Class RVOController Extends VersionedMonoBehaviour

bool AvoidingAnyAgents

True if the agent's movement is affected by any other agents or obstacles.

If the agent is all alone, and can just move in a straight line to its target, this will be false. If it has to adjust its velocity, even slightly, to avoid collisions, this will be true.

float agentTimeHorizon = 2

How far into the future to look for collisions with other agents (in seconds)

float 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 the agents in one team to avoid each other, but you do not want them to avoid the enemies.

This field only affects which other agents that this agent will avoid, it does not affect how other agents react to this agent.

AgentDebugFlags debug

Enables drawing debug information in the scene view.

float flowFollowingStrength = 0.0f

Determines how strongly this agent just follows the flow instead of making other agents avoid it.

The default value is 0, if it is greater than zero (up to the maximum value of 1) other agents will not avoid this character as much. However it works in a different way to Priority.

A group of agents with FlowFollowingStrength set to a high value that all try to reach the same point will end up just settling to stationary positions around that point, none will push the others away to any significant extent. This is tricky to achieve with priorities as priorities are all relative, so setting all agents to a low priority is the same thing as not changing priorities at all.

Should be a value in the range [0, 1].

float height

Height of the agent in world units.

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 lockWhenNotMoving = false

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.

When this is true every call to SetTarget or Move will set the locked field to true if the desired velocity was non-zero or false if it was zero.

bool locked

A locked unit cannot move.

Other units will still avoid it but avoidance quality is not the best.

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.

SimpleMovementPlane???????? movementPlane

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

MovementPlane movementPlaneMode

float obstacleTimeHorizon = 0.5f

How far into the future to look for collisions with obstacles (in seconds)

Vector3 position

Current position of the agent.

Note that this is only updated every local avoidance simulation step, not every frame.

float priority = 0.5f

How strongly other agents will avoid this agent.

Usually a value between 0 and 1. Agents with similar priorities will avoid each other with an equal strength. If an agent sees another agent with a higher priority than itself it will avoid that agent more strongly. In the extreme case (e.g this agent has a priority of 0 and the other agent has a priority of 1) it will treat the other agent as being a moving obstacle. Similarly if an agent sees another agent with a lower priority than itself it will avoid that agent less.

In general the avoidance strength for this agent is: if this.priority > 0 or other.priority > 0:
avoidanceStrength = other.priority / (this.priority + other.priority);
else:
avoidanceStrength = 0.5


float priorityMultiplier = 1.0f

Priority multiplier.

This functions identically to the priority, however it is not exposed in the Unity inspector. It is primarily used by the Pathfinding.RVO.RVODestinationCrowdedBehavior.

float radius

Radius of the agent in world units.

IAgent rvoAgent

Reference to the internal agent.

Vector3? velocity

Current calculated velocity of the agent.

This is not necessarily the velocity the agent is actually moving with (that is up to the movement script to decide) but it is the velocity that the RVO system has calculated is best for avoiding obstacles and reaching the target.

You can also set the velocity of the agent. This will override the local avoidance input completely. It is useful if you have a player controlled character and want other agents to avoid it.

Setting the velocity using this property will mark the agent as being externally controlled for 1 simulation step. Local avoidance calculations will be skipped for the next simulation step but will be resumed after that unless this property is set again.

Note that if you set the velocity the value that can be read from this property will not change until the next simulation step.

void Update () {
var x = Input.GetAxis("Horizontal");
var y = Input.GetAxis("Vertical");

var v = new Vector3(x, 0, y) * speed;

// Override the RVOController's velocity. This will disable local avoidance calculations for one simulation step.
rvo.velocity = v;
transform.position += v * Time.deltaTime;
}


RVOControllerMigrations

IAstarAI ai

Cached reference to a movement script (if one is used)

IAstarAI aiBackingField

float centerBackingField = 1

float heightBackingField = 2

SimpleMovementPlane movementPlaneBackingField = GraphTransform.xzPlane.ToSimpleMovementPlane()

GraphNode obstacleQuery

float radiusBackingField = 0.5f

SimulatorBurst simulator

Reference to the rvo simulator.

Transform tr

Cached tranform component.

float wallAvoidFalloff = 1

How much the wallAvoidForce decreases with distance.

The strenght of avoidance is: str = 1/dist*wallAvoidFalloff


float wallAvoidForce = 1

An extra force to avoid walls.

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