A* Pathfinding Project
3.8.5
The A* Pathfinding Project for Unity 3D
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RVO Character Controller. More...
RVO Character Controller.
Similar to Unity's CharacterController. It handles movement calculations and takes other agents into account. It does not handle movement itself, but allows the calling script to get the calculated velocity and use that to move the object using a method it sees fit (for example using a CharacterController, using transform.Translate or using a rigidbody).
For documentation of many of the variables of this class: refer to the Pathfinding.RVO.IAgent interface.
Public Member Functions | |
Vector3 | CalculateMovementDelta (float deltaTime) |
Direction and distance to move in a single frame to avoid obstacles. | |
Vector3 | CalculateMovementDelta (Vector3 position, float deltaTime) |
Direction and distance to move in a single frame to avoid obstacles. | |
void | ForceSetVelocity (Vector3 velocity) |
Set the current velocity of the agent. | |
void | Move (Vector3 vel) |
Set the desired velocity for the agent. | |
void | SetCollisionNormal (Vector3 normal) |
Set the normal of a wall (or something else) the agent is currently colliding with. | |
void | SetTarget (Vector3 pos, float speed, float maxSpeed) |
Set the target point for the agent to move towards. | |
void | Teleport (Vector3 pos) |
Teleport the agent to a new position. | |
void | Update () |
Public Attributes | |
float | agentTimeHorizon = 2 |
How far into the future to look for collisions with other agents (in seconds) | |
float | center |
Center of the agent relative to the pivot point of this game object. | |
RVOLayer | collidesWith = (RVOLayer)(-1) |
Layer mask specifying which layers this agent will avoid. | |
bool | debug |
Enables drawing debug information in the scene view. | |
float | height = 1 |
Height of the agent in world units. | |
RVOLayer | layer = RVOLayer.DefaultAgent |
Specifies the avoidance layer for this agent. | |
bool | locked |
A locked unit cannot move. | |
bool | lockWhenNotMoving = true |
Automatically set locked to true when desired velocity is approximately zero. | |
int | maxNeighbours = 10 |
Max number of other agents to take into account. | |
MovementMode | movementMode = MovementMode.XZ |
Determines if the XY (2D) or XZ (3D) plane is used for movement. | |
float | neighbourDist = 10 |
Maximum distance to other agents to take them into account for collisions. | |
float | obstacleTimeHorizon = 2 |
How far into the future to look for collisions with obstacles (in seconds) | |
float | priority = 0.5f |
How strongly other agents will avoid this agent. | |
float | radius = 5 |
Radius of the agent in world units. | |
float | wallAvoidFalloff = 1 |
How much the wallAvoidForce decreases with distance. | |
float | wallAvoidForce = 1 |
An extra force to avoid walls. | |
Protected Member Functions | |
void | UpdateAgentProperties () |
Properties | |
Vector3 | position [get] |
Current position of the agent. | |
IAgent | rvoAgent [get, set] |
Reference to the internal agent. | |
Simulator | simulator [get, set] |
Reference to the rvo simulator. | |
Vector3 | velocity [get] |
Current calculated velocity of the agent. | |
Private Member Functions | |
void | Awake () |
void | OnDisable () |
void | OnDrawGizmos () |
void | OnDrawGizmosSelected () |
void | OnEnable () |
Vector2 | To2D (Vector3 p) |
Vector2 | To2D (Vector3 p, out float elevation) |
Vector3 | To3D (Vector2 p, float elevationCoordinate) |
Static Private Member Functions | |
static void | DrawCircle (Vector3 p, float radius, float a0, float a1) |
static void | DrawCylinder (Vector3 p, Vector3 up, float height, float radius) |
Private Attributes | |
Transform | tr |
Cached tranform component. | |
Static Private Attributes | |
static RVOSimulator | cachedSimulator |
Cached to avoid having to use FindObjectOfType every time. | |
static readonly Color | GizmoColor = new Color(240/255f, 213/255f, 30/255f) |
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Vector3 CalculateMovementDelta | ( | float | deltaTime | ) |
Direction and distance to move in a single frame to avoid obstacles.
deltaTime | How far to move [seconds]. Usually set to Time.deltaTime. |
Vector3 CalculateMovementDelta | ( | Vector3 | position, |
float | deltaTime | ||
) |
Direction and distance to move in a single frame to avoid obstacles.
position | Position of the agent. |
deltaTime | How far to move [seconds]. Usually set to Time.deltaTime. |
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void ForceSetVelocity | ( | Vector3 | velocity | ) |
Set the current velocity of the agent.
