void move()
{
if (interactScript.isSit)
{
return;
}
RVO.Vector2 agentVelRVO = Simulator.Instance.getAgentVelocity(agentId);
RVO.Vector2 agentPosRVO = Simulator.Instance.getAgentPosition(agentId);
UnityEngine.Vector2 agentVel = toUnityVector2(agentVelRVO);
Vector3 agentPos = toUnityVector(agentPosRVO);
float remDist = Vector3.Distance(agentPos, agent.destination);
shouldMove = agentVel.magnitude * velFactor > 0.01f && remDist > agent.radius;
float velx = Mathf.Lerp(-0.5f, 0.5f, agentVelRVO.x());
velx *= transform.forward.x;
float vely = Mathf.Lerp(-0.5f, 0.5f, agentVelRVO.y());
vely *= transform.forward.z;
// Update animation parameters
anim.SetBool("move", shouldMove);
anim.SetFloat("velx", velx);
anim.SetFloat("vely", vely);
checkPeople(); // look at near people
}
public RVO.Vector2 VectorConvert(Vector3 vector)
{
RVO.Vector2 _vector = new RVO.Vector2 ();
_vector.x_ = vector.x;
_vector.y_ = vector.z;
return _vector;
}
/**
* <summary>Unity function. Called once at the beginning of the scenario. Used to initialize everything you need</summary>
*/
void Start()
{
// Change the maximum framerate of the simulation
Application.targetFrameRate = 60;
//Initialisation of the list
agents = new List <Transform>();
// Set up the scenario.
setupScenario();
//Creation of 2 walls on both side of the corridor
//Instantiate(wall, new Vector3(0, 0f, 0f), Quaternion.identity);
//Instantiate(wall, new Vector3(0,0f, 30f), Quaternion.identity);
//For each agents added in setupScenario() , add a Unity Agent at the same position
for (int i = 0; i < getNumAgents(); ++i)
{
RVO.Vector2 position = getPosition(i);
agents.Add(Instantiate(agent, new Vector3(position.x(), sim_.getAgentRadius(i) / 2, position.y()), Quaternion.identity));
agents[i].localScale = new Vector3(sim_.getAgentRadius(i), sim_.getAgentRadius(i), sim_.getAgentRadius(i));
}
//Filling the colors table
colors.Add(new Color(0.000f, 0.000f, 0.804f));
colors.Add(new Color(0.118f, 0.565f, 1.000f));
colors.Add(new Color(0.251f, 0.878f, 0.816f));
colors.Add(new Color(0.400f, 0.804f, 0.667f));
colors.Add(new Color(0.604f, 0.804f, 0.196f));
}
// Update is called once per frame
void Update()
{
if (!reachedGoal())
{
setPreferredVelocities();
doStep(false);
/* Output the current global time. */
//print(Simulator.Instance.getGlobalTime());
for (int i = 0; i < getNumAgents(); ++i)
{
RVO.Vector2 position = getPosition(i);
agents[i].position = new Vector3(position.x(), 0f, position.y());
/* RVO.Vector2 vector2 = sim_.getAgentVelocity(i);
* agents[i].rotation = Quaternion.LookRotation(new Vector3(vector2.x_, 0, vector2.y_));*/
//setColor(i); To go further
}
}
else
{
for (int i = 0; i < getNumAgents(); ++i)
{
agents[i].GetComponent <Rigidbody>().isKinematic = true;
}
}
}
void OnDrawGizmos()
{
if (!Debug)
{
return;
}
Gizmos.color = Color.red;
// ORCA
Vector3 from;
Vector3 to;
foreach (Line msGizmosLine in msGizmosLines)
{
RVO.Vector2 from_ = msGizmosLine.point - msGizmosLine.direction * 100;
RVO.Vector2 to_ = msGizmosLine.point + msGizmosLine.direction * 100;
from = transform.position + new Vector3(from_.x(), 0, from_.y());
to = transform.position + new Vector3(to_.x(), 0, to_.y());
Gizmos.DrawLine(from, to);
}
msGizmosLines.Clear();
// velocity
Gizmos.color = Color.green;
from = transform.position;
to = transform.position + new Vector3(msVelocity.x(), 0, msVelocity.y());
Gizmos.DrawLine(from, to);
}
// Update is called once per frame
void Update()
{
int agentNum = Simulator.Instance.getNumAgents();
