Struct PIDMovement

float Accelerate (

float	speed	The current speed of the agent.
float	timeToReachMaxSpeed	The time it takes for the agent to reach the maximum speed, starting from a standstill.
float	dt	The time to accelerate for. Can be negative to decelerate instead.

)

Accelerates as quickly as possible.

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

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

)

bool ClipLineByHalfPlaneX (

ref float2	a
ref float2	b
float	x
float	side

)

void ClipLineByHalfPlaneYt (

float2	a
float2	b
float	y
float	side
ref float	mnT
ref float	mxT

)

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 Linecast (

float2	a
float2	b
NativeArray<float2>	edges

)

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 OffsetCornerForApproach (

float2	position2D
float2	endOfPath2D
float2	facingDir2D
refPIDMovement	settings
float2	nextCorner2D
ref float	gammaAngle
ref float	gammaAngleWeight
DebugFlags	debugFlags
ref CommandBuilder	draw
NativeArray<float2>	edges

)

float2 OptimizeDirection (

float2	start
float2	end
float	desiredRadius
float	remainingDistance
NativeArray<float2>	edges
CommandBuilder	draw
DebugFlags	debugFlags

)

float SegmentPointDistanceSq (

float2	e1
float2	e2
float2	point

)

float SmallestDistance (

float2	point
NativeArray<float2>	edges

)

float SmallestDistanceWithinWedge (

float2	point	The origin point of the wedge (the pointy end).
float2	dir1	The first direction of the wedge.
float2	dir2	The second direction of the wedge.
float	shrinkAmount	The wedge is shrunk by this amount. In the same units as the input points.
NativeArray<float2>	edges	The edges to check for intersection with.

)

Calculates the closest point on any point of an edge that is inside a wedge.

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 leadInRadiusWhenApproachingDestination

How wide of a turn to make when approaching a destination for which a desired facing direction has been set.

Setting this to zero will make the agent move directly to the end of the path and rotate on the spot to face the desired facing direction, once it is there.

When approaching a destination for which no desired facing direction has been set, this field has no effect.

float maxOnSpotRotationSpeed

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

Only used if allowRotatingOnSpot is enabled.

float maxRotationSpeed

Maximum rotation speed in degrees per second.

If the agent would have to rotate faster than this, it will instead slow down to get more time to rotate.

The agent may want to rotate faster than rotationSpeed if there's not enough space, so that it has to move in a more narrow arc. It may also want to rotate faster if it is very close to its destination and it wants to make sure it ends up on the right spot without any circling.

It is recommended to keep this at a value slightly greater than rotationSpeed.

float rotationSpeed

Desired rotation speed in degrees per second.

If the agent is in an open area and gets a new destination directly behind itself, it will start to rotate around with exactly this rotation speed.

The agent will slow down its rotation speed as it approaches its desired facing direction. So for example, when it is only 90 degrees away from its desired facing direction, it will only rotate with about half this speed.

float slowdownTime

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

float slowdownTimeWhenTurningOnSpot

Time for the agent to slow down to a complete stop when it decides to change direction by turning on the spot.

If set to zero, the agent will instantly stop and start to turn around.

Only used if allowRotatingOnSpot is enabled.

float speed

Desired speed of the agent in meters per second.

const float ALLOWED_OVERLAP_FACTOR = 0.1f

const float DESTINATION_CLEARANCE_FACTOR = 4f

const float MAX_FRACTION_OF_REMAINING_DISTANCE = 0.9f

const int OPTIMIZATION_ITERATIONS = 8

const float STEP_MULTIPLIER = 1.0f

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")