Exposes properties of an Agent class. More...

Detailed Description

Exposes properties of an Agent class.

See Also: RVOController; RVOSimulator

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Public Member Functions
void	ForceSetVelocity (Vector3 velocity)
	Set the current velocity of the agent.

void	SetCollisionNormal (Vector3 normal)
	Set the normal of a wall (or something else) the agent is currently colliding with.

void	SetMovementPlane (IMovementPlane movementPlane)
	Set the plane in which the agent should move.

void	SetTarget (Vector3 targetPoint, float desiredSpeed, float maxSpeed)
	Point towards which the agent should move.

Properties
float	AgentTimeHorizon `[get, set]`
	Max number of estimated seconds to look into the future for collisions with agents.

float	CalculatedSpeed `[get]`
	Optimal speed of the agent to avoid collisions.

Vector2	CalculatedTargetPoint `[get]`
	Optimal point to move towards to avoid collisions.

RVOLayer	CollidesWith `[get, set]`
	Layer mask specifying which layers this agent will avoid.

bool	DebugDraw `[get, set]`
	Draw debug information.

float	Height `[get, set]`
	Height of the agent in world units.

float	HeightOffset `[get, set]`
	Offset of the agent position along the up direction.

RVOLayer	Layer `[get, set]`
	Specifies the avoidance layer for this agent.

bool	Locked `[get, set]`
	Locked agents will be assumed not to move.

int	MaxNeighbours `[get, set]`
	Max number of agents to take into account.

IMovementPlane	MovementPlane `[get]`
	Plane in which the agent is moving.

int	NeighbourCount `[get]`
	Number of neighbours that the agent took into account during the last simulation step.

List< ObstacleVertex >	NeighbourObstacles `[get]`
	List of obstacle segments which were close to the agent during the last simulation step.

float	ObstacleTimeHorizon `[get, set]`
	Max number of estimated seconds to look into the future for collisions with obstacles.

Vector3	Position `[get, set]`
	Position of the agent.

System.Action	PreCalculationCallback `[set]`
	Callback which will be called right before avoidance calculations are started.

float	Priority `[get, set]`
	How strongly other agents will avoid this agent.

float	Radius `[get, set]`
	Radius of the agent in world units.

Member Function Documentation

void ForceSetVelocity ( Vector3 velocity )

Set the current velocity of the agent.

This will override the local avoidance input completely. It is useful if you have a player controlled character and want other agents to avoid it.

Calling this method will mark the agent as being externally controlled for 1 simulation step. Local avoidance calculations will be skipped for the next simulation step but will be resumed after that unless this method is called again.

Note: The velocity will be projected on the current movement plane.

void SetCollisionNormal ( Vector3 normal )

Set the normal of a wall (or something else) the agent is currently colliding with.

This is used to make the RVO system aware of things like physics or an agent being clamped to the navmesh. The velocity of this agent that other agents observe will be modified so that there is no component into the wall. The agent will however not start to avoid the wall, for that you will need to add RVO obstacles.

This value will be cleared after the next simulation step, normally it should be set every frame when the collision is still happening.

void SetMovementPlane ( IMovementPlane movementPlane )

Set the plane in which the agent should move.

After the next calculation step, the MovementPlane property will be set to an identical plane.

See Also: #GraphTransform.xyPlane; #GraphTransform.xzPlane

void SetTarget	(	Vector3	targetPoint,
		float	desiredSpeed,
		float	maxSpeed
	)

Point towards which the agent should move.

Usually you set this once per frame. The agent will try move as close to the target point as possible. Will take effect at the next simulation step.

Note: The system assumes that the agent will stop when it reaches the target point so if you just want to move the agent in a particular direction, make sure that you set the target point a good distance in front of the character as otherwise the system may not avoid colisions that well. What would happen is that the system (in simplified terms) would think that the agents would stop before the collision and thus it wouldn't slow down or change course. See the image below. In the image the desiredSpeed is the length of the blue arrow and the target point is the point where the black arrows point to. In the upper case the agent does not avoid the red agent (you can assume that the red agent has a very small velocity for simplicity) while in the lower case it does.
If you are following a path a good way to pick the target point is to set it to
targetPoint = directionToNextWaypoint.normalized * remainingPathDistance

Where remainingPathDistance is the distance until the character would reach the end of the path. This works well because at the end of the path the direction to the next waypoint will just be the direction to the last point on the path and remainingPathDistance will be the distance to the last point in the path, so targetPoint will be set to simply the last point in the path. However when remainingPathDistance is large the target point will be so far away that the agent will essentially be told to move in a particular direction, which is precisely what we want.