Debug.Log("simulatorAir agent number = " + agentNum.ToString());
try
{
for (int i = 0; i < agentNum; i++)
{
RVO.Vector2 agentPos = Simulator.Instance.getAgentPosition(i);
RVO.Vector2 goalVector = rvoGameObjs[i].GetComponent <RVO_AirAgentMove>().goalVector();
if (RVOMath.absSq(goalVector) > thresholdToMove)
{
goalVector = goalVector * speed_target;
}
Simulator.Instance.setAgentPrefVelocity(i, goalVector);
rvoGameObjs[i].transform.position = toUnityPosition(agentPos);
}
Simulator.Instance.doStep();
}
catch (System.Exception ex)
{
Debug.Log(ex.StackTrace);
}
}
// Update is called once per frame
void Update()
{
int agentNumber = Simulator.Instance.getNumAgents();
try
{
for (int i = 0; i < agentNumber; i++)
{
RVO.Vector2 agentLoc = Simulator.Instance.getAgentPosition(i);
RVO.Vector2 station = rvoGameObj[i].GetComponent <RVOAgent>().calculateNextStation() - agentLoc;
if (RVOMath.absSq(station) > 1.0f)
{
station = RVOMath.normalize(station);
}
Simulator.Instance.setAgentPrefVelocity(i, station);
agentPositions[i] = Simulator.Instance.getAgentPosition(i);
//Debug.Log(agentLoc + " /// " + agentPositions[i]);
}
Simulator.Instance.doStep();
}
catch (System.Exception ex) {
Debug.Log("Exeption: " + ex.Message);
}
}
// Update is called once per frame
void Update()
{
int agentNum = Simulator.Instance.getNumAgents();
try
{
for (int i = 0; i < agentNum; i++)
{
RVO.Vector2 agentPos = Simulator.Instance.getAgentPosition(i);
RVO.Vector2 goalVector = rvoGameObjs[i].GetComponent <RVO_Agent>().nextPathNode() - agentPos;
if (RVOMath.absSq(goalVector) > thresholdToMove)
{
goalVector = RVOMath.normalize(goalVector) * speed_target;
}
Simulator.Instance.setAgentPrefVelocity(i, goalVector);
rvoGameObjs[i].transform.position = toUnityPosition(agentPos);
}
Simulator.Instance.doStep();
}
catch (System.Exception ex)
{
Debug.Log(ex.StackTrace);
}
}
// Update is called once per frame
void FixedUpdate()
{
rallyIsReady = GameObject.FindGameObjectWithTag("Manager").GetComponent <UI_ButtonControl>().SpawnIsDone;
if (rallyIsReady)
{
int agentNum = Simulator.Instance.getNumAgents();
try
{
for (int i = 0; i < agentNum; i++)
{
RVO.Vector2 agentPos = Simulator.Instance.getAgentPosition(i);
RVO.Vector2 goalVector = rvoGameObjs[i].GetComponent <RVO_Agent>().nextPathNode() - agentPos;
if (RVOMath.absSq(goalVector) > thresholdToMove)
{
goalVector = RVOMath.normalize(goalVector) * speed_target;
}
Simulator.Instance.setAgentPrefVelocity(i, goalVector);
rvoGameObjs[i].transform.position = toUnityPosition(agentPos);
}
Simulator.Instance.doStep();
}
catch (System.Exception ex)
{
Debug.Log(ex.StackTrace);
}
}
}
// Use this for initialization
void Start()
{
group_b = group.isOn;
avoidance_b = avoidance.isOn;
Application.targetFrameRate = 60;
agents = new List <Transform>();
/* Set up the scenario. */
setupScenario();
Instantiate(wall, new Vector3(0, 12.5f, 40.5f), Quaternion.identity);
Instantiate(wall, new Vector3(0, 12.5f, -39.5f), Quaternion.identity);
/* Perform (and manipulate) the simulation. */
for (int i = 0; i < getNumAgents(); ++i)
{
RVO.Vector2 position = getPosition(i);
int mid = (group_b ? getNumAgents() / 2 : 1);
if (i < mid)
{
addAgent(agent_rose, new Vector3(position.x(), 0f, position.y()), sim_.getDefaultRadius());
}
else
{
addAgent(agent_vert, new Vector3(position.x(), 0f, position.y()), sim_.getDefaultRadius());
}
}
}
void setPreferredVelocities()
{
/*
* Set the preferred velocity to be a vector of unit magnitude
* (speed) in the direction of the goal.
