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	radius
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

float radius

float sqrCutoffDistance

float weightFactor

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

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