarTypes()
+        {
+            rvoControllerType = FindType("Pathfinding.RVO.RVOController");
+            rvoSimulatorType = FindType("Pathfinding.RVO.RVOSimulator");
+
+            if (rvoControllerType == null)
+            {
+                return;
+            }
+
+            setTargetMethod = rvoControllerType.GetMethod(
+                "SetTarget",
+                MemberFlags,
+                null,
+                new[] { typeof(Vector3), typeof(float), typeof(float), typeof(Vector3) },
+                null);
+            calculateMovementDeltaMethod = rvoControllerType.GetMethod(
+                "CalculateMovementDelta",
+                MemberFlags,
+                null,
+                new[] { typeof(Vector3), typeof(float) },
+                null);
+        }
+
+        private void ConfigureSimulator(object simulator)
+        {
+            SetMember(simulator, "desiredSimulationFPS", 60);
+            SetMember(simulator, "movementPlane", "XZ");
+            SetMember(simulator, "doubleBuffering", true);
+            SetMember(simulator, "workerThreads", "None");
+            SetMember(simulator, "symmetryBreakingBias", 0.1f);
+        }
+
+        private void ConfigureController(object controller, BenchmarkAgentSpawnInfo spawnInfo)
+        {
+            SetMember(controller, "radius", spawnInfo.Radius);
+            SetMember(controller, "height", Mathf.Max(spawnInfo.Height, spawnInfo.Radius * 2f));
+            SetMember(controller, "center", Vector3.up * spawnInfo.Height * 0.5f);
+            SetMember(controller, "maxSpeed", spawnInfo.MaxSpeed);
+            SetMember(controller, "priority", Mathf.Clamp01(spawnInfo.Priority));
+            SetMember(controller, "layer", spawnInfo.Layer);
+            SetMember(controller, "collidesWith", spawnInfo.CollidesWith);
+            SetMember(controller, "locked", spawnInfo.IsKinematicObstacle);
+            SetMember(controller, "lockWhenNotMoving", spawnInfo.IsKinematicObstacle);
+        }
+
+        private Vector3 CalculateAvoidedVelocity(RvoAgentBinding binding, float deltaTime)
+        {
+            var agent = binding.Agent;
+            var preferredVelocity = binding.PreferredVelocity;
+            var position = agent.transform.position;
+            var target = position + preferredVelocity;
+            var speed = preferredVelocity.magnitude;
+
+            if (setTargetMethod != null)
+            {
+                TryInvoke(
+                    setTargetMethod,
+                    binding.Controller,
+                    new object[] { target, speed, agent.MaxSpeed, target });
+            }
+
+            if (calculateMovementDeltaMethod == null)
+            {
+                return preferredVelocity;
+            }
+
+            try
+            {
+                var delta = calculateMovementDeltaMethod.Invoke(
+                    binding.Controller,
+                    new object[] { position, deltaTime });
+                if (delta is Vector3 movementDelta)
+                {
+                    return movementDelta / deltaTime;
+                }
+            }
+            catch (Exception exception)
+            {
+                status = $"A* RVO 反射调用失败：{exception.GetBaseException().Message}";
+            }
+
+            return preferredVelocity;
+        }
+
+        private static void TryInvoke(MethodInfo method, object target, object[] parameters)
+        {
+            try
+            {
+                method.Invoke(target, parameters);
+            }
+            catch
+            {
+                // Keep the benchmark running even when an A* version changes a reflected member.
+            }
+        }
+
+        private static void SetMember(object target, string name, object value)
+        {
+            if (target == null)
+            {
+                return;
+            }
+
+            var type = target.GetType();
+            var property = type.GetProperty(name, MemberFlags);
+            if (property != null && property.CanWrite)
+            {
+                TrySetValue(property.PropertyType, value, converted => property.SetValue(target, converted, null));
+                return;
+            }
+
+            var field = type.GetField(name, MemberFlags);
+            if (field != null)
+            {
+                TrySetValue(field.FieldType, value, converted => field.SetValue(target, converted));
+            }
+        }
+
+        private static void TrySetValue(Type targetType, object value, Action<object> setter)
+        {
+            try
+            {
+                setter(ConvertValue(targetType, value));
+            }
+            catch
+            {
+                // Optional reflected configuration only; defaults are acceptable across A* versions.
+            }
+        }
+
+        private static object ConvertValue(Type targetType, object value)
+        {
+            if (value == null || targetType.IsInstanceOfType(value))
+            {
+                return value;
+            }
+
+            if (targetType.IsEnum)
+            {
+                if (value is string enumName)
+                {
+                    return Enum.Parse(targetType, enumName);
+                }
+
+                return Enum.ToObject(targetType, value);
+            }
+
+            return Convert.ChangeType(value, targetType);
+        }
+
+        private static Type FindType(string fullName)
+        {
+            var direct = Type.GetType(fullName);
+            if (direct != null)
+            {
+                return direct;
+            }
+
+            foreach (var assembly in AppDomain.CurrentDomain.GetAssemblies())
+            {
+                var type = assembly.GetType(fullName);
+                if (type != null)
+                {
+                    return type;
+                }
+            }
+
+            return null;
+        }
+
+        private sealed class RvoAgentBinding
+        {
+            public RvoAgentBinding(BenchmarkAgent agent, object controller)
+            {
+                Agent = agent;
+                Controller = controller;
+            }
+
+            public BenchmarkAgent Agent { get; }
+            public object Controller { get; }
+            public Vector3 PreferredVelocity { get; set; }
+        }
+    }
+}
--- a/FishROV/Assets/Scripts/Benchmark/FrameworkAdapters/AstarRvoAdapter.cs.meta
+++ b/FishROV/Assets/Scripts/Benchmark/FrameworkAdapters/AstarRvoAdapter.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 3f0e3f32e10e42eda4a2c6e58d0f9f8b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/FishROV/Assets/Scripts/Benchmark/FrameworkAdapters/AvoidanceAdapterRegistry.cs
+++ b/FishROV/Assets/Scripts/Benchmark/FrameworkAdapters/AvoidanceAdapterRegistry.cs
@@ -9,6 +9,7 @@ namespace FishROV.AvoidanceBenchmark
                case AvoidanceFrameworkKind.NoAvoidance:
                    return new NoAvoidanceAdapter();
                case AvoidanceFrameworkKind.AstarRvo:
+                    return new AstarRvoAdapter();
                case AvoidanceFrameworkKind.Rvo2:
                case AvoidanceFrameworkKind.UnityNavMesh:
                    return new UnavailableAvoidanceAdapter(kind);
--- a/FishROV/Assets/Scripts/Benchmark/FrameworkAdapters/NoAvoidanceAdapter.cs
+++ b/FishROV/Assets/Scripts/Benchmark/FrameworkAdapters/NoAvoidanceAdapter.cs
@@ -4,9 +4,9 @@ namespace FishROV.AvoidanceBenchmark
 {
    public sealed class NoAvoidanceAdapter : IAvoidanceAdapter
    {
-        public string Name => "No Avoidance";
+        public string Name => "无避障";
        public bool IsAvailable => true;
-        public string Status => "Baseline movement only";
+        public string Status => "基线移动：只按期望速度移动，不做避障。";