*/
for (int i = 0; i < Simulator.Instance.getNumAgents(); ++i)
{
Vector2 goalVector = goals[i] - Simulator.Instance.getAgentPosition(i);
if (RVOMath.absSq(goalVector) > 1.0f)
{
goalVector = RVOMath.normalize(goalVector);
}
Simulator.Instance.setAgentPrefVelocity(i, goalVector);
/* Perturb a little to avoid deadlocks due to perfect symmetry. */
float angle = (float)random.NextDouble() * 2.0f * (float)Math.PI;
float dist = (float)random.NextDouble() * 0.0001f;
Simulator.Instance.setAgentPrefVelocity(i, Simulator.Instance.getAgentPrefVelocity(i) +
dist * new Vector2((float)Math.Cos(angle), (float)Math.Sin(angle)));
}
}
RVO.Vector2 rotation(RVO.Vector2 vector, float angle)
{
float x_prime = (float)Math.Cos(angle) * vector.x() - (float)Math.Sin(angle) * vector.y();
float y_prime = (float)Math.Sin(angle) * vector.x() + (float)Math.Cos(angle) * vector.y();
return(new RVO.Vector2(x_prime, y_prime));
}
// Update is called once per frame
void Update()
{
if ((m_destPos - transform.position).sqrMagnitude <= 0.1)
{
if (m_cornerIndex == path.corners.Count() - 1 || path.corners.Count() == 0)
{
Stop();
}
else
{
m_cornerIndex++;
m_destPos = path.corners[m_cornerIndex];
}
return;
}
//moving...
Vector3 dir = m_destPos - transform.position;
RVO.Vector2 rdir = new RVO.Vector2(dir.x, dir.z);
rdir = RVO.RVOMath.normalize(rdir);
RVO.Simulator.Instance.setAgentPrefVelocity(m_agentHandle, rdir);
RVO.Vector2 velocityInSimulator = RVO.Simulator.Instance.getAgentVelocity(m_agentHandle);
transform.forward = new Vector3(velocityInSimulator.x_, 0, velocityInSimulator.y_).normalized;
}
void calculateVandS()
{
Vector2 pos_new = Simulator.Instance.getAgentPosition(0);
double car_direction = mainCar.transform.eulerAngles.y / 180.0 * Math.PI;
double dx = pos_new.x() - mainCar.transform.position.x;
double dz = pos_new.y() - mainCar.transform.position.z;
double target_direction = -Math.Atan2(dz, dx) + Math.PI / 2;
double delta_direction = target_direction - car_direction;
while (delta_direction > Math.PI)
{
delta_direction -= Math.PI * 2;
}
while (delta_direction < -Math.PI)
{
delta_direction += Math.PI * 2;
}
SteeringAngle = (float)(delta_direction / Math.PI * 180.0 / m_Car.MaxSteerAngleInDegree);
// double dt_direction = car_direction - pre_direction;
// pre_direction = car_direction;
// Debug.Log("dt_direction " + (dt_direction * 50 / Math.PI * 180.0).ToString());
// Debug.Log("delta_direction " + delta_direction.ToString());
// Debug.Log("SteeringAngle " + (SteeringAngle * m_Car.MaxSteerAngleInDegree).ToString());
SteeringAngle = Mathf.Clamp(SteeringAngle, -1, 1);
float current_speed = m_Car.CurrentSpeed;
var desired_velocity = Simulator.Instance.getAgentVelocity(0);
Vector3 des_v = new Vector3(desired_velocity.x(), 0, desired_velocity.y());
float desired_speed = des_v.magnitude;
// Debug.Log("pos_new " + pos_new.ToString());
// Debug.Log("current_speed " + current_speed.ToString());
// Debug.Log("desired_speed " + desired_speed.ToString());
//
// double zz = Math.Sqrt( dx * dx + dz * dz) * 50;
// Debug.Log("zz " + zz.ToString());
Acceleration = (desired_speed - current_speed) / 0.02f;
if (Acceleration > 1)
{
Acceleration = 1;
}
if (Acceleration < 0)
{
if (desired_speed - current_speed > -1)
{
Acceleration = 0;
}
}
//Debug.Log("frameIdx " + frameIdx.ToString() + " Acceleration " + Acceleration.ToString());
