Agent Class Reference

Classes
struct	VO

Public Member Functions
	Agent (Vector3 pos)
void	BufferSwitch ()
void	CalculateNeighbours ()
float	InsertAgentNeighbour (Agent agent, float rangeSq)
void	InsertObstacleNeighbour (ObstacleVertex ob1, float rangeSq)
void	Interpolate (float t)
void	SetYPosition (float yCoordinate)
void	Teleport (Vector3 pos)
void	Update ()
Public Member Functions inherited from IAgent
void	SetYPosition (float yCoordinate)
	Sets the Y coordinate of the agent only.
void	Teleport (Vector3 pos)
	Teleports the agent to a new position.

Static Public Member Functions
static bool	IntersectionFactor (Vector2 start1, Vector2 dir1, Vector2 start2, Vector2 dir2, out float factor)
	Returns the intersection factors for line 1 and line 2.

Public Attributes
bool	locked = false
int	maxNeighbours
List< float >	neighbourDists = new List<float>()
List< Agent >	neighbours = new List<Agent>()
Vector3	position
float	radius
Simulator	simulator
	Simulator which handles this agent.

Static Public Attributes
static float	DesiredVelocityScale = 0.1f
static float	DesiredVelocityWeight = 0.02f
static float	GlobalIncompressibility = 30
static System.Diagnostics.Stopwatch	watch1 = new System.Diagnostics.Stopwatch()
static System.Diagnostics.Stopwatch	watch2 = new System.Diagnostics.Stopwatch()

Package Functions
void	CalculateVelocity (Pathfinding.RVO.Simulator.WorkerContext context)

Package Attributes
Vector3	newVelocity
Agent	next
	Used internally for a linked list.

Properties
float	AgentTimeHorizon [get, set]
RVOLayer	CollidesWith [get, set]
bool	DebugDraw [get, set]
Vector3	DesiredVelocity [get, set]
float	Height [get, set]
Vector3	InterpolatedPosition [get]
RVOLayer	Layer [get, set]
bool	Locked [get, set]
int	MaxNeighbours [get, set]
float	MaxSpeed [get, set]
float	NeighbourDist [get, set]
List< ObstacleVertex >	NeighbourObstacles [get]
float	ObstacleTimeHorizon [get, set]
Vector3	Position [get, set]
float	Radius [get, set]
Vector3	Velocity [get, set]
Properties inherited from IAgent
float	AgentTimeHorizon [get, set]
	Max number of estimated seconds to look into the future for collisions with agents.
RVOLayer	CollidesWith [get, set]
	Layer mask specifying which layers this agent will avoid.
bool	DebugDraw [get, set]
	Debug drawing.
Vector3	DesiredVelocity [get, set]
	Desired velocity of the agent.
float	Height [get, set]
	Height of the agent.
Vector3	InterpolatedPosition [get]
	Interpolated position of agent.
RVOLayer	Layer [get, set]
	Specifies the avoidance layer for this agent.
bool	Locked [get, set]
	Locked agents will not move.
int	MaxNeighbours [get, set]
	Max number of agents to take into account.
float	MaxSpeed [get, set]
	Max speed of the agent.
float	NeighbourDist [get, set]
	Max distance to other agents to take them into account.
List< ObstacleVertex >	NeighbourObstacles [get]
	List of obstacle segments which were close to the agent during the last simulation step.
float	ObstacleTimeHorizon [get, set]
	Max number of estimated seconds to look into the future for collisions with obstacles.
Vector3	Position [get]
	Position of the agent.
float	Radius [get, set]
	Radius of the agent.
Vector3	Velocity [get, set]
	Velocity of the agent.

Private Member Functions
float	Sqr (float x)
Vector2	Trace (VO[] vos, int voCount, Vector2 p, float cutoff, out float score)
	Traces the vector field constructed out of the velocity obstacles.

