| public setTimeStep ( float timeStep ) : void | ||
| timeStep | float | The time step of the simulation. Must be * positive. |
| return | void | |
void LateUpdate()
{
sim.setTimeStep(Time.deltaTime);
//desired vels
for (int i = 0; i < units.Count; i++)
{
Vector3 pos = units[i].GetFeetPosition();
var v = units[i].GetVelocity();
var vdes = units[i].DesiredVelocity;
var rvoAgent = sim.agents_[i];
rvoAgent.position_ = new RVO.Vector2(pos.x, pos.z);
rvoAgent.velocity_ = new RVO.Vector2(v.x, v.z);
rvoAgent.prefVelocity_ = new RVO.Vector2(vdes.x, vdes.z);
}
//simulate
sim.doStep();
//set new vels
for (int i = 0; i < units.Count; i++)
{
var vnew = sim.agents_[i].velocity_;
units[i].Move(new Vector3(vnew.x_, 0, vnew.y_));
}
}
public void Step()
{
m_nextTimeStep = Mathf.Clamp(Time.deltaTime, 1.0f / 100.0f, 1.0f / 15.0f);
ExecuteRemoves();
foreach (var i in m_agents)
{
i.PreUpdate();
}
m_instance.setTimeStep(m_nextTimeStep);
m_instance.doStepST();
foreach (var i in m_agents)
{
i.Sync();
}
}
protected override void LoadContent(GraphicInfo GraphicInfo, GraphicFactory factory ,IContentManager contentManager)
{
base.LoadContent(GraphicInfo, factory, contentManager);
{
SimpleModel simpleModel = new SimpleModel(factory, "Model//block");
simpleModel.SetTexture(factory.CreateTexture2DColor(1, 1, Color.Red), TextureType.DIFFUSE);
BoxObject tmesh = new BoxObject(new Vector3(0), 1, 1, 1, 10, new Vector3(1000, 1, 1000), Matrix.Identity, MaterialDescription.DefaultBepuMaterial());
tmesh.isMotionLess = true;
ForwardXNABasicShader shader = new ForwardXNABasicShader(ForwardXNABasicShaderDescription.Default());
ForwardMaterial fmaterial = new ForwardMaterial(shader);
IObject obj = new IObject(fmaterial, simpleModel, tmesh);
this.World.AddObject(obj);
}
Simulator = Simulator.Instance;
Simulator.setTimeStep(0.25f);
Simulator.setAgentDefaults(5.0f, 25, 10.0f, 25.0f, 2.0f, 4.0f,new Vector2(0));
for (int i = 0; i < 20; i++)
{
for (int j = 0; j < 20; j++)
{
SimpleModel simpleModel = new SimpleModel(factory, "Model//block");
simpleModel.SetTexture(factory.CreateTexture2DColor(1, 1, Color.White), TextureType.DIFFUSE);
BoxObject tmesh = new BoxObject(new Vector3(100 + j*5, 5, i * 5), 1, 1, 1, 10, new Vector3(1, 1, 1), Matrix.Identity, MaterialDescription.DefaultBepuMaterial());
ForwardXNABasicShader shader = new ForwardXNABasicShader(ForwardXNABasicShaderDescription.Default());
ForwardMaterial fmaterial = new ForwardMaterial(shader);
int id = Simulator.addAgent(tmesh.Position);
RVOObject obj = new RVOObject(id, fmaterial, simpleModel, tmesh);
obj.OnUpdate += new OnUpdate(obj_OnUpdate); /// dummy position update way =p
this.World.AddObject(obj);
}
}
///counterclockwise vertices
Simulator.addObstacle(
new List<Vector2>()
{
new Vector2(20,20),
new Vector2(40,20),
new Vector2(40,40),
new Vector2(40,40),
new Vector2(20,40),
new Vector2(20,20),
}
);
Simulator.processObstacles();
///obstacle
{
SimpleModel simpleModel = new SimpleModel(factory, "Model//block");
simpleModel.SetTexture(factory.CreateTexture2DColor(1, 1, Color.Yellow), TextureType.DIFFUSE);
GhostObject tmesh = new GhostObject(new Vector3(30,0,30),Matrix.Identity,new Vector3(10));
ForwardXNABasicShader shader = new ForwardXNABasicShader(ForwardXNABasicShaderDescription.Default());
ForwardMaterial fmaterial = new ForwardMaterial(shader);
IObject obj = new IObject(fmaterial, simpleModel, tmesh);
this.World.AddObject(obj);
}
this.World.CameraManager.AddCamera(new CameraFirstPerson(GraphicInfo));
Picking p = new Picking(this, 1000);
p.OnPickedLeftButton += new OnPicked(p_OnPickedLeftButton);
}
/// <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];
}