frameIdx++;
//if (frameIdx > 100) Acceleration = 0;
}
private Vector3 GetSkillPos(Skill _skill)
{
RVO.Vector2 tmpPos = _skill.pos;
int fix = battle.clientIsMine ? 1 : -1;
return(new Vector3((float)tmpPos.x * fix, 0, (float)tmpPos.y * fix));
}
public Vector3 GetUnitPos(Unit _unit)
{
int fix = battle.clientIsMine ? 1 : -1;
float y = _unit.sds.GetUnitType() == UnitType.AIR_UNIT ? AIR_UNIT_Y : 0f;
RVO.Vector2 tmpPos = _unit.pos;
return(new Vector3((float)tmpPos.x * fix, y, (float)tmpPos.y * fix));
}
public static Vector2 GetDirection(RVOAgent agent)
{
Vector2 nowVelocity = Simulator.Instance.getAgentVelocity(agent.GetIndex());
if (RVOMath.abs(nowVelocity) < eps)
{
nowVelocity = agent.GetDirection();
}
return(RVOMath.normalize(nowVelocity));
}
// Use this for initialization
void Awake()
{
RVO.Vector2 agentPos = new RVO.Vector2(transform.position.x, transform.position.z);
m_agentHandle = RVO.Simulator.Instance.addAgent(agentPos);
RVO.Simulator.Instance.setAgentRadius(m_agentHandle, 0.5f);
gameObject.name = m_agentHandle.ToString();
m_destPos = transform.position;
m_agentMaxNeighbors = RVO.Simulator.Instance.getAgentMaxNeighbors(m_agentHandle);
}
public void Start_Click()
{
if (numAgent.text.ToString() != "")
{
agents_number = Int32.Parse(numAgent.text.ToString());
Debug.Log("Agents oui ");
}
else
{
agents_number = 40;
Debug.Log("Agents non ");
}
if (width.text.ToString() != "")
{
corridor_width = Int32.Parse(width.text.ToString());
Debug.Log("Width oui ");
}
else
{
corridor_width = 10;
Debug.Log("Width non ");
}
if (length.text.ToString() != "")
{
corridor_lenght = Int32.Parse(length.text.ToString());
Debug.Log("Length oui ");
}
else
{
corridor_lenght = 30;
Debug.Log("Length non ");
}
panel.SetActive(false);
Application.targetFrameRate = 60;
agents = new List <Transform>();
setupScenario();
colors.Add(new Color(0.000f, 0.000f, 0.804f));
colors.Add(new Color(0.118f, 0.565f, 1.000f));
colors.Add(new Color(0.251f, 0.878f, 0.816f));
colors.Add(new Color(0.400f, 0.804f, 0.667f));
colors.Add(new Color(0.604f, 0.804f, 0.196f));
for (int i = 0; i < getNumAgents(); i++)
{
RVO.Vector2 position = getPosition(i);
agents.Add(Instantiate(agent, new Vector3(position.x(), 1.5f, position.y()), Quaternion.identity));
agents[i].GetComponent <MeshRenderer>().material.color = colors[0];
agents[i].localScale = new Vector3(sim_.getAgentRadius(i), sim_.getAgentRadius(i), sim_.getAgentRadius(i));
}
}
public static Vector3 SafeNormalized(this RVO.Vector2 _this)
{
float magSqrd = _this.x() * _this.x() + _this.y() * _this.y();
if (magSqrd > 0.0001f)
{
var mag = Mathf.Sqrt(magSqrd);
return(new Vector3(_this.x() / mag, 0, _this.y() / mag));
}
return(Vector3.zero);
}
public static bool IsVectorNear(Vector2 a, Vector2 b, float range)
{
Vector2 aNormalize = RVOMath.normalize(a);
Vector2 bNormalize = RVOMath.normalize(b);
//Debug.Log(Mathf.Abs(RVOMath.det(aNormalize, bNormalize)));
if (Mathf.Abs(RVOMath.det(aNormalize, bNormalize)) < range && RVOMath.abs(aNormalize - bNormalize) < 1.0f)
{
return(true);
}
return(false);
}
void Awake()
{
BoxCollider[] boxColliders = GameObject.Find("Ground").GetComponentsInChildren <BoxCollider>();
CapsuleCollider[] cylinders = GameObject.Find("Ground").GetComponentsInChildren <CapsuleCollider>();
