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void | DebugTrace (int agentIndex, float2 prev, float2 current, int stepIndex) |
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float2 | EvaluateGradient (int agentIndex, NativeSlice< VelocityObstacle > vos, float2 p, out float value, float2 desiredVelocity) |
| Evaluate gradient and value of the cost function at velocity p. More...
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void | Execute (int startIndex, int batchSize) |
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int | GenerateNeighbourAgentVOs (int agentIndex, NativeArray< VelocityObstacle > velocityObstacles, NativeSlice< int > neighbours) |
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float2 | GradientDescent (int agentIndex, NativeSlice< VelocityObstacle > vos, float2 sampleAround1, float2 sampleAround2, float2 desiredVelocity) |
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float2 | Trace (int agentIndex, NativeSlice< VelocityObstacle > vos, float2 p, out float score, float2 desiredVelocity, int iterations, float stepSize) |
| Traces the vector field constructed out of the velocity obstacles. More...
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static bool | BiasDesiredVelocity (NativeSlice< VelocityObstacle > vos, ref float2 desiredVelocity, ref float2 targetPointInVelocitySpace, float maxBiasRadians) |
| Bias towards the right side of agents. More...
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static void | DrawVO (float2 circleCenter, float radius, float2 origin) |
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static Vector3 | FromXZ (float2 p) |
| (x, 0, y) More...
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static Color | Rainbow (float v) |
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static float | Sqr (float x) |
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◆ BiasDesiredVelocity()
static bool BiasDesiredVelocity |
( |
NativeSlice< VelocityObstacle > |
vos, |
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ref float2 |
desiredVelocity, |
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ref float2 |
targetPointInVelocitySpace, |
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float |
maxBiasRadians |
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) |
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static |
Bias towards the right side of agents.
Rotate desiredVelocity at most [value] number of radians. 1 radian ≈ 57° This breaks up symmetries.
The desired velocity will only be rotated if it is inside a velocity obstacle (VO). If it is inside one, it will not be rotated further than to the edge of it
The targetPointInVelocitySpace will be rotated by the same amount as the desired velocity
- Returns
- True if the desired velocity was inside any VO
◆ DebugTrace()
void DebugTrace |
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int |
agentIndex, |
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float2 |
prev, |
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float2 |
current, |
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int |
stepIndex |
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) |
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◆ DrawVO()
static void DrawVO |
( |
float2 |
circleCenter, |
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float |
radius, |
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float2 |
origin |
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) |
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static |
◆ EvaluateGradient()
float2 EvaluateGradient |
( |
int |
agentIndex, |
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NativeSlice< VelocityObstacle > |
vos, |
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float2 |
p, |
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out float |
value, |
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float2 |
desiredVelocity |
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) |
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Evaluate gradient and value of the cost function at velocity p.
◆ Execute()
void Execute |
( |
int |
startIndex, |
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int |
batchSize |
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) |
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◆ FromXZ()
static Vector3 FromXZ |
( |
float2 |
p | ) |
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static |
◆ GenerateNeighbourAgentVOs()
int GenerateNeighbourAgentVOs |
( |
int |
agentIndex, |
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NativeArray< VelocityObstacle > |
velocityObstacles, |
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NativeSlice< int > |
neighbours |
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) |
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◆ GradientDescent()
float2 GradientDescent |
( |
int |
agentIndex, |
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NativeSlice< VelocityObstacle > |
vos, |
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float2 |
sampleAround1, |
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float2 |
sampleAround2, |
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float2 |
desiredVelocity |
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) |
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◆ Rainbow()
static Color Rainbow |
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float |
v | ) |
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static |
◆ Sqr()
static float Sqr |
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float |
x | ) |
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static |
◆ Trace()
float2 Trace |
( |
int |
agentIndex, |
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NativeSlice< VelocityObstacle > |
vos, |
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float2 |
p, |
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out float |
score, |
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float2 |
desiredVelocity, |
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int |
iterations, |
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float |
stepSize |
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◆ agentData
◆ collisionStrength
Should be in the range [0,1].
◆ deltaTime
◆ DesiredVelocityWeight
const float DesiredVelocityWeight = 0.1f |
◆ MaxObstacleCount
const int MaxObstacleCount = 50 |
◆ output
◆ quadtree
◆ symmetryBreakingBias
float symmetryBreakingBias |
◆ temporaryAgentData
◆ allowBoundsChecks
The documentation for this struct was generated from the following file:
- /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/RVO/RVOAgentBurst.cs