Class SimulatorBurst Extends ISimulator

IAgent AddAgent (

IAgent

agent

)

IAgent AddAgent (

Vector2	position	See IAgent.Position
float	elevationCoordinate	See IAgent.ElevationCoordinate

)

Add an agent at the specified position.

You can use the returned interface to read and write parameters and set for example radius and desired point to move to.

ObstacleVertex AddObstacle (

ObstacleVertex

v

)

ObstacleVertex AddObstacle (

Vector3 []	vertices
float	height
bool	cycle=true

)

ObstacleVertex AddObstacle (

Vector3	a
Vector3	b
float	height

)

ObstacleVertex AddObstacle (

Vector3 []	vertices
float	height
Matrix4x4	matrix
RVOLayer	layer=RVOLayer.DefaultObstacle
bool	cycle=true

)

void ClearAgents ()

Removes all agents from the simulation.

IReadOnlyList<IAgent> GetAgents ()

Get a list of all agents.

This is an internal list. I'm not going to be restrictive so you may access it since it is better for performance but please do not modify it since that can cause errors in the simulation.

List<ObstacleVertex> GetObstacles ()

Get a list of all obstacles.

This is a list of obstacle vertices. Each vertex is part of a doubly linked list loop forming an obstacle polygon.

void OnDestroy ()

Frees all used memory.

void RemoveAgent (

IAgent

agent

)

Removes a specified agent from this simulation.

The agent can be added again later by using AddAgent.

void RemoveObstacle (

ObstacleVertex

v

)

SimulatorBurst (

bool	doubleBuffering	Use Double Buffering for calculations. Testing done with 5000 agents and 0.1 desired delta time showed that with double buffering enabled the game ran at 50 fps for most frames, dropping to 10 fps during calculation frames. But without double buffering it ran at around 10 fps all the time. This will let threads calculate while the game progresses instead of waiting for the calculations to finish.
MovementPlane	movementPlane	The plane that the movement happens in. XZ for 3D games, XY for 2D games.

)

Create a new simulator.

void Update ()

Should be called once per frame.

void UpdateObstacle (

ObstacleVertex	obstacle
Vector3 []	vertices
Matrix4x4	matrix

)

void UpdateObstacles ()

Rebuilds the obstacle tree at next simulation frame.

Add and remove obstacle functions call this automatically.

Rect AgentBounds => quadtree.bounds

int AgentCount => numAgents

Number of agents in the simulation.

bool AnyAgentHasDebug

True if at least one agent had debug drawing enabled during the previous frame.

float DeltaTime => deltaTime

float DesiredDeltaTime

Time in seconds between each simulation step.

This is the desired delta time, the simulation will never run at a higher fps than the rate at which the Update function is called.

bool DoubleBuffering

Use double buffering.

bool HardCollisions

Use hard collisions.

MovementPlane MovementPlane => movementPlane

MovementPlane movementPlane = MovementPlane.XZ

Determines if the XY (2D) or XZ (3D) plane is used for movement.

bool Multithreading => true

List<ObstacleVertex> obstacles

Obstacles in this simulation.

AgentOutputData outputData

Internal simulation data.

Can be used if you need very high performance access to the agent data. Normally you would use the SimulatorBurst.Agent class instead (implements the IAgent interface).

RVOQuadtreeBurst quadtree

Quadtree for this simulation.

Used internally by the simulation to perform fast neighbour lookups for each agent. Please only read from this tree, do not rebuild it since that can interfere with the simulation. It is rebuilt when necessary.

AgentData simulationData

Internal simulation data.

Can be used if you need very high performance access to the agent data. Normally you would use the SimulatorBurst.Agent class instead (implements the IAgent interface).

float SymmetryBreakingBias

Bias agents to pass each other on the right side.

If the desired velocity of an agent puts it on a collision course with another agent or an obstacle its desired velocity will be rotated this number of radians (1 radian is approximately 57°) to the right. This helps to break up symmetries and makes it possible to resolve some situations much faster.

When many agents have the same goal this can however have the side effect that the group clustered around the target point may as a whole start to spin around the target point.

Recommended values are in the range of 0 to 0.2.

If this value is negative, the agents will be biased towards passing each other on the left side instead.

Action [] agentPreCalculationCallbacks = new Action[0]

Agent[] agents = new Agent[0]

Agents in this simulation.

void AllocateAgentSpace ()

void BlockUntilSimulationStepIsDone ()

Blocks until separate threads have finished with the current simulation step.

When double buffering is done, the simulation is performed in between frames.

void CleanAndUpdateObstaclesIfNecessary ()

void CleanObstacles ()

AgentData currentSimulationData

A copy of the the simulationData used when the calculations are running.

float deltaTime

float desiredDeltaTime = 0.05f

Inverse desired simulation fps.

HorizonAgentData horizonAgentData

JobHandle inProgressJob

AgentOutputData inProgressOutputData

bool jobInProgress

float lastStep = -99999

int numAgents = 0

Number of agents in this simulation.

void PreCalculation ()

void ScheduleCleanObstacles ()

TemporaryAgentData temporaryAgentData