RVO Character Controller. More...

Detailed Description

RVO Character Controller.

Similar to Unity's CharacterController. It handles movement calculations and takes other agents into account. It does not handle movement itself, but allows the calling script to get the calculated velocity and use that to move the object using a method it sees fit (for example using a CharacterController, using transform.Translate or using a rigidbody).

public void Update () {
    // Just some point far away
    var targetPoint = transform.position + transform.forward * 100;
    // Set the desired point to move towards using a desired speed of 10 and a max speed of 12
    controller.SetTarget(targetPoint, 10, 12);
    // Calculate how much to move during this frame
    // This information is based on movement commands from earlier frames
    // as local avoidance is calculated globally at regular intervals by the RVOSimulator component
    var delta = controller.CalculateMovementDelta(transform.position, Time.deltaTime);
    transform.position = transform.position + delta;
}

For documentation of many of the variables of this class: refer to the Pathfinding.RVO.IAgent interface.

Note: Requires a single RVOSimulator component in the scene

See Also: Pathfinding.RVO.IAgent; RVOSimulator; Local Avoidance

A* Pro Feature:: This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited
The Pro version can be bought here

Public Member Functions
Vector3	CalculateMovementDelta (float deltaTime)
	Direction and distance to move in a single frame to avoid obstacles.

Vector3	CalculateMovementDelta (Vector3 position, float deltaTime)
	Direction and distance to move in a single frame to avoid obstacles.

void	ForceSetVelocity (Vector3 velocity)
	Set the current velocity of the agent.

void	Move (Vector3 vel)
	Set the desired velocity for the agent.

void	SetCollisionNormal (Vector3 normal)
	Set the normal of a wall (or something else) the agent is currently colliding with.

void	SetTarget (Vector3 pos, float speed, float maxSpeed)
	Set the target point for the agent to move towards.

void	Teleport (Vector3 pos)
	Teleport the agent to a new position.

Vector2	To2D (Vector3 p)
	Converts a 3D vector to a 2D vector in the movement plane.

Vector2	To2D (Vector3 p, out float elevation)
	Converts a 3D vector to a 2D vector in the movement plane.

Vector3	To3D (Vector2 p, float elevationCoordinate)
	Converts a 2D vector in the movement plane as well as an elevation to a 3D coordinate.

Public Attributes
float	agentTimeHorizon = 2
	How far into the future to look for collisions with other agents (in seconds)

float	center = 1f
	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.

bool	debug
	Enables drawing debug information in the scene view.

float	height = 2
	Height of the agent in world units.

RVOLayer	layer = RVOLayer.DefaultAgent
	Specifies the avoidance layer for this agent.

bool	locked
	A locked unit cannot move.

bool	lockWhenNotMoving = true
	Automatically set locked to true when desired velocity is approximately zero.

int	maxNeighbours = 10
	Max number of other agents to take into account.

float	obstacleTimeHorizon = 2
	How far into the future to look for collisions with obstacles (in seconds)

float	priority = 0.5f
	How strongly other agents will avoid this agent.

float	radius = 0.5f
	Radius of the agent in world units.

float	wallAvoidFalloff = 1
	How much the wallAvoidForce decreases with distance.

float	wallAvoidForce = 1
	An extra force to avoid walls.

Protected Member Functions
void	UpdateAgentProperties ()

Protected Member Functions inherited from VersionedMonoBehaviour
virtual void	Awake ()

virtual int	OnUpgradeSerializedData (int version)
	Handle serialization backwards compatibility.

Protected Attributes
Transform	tr
	Cached tranform component.

Properties
MovementPlane	movementPlane `[get]`
	Determines if the XY (2D) or XZ (3D) plane is used for movement.

Vector3	position `[get]`
	Current position of the agent.

IAgent	rvoAgent `[get, set]`
	Reference to the internal agent.

Simulator	simulator `[get, set]`
	Reference to the rvo simulator.

Vector3	velocity `[get]`
	Current calculated velocity of the agent.

Private Member Functions
void	OnDisable ()

void	OnDrawGizmos ()

void	OnEnable ()

Static Private Attributes
static readonly Color	GizmoColor = new Color(240/255f, 213/255f, 30/255f)

Member Function Documentation

Vector3 CalculateMovementDelta ( float deltaTime )

Direction and distance to move in a single frame to avoid obstacles.

Parameters

deltaTime How far to move [seconds]. Usually set to Time.deltaTime.

Vector3 CalculateMovementDelta	(	Vector3	position,
		float	deltaTime
	)

Direction and distance to move in a single frame to avoid obstacles.

