Struct VO2

void Draw (

float2	circleCenter
float2	drawingOffset

)

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.

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.

VO2 (

float2	center	The position of the other agent relative to this agent.
float2	offset	Offset of the velocity obstacle. For example to account for the agents' relative velocities.
float	radius	Combined radius of the two agents (radius1 + radius2).
float	inverseDt	1 divided by the local avoidance time horizon (e.g avoid agents that we will hit within the next 2 seconds).
float	inverseDeltaTime	1 divided by the time step length.

)

Creates a VO for avoiding another agent.

float2 Normalize (

float2	v
out float	length

)

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.

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}.

float4 halfPlaneOffsets

float2 n1

float2 n2

float2 n3

float2 n4

float weightBonus

float weightFactor