JobRVO Struct Reference

Classes
struct	HalfPlane
struct	LinearProgram2Output
struct	ORCALine
struct	VO
	Velocity Obstacle. More...
struct	VO2

Public Member Functions
bool	BiasDesiredVelocity (NativeArray< ORCALine > lines, int numLines, ref float2 desiredVelocity, ref float2 targetPointInVelocitySpace, float maxBiasRadians)
	Bias towards the right side of agents. More...
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. More...
void	Execute (int startIndex, int batchSize)
void	ExecuteORCA (int startIndex, int batchSize)
void	ExecuteSampled (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)
bool	LinearProgram1 (NativeArray< ORCALine > lines, int lineIndex, float radius, float2 optimalVelocity, bool directionOpt, ref float2 result)
LinearProgram2Output	LinearProgram2 (NativeArray< ORCALine > lines, int numLines, float radius, float2 optimalVelocity, bool directionOpt)
void	LinearProgram3 (NativeArray< ORCALine > lines, int numLines, int numFixedLines, int beginLine, float radius, ref float2 result, NativeArray< ORCALine > scratchBuffer)
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. More...

Static Public Member Functions
static bool	BiasDesiredVelocity (NativeSlice< VelocityObstacle > vos, ref float2 desiredVelocity, ref float2 targetPointInVelocitySpace, float maxBiasRadians)
	Bias towards the right side of agents. More...
static float	det (float2 vector1, float2 vector2)
static void	DrawVO (CommandBuilder draw, float2 circleCenter, float radius, float2 origin)
static Vector3	FromXZ (float2 p)
	(x, 0, y) More...
static Color	Rainbow (float v)
static float	Sqr (float x)

Public Attributes
SimulatorBurst.AgentData	agentData
float	collisionStrength
	Should be in the range [0,1]. More...
float	deltaTime
const float	DesiredVelocityWeight = 0.1f
CommandBuilder	draw
const int	MaxObstacleCount = 50
SimulatorBurst.AgentOutputData	output
RVOQuadtreeBurst	quadtree
float	symmetryBreakingBias
SimulatorBurst.TemporaryAgentData	temporaryAgentData

Properties
bool	allowBoundsChecks [get]
Properties inherited from IJobParallelForBatched
bool	allowBoundsChecks [get]

Member Function Documentation

BiasDesiredVelocity() [1/2]

bool BiasDesiredVelocity	(	NativeArray< ORCALine >	lines,
		int	numLines,
		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

Returns

True if the desired velocity was inside any VO

BiasDesiredVelocity() [2/2]

static bool BiasDesiredVelocity ( NativeSlice< VelocityObstacle >  vos, ref float2  desiredVelocity, ref float2  targetPointInVelocitySpace, float  maxBiasRadians  )

static

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

Returns

True if the desired velocity was inside any VO

DebugTrace()

void DebugTrace	(	int	agentIndex,
		float2	prev,
		float2	current,
		int	stepIndex
	)

det()

static float det ( float2  vector1, float2  vector2  )

static

DrawVO()

static void DrawVO ( CommandBuilder  draw, float2  circleCenter, float  radius, float2  origin  )

static

EvaluateGradient()

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.

Execute()

void Execute	(	int	startIndex,
		int	batchSize
	)

Implements IJobParallelForBatched.

ExecuteORCA()

void ExecuteORCA	(	int	startIndex,
		int	batchSize
	)

ExecuteSampled()

void ExecuteSampled	(	int	startIndex,
		int	batchSize
	)

FromXZ()

static Vector3 FromXZ ( float2  p )

static

(x, 0, y)

GenerateNeighbourAgentVOs()

int GenerateNeighbourAgentVOs	(	int	agentIndex,
		NativeArray< VelocityObstacle >	velocityObstacles,
		NativeSlice< int >	neighbours
	)

GradientDescent()

float2 GradientDescent	(	int	agentIndex,
		NativeSlice< VelocityObstacle >	vos,
		float2	sampleAround1,
		float2	sampleAround2,
		float2	desiredVelocity
	)

LinearProgram1()

bool LinearProgram1	(	NativeArray< ORCALine >	lines,
		int	lineIndex,
		float	radius,
		float2	optimalVelocity,
		bool	directionOpt,
		ref float2	result
	)

LinearProgram2()

LinearProgram2Output LinearProgram2	(	NativeArray< ORCALine >	lines,
		int	numLines,
		float	radius,
		float2	optimalVelocity,
		bool	directionOpt
	)

LinearProgram3()

void LinearProgram3	(	NativeArray< ORCALine >	lines,
		int	numLines,
		int	numFixedLines,
		int	beginLine,
		float	radius,
		ref float2	result,
		NativeArray< ORCALine >	scratchBuffer
	)

Rainbow()

static Color Rainbow ( float  v )

static

Sqr()

static float Sqr ( float  x )

static

Trace()

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).

See also

https://en.wikipedia.org/wiki/Gradient_descent

Member Data Documentation

agentData

SimulatorBurst.AgentData agentData

collisionStrength

float collisionStrength

Should be in the range [0,1].

deltaTime

float deltaTime

DesiredVelocityWeight

const float DesiredVelocityWeight = 0.1f

draw

CommandBuilder draw

MaxObstacleCount

const int MaxObstacleCount = 50

output

SimulatorBurst.AgentOutputData output

quadtree

RVOQuadtreeBurst quadtree

symmetryBreakingBias

float symmetryBreakingBias

temporaryAgentData

SimulatorBurst.TemporaryAgentData temporaryAgentData

Property Documentation

allowBoundsChecks

bool allowBoundsChecks

get

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The documentation for this struct was generated from the following file:

• /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/RVO/RVOAgentBurst.cs