LightweightRVO Class Reference

Lightweight RVO Circle Example. More...

Detailed Description

Lightweight RVO Circle Example.

Lightweight script for simulating agents in a circle trying to reach their antipodal positions. This script, compared to using lots of RVOAgents shows the real power of the RVO simulator when little other overhead (e.g GameObjects) is present.

For example with this script, I can simulate 5000 agents at around 50 fps on my laptop (with desired simulation fps = 10 and interpolation, 2 threads) however when using prefabs, only instantiating the 5000 agents takes 10 seconds and it runs at around 5 fps.

This script will render the agents by generating a square for each agent combined into a single mesh with appropriate UV.

A few GUI buttons will be drawn by this script with which the user can change the number of agents.

Public Types
enum	RVOExampleType { Circle, Line, Point, RandomStreams }

Public Member Functions
void	CreateAgents (int num)
	Create a number of agents in circle and restart simulation.
void	OnGUI ()
void	Start ()
void	Update ()

Public Attributes
int	agentCount = 100
	Number of agents created at start.
float	agentTimeHorizon = 10
	How far in the future too look for agents.
bool	debug = false
	Enable the debug flag for all agents.
float	exampleScale = 100
	How large is the area where agents are placed.
int	maxNeighbours = 10
	Max number of neighbour agents to take into account.
float	maxSpeed = 2
	Max speed for an agent.
float	neighbourDist = 15
	Max distance for other agents to take them into account.
float	obstacleTimeHorizon = 10
	How far in the future too look for obstacles.
float	radius = 3
	Agent radius.
Vector3	renderingOffset = Vector3.up*0.1f
	Offset from the agent position the actual drawn postition.
RVOExampleType	type = RVOExampleType.Circle

Private Member Functions
float	uniformDistance (float radius)

Static Private Member Functions
static Color	HSVToRGB (float h, float s, float v)
	Converts an HSV color to an RGB color, according to the algorithm described at http://en.wikipedia.org/wiki/HSL_and_HSV.

Private Attributes
List< IAgent >	agents
	All agents handled by this script.
List< Color >	colors
	Color for each agent.
List< Vector3 >	goals
	Goals for each agent.
Vector3[]	interpolatedVelocities
Mesh	mesh
	Mesh for rendering.
Color[]	meshColors
Pathfinding.RVO.Simulator	sim
	Reference to the simulator in the scene.
int[]	tris
Vector2[]	uv
Vector3[]	verts

Member Enumeration Documentation

enum RVOExampleType

Enumerator:

Circle
Line
Point
RandomStreams

Member Function Documentation

void CreateAgents

(

int

num

)

Create a number of agents in circle and restart simulation.

static Color HSVToRGB ( float  h, float  s, float  v  )

staticprivate

Converts an HSV color to an RGB color, according to the algorithm described at http://en.wikipedia.org/wiki/HSL_and_HSV.

Parameters

h,s,v

the color to convert.

Returns

the RGB representation of the color.

void OnGUI

(

)

void Start

(

)

float uniformDistance ( float  radius )

private

void Update

(

)

Member Data Documentation

int agentCount = 100

Number of agents created at start.

List<IAgent> agents

private

All agents handled by this script.

float agentTimeHorizon = 10

How far in the future too look for agents.

List<Color> colors

private

Color for each agent.

bool debug = false

Enable the debug flag for all agents.

float exampleScale = 100

How large is the area where agents are placed.

For e.g the circle example, it corresponds

List<Vector3> goals

private

Goals for each agent.

Vector3 [] interpolatedVelocities

private

int maxNeighbours = 10

Max number of neighbour agents to take into account.

float maxSpeed = 2

Max speed for an agent.

Mesh mesh

private

Mesh for rendering.

Color [] meshColors

private

float neighbourDist = 15

Max distance for other agents to take them into account.

float obstacleTimeHorizon = 10

How far in the future too look for obstacles.

float radius = 3

Agent radius.

Vector3 renderingOffset = Vector3.up*0.1f

Offset from the agent position the actual drawn postition.

Used to get rid of z-buffer issues

Pathfinding.RVO.Simulator sim

private

Reference to the simulator in the scene.

int [] tris

private

RVOExampleType type = RVOExampleType.Circle

Vector2 [] uv

private

Vector3 [] verts

private

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

• /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/ExampleScenes/Example11_RVO/LightweightRVO.cs