This will override the local avoidance input completely. It is useful if you have a player controlled character and want other agents to avoid it.Calling this method will mark the agent as being externally controlled for 1 simulation step. Local avoidance calculations will be skipped for the next simulation step but will be resumed after that unless this method is called again.
void Move | ( | Vector3 | vel | ) |
Set the desired velocity for the agent.
Note that this is a velocity (units/second), not a movement delta (units/frame).
This is assumed to stay the same until something else is requested (as opposed to being reset every frame).
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void SetCollisionNormal | ( | Vector3 | normal | ) |
Set the normal of a wall (or something else) the agent is currently colliding with.
This is used to make the RVO system aware of things like physics or an agent being clamped to the navmesh. The velocity of this agent that other agents observe will be modified so that there is no component into the wall. The agent will however not start to avoid the wall, for that you will need to add RVO obstacles.This value will be cleared after the next simulation step, normally it should be set every frame when the collision is still happening.
void SetTarget | ( | Vector3 | pos, |
float | speed, | ||
float | maxSpeed | ||
) |
Set the target point for the agent to move towards.
Similar to the Move method but this is more flexible. It is also better to use near the end of the path as when using the Move method the agent does not know where to stop, so it may overshoot the target. When using this method the agent will not overshoot the target.
The target point is assumed to stay the same until something else is requested (as opposed to being reset every frame).
pos | Point in world space to move towards. |
speed | Desired speed in world units per second. |
maxSpeed | Maximum speed in world units per second. The agent will use this speed if it is necessary to avoid collisions with other agents. Should be at least as high as speed, but it is recommended to use a slightly higher value than speed (for example speed*1.2). |
void Teleport | ( | Vector3 | pos | ) |
Teleport the agent to a new position.
The agent will be moved instantly and not show ugly interpolation artifacts during a split second. Manually changing the position of the transform will in most cases be picked up as a teleport automatically by the script.
During the simulation frame the agent was moved manually, local avoidance cannot fully be applied to the agent, so try to avoid using it too much or local avoidance quality will degrade.
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void Update | ( | ) |
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float agentTimeHorizon = 2 |
How far into the future to look for collisions with other agents (in seconds)
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Cached to avoid having to use FindObjectOfType every time.
float center |
Center of the agent relative to the pivot point of this game object.
Layer mask specifying which layers this agent will avoid.
You can set it as CollidesWith = RVOLayer.DefaultAgent | RVOLayer.Layer3 | RVOLayer.Layer6 ...
This can be very useful in games which have multiple teams of some sort. For example you usually want the agents in one team avoid each other, but you do not want them to avoid the enemies.
bool debug |
Enables drawing debug information in the scene view.
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float height = 1 |
Height of the agent in world units.
RVOLayer layer = RVOLayer.DefaultAgent |
Specifies the avoidance layer for this agent.
The collidesWith mask on other agents will determine if they will avoid this agent.
bool locked |
A locked unit cannot move.
Other units will still avoid it but avoidance quality is not the best.
bool lockWhenNotMoving = true |
Automatically set locked to true when desired velocity is approximately zero.
This prevents other units from pushing them away when they are supposed to e.g block a choke point.
int maxNeighbours = 10 |
Max number of other agents to take into account.
Decreasing this value can lead to better performance, increasing it can lead to better quality of the simulation.
MovementMode movementMode = MovementMode.XZ |
Determines if the XY (2D) or XZ (3D) plane is used for movement.
float neighbourDist = 10 |
Maximum distance to other agents to take them into account for collisions.
Decreasing this value can lead to better performance, increasing it can lead to better quality of the simulation.
float obstacleTimeHorizon = 2 |
How far into the future to look for collisions with obstacles (in seconds)
float priority = 0.5f |
How strongly other agents will avoid this agent.
Usually a value between 0 and 1. Agents with similar priorities will avoid each other with an equal strength an agent with a much lower priority than another agent will avoid the other agent in a way similar to if the other agent was a moving obstacle.
float radius = 5 |
Radius of the agent in world units.
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Cached tranform component.
float wallAvoidFalloff = 1 |
How much the wallAvoidForce decreases with distance.
The strenght of avoidance is:
float wallAvoidForce = 1 |
An extra force to avoid walls.
This can be good way to reduce "wall hugging" behaviour.
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Current position of the agent.
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getset |
Reference to the internal agent.
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getset |
Reference to the rvo simulator.
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Current calculated velocity of the agent.
This is not necessarily the velocity the agent is actually moving with but it is the velocity that the RVO system has calculated is best for avoiding obstacles and reaching the target.