public void ExecuteRemoves() { if (m_removes.Count > 0 || m_forceRefresh) { if (m_removes.Count > 0) { m_removes.Sort(); for (int i = m_removes.Count - 1; i >= 0; i--) { m_agents.RemoveAt(m_removes[i]); } m_removes.Clear(); } m_instance.Clear(); Init(); for (int i = 0; i < m_obstacles.Count; i++) { m_obstacles[i].Add(m_instance); } m_instance.processObstacles(); for (int i = 0; i < m_agents.Count; i++) { m_agents[i].Add(); if (m_agents[i].Id != i) { Debug.LogErrorFormat("RVO instance mismatch [rebuild] {0} {1}", i, m_agents[i].Id); } } } }
/// <summary>Create a number of agents in circle and restart simulation</summary> public void CreateAgents(int num) { this.m_agentCount = num; goals = new Dictionary <int, Vector3>(); colors = new List <Color>(m_agentCount); m_agentIds = new List <int>(num); sim.Clear(); sim.setTimeStep(m_timeStep); sim.setAgentDefaults(neighborDist: m_neighbourDist, maxNeighbors: m_maxNeighbours, radius: m_radius, maxSpeed: m_maxSpeed, timeHorizon: 2, timeHorizonObst: 2, velocity: new RVO.Vector2(1, 1)); if (type == RVOExampleType.Circle) { float circleRad = Mathf.Sqrt(m_agentCount * m_radius * m_radius * 4 / Mathf.PI) * exampleScale * 0.05f; for (int i = 0; i < m_agentCount; i++) { Vector3 pos = new Vector3(Mathf.Cos(i * Mathf.PI * 2.0f / m_agentCount), 0, Mathf.Sin(i * Mathf.PI * 2.0f / m_agentCount)) * circleRad * (1 + Random.value * 0.01f); var id = sim.addAgent(new RVO.Vector2(pos.x, pos.z)); m_agentIds.Add(id); goals.Add(id, -pos); colors.Add(ColorUtility.HSVToRGB(i * 360.0f / m_agentCount, 0.8f, 0.6f)); } } else if (type == RVOExampleType.Line) { for (int i = 0; i < m_agentCount; i++) { Vector3 pos = new Vector3((i % 2 == 0 ? 1 : -1) * exampleScale, 0, (i / 2) * m_radius * 2.5f); var id = sim.addAgent(new RVO.Vector2(pos.x, pos.z)); m_agentIds.Add(id); goals.Add(id, new Vector3(-pos.x, pos.y, pos.z)); colors.Add(i % 2 == 0 ? Color.red : Color.blue); } } else if (type == RVOExampleType.Point) { for (int i = 0; i < m_agentCount; i++) { Vector3 pos = new Vector3(Mathf.Cos(i * Mathf.PI * 2.0f / m_agentCount), 0, Mathf.Sin(i * Mathf.PI * 2.0f / m_agentCount)) * m_radius; var id = sim.addAgent(new RVO.Vector2(pos.x, pos.z)); m_agentIds.Add(id); //sim.AddAgent(new Vector2(0, 0)); goals.Add(id, new Vector3(0, pos.y, 0)); colors.Add(ColorUtility.HSVToRGB(i * 360.0f / m_agentCount, 0.8f, 0.6f)); } } else if (type == RVOExampleType.RandomStreams) { float circleRad = Mathf.Sqrt(m_agentCount * m_radius * m_radius * 4 / Mathf.PI) * exampleScale * 0.05f; for (int i = 0; i < m_agentCount; i++) { float angle = Random.value * Mathf.PI * 2.0f; float targetAngle = Random.value * Mathf.PI * 2.0f; Vector3 pos = new Vector3(Mathf.Cos(angle), 0, Mathf.Sin(angle)) * uniformDistance(circleRad); var id = sim.addAgent(new RVO.Vector2(pos.x, pos.z)); m_agentIds.Add(id); goals.Add(id, new Vector3(Mathf.Cos(targetAngle), 0, Mathf.Sin(targetAngle)) * uniformDistance(circleRad)); colors.Add(ColorUtility.HSVToRGB(targetAngle * Mathf.Rad2Deg, 0.8f, 0.6f)); } } else if (type == RVOExampleType.Crossing) { float distanceBetweenGroups = exampleScale * m_radius * 0.5f; int directions = (int)Mathf.Sqrt(m_agentCount / 25f); directions = Mathf.Max(directions, 2); const int AgentsPerDistance = 10; for (int i = 0; i < m_agentCount; i++) { float angle = ((i % directions) / (float)directions) * Mathf.PI * 2.0f; var dist = distanceBetweenGroups * ((i / (directions * AgentsPerDistance) + 1) + 0.3f * Random.value); Vector3 pos = new Vector3(Mathf.Cos(angle), 0, Mathf.Sin(angle)) * dist; var id = sim.addAgent(new RVO.Vector2(pos.x, pos.z)); m_agentIds.Add(id); goals.Add(id, -pos.normalized * distanceBetweenGroups * 3); colors.Add(ColorUtility.HSVToRGB(angle * Mathf.Rad2Deg, 0.8f, 0.6f)); } } verts = new Vector3[4 * m_agentCount]; uv = new Vector2[verts.Length]; tris = new int[m_agentCount * 2 * 3]; meshColors = new Color[verts.Length]; }