Struct PIDMovement

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 Decelerate (

float	speed
float	dt

)

Decelerates as quickly as possible.

This follows the same curve as the Speed function, as a function of the remaining distance.

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

)

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

)

unsafe void ControlInternal (

refPIDMovement	settings
refState	state
float	dt
refSlabAllocator<ObstacleVertexGroup>	obstacleVertexGroups
refSlabAllocator<float3>	obstacleVertices
UnmanagedObstacle*	unmanagedObstacles
int *	obstacleIndices
int	obstacleCount
ref float3	nextCorner
float	agentRadius
float	remainingDistance
ref float3	closestOnNavmesh
ref CommandBuilder	draw
DebugFlags	debugFlags=DebugFlags.Nothing

)

Bounds InterestingEdgeBounds (

refPIDMovement	settings
float3	position
float3	nextCorner
float	height
NativeMovementPlane	plane

)

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

The edges should be assigned to ControlParams.edges. The bounding box is relative to the given movement plane.

float2 MaxAngle (

float2	a
float2	b
float2	c
bool	clockwise

)

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

The directions are compared pairwise, not using any global reference angle.

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

)

bool? allowRotatingOnSpot

If rotation on the spot is allowed or not.

byte allowRotatingOnSpotBacking

If rotation on the spot is allowed or not.

1 for allowed, 0 for not allowed.

That we have to use a byte instead of a boolean is due to a Burst limitation.

float desiredWallDistance

How big of a distance to try to keep from obstacles.

Typically around 1 or 2 times the agent radius is a good value for this.

Try to avoid making it so large that there might not be enough space for the agent to keep this amount of distance from obstacles. It may start to move less optimally if it is not possible to keep this distance.

float followingStrength

float maxOnSpotRotationSpeed

Maximum rotation speed in degrees per second while rotating on the spot.

float maxRotationSpeed

Maximum rotation speed in degrees per second.

float slowdownTime

Time for the agent to slow down to a complete stop when it approaches the destination point.

float speed

const float ALLOWED_OVERLAP_FACTOR = 0.1f

const float DESTINATION_CLEARANCE_FACTOR = 4f

const int OPTIMIZATION_ITERATIONS = 8

const float STEP_MULTIPLIER = 0.5f

DebugFlags

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")