RVOController Class Reference

RVO Character Controller. More...

Detailed Description

RVO Character Controller.

Designed to be used as a drop-in replacement for the Unity Character Controller, it supports almost all of the same functions and fields with the exception that due to the nature of the RVO implementation, desired velocity is set in the Move function and is assumed to stay the same until something else is requested (as opposed to reset every frame).

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

Note

Requires an RVOSimulator in the scene

See Also

Pathfinding.RVO.IAgent

RVOSimulator

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 ()
void	Move (Vector3 vel)
	Set the desired velocity for the agent.
void	OnDisable ()
void	OnDrawGizmos ()
void	OnEnable ()
void	Teleport (Vector3 pos)
	Teleport the agent to a new position.
void	Update ()

Public Attributes
float	agentTimeHorizon = 2
	How far in the time to look for collisions with other agents.
Vector3	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
bool	enableRotation = true
float	height = 1
	Height of the agent.
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.
LayerMask	mask = -1
	Layer mask for the ground.
int	maxNeighbours = 10
	Max number of other agents to take into account.
float	maxSpeed = 2
	Max speed of the agent.
float	neighbourDist = 10
	Maximum distance to other agents to take them into account for collisions.
float	obstacleTimeHorizon = 2
	How far in the time to look for collisions with obstacles.
float	radius = 5
	Radius of the agent.
float	rotationSpeed = 30
IAgent	rvoAgent
	Reference to the internal agent.
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.
Vector3	velocity [get]
	Current velocity of the agent.

Private Attributes
float	adjustedY
Vector3	desiredVelocity
	Current desired velocity.
Vector3	lastPosition
	Position for the previous frame.
Simulator	simulator
	Reference to the rvo simulator.
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

(

)

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).

void OnDisable

(

)

void OnDrawGizmos

(

)

void OnEnable

(

)

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.

void Update

(

)

void UpdateAgentProperties ( )

protected

Member Data Documentation

float adjustedY

private

float agentTimeHorizon = 2

How far in the time to look for collisions with other agents.

RVOSimulator cachedSimulator

staticprivate

To avoid having to use FindObjectOfType every time.

Vector3 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 that the team agents avoid each other, but you do not want them to avoid the enemies.

See Also

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

bool debug

Vector3 desiredVelocity

private

Current desired velocity.

bool enableRotation = true

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

staticprivate

float height = 1

Height of the agent.

In world units

Vector3 lastPosition

private

Position for the previous frame.

Used to check if the agent has moved manually

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 quailty 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.

LayerMask mask = -1

Layer mask for the ground.

The RVOController will raycast down to check for the ground to figure out where to place the agent.

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.

float maxSpeed = 2

Max speed of the agent.

In units/second

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 in the time to look for collisions with obstacles.

float radius = 5

Radius of the agent.

float rotationSpeed = 30

IAgent rvoAgent

Reference to the internal agent.

Simulator simulator

private

Reference to the rvo simulator.

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

float wallAvoidForce = 1

An extra force to avoid walls.

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

Property Documentation

Vector3 position

get

Current position of the agent.

Vector3 velocity

get

Current velocity of the agent.

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

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