        public void Initialize(AvoidanceBenchmarkConfig config)
        {
--- a/FishROV/Assets/Scripts/Benchmark/FrameworkAdapters/UnavailableAvoidanceAdapter.cs
+++ b/FishROV/Assets/Scripts/Benchmark/FrameworkAdapters/UnavailableAvoidanceAdapter.cs
@@ -13,7 +13,7 @@ namespace FishROV.AvoidanceBenchmark

        public string Name => kind.ToString();
        public bool IsAvailable => false;
-        public string Status => "Adapter placeholder. Implement this framework in its worktree.";
+        public string Status => "当前方案在这个 worktree 中只是占位；请选择本分支要测试的避障方案。";

        public void Initialize(AvoidanceBenchmarkConfig config)
        {
--- a/FishROV/Docs/local-avoidance-benchmark-notes.md
+++ b/FishROV/Docs/local-avoidance-benchmark-notes.md
@@ -46,3 +46,12 @@ Adapter implementations may add package-specific components to created agents, b
 `NoAvoidanceAdapter` is the control group. It moves agents directly by preferred velocity and does not perform avoidance.

 The A* RVO, RVO2, and Unity NavMesh adapters currently start as placeholders so their worktree diffs stay easy to review.
+
+## A* Pathfinding Project Pro RVO Adapter
+
+`AstarRvoAdapter` is isolated under `Assets/Scripts/Benchmark/FrameworkAdapters/` and is selected only by `AvoidanceFrameworkKind.AstarRvo`.
+
+- It uses reflection to find `Pathfinding.RVO.RVOController` and `Pathfinding.RVO.RVOSimulator`, so the project still compiles when A* Pathfinding Project Pro is not imported.
+- When the A* Pro RVO types are missing, the Game view status reports the missing package and the agents fall back to baseline preferred-velocity movement.
+- When available, the adapter creates one runtime `RVOSimulator`, adds `RVOController` components to benchmark-created agents, feeds each preferred velocity into A* RVO, and writes the reflected avoidance velocity back through `BenchmarkAgent.ApplyVelocity`.
+- The shared benchmark scene, HUD, scenarios, count presets, metrics, and camera logic remain unchanged; the adapter is the only intended variable for this branch.