RVOObstacle Class Reference

Base class for simple RVO colliders. More...

Inheritance diagram for RVOObstacle:

Collaboration diagram for RVOObstacle:

Public Types
enum	ObstacleVertexWinding { KeepOut, KeepIn, Both }
	RVO Obstacle Modes. More...

Public Member Functions
void	OnDisable ()
	Disables the obstacle.
void	OnDrawGizmos ()
	Draws Gizmos.
void	OnDrawGizmos (bool selected)
	Draws Gizmos.
void	OnDrawGizmosSelected ()
	Draws Gizmos.
void	OnEnable ()
	Enabled the obstacle.
void	Start ()
	Creates obstacles.
void	Update ()
	Updates obstacle if required.

Public Attributes
ObstacleVertexWinding	obstacleMode
	Mode of the obstacle.

Protected Member Functions
void	AddObstacle (Vector3[] vertices, float height)
	Adds an obstacle with the specified vertices.
abstract bool	AreGizmosDirty ()
	Called in the editor.
abstract void	CreateObstacles ()
	Create Obstacles.
void	FindSimulator ()
	Finds a simulator in the scene.
virtual Matrix4x4	GetMatrix ()
	Get's the matrix to use for vertices.

Protected Attributes
Pathfinding.RVO.Simulator	sim
	Reference to simulator.

Properties
abstract bool	ExecuteInEditor [get]
	Enable executing in editor to draw gizmos.
abstract bool	LocalCoordinates [get]
	If enabled, all coordinates are handled as local.
abstract bool	StaticObstacle [get]
	Static or dynamic.

Private Member Functions
void	AddObstacleInternal (Vector3[] vertices, float height)
	Adds an obstacle.
void	WindCorrectly (Vector3[] vertices)
	Winds the vertices correctly.

Private Attributes
ObstacleVertexWinding	_obstacleMode
	Last obstacle mode.
List< ObstacleVertex >	addedObstacles
	All obstacles added.
bool	gizmoDrawing = false
	Enabled if currently in OnDrawGizmos.
List< Vector3[]>	gizmoVerts
	Vertices for gizmos.
Matrix4x4	prevUpdateMatrix
	Last matrix the obstacle was updated with.
List< Vector3[]>	sourceObstacles
	Original vertices for the obstacles.

Detailed Description

Base class for simple RVO colliders.

This is a helper base class for RVO colliders. It provides automatic gizmos and helps with the winding order of the vertices as well as automatically updating the obstacle when moved.

Extend this class to create custom RVO obstacles.

See Also

writing-rvo-colliders

RVOSquareObstacle

Member Enumeration Documentation

enum ObstacleVertexWinding

RVO Obstacle Modes.

Determines winding order of obstacle vertices

Enumerator:

KeepOut	Keeps agents from entering the obstacle.
KeepIn	Keeps agents inside the obstacle.
Both	Keeps agents from crossing the obstacle border in either direction.

Member Function Documentation

void AddObstacle ( Vector3[]  vertices, float  height  )

protected

Adds an obstacle with the specified vertices.

The vertices array might be changed by this function.

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void AddObstacleInternal ( Vector3[]  vertices, float  height  )

private

Adds an obstacle.

Winding is assumed to be correct and very little error checking is done.

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abstract bool AreGizmosDirty ( )

protectedpure virtual

Called in the editor.

This function should return true if any variables which can change the shape or position of the obstacle has changed since the last call to this function. Take a look at the RVOSquareObstacle for an example.

Implemented in RVOSquareObstacle.

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abstract void CreateObstacles ( )

protectedpure virtual

Create Obstacles.

Override this and add logic for creating obstacles. You should not use the simulator's function calls directly.

See Also

AddObstacle

Implemented in RVOSquareObstacle.

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void FindSimulator ( )

protected

Finds a simulator in the scene.

Saves found simulator in sim.

Exceptions

System.InvalidOperationException

When no RVOSimulator could be found.

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virtual Matrix4x4 GetMatrix ( )

protectedvirtual

Get's the matrix to use for vertices.

Can be overriden for custom matrices.

Returns

transform.localToWorldMatrix if LocalCoordinates is true, otherwise Matrix4x4.identity

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void OnDisable

(

)

Disables the obstacle.

Do not override this function

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void OnEnable

(

)

Enabled the obstacle.

Do not override this function

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void Update

(

)

Updates obstacle if required.

Checks for if the obstacle should be updated (e.g if it has moved)

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void WindCorrectly ( Vector3[]  vertices )

private

Winds the vertices correctly.

Winding order is determined from obstacleMode.

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Member Data Documentation

ObstacleVertexWinding _obstacleMode

private

Last obstacle mode.

Used to check if the gizmos should be updated

ObstacleVertexWinding obstacleMode

Mode of the obstacle.

Determines winding order of the vertices

Matrix4x4 prevUpdateMatrix

private

Last matrix the obstacle was updated with.

Used to check if the obstacle should be updated

Property Documentation

abstract bool ExecuteInEditor

getprotected

Enable executing in editor to draw gizmos.

If enabled, the CreateObstacles function will be executed in the editor as well in order to draw gizmos.

abstract bool StaticObstacle

getprotected

Static or dynamic.

This determines if the obstacle can be updated by e.g moving the transform around in the scene.

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

• /Users/aron/Unity/AstarPathfindingGIT/Assets/AstarPathfindingProject/RVO/RVOObstacle.cs