Velocity Obstacle. More...

Detailed Description

Velocity Obstacle.

This is a struct to avoid too many allocations.

See also: https://en.wikipedia.org/wiki/Velocity_obstacle

Public Member Functions
	VO (float2 center, float2 offset, float radius, float inverseDt, float inverseDeltaTime)
	Creates a VO for avoiding another agent. More...

void	Draw (float2 circleCenter, float2 drawingOffset)

float2	Gradient (float2 p, out float weight)
	Gradient and value of the cost function of this VO. More...

float2	ScaledGradient (float2 p, out float weight)
	Gradient and value of the cost function of this VO. More...

Static Public Member Functions
static float2	Normalize (float2 v, out float length)

static float	SignedDistanceFromLine (float2 a, float2 dir, float2 p)
	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. More...

Public Attributes
float2	circleCenter

bool	colliding

float2	cutoffDir

float2	cutoffLine

float2	dir1

float2	dir2

float2	line1

float2	line2

float	radius

bool	segment

float	weightBonus

float	weightFactor

Constructor & Destructor Documentation

◆ VO()

VO	(	float2	center,
		float2	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.

Member Function Documentation

◆ Draw()

void Draw	(	float2	circleCenter,
		float2	drawingOffset
	)

◆ Gradient()

float2 Gradient	(	float2	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.

◆ Normalize()

static float2 Normalize	(	float2	v,
		out float	length
	)

static

◆ ScaledGradient()

float2 ScaledGradient	(	float2	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.

◆ SignedDistanceFromLine()

static float SignedDistanceFromLine	(	float2	a,
		float2	dir,
		float2	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}.

Member Data Documentation

◆ circleCenter

float2 circleCenter

◆ colliding

bool colliding

◆ cutoffDir

float2 cutoffDir

◆ cutoffLine

float2 cutoffLine

◆ dir1

float2 dir1

◆ dir2

float2 dir2

◆ line1

float2 line1

◆ line2

float2 line2

◆ radius

float radius

◆ segment

bool segment

◆ weightBonus

float weightBonus

◆ weightFactor

float weightFactor

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

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