Quadtree for quick nearest neighbour search of rvo agents. More...

Detailed Description

Quadtree for quick nearest neighbour search of rvo agents.

See Also: Pathfinding.RVO.Simulator

Classes
struct	Node
	Node in a quadtree for storing RVO agents. More...

struct	QuadtreeQuery

Public Member Functions
void	CalculateSpeeds ()

void	Clear ()
	Removes all agents from the tree.

void	DebugDraw ()

void	Insert (Agent agent)
	Add a new agent to the tree.

void	Query (Vector3 p, float speed, float timeHorizon, float agentRadius, Agent agent)
	Find all agents that could collide with an agent at position p within timeHorizon seconds.

void	SetBounds (Vector3 min, Vector3 max)
	Set the bounding box of this quadtree.

Public Attributes
bool	threeD

Private Member Functions
void	DebugDrawRec (int i, float xmin, float xmax, float ymin, float ymax, float zmin, float zmax)

int	GetNodeIndex ()

Private Attributes
float	bxmax

float	bxmin

float	bymax

float	bymin

float	bzmax

float	bzmin

int	filledNodes = 1

const int	LeafSize = 15

float	maxRadius = 0

Node[]	nodes = new Node[16]

Member Function Documentation

void CalculateSpeeds ( )

void Clear ( )

Removes all agents from the tree.

void DebugDraw ( )

void DebugDrawRec	(	int	i,
		float	xmin,
		float	xmax,
		float	ymin,
		float	ymax,
		float	zmin,
		float	zmax
	)

private

int GetNodeIndex ( )

private

void Insert ( Agent agent )

Add a new agent to the tree.

Warning: Agents must not be added multiple times to the same tree

void Query	(	Vector3	p,
		float	speed,
		float	timeHorizon,
		float	agentRadius,
		Agent	agent
	)

Find all agents that could collide with an agent at position p within timeHorizon seconds.

This method will call agent.InsertAgentNeighbour for each agent found.

void SetBounds	(	Vector3	min,
		Vector3	max
	)

Set the bounding box of this quadtree.

This must be done before adding any agents to the tree and all agents must be inside the bounding box.

Member Data Documentation

float bxmax

private

float bxmin

private

float bymax

private

float bymin

private

float bzmax

private

float bzmin

private

int filledNodes = 1

private

const int LeafSize = 15

private

float maxRadius = 0

private

Node [] nodes = new Node[16]

private

bool threeD

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

/Users/arong/unity/a-pathfinding-project/Assets/AstarPathfindingProject/Core/RVO/RVOQuadtree.cs

Detailed Description

Classes

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Member Function Documentation

Member Data Documentation