RVO Character Controller. More...

Detailed Description

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).

public void Update () {
    // Just some point far away
    var targetPoint = transform.position + transform.forward * 100;
    // Set the desired point to move towards using a desired speed of 10 and a max speed of 12
    controller.SetTarget(targetPoint, 10, 12);
    // Calculate how much to move during this frame
    // This information is based on movement commands from earlier frames
    // as local avoidance is calculated globally at regular intervals by the RVOSimulator component
    var delta = controller.CalculateMovementDelta(transform.position, Time.deltaTime);
    transform.position = transform.position + delta;
}

For documentation of many of the variables of this class: refer to the Pathfinding.RVO.IAgent interface.

Note: Requires a single RVOSimulator component in the scene

See Also: Pathfinding.RVO.IAgent; RVOSimulator; Local Avoidance

A* Pro Feature:: This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited
The Pro version can be bought here

Public Member Functions
void	Awake ()

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	OnDisable ()

void	OnEnable ()

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.

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.

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	OnDrawGizmos ()

void	OnDrawGizmosSelected ()

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
	To avoid having to use FindObjectOfType every time.

static readonly Color	GizmoColor = new Color(240/255f, 213/255f, 30/255f)

Member Function Documentation

void Awake ( )

Vector3 CalculateMovementDelta ( float deltaTime )

Direction and distance to move in a single frame to avoid obstacles.

Parameters

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.

Parameters

position	Position of the agent.
deltaTime	How far to move [seconds]. Usually set to Time.deltaTime.

static void DrawCircle	(	Vector3	p,
		float	radius,
		float	a0,
		float	a1
	)

staticprivate

static void DrawCylinder	(	Vector3	p,
		Vector3	up,
		float	height,
		float	radius
	)

staticprivate

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).

Note: In most cases the SetTarget method is better to use

See Also: SetTarget

void OnDisable ( )

void OnDrawGizmos ( )

private

void OnDrawGizmosSelected ( )

private

void OnEnable ( )

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).

Parameters

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.

See Also: Move

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.

Vector2 To2D ( Vector3 p )

private

Vector2 To2D	(	Vector3	p,
		out float	elevation
	)

private

Vector3 To3D	(	Vector2	p,
		float	elevationCoordinate
	)

private

void Update ( )

void UpdateAgentProperties ( )

protected

Member Data Documentation

float agentTimeHorizon = 2

How far into the future to look for collisions with other agents.

RVOSimulator cachedSimulator

staticprivate

To avoid having to use FindObjectOfType every time.

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.

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.

See Also: http://en.wikipedia.org/wiki/Mask_(computing)

bool debug

Enables drawing debug information in the scene view.

readonly Color GizmoColor = new Color(240/255f, 213/255f, 30/255f)

staticprivate

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.

A smaller value can reduce CPU load, a higher value can lead to better local avoidance quality.

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.

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.

Transform tr

private

Cached tranform component.

float wallAvoidFalloff = 1

How much the wallAvoidForce decreases with distance.

The strenght of avoidance is:

str = 1/dist*wallAvoidFalloff

See Also: wallAvoidForce

Todo:: This feature is currently disabled

float wallAvoidForce = 1

An extra force to avoid walls.

This can be good way to reduce "wall hugging" behaviour.

Todo:: This feature is currently disabled

Property Documentation

Vector3 position

get

Current position of the agent.

IAgent rvoAgent

getset

Reference to the internal agent.

Simulator simulator

getset

Reference to the rvo simulator.

Vector3 velocity

get

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.

See Also: CalculateMovementDelta

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

/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/RVO/RVOController.cs

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Properties

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Member Function Documentation

Member Data Documentation

Property Documentation