Struct PIDMovement

Public

Core control loop for the FollowerEntity movement script.

Inner Types

ControlParams

PersistentState

State

Public Methods

Control (state, dt, obstacleData, obstacleIndices, nextCorner, agentRadius, remainingDistance, closestOnNavmesh, draw, debugFlags=…)

Public

CurveFollowingStrength (signedDistToClearArea, radiusToWall, remainingDistance)

Public

SidewaysAvoidance (position, reference, edges, estimatedForward, maxDesiredWallDistance, remainingDistance, draw, debugFlags, centerRadius, signedDistToCurve, signedDistToClearArea)

Public

Speed (remainingDistance)

Public

Public Static Methods

ClipLineByHalfPlaneX (a, b, x, side)

Public Static

Control (settings, dt, controlParams, draw, maxDesiredWallDistance)

Public Static

ControlInternal (settings, state, dt, obstacleVertexGroups, obstacleVertices, unmanagedObstacles, obstacleIndices, obstacleCount, nextCorner, agentRadius, remainingDistance, closestOnNavmesh, draw, debugFlags=…)

Public Static

InterestingEdgeBounds (settings, position, nextCorner, height, plane)

Finds the bounding box in which this controller is interested in navmesh edges.

Public Static

MaxAngle (a, b, c, clockwise)

Returns either the most clockwise, or most counter-clockwise direction of the three given directions.

Public Static

OptimizeDirection (start, end, desiredRadius, edges)

Public Static

SegmentPointDistanceSq (e1, e2, point)

Public Static

SmallestDistance (point, edges)

Public Static

Public Variables

allowRotatingOnSpot

Public

desiredWallDistance

Public

followingStrength

Public

maxOnSpotRotationSpeed

Public

maxRotationSpeed

Maximum rotation speed in degrees per second.

Public

slowdownTime

Public

speed

Public

Public Static Variables

ALLOWED_OVERLAP_FACTOR

Public Static

DESTINATION_CLEARANCE_FACTOR

Public Static

OPTIMIZATION_ITERATIONS

Public Static

STEP_MULTIPLIER

Public Static

Public Enums

DebugFlags

Public

Private/Protected Members

MarkerConvertObstacles

Private Static Readonly

MarkerOptimizeDirection

Private Static Readonly

MarkerPID

Private Static Readonly

MarkerSidewaysAvoidance

Private Static Readonly

MarkerSmallestDistance

Private Static Readonly

ref float2	a
ref float2	b
float	x
float	side

float2	a
float2	b
float2	c
bool	clockwise

Nothing= 0
Position= 1 << 0
Tangent= 1 << 1
SidewaysClearance= 1 << 2
ForwardClearance= 1 << 3
Obstacles= 1 << 4
Path= 1 << 5

Struct PIDMovement

Inner Types

Public Methods

void Control (

refState

state

float

dt

refSimulatorBurst.ObstacleData

obstacleData

NativeList<int>

obstacleIndices

float3

nextCorner

float

agentRadius

float

remainingDistance

float3

closestOnNavmesh

CommandBuilder

draw

DebugFlags

debugFlags=DebugFlags.Nothing

)

float CurveFollowingStrength (

float

signedDistToClearArea

float

radiusToWall

float

remainingDistance

)

float Speed (

float

remainingDistance

)

Public Static Methods

bool ClipLineByHalfPlaneX (

ref float2

a

ref float2

b

float

x

float

side

)

AnglePIDControlOutput2D Control (

refPIDMovement

settings

float

dt

refControlParams

controlParams

ref CommandBuilder

draw

out float

maxDesiredWallDistance

)

Bounds InterestingEdgeBounds (

refPIDMovement

settings

float3

position

float3

nextCorner

float

height

NativeMovementPlane

plane

)

float2 MaxAngle (

float2

a

float2

b

float2

c

bool

clockwise

)

float2 OptimizeDirection (

float2

start

float2

end

float

desiredRadius

NativeArray<float2>

edges

)

Return

float SegmentPointDistanceSq (

float2

e1

float2

e2

float2

point

)

float SmallestDistance (

float2

point

NativeArray<float2>

edges

)

Public Variables

bool allowRotatingOnSpot

float desiredWallDistance

float followingStrength

float maxOnSpotRotationSpeed

float maxRotationSpeed

float slowdownTime

float speed

Public Static Variables

const float ALLOWED_OVERLAP_FACTOR = 0.1f

const float DESTINATION_CLEARANCE_FACTOR = 4f

const int OPTIMIZATION_ITERATIONS = 8

const float STEP_MULTIPLIER = 0.5f

Public Enums

DebugFlags

Private/Protected Members

ProfilerMarker MarkerConvertObstacles = new ProfilerMarker("ConvertObstacles")

ProfilerMarker MarkerOptimizeDirection = new ProfilerMarker("OptimizeDirection")

ProfilerMarker MarkerPID = new ProfilerMarker("PID")

