Velocity Obstacle.
More...
Velocity Obstacle.
This is a struct to avoid too many allocations.
 See also
 https://en.wikipedia.org/wiki/Velocity_obstacle

 VO (Vector2 center, Vector2 offset, float radius, float inverseDt, float inverseDeltaTime) 
 Creates a VO for avoiding another agent. More...


Vector2  Gradient (Vector2 p, out float weight) 
 Gradient and value of the cost function of this VO. More...


Vector2  ScaledGradient (Vector2 p, out float weight) 
 Gradient and value of the cost function of this VO. More...


◆ VO()
VO 
( 
Vector2 
center, 


Vector2 
offset, 


float 
radius, 


float 
inverseDt, 


float 
inverseDeltaTime 

) 
 
Creates a VO for avoiding another agent.
 Parameters

center  The position of the other agent relative to this agent. 
offset  Offset of the velocity obstacle. For example to account for the agents' relative velocities. 
radius  Combined radius of the two agents (radius1 + radius2). 
inverseDt  1 divided by the local avoidance time horizon (e.g avoid agents that we will hit within the next 2 seconds). 
inverseDeltaTime  1 divided by the time step length. 
◆ Gradient()
Vector2 Gradient 
( 
Vector2 
p, 


out float 
weight 

) 
 
Gradient and value of the cost function of this VO.
The VO has a cost function which is 0 outside the VO and increases inside it as the point moves further into the VO.
This is the negative gradient of that function as well as its value (the weight). The negative gradient points in the direction where the function decreases the fastest.
The value of the function is the distance to the closest edge of the VO and the gradient is normalized.
◆ ScaledGradient()
Vector2 ScaledGradient 
( 
Vector2 
p, 


out float 
weight 

) 
 
Gradient and value of the cost function of this VO.
Very similar to the Gradient method however the gradient and value have been scaled and tweaked slightly.
◆ SegmentObstacle()
static VO SegmentObstacle 
( 
Vector2 
segmentStart, 


Vector2 
segmentEnd, 


Vector2 
offset, 


float 
radius, 


float 
inverseDt, 


float 
inverseDeltaTime 

) 
 

static 
Creates a VO for avoiding another agent.
Note that the segment is directed, the agent will want to be on the left side of the segment.
◆ SignedDistanceFromLine()
static float SignedDistanceFromLine 
( 
Vector2 
a, 


Vector2 
dir, 


Vector2 
p 

) 
 

static 
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.
The number can be seen as the double signed area of the triangle {a, a+dir, p} multiplied by the length of dir. If dir.magnitude=1 this is also the distance from p to the line {a, a+dir}.
◆ circleCenter
◆ colliding
◆ cutoffDir
◆ cutoffLine
◆ dir1
◆ dir2
◆ line1
◆ line2
◆ radius
◆ segment
◆ segmentEnd
◆ segmentStart
◆ weightBonus
◆ weightFactor
The documentation for this struct was generated from the following file:
 /Users/arong/Unity/apathfindingproject/Assets/AstarPathfindingProject/Core/RVO/RVOAgent.cs