Struct VO

Package

Velocity Obstacle.

This is a struct to avoid too many allocations.

Public Methods

Gradient (p, weight)

Gradient and value of the cost function of this VO.

Public
ScaledGradient (p, weight)

Gradient and value of the cost function of this VO.

Public
VO (center, offset, radius, inverseDt, inverseDeltaTime)

Creates a VO for avoiding another agent.

Public

Public Static Methods

SegmentObstacle (segmentStart, segmentEnd, offset, radius, inverseDt, inverseDeltaTime)

Creates a VO for avoiding another agent.

Public Static
SignedDistanceFromLine (a, dir, 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.

Public Static

Public Variables

circleCenter
Public
colliding
Public
cutoffDir
Public
cutoffLine
Public
dir1
Public
dir2
Public
line1
Public
line2
Public
radius
Public
segment
Public
segmentEnd
Public
segmentStart
Public
weightBonus
Public
weightFactor
Public