Class Simulator

IAgent AddAgent (

IAgent

agent

)

Add a previously removed agent to the simulation.

An agent can only be in one simulation at a time, any attempt to add an agent to two simulations or multiple times to the same simulation will result in an exception being thrown.

IAgent AddAgent (

Vector2	position	See IAgent.Position
float	elevationCoordinate	See IAgent.ElevationCoordinate

)

Add an agent at the specified position.

You can use the returned interface to read and write parameters and set for example radius and desired point to move to.

ObstacleVertex AddObstacle (

ObstacleVertex

v

)

Adds a previously removed obstacle.

This does not check if the obstacle is already added to the simulation, so please do not add an obstacle multiple times.

It is assumed that this is a valid obstacle.

ObstacleVertex AddObstacle (

Vector3[]	vertices
float	height
bool	cycle=true

)

Adds an obstacle described by the vertices.

ObstacleVertex AddObstacle (

Vector3[]	vertices
float	height
Matrix4x4	matrix
RVOLayer	layer=RVOLayer.DefaultObstacle
bool	cycle=true

)

Adds an obstacle described by the vertices.

ObstacleVertex AddObstacle (

Vector3	a
Vector3	b
float	height

)

Adds a line obstacle with a specified height.

void ClearAgents ()

Removes all agents from the simulation.

List<Agent> GetAgents ()

Get a list of all agents.

This is an internal list. I'm not going to be restrictive so you may access it since it is better for performance but please do not modify it since that can cause errors in the simulation.

List<ObstacleVertex> GetObstacles ()

Get a list of all obstacles.

This is a list of obstacle vertices. Each vertex is part of a doubly linked list loop forming an obstacle polygon.

void OnDestroy ()

Terminates all worker threads.

void RemoveAgent (

IAgent

agent

)

Removes a specified agent from this simulation.

The agent can be added again later by using AddAgent.

void RemoveObstacle (

ObstacleVertex

v

)

Removes the obstacle identified by the vertex.

This must be the same vertex as the one returned by the AddObstacle call.

Simulator (

int	workers	Use the specified number of worker threads. When the number zero is specified, no multithreading will be used. A good number is the number of cores on the machine.
bool	doubleBuffering	Use Double Buffering for calculations. Testing done with 5000 agents and 0.1 desired delta time showed that with double buffering enabled the game ran at 50 fps for most frames, dropping to 10 fps during calculation frames. But without double buffering it ran at around 10 fps all the time. This will let threads calculate while the game progresses instead of waiting for the calculations to finish.
MovementPlane	movementPlane	The plane that the movement happens in. XZ for 3D games, XY for 2D games.

)

Create a new simulator.

void Update ()

Should be called once per frame.

void UpdateObstacle (

ObstacleVertex	obstacle	Obstacle to update
Vector3[]	vertices	New vertices for the obstacle, must have at least the number of vertices in the original obstacle
Matrix4x4	matrix	Matrix to multiply vertices with before updating obstacle

)

Updates the vertices of an obstacle.

The number of vertices in an obstacle cannot be changed, existing vertices can only be moved.

void UpdateObstacles ()

Rebuilds the obstacle tree at next simulation frame.

Add and remove obstacle functions call this automatically.

float DeltaTime

float DesiredDeltaTime

Time in seconds between each simulation step.

This is the desired delta time, the simulation will never run at a higher fps than the rate at which the Update function is called.

bool Multithreading

Is using multithreading.

RVOQuadtree Quadtree

Quadtree for this simulation.

Used internally by the simulation to perform fast neighbour lookups for each agent. Please only read from this tree, do not rebuild it since that can interfere with the simulation. It is rebuilt when necessary.

MovementPlane movementPlane = MovementPlane.XZ

Determines if the XY (2D) or XZ (3D) plane is used for movement.

List<ObstacleVertex> obstacles

Obstacles in this simulation.

float symmetryBreakingBias = 0.1f

Bias agents to pass each other on the right side.

If the desired velocity of an agent puts it on a collision course with another agent or an obstacle its desired velocity will be rotated this number of radians (1 radian is approximately 57°) to the right. This helps to break up symmetries and makes it possible to resolve some situations much faster.

When many agents have the same goal this can however have the side effect that the group clustered around the target point may as a whole start to spin around the target point.

Recommended values are in the range of 0 to 0.2.

If this value is negative, the agents will be biased towards passing each other on the left side instead.

void BlockUntilSimulationStepIsDone ()

Blocks until separate threads have finished with the current simulation step.

When double buffering is done, the simulation is performed in between frames.

void BuildQuadtree ()

void CleanAndUpdateObstaclesIfNecessary ()

void CleanObstacles ()

void PreCalculation ()

void ScheduleCleanObstacles ()

List<Agent> agents

Agents in this simulation.

WorkerContext coroutineWorkerContext = new WorkerContext()

float deltaTime

float desiredDeltaTime = 0.05f

Inverse desired simulation fps.

bool doCleanObstacles = false

bool doUpdateObstacles = false

bool doubleBuffering = true

Use Double Buffering.

float lastStep = -99999

Worker[] workers

Worker threads.

IAgent AddAgent (

Vector3

position

)

Add an agent at the specified position.

You can use the returned interface to read several parameters such as position and velocity and set for example radius and desired velocity.