void doStep()
{
/* Create agent ORCA lines. */
for (int i = 0; i < 1; ++i)
{
Vector2 relativePosition = otherPosition_ - position_;
Vector2 relativeVelocity = velocity_ - otherVelocity_;
float distSq = RVOMath.absSq(relativePosition);
float combinedRadius = radius_ + otherRadius_;
float combinedRadiusSq = RVOMath.sqr(combinedRadius);
Line line;
Vector2 u;
if (distSq > combinedRadiusSq)
{
/* No collision. */
Vector2 w = relativeVelocity - invTimeHorizon * relativePosition;
/* Vector from cutoff center to relative velocity. */
float wLengthSq = RVOMath.absSq(w);
float dotProduct1 = w * relativePosition;
//Debug.Log("w:" + w.ToString() + " dotProduct1:" + dotProduct1.ToString());
if (dotProduct1 < 0.0f && RVOMath.sqr(dotProduct1) > combinedRadiusSq * wLengthSq)
{
/* Project on cut-off circle. */
float wLength = RVOMath.sqrt(wLengthSq);
Vector2 unitW = w / wLength;
line.direction = new Vector2(unitW.y(), -unitW.x());
u = (combinedRadius * invTimeHorizon - wLength) * unitW;
}
else
{
/* Project on legs. */
float leg = RVOMath.sqrt(distSq - combinedRadiusSq);
if (RVOMath.det(relativePosition, w) > 0.0f)
{
/* Project on left leg. */
line.direction = new Vector2(relativePosition.x() * leg - relativePosition.y() * combinedRadius, relativePosition.x() * combinedRadius + relativePosition.y() * leg) / distSq;
}
else
{
/* Project on right leg. */
line.direction = -new Vector2(relativePosition.x() * leg + relativePosition.y() * combinedRadius, -relativePosition.x() * combinedRadius + relativePosition.y() * leg) / distSq;
}
float dotProduct2 = relativeVelocity * line.direction;
u = dotProduct2 * line.direction - relativeVelocity;
}
}
else
{
/* Collision. Project on cut-off circle of time timeStep. */
float invTimeStep = 1.0f / Simulator.Instance.timeStep_;
/* Vector from cutoff center to relative velocity. */
Vector2 w = relativeVelocity - invTimeStep * relativePosition;
float wLength = RVOMath.abs(w);
Vector2 unitW = w / wLength;
line.direction = new Vector2(unitW.y(), -unitW.x());
u = (combinedRadius * invTimeStep - wLength) * unitW;
}
line.point = velocity_ + 0.5f * u;
Debug.Log("u:" + u.ToString() + " Point:" + line.point.ToString() + " Direction:" + line.direction.ToString());
orcaLines_.Add(line);
}
float maxSpeed = 2.0f;
Vector2 prefVelocity = new Vector2(1, 1);
Vector2 newVelocity = new Vector2(0, 0);
linearProgram1(orcaLines_, 0, maxSpeed, prefVelocity, false, ref newVelocity);
//Debug.Log("prefVelocity:" + prefVelocity.ToString() + " newVelocity:" + newVelocity.ToString());
/*
* int lineFail = linearProgram2(orcaLines_, maxSpeed_, prefVelocity_, false, ref newVelocity_);
*
* if (lineFail < orcaLines_.Count)
* {
* linearProgram3(orcaLines_, numObstLines, lineFail, maxSpeed_, ref newVelocity_);
* }
*/
}
private bool linearProgram1(IList <Line> lines, int lineNo, float radius, Vector2 optVelocity, bool directionOpt, ref Vector2 result)
{
float dotProduct = lines[lineNo].point * lines[lineNo].direction;
float discriminant = RVOMath.sqr(dotProduct) + RVOMath.sqr(radius) - RVOMath.absSq(lines[lineNo].point);
if (discriminant < 0.0f)
{
/* Max speed circle fully invalidates line lineNo. */
return(false);
}
float sqrtDiscriminant = RVOMath.sqrt(discriminant);
float tLeft = -dotProduct - sqrtDiscriminant;
float tRight = -dotProduct + sqrtDiscriminant;
for (int i = 0; i < lineNo; ++i)
{
float denominator = RVOMath.det(lines[lineNo].direction, lines[i].direction);
float numerator = RVOMath.det(lines[i].direction, lines[lineNo].point - lines[i].point);
if (RVOMath.fabs(denominator) <= RVOMath.RVO_EPSILON)
{
/* Lines lineNo and i are (almost) parallel. */
if (numerator < 0.0f)
{
return(false);
}
continue;
}
float t = numerator / denominator;
if (denominator >= 0.0f)
{
/* Line i bounds line lineNo on the right. */
tRight = Math.Min(tRight, t);
}
else
{
/* Line i bounds line lineNo on the left. */
tLeft = Math.Max(tLeft, t);
}
if (tLeft > tRight)
{
return(false);
}
}
if (directionOpt)
{
/* Optimize direction. */
if (optVelocity * lines[lineNo].direction > 0.0f)
{
/* Take right extreme. */
result = lines[lineNo].point + tRight * lines[lineNo].direction;
}
else
{
/* Take left extreme. */
result = lines[lineNo].point + tLeft * lines[lineNo].direction;
}
}
else
{
/* Optimize closest point. */
float t = lines[lineNo].direction * (optVelocity - lines[lineNo].point);
//Debug.Log(tLeft.ToString() + " " + t.ToString() + " " + tRight.ToString());
if (t < tLeft)
{
result = lines[lineNo].point + tLeft * lines[lineNo].direction;
}
else if (t > tRight)
{
result = lines[lineNo].point + tRight * lines[lineNo].direction;
}
else
{
result = lines[lineNo].point + t * lines[lineNo].direction;
}
}
return(true);
}