ProfilerMarker MarkerSidewaysAvoidance = new ProfilerMarker("SidewaysAvoidance")

ProfilerMarker MarkerSmallestDistance = new ProfilerMarker("ClosestDistance")

refState	state
float	dt
refSimulatorBurst.ObstacleData	obstacleData
NativeList<int>	obstacleIndices
float3	nextCorner
float	agentRadius
float	remainingDistance
float3	closestOnNavmesh
CommandBuilder	draw
DebugFlags	debugFlags=DebugFlags.Nothing

float	signedDistToClearArea
float	radiusToWall
float	remainingDistance

float2	position
float2	reference
NativeArray<float2>	edges
float2	estimatedForward
float	maxDesiredWallDistance
float	remainingDistance
CommandBuilder	draw
DebugFlags	debugFlags
out float	centerRadius
out float	signedDistToCurve
out float	signedDistToClearArea

refPIDMovement	settings
float	dt
refControlParams	controlParams
ref CommandBuilder	draw
out float	maxDesiredWallDistance

float2	start
float2	end
float	desiredRadius
NativeArray<float2>	edges

Struct PIDMovement

Inner Types

Public Methods

void Control ( refState state float dt refSimulatorBurst.ObstacleData obstacleData NativeList<int> obstacleIndices float3 nextCorner float agentRadius float remainingDistance float3 closestOnNavmesh CommandBuilder draw DebugFlags debugFlags=DebugFlags.Nothing )

float CurveFollowingStrength ( float signedDistToClearArea float radiusToWall float remainingDistance )

void SidewaysAvoidance ( float2 position float2 reference NativeArray<float2> edges float2 estimatedForward float maxDesiredWallDistance float remainingDistance CommandBuilder draw DebugFlags debugFlags out float centerRadius out float signedDistToCurve out float signedDistToClearArea )

float Speed ( float remainingDistance )

Public Static Methods

bool ClipLineByHalfPlaneX ( ref float2 a ref float2 b float x float side )

AnglePIDControlOutput2D Control ( refPIDMovement settings float dt refControlParams controlParams ref CommandBuilder draw out float maxDesiredWallDistance )

Bounds InterestingEdgeBounds ( refPIDMovement settings float3 position float3 nextCorner float height NativeMovementPlane plane )

float2 MaxAngle ( float2 a float2 b float2 c bool clockwise )

float2 OptimizeDirection ( float2 start float2 end float desiredRadius NativeArray<float2> edges )

Return

float SegmentPointDistanceSq ( float2 e1 float2 e2 float2 point )

float SmallestDistance ( float2 point NativeArray<float2> edges )

Public Variables

bool allowRotatingOnSpot

float desiredWallDistance

float followingStrength

float maxOnSpotRotationSpeed

float maxRotationSpeed

float slowdownTime

float speed

Public Static Variables

const float ALLOWED_OVERLAP_FACTOR = 0.1f

const float DESTINATION_CLEARANCE_FACTOR = 4f

const int OPTIMIZATION_ITERATIONS = 8

const float STEP_MULTIPLIER = 0.5f

Public Enums

DebugFlags

Private/Protected Members

ProfilerMarker MarkerConvertObstacles = new ProfilerMarker("ConvertObstacles")

ProfilerMarker MarkerOptimizeDirection = new ProfilerMarker("OptimizeDirection")

ProfilerMarker MarkerPID = new ProfilerMarker("PID")

ProfilerMarker MarkerSidewaysAvoidance = new ProfilerMarker("SidewaysAvoidance")

ProfilerMarker MarkerSmallestDistance = new ProfilerMarker("ClosestDistance")

void Control (

refState

state

float

dt

refSimulatorBurst.ObstacleData

obstacleData

NativeList<int>

obstacleIndices

float3

nextCorner

float

agentRadius

float

remainingDistance

float3

closestOnNavmesh

CommandBuilder

draw

DebugFlags

debugFlags=DebugFlags.Nothing

)

float CurveFollowingStrength (

float

signedDistToClearArea

float

radiusToWall

float

remainingDistance

)

float Speed (

float

remainingDistance

)

bool ClipLineByHalfPlaneX (

ref float2

a

ref float2

b

float

x

float

side

)

AnglePIDControlOutput2D Control (

refPIDMovement

settings

float

dt

refControlParams

controlParams

ref CommandBuilder

draw

out float

maxDesiredWallDistance

)

Bounds InterestingEdgeBounds (

refPIDMovement

settings

float3

position

float3

nextCorner

float

height

NativeMovementPlane

plane

)

float2 MaxAngle (

float2

a

float2

b

float2

c

bool

clockwise

)

float2 OptimizeDirection (

float2

start

float2

end

float

desiredRadius

NativeArray<float2>

edges

)

float SegmentPointDistanceSq (

float2

e1

float2

e2

float2

point

)

float SmallestDistance (

float2

point

NativeArray<float2>

edges

)