LocalAvoidance Class Reference

Local Avoidance (beta). More...

Inheritance diagram for LocalAvoidance:

Collaboration diagram for LocalAvoidance:

Classes
class	HalfPlane
struct	IntersectionPair
class	VO
struct	VOIntersection
struct	VOLine

Public Types
enum	IntersectionState { Inside, Outside, Enter, Exit }
enum	ResolutionType { Sampled, Geometric }

Public Member Functions
bool	CheckSample (Vector3 sample, List< VO > vos)
Vector3	ClampMovement (Vector3 direction)
Vector3	GetVelocity ()
void	LateUpdate ()
void	SimpleMove (Vector3 desiredMovement)
	Simple move.

Public Attributes
float	circlePoint = 0.5F
float	circleScale = 0.5F
float	delta = 1.0F
	How many seconds to plan for.
bool	drawGizmos = false
float	maxSpeedScale = 1.5F
	Based on the desired velocity, how much larger magnitude should the output be allowed to have.
const float	Rad2Deg = (float)(360.0/(Math.PI*2))
float	radius = 0.5F
float	responability = 0.5F
	Blending between taking this vecocity or other units velocity into account.
ResolutionType	resType = ResolutionType.Geometric
	Type of solver for local avoidance.
Vector3[]	samples
float	sampleScale = 1F

Protected Attributes
LocalAvoidance[]	agents
CharacterController	controller

Private Member Functions
void	Start ()
	Initialization.

Private Attributes
const int	maxVOCounter = 50
Vector3	preVelocity
Vector3	velocity
	Velocity during last frame.
List< VO >	vos = new List<VO> ()

Detailed Description

Local Avoidance (beta).

This component can be used as a CharacterController with the call SimpleMove.
Using this on multiple units will improve how they behave in groups and avoid collisions.
Known limitations and issues

• Many units all trying to go through the same point will take quite some time to sort out
• Many units trying to go to the same point will sometimes result in overlapping.
• Only works in 2D (i.e on in XZ space), multiple floors are not handled properly yet.
• Only works with agents which were present from the beginning of the game (otherwise you need to update the LocalAvoidance::agents array, see LocalAvoidance::Start)
• Units do not avoid walls at the moment, support for avoiding at least navmesh edges will be implemented in later versions

See demo of the script here: http://www.youtube.com/watch?v=WUOymX-NpN4
Keep in mind that this is a beta, some features might not work properly and the script is really messy.

Based on ClearPath, RVO, VO and a number of other techniques. This is roughly the same technique which Unity's local avoidance uses.

Deprecated:

This class has been replaced by the much more mature RVO local avoidance. It may be removed in future versions

Member Function Documentation

void SimpleMove

(

Vector3

desiredMovement

)

Simple move.

Similar to CharacterController.SimpleMove, but this will try to avoid other units

void Start ( )

private

Initialization.

Caches CharacterController component and finds other agents

Member Data Documentation

float delta = 1.0F

How many seconds to plan for.

1.0 usually works best

float responability = 0.5F

Blending between taking this vecocity or other units velocity into account.

0.5 usually works best

ResolutionType resType = ResolutionType.Geometric

Type of solver for local avoidance.

The Geometric one is the one most developed and works best usually.
The sampled one also works quite good, but not in all cases

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The documentation for this class was generated from the following file:

• /Users/aron/Unity/AstarPathfindingGIT/Assets/AstarPathfindingProject/LocalAvoidance/LocalAvoidance.cs