Parameters

targetPoint	Target point in world space (XZ plane or XY plane depending on if the simulation is configured for 2D or 3D). Note that this is a Vector2, not a Vector3 since the system simulates everything internally in 2D. So if your agents move in the XZ plane you will have to supply it as a Vector2 with (x,z) coordinates.
desiredSpeed	Desired speed of the agent. In world units per second. The agent will try to move with this speed if possible.
maxSpeed	Max speed of the agent. In world units per second. If necessary (for example if another agent is on a collision trajectory towards this agent) the agent can move at this speed. Should be at least as high as desiredSpeed, but it is recommended to use a slightly higher value than desiredSpeed (for example desiredSpeed*1.2).

Property Documentation

float AgentTimeHorizon

getset

Max number of estimated seconds to look into the future for collisions with agents.

As it turns out, this variable is also very good for controling agent avoidance priorities. Agents with lower values will avoid other agents less and thus you can make 'high priority agents' by giving them a lower value.

float CalculatedSpeed

get

Optimal speed of the agent to avoid collisions.

The movement script should move towards CalculatedTargetPoint with this speed.

Vector2 CalculatedTargetPoint

get

Optimal point to move towards to avoid collisions.

The movement script should move towards this point with a speed of CalculatedSpeed.

Note: This is a Vector2, not a Vector3. The value is relative to the MovementPlane.

If necessary, you can convert the value to a world space position like this

var elevation;
agent.MovementPlane.ToPlane(agent.Position, out elevation);
var worldSpaceTargetPoint = agent.MovementPlane.ToWorld(agent.CalculatedTargetPoint, elevation);

See Also: RVOController.CalculateMovementDelta.

RVOLayer CollidesWith

getset

Layer mask specifying which layers this agent will avoid.

You can set it as CollidesWith = RVOLayer.DefaultAgent | RVOLayer.Layer3 | RVOLayer.Layer6 ...

See Also: http://en.wikipedia.org/wiki/Mask_(computing)

bool DebugDraw

getset

Draw debug information.

Note: Will always draw debug info in the XZ plane even if Pathfinding.RVO.Simulator.movementPlane is set to XY.; Ignored if multithreading on the simulator component has been enabled since Unity's Debug API can only be called from the main thread.

float Height

getset

Height of the agent in world units.

Agents are modelled as circles/cylinders.

float HeightOffset

getset

Offset of the agent position along the up direction.

This determines where the base of the agent collision cylinder is relative to the Position. If this is zero, then the base of the cylinder is at Position, but you might for example want the position to be at the center of the cylinder. In that case you can set this to -0.5 * Height.

RVOLayer Layer

getset

Specifies the avoidance layer for this agent.

The CollidesWith mask on other agents will determine if they will avoid this agent.

bool Locked

getset

Locked agents will be assumed not to move.

int MaxNeighbours

getset

Max number of agents to take into account.

Decreasing this value can lead to better performance, increasing it can lead to better quality of the simulation.

IMovementPlane MovementPlane

get

Plane in which the agent is moving.

The CalculatedTargetPoint is relative to this plane.

int NeighbourCount

get

Number of neighbours that the agent took into account during the last simulation step.

List<ObstacleVertex> NeighbourObstacles

get

List of obstacle segments which were close to the agent during the last simulation step.

Can be used to apply additional wall avoidance forces for example. Segments are formed by the obstacle vertex and its .next property.

Bug:: Always returns null

float ObstacleTimeHorizon

getset

Max number of estimated seconds to look into the future for collisions with obstacles.

Vector3 Position

getset

Position of the agent.

The agent does not move by itself, a movement script has to be responsible for reading the CalculatedTargetPoint and CalculatedSpeed properties and move towards that point with that speed. This property should ideally be set every frame.

System.Action PreCalculationCallback

set

Callback which will be called right before avoidance calculations are started.

Used to update the other properties with the most up to date values

float Priority

getset

How strongly other agents will avoid this agent.

Usually a value between 0 and 1. Agents with similar priorities will avoid each other with an equal strength. If an agent sees another agent with a higher priority than itself it will avoid that agent more strongly. In the extreme case (e.g this agent has a priority of 0 and the other agent has a priority of 1) it will treat the other agent as being a moving obstacle. Similarly if an agent sees another agent with a lower priority than itself it will avoid that agent less.

In general the avoidance strength for this agent is:

if this.priority > 0 or other.priority > 0:
    avoidanceStrength = other.priority / (this.priority + other.priority);
else:
    avoidanceStrength = 0.5

float Radius

getset

Radius of the agent in world units.

Agents are modelled as circles/cylinders.

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

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

Detailed Description

Public Member Functions

Properties

Member Function Documentation

Property Documentation