Static Private Member Functions
static void	DrawCircle (Vector2 _p, float radius, Color col)
static void	DrawCircle (Vector2 _p, float radius, float a0, float a1, Color col)
static void	DrawCross (Vector2 p, float size=1)
static void	DrawCross (Vector2 p, Color col, float size=1)
static void	DrawVO (Vector2 circleCenter, float radius, Vector2 origin)
static Color	Rainbow (float v)
static Vector3	To3D (Vector2 p)

Private Attributes
float	agentTimeHorizon
RVOLayer	collidesWith
Vector3	desiredVelocity
float	height
RVOLayer	layer
float	maxSpeed
float	neighbourDist
List< float >	obstacleDists = new List<float>()
List< ObstacleVertex >	obstacles = new List<ObstacleVertex>()
List< ObstacleVertex >	obstaclesBuffered = new List<ObstacleVertex>()
float	obstacleTimeHorizon
Vector3	prevSmoothPos
Vector3	smoothPos
Vector3	velocity
const float	WallWeight = 5
	Extra weight that walls will have.
float	weight

Constructor & Destructor Documentation

Agent

(

Vector3

pos

)

Member Function Documentation

void BufferSwitch

(

)

void CalculateNeighbours

(

)

void CalculateVelocity ( Pathfinding.RVO.Simulator.WorkerContext  context )

package

static void DrawCircle ( Vector2  _p, float  radius, Color  col  )

staticprivate

static void DrawCircle ( Vector2  _p, float  radius, float  a0, float  a1, Color  col  )

staticprivate

static void DrawCross ( Vector2  p, float  size = 1  )

staticprivate

static void DrawCross ( Vector2  p, Color  col, float  size = 1  )

staticprivate

static void DrawVO ( Vector2  circleCenter, float  radius, Vector2  origin  )

staticprivate

float InsertAgentNeighbour	(	Agent	agent,
		float	rangeSq
	)

void InsertObstacleNeighbour	(	ObstacleVertex	ob1,
		float	rangeSq
	)

void Interpolate

(

float

t

)

static bool IntersectionFactor ( Vector2  start1, Vector2  dir1, Vector2  start2, Vector2  dir2, out float  factor  )

static

Returns the intersection factors for line 1 and line 2.

The intersection factors is a distance along the line start - end where the other line intersects it.

intersectionPoint = start1 + factor1 * (end1-start1) 

intersectionPoint2 = start2 + factor2 * (end2-start2) 

Lines are treated as infinite.
false is returned if the lines are parallel and true if they are not.

static Color Rainbow ( float  v )

staticprivate

void SetYPosition

(

float

yCoordinate

)

float Sqr ( float  x )

private

void Teleport

(

Vector3

pos

)

static Vector3 To3D ( Vector2  p )

staticprivate

Vector2 Trace ( VO[]  vos, int  voCount, Vector2  p, float  cutoff, out float  score  )

private

Traces the vector field constructed out of the velocity obstacles.

Returns the position which gives the minimum score (approximately).

void Update

(

)

Member Data Documentation

float agentTimeHorizon

private

RVOLayer collidesWith

private

Vector3 desiredVelocity

private

float DesiredVelocityScale = 0.1f

static

float DesiredVelocityWeight = 0.02f

static

float GlobalIncompressibility = 30

static

float height

private

RVOLayer layer

private

bool locked = false

int maxNeighbours

float maxSpeed

private

float neighbourDist

private

List<float> neighbourDists = new List<float>()

List<Agent> neighbours = new List<Agent>()

Vector3 newVelocity

package

Agent next

package

Used internally for a linked list.

List<float> obstacleDists = new List<float>()

private

List<ObstacleVertex> obstacles = new List<ObstacleVertex>()

private

List<ObstacleVertex> obstaclesBuffered = new List<ObstacleVertex>()

private

float obstacleTimeHorizon

private

Vector3 position

Vector3 prevSmoothPos

private

float radius

Simulator simulator

Simulator which handles this agent.

Used by this script as a reference and to prevent adding this agent to multiple simulations.

Vector3 smoothPos

private

Vector3 velocity

private

const float WallWeight = 5

private

Extra weight that walls will have.

System.Diagnostics.Stopwatch watch1 = new System.Diagnostics.Stopwatch()

static

System.Diagnostics.Stopwatch watch2 = new System.Diagnostics.Stopwatch()

static

float weight

private

Property Documentation

float AgentTimeHorizon

getset

RVOLayer CollidesWith

getset

bool DebugDraw

getset

Vector3 DesiredVelocity

getset

float Height

getset

Vector3 InterpolatedPosition

get

RVOLayer Layer

getset

bool Locked

getset

int MaxNeighbours

getset

float MaxSpeed

getset

float NeighbourDist

getset

List<ObstacleVertex> NeighbourObstacles

get

float ObstacleTimeHorizon

getset

Vector3 Position

getset

float Radius

getset

Vector3 Velocity

getset

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

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