Class CooperativeContext Extends MonoBehaviour, IPathHandlerProvider

IAgent AddAgent (

Vector3

position

)

int GetReservation (

GraphNode	node
int	time

)

Returns the pathID which has reserved the specified node at the specified time.

Zero is returned if there is no reservation. A negative pathID is returned if it is just a soft reservation.

List<Agent> agents = new List<Agent>()

bool optimizePaths = false

Try to optimize paths whenever an agent would stand still.

This can often reduce wait times if the agent had planned to wait for an agent in its way to move away, but that agent has since replanned its path and is no longer obstructing the agent. It is quite experimental though.

bool prioritizeRightHandTraffic = true

Choose a preferred side of narrow corridors to help resolve congestion faster.

In narrow corridors agents will be penalized for moving on the left side of the corridor. This will have the effect of agents being less likely to cross paths and thus congestion will usually be reduced. It has a slight performance impact.

This effect is present everywhere that there are walls, not just in corridors. However it is in corridors that it matters the most.

int softReservationPenalty = 1000

Penalty to use for soft reservations.

Soft reservations are used when #mode = ReduceWaits and the agent is waiting or standing still. This will discourage other agents from using the same node at the same time, but it will not prevent the agent from doing that. This will reduce the times the agents get stuck waiting for a long time however it can lead to more collisions.

A penalty of 1000 is roughly equal to the cost of walking one world unit.

int temporalDepth = 30

Maximum number of time steps to be used in path planning.

A higher number increases both memory usage and the time to calculate a path. The memory usage increases linearly so a temporal depth of 20 will use roughly twice as much memory as a temporal depth of 10. Higher values will also make path searches slower.

Recommended values lie between 8 and 50 (very soft limits). A higher value will make the agents able to resolve more complicated situations however it may reduce the responsiveness of the agents and sometimes simpler situations will take longer to resolve. A lower value will make the agents more naive.

This value cannot be changed during runtime.

int Tick

Current tick.

Incremented by one every tickLength seconds.

float tickLength = 1

Length in seconds of each tick.

All units will move a single node per tick

float Time

Current tick with the fractional part.

Mode

See #mode.

void AddAgent (

Agent

agent

)

List<Agent> FindTrail (

Dictionary<GraphNode,Agent>	node2agent
Agent	agent
outAgent	blockingAgent
out bool	isCycle

)

PathHandlerIPathHandlerProvider. GetNewPathHandler (

int	threadID
int	totalThreadCount

)

Returns a new CooperativePathHandler.

Called by the AstarPath class during Awake.

void Init ()

System.Object lockObject = new System.Object()

Provides thread synchronization.

Dictionary<GraphNode,Agent> node2agent = new Dictionary<GraphNode, Agent>()

void OnDrawGizmos ()

Draw nice visualizations for the reservation table.

void OptimizePath (

CooperativePathData

path

)

void PostPathCalculated ()

void RemoveAgent (

Agent

agent

)

void RemoveFromIndex< T > (

List<T>	ls
int	index

)

bool RemoveReservation (

CooperativePathData

path

)

Remove reservations which were added with Reserve(CooperativeABPath)

void RemoveReservation (

GraphNode	node
int	time
int	pathID

)

Remove reservation for the node at the specified time if it is currently reserved by the pathID.

bool RemoveReservationInternal (

CooperativePathData

path

)

List<Entry> [] reservationDropList

Cyclic queue of entries to be removed.

When the time for an entry has passed it will be removed to avoid storing entires forever.

Dictionary<Entry, int> reservations = new Dictionary<Entry, int>()

Space-time reservation table.

Each entry specifies the path ID which has reserved the specified node at the specified time

void Reserve (

CooperativePathData

path

)

Reserve all (node,time) pairs which the path will occupy.

void Reserve (

GraphNode	node	Node to reserve
int	time	Tick to reserve the node at (see Tick)
int	pathID	Path which reserves this node
bool	hard	If false, only a penalty will be applied (see softReservationPenalty)
bool	fromEnd

)

Reserves the node at the specified time with a pathID.

System.Random rnd = new System.Random()

List<SearchChainElement> SearchForChain (

Dictionary<GraphNode,Agent>	node2agent
Agent	agent
Agent	firstAgentInOriginalChain
int	maxCost

)

int tick

Current tick.

void TickTime ()

Advance tick by one.

double time

Current tick, including fractional part.

void TryToMove (

Dictionary<GraphNode,Agent>	node2agent
Agent	agent

)

void Update ()

Increments tick every tickLength seconds.