Struct JobRVO Extends IJobParallelForBatched

Public

Inner Types

Public Methods

BiasDesiredVelocity (lines, numLines, desiredVelocity, targetPointInVelocitySpace, maxBiasRadians)

Bias towards the right side of agents.

Public
DebugTrace (agentIndex, prev, current, stepIndex)
Public
EvaluateGradient (agentIndex, vos, p, value, desiredVelocity)

Evaluate gradient and value of the cost function at velocity p.

Public
Execute (startIndex, batchSize)
Public
ExecuteORCA (startIndex, batchSize)
Public
ExecuteSampled (startIndex, batchSize)
Public
GenerateNeighbourAgentVOs (agentIndex, velocityObstacles, neighbours)
Public
GradientDescent (agentIndex, vos, sampleAround1, sampleAround2, desiredVelocity)
Public
LinearProgram1 (lines, lineIndex, radius, optimalVelocity, directionOpt, result)
Public
LinearProgram2 (lines, numLines, radius, optimalVelocity, directionOpt)
Public
LinearProgram3 (lines, numLines, numFixedLines, beginLine, radius, result, scratchBuffer)
Public
Trace (agentIndex, vos, p, score, desiredVelocity, iterations, stepSize)

Traces the vector field constructed out of the velocity obstacles.

Public

Public Static Methods

BiasDesiredVelocity (vos, desiredVelocity, targetPointInVelocitySpace, maxBiasRadians)

Bias towards the right side of agents.

Public Static
DrawVO (draw, circleCenter, radius, origin)
Public Static
FromXZ (p)

(x, 0, y)

Public Static
Rainbow (v)
Public Static
det (vector1, vector2)
Public Static

Public Variables

agentData
Public
allowBoundsChecks
Public
collisionStrength

Should be in the range [0,1].

Public
deltaTime
Public
draw
Public
output
Public
symmetryBreakingBias
Public
temporaryAgentData
Public

Public Static Variables

DesiredVelocityWeight
Public Static
MaxObstacleCount
Public Static