Struct JobRVO Extends IJobParallelForBatch

void DebugTrace (

int	agentIndex
float2	prev
float2	current
int	stepIndex

)

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.

void Execute (

int	startIndex
int	batchSize

)

int GenerateNeighbourAgentVOs (

int	agentIndex
NativeArray<VelocityObstacle>	velocityObstacles
NativeSlice<int>	neighbours

)

float2 GradientDescent (

int	agentIndex
NativeSlice<VelocityObstacle>	vos
float2	sampleAround1
float2	sampleAround2
float2	desiredVelocity

)

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.

Returns the position which gives the minimum score (approximately).

bool BiasDesiredVelocity (

NativeSlice<VelocityObstacle>	vos
ref float2	desiredVelocity
ref float2	targetPointInVelocitySpace
float	maxBiasRadians

)

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

void DrawVO (

float2	circleCenter
float	radius
float2	origin

)

Vector3 FromXZ (

float2

p

)

(x, 0, y)

Color Rainbow (

float

v

)

float Sqr (

float

x

)

SimulatorBurst.AgentData agentData

bool allowBoundsChecks

float collisionStrength

Should be in the range [0,1].

float deltaTime

const float DesiredVelocityWeight = 0.1f

const int MaxObstacleCount = 50

SimulatorBurst.AgentOutputData output

RVOQuadtreeBurst quadtree

float symmetryBreakingBias

SimulatorBurst.TemporaryAgentData temporaryAgentData