A* Pathfinding Project  3.8.2 The A* Pathfinding Project for Unity 3D
Agent.VO Struct Reference

## Public Member Functions

VO (Vector2 offset, Vector2 p0, Vector2 dir, float weightFactor)
Creates a VO to avoid the half plane created by the point p0 and has a tangent in the direction of dir.

VO (Vector2 offset, Vector2 p1, Vector2 p2, Vector2 tang1, Vector2 tang2, float weightFactor)
Creates a VO to avoid the three half planes with {point, tangent}s of {p1, p2-p1}, {p1, tang1}, {p2, tang2}.

VO (Vector2 center, Vector2 offset, float radius, Vector2 sideChooser, float inverseDt, float weightFactor)
Creates a VO for avoiding another agent.

Vector2 Sample (Vector2 p, out float weight)

float ScalarSample (Vector2 p)

## Static Public Member Functions

static float Det (Vector2 a, Vector2 dir, Vector2 p)
Returns a negative number of if p lies on the left side of a line which with one point in a and has a tangent in the direction of dir.

static bool Left (Vector2 a, Vector2 dir, Vector2 p)
Returns if p lies on the left side of a line which with one point in a and has a tangent in the direction of dir.

## Public Attributes

Vector2 center

bool colliding

Vector2 cutoffDir

Vector2 cutoffLine

Vector2 dir1

Vector2 dir2

bool leftSide

Vector2 line1

Vector2 line2

Vector2 origin

float sqrCutoffDistance

float weightFactor

## Constructor & Destructor Documentation

 VO ( Vector2 offset, Vector2 p0, Vector2 dir, float weightFactor )

Creates a VO to avoid the half plane created by the point p0 and has a tangent in the direction of dir.

Parameters
 p0 A point on the half plane border dir The normalized tangent to the half plane weightFactor relative amount of influence this VO should have on the agent
 VO ( Vector2 offset, Vector2 p1, Vector2 p2, Vector2 tang1, Vector2 tang2, float weightFactor )

Creates a VO to avoid the three half planes with {point, tangent}s of {p1, p2-p1}, {p1, tang1}, {p2, tang2}.

tang1 and tang2 should be normalized.

 VO ( Vector2 center, Vector2 offset, float radius, Vector2 sideChooser, float inverseDt, float weightFactor )

Creates a VO for avoiding another agent.

## Member Function Documentation

 static float Det ( Vector2 a, Vector2 dir, Vector2 p )
static

Returns a negative number of if p lies on the left side of a line which with one point in a and has a tangent in the direction of dir.

The number can be seen as the double signed area of the triangle {a, a+dir, p} multiplied by the length of dir. If length(dir)=1 this is also the distance from p to the line {a, a+dir}.

 static bool Left ( Vector2 a, Vector2 dir, Vector2 p )
static

Returns if p lies on the left side of a line which with one point in a and has a tangent in the direction of dir.

Also returns true if the points are colinear.

 Vector2 Sample ( Vector2 p, out float weight )
 float ScalarSample ( Vector2 p )

## Member Data Documentation

 Vector2 center
 bool colliding
 Vector2 cutoffDir
 Vector2 cutoffLine
 Vector2 dir1
 Vector2 dir2
 bool leftSide
 Vector2 line1
 Vector2 line2
 Vector2 origin