Parameters

position	Position of the agent.
deltaTime	How far to move [seconds]. Usually set to Time.deltaTime.

void ForceSetVelocity ( Vector3 velocity )

Set the current 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.Calling this method 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 method is called again.

void Move ( Vector3 vel )

Set the desired velocity for the agent.

Note that this is a velocity (units/second), not a movement delta (units/frame).

This is assumed to stay the same until something else is requested (as opposed to being reset every frame).

Note: In most cases the SetTarget method is better to use. What this will actually do is call SetTarget with (position + velocity). See the note in the documentation for IAgent.SetTarget about the potential issues that this can cause (in particular that it might be hard to get the agent to stop at a precise point).

See Also: SetTarget

void OnDisable ( )

private

void OnDrawGizmos ( )

private

void OnEnable ( )

private

void SetCollisionNormal ( Vector3 normal )

Set the normal of a wall (or something else) the agent is currently colliding with.

This is used to make the RVO system aware of things like physics or an agent being clamped to the navmesh. The velocity of this agent that other agents observe will be modified so that there is no component into the wall. The agent will however not start to avoid the wall, for that you will need to add RVO obstacles.This value will be cleared after the next simulation step, normally it should be set every frame when the collision is still happening.

void SetTarget	(	Vector3	pos,
		float	speed,
		float	maxSpeed
	)

Set the target point for the agent to move towards.

Similar to the Move method but this is more flexible. It is also better to use near the end of the path as when using the Move method the agent does not know where to stop, so it may overshoot the target. When using this method the agent will not overshoot the target. The agent will assume that it will stop when it reaches the target so make sure that you don't place the point too close to the agent if you actually just want to move in a particular direction.

The target point is assumed to stay the same until something else is requested (as opposed to being reset every frame).

Parameters

pos	Point in world space to move towards.
speed	Desired speed in world units per second.
maxSpeed	Maximum speed in world units per second. The agent will use this speed if it is necessary to avoid collisions with other agents. Should be at least as high as speed, but it is recommended to use a slightly higher value than speed (for example speed*1.2).

See Also: Also take a look at the documentation for IAgent.SetTarget which has a few more details.; Move

void Teleport ( Vector3 pos )

Teleport the agent to a new position.

Deprecated:: Use transform.position instead, the RVOController can now handle that without any issues.

Vector2 To2D ( Vector3 p )

Converts a 3D vector to a 2D vector in the movement plane.

If movementPlane is XZ it will be projected onto the XZ plane otherwise it will be projected onto the XY plane.

Vector2 To2D	(	Vector3	p,
		out float	elevation
	)

Converts a 3D vector to a 2D vector in the movement plane.

If movementPlane is XZ it will be projected onto the XZ plane and the elevation coordinate will be the Y coordinate otherwise it will be projected onto the XY plane and elevation will be the Z coordinate.

Vector3 To3D	(	Vector2	p,
		float	elevationCoordinate
	)

Converts a 2D vector in the movement plane as well as an elevation to a 3D coordinate.

See Also: To2D; movementPlane

void UpdateAgentProperties ( )

protected

Member Data Documentation

float agentTimeHorizon = 2

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

float center = 1f

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.

See Also: http://en.wikipedia.org/wiki/Mask_(computing)

bool debug

Enables drawing debug information in the scene view.

readonly Color GizmoColor = new Color(240/255f, 213/255f, 30/255f)

staticprivate

float height = 2

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 locked

A locked unit cannot move.

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

bool lockWhenNotMoving = true

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.

int maxNeighbours = 10

Max number of other agents to take into account.

Decreasing this value can lead to better performance, increasing it can lead to better quality of the simulation.

float obstacleTimeHorizon = 2

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

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 an agent with a much lower priority than another agent will avoid the other agent in a way similar to if the other agent was a moving obstacle.

float radius = 0.5f

Radius of the agent in world units.

Transform tr

protected

Cached tranform component.

float wallAvoidFalloff = 1

How much the wallAvoidForce decreases with distance.

The strenght of avoidance is:

str = 1/dist*wallAvoidFalloff

See Also: wallAvoidForce

Todo:: This feature is currently disabled

float wallAvoidForce = 1

An extra force to avoid walls.

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

Todo:: This feature is currently disabled

Property Documentation

MovementPlane movementPlane

get

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

Vector3 position

get

Current position of the agent.

IAgent rvoAgent

getset

Reference to the internal agent.

Simulator simulator

getset

Reference to the rvo simulator.

Vector3 velocity

get

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.

See Also: CalculateMovementDelta

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

/Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/RVO/RVOController.cs

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Properties

Private Member Functions

Static Private Attributes

Member Function Documentation

Member Data Documentation

Property Documentation