for (int i = 0; i < boxColliders.Length; i++)
{
Vector2 position = RVOWithUnity.Vec3ToVec2(boxColliders[i].transform.position);
float angle = boxColliders[i].transform.rotation.eulerAngles.y * Mathf.Deg2Rad;
float sizeX = boxColliders[i].transform.lossyScale.x * 0.5f;
float sizeZ = boxColliders[i].transform.lossyScale.z * 0.5f;
Vector2 right = new Vector2(Mathf.Sin(angle), Mathf.Cos(angle));
Vector2 left = new Vector2(-Mathf.Sin(angle), -Mathf.Cos(angle));
Vector2 up = new Vector2(-Mathf.Cos(angle), Mathf.Sin(angle));
Vector2 down = new Vector2(Mathf.Cos(angle), -Mathf.Sin(angle));
Vector2 rightUp = position + right * sizeZ + up * sizeX;
Vector2 rightDown = position + right * sizeZ + down * sizeX;
Vector2 leftUp = position + left * sizeZ + up * sizeX;
Vector2 leftDown = position + left * sizeZ + down * sizeX;
IList <Vector2> obstacle = new List <Vector2>();
obstacle.Add(rightUp);
obstacle.Add(leftUp);
obstacle.Add(leftDown);
obstacle.Add(rightDown);
/* Debug.Log(boxColliders[i].gameObject.name.ToString() + "::" +
* rightUp.ToString() + " " +
* leftUp.ToString() + " " +
* leftDown.ToString() + " " +
* rightDown.ToString()
* ); */
Simulator.Instance.addObstacle(obstacle);
}
for (int i = 0; i < cylinders.Length; i++)
{
float size = cylinders[i].transform.lossyScale.x * 0.5413f;
Vector2 position = RVOWithUnity.Vec3ToVec2(cylinders[i].transform.position);
float angle = 360.0f / 8.0f;
float nowAngle = 360.0f - angle / 2.0f;
IList <Vector2> obstacle = new List <Vector2>();
//Debug.Log(cylinders[i].gameObject.name.ToString() + "::");
for (int j = 0; j < 8; j++)
{
float nowAngleRad = nowAngle * Mathf.Deg2Rad;
Vector2 point = new Vector2(Mathf.Sin(nowAngleRad), Mathf.Cos(nowAngleRad));
point = position + point * size;
obstacle.Add(point);
nowAngle -= angle;
//Debug.Log(point);
}
Simulator.Instance.addObstacle(obstacle);
}
}
// Update is called once per frame
void Update()
{
if (!reachedGoal())
{
setPreferredVelocities();
doStep(false);
/* Output the current global time. */
//print(Simulator.Instance.getGlobalTime());
for (int i = 0; i < getNumAgents(); ++i)
{
RVO.Vector2 position = getPosition(i);
if (position.x() >= 80.0f)
{
if (RVO.Vector2.abs(sim_.getAgentVelocity(i)) > sim_.getAgentMaxSpeed() * 3 / 5)
{
setVelocity(i, sim_.getAgentVelocity(i) / 2);
}
position = getPosition(i);
agents[i].position = new Vector3(position.x(), 0f, position.y());
/* RVO.Vector2 vector2 = sim_.getAgentVelocity(i);
* agents[i].rotation = Quaternion.LookRotation(new Vector3(vector2.x_, 0, vector2.y_));*/
}
if (position.x() >= 90.0f)
{
setPosition(i, new RVO.Vector2(-140, position.y()));
position = getPosition(i);
agents[i].position = new Vector3(position.x(), 0f, position.y());
/* RVO.Vector2 vector2 = sim_.getAgentVelocity(i);
* agents[i].rotation = Quaternion.LookRotation(new Vector3(vector2.x_, 0, vector2.y_));*/
}
else
{
agents[i].position = new Vector3(position.x(), 0f, position.y());
/* RVO.Vector2 vector2 = sim_.getAgentVelocity(i);
* agents[i].rotation = Quaternion.LookRotation(new Vector3(vector2.x_, 0, vector2.y_));*/
}
setColor(i);
}
}
else
{
for (int i = 0; i < getNumAgents(); ++i)
{
agents[i].GetComponent <Rigidbody>().isKinematic = true;
}
}
}
void FixedUpdate()
{
int agentAmount = Simulator.Instance.getNumAgents();
for (int i = 0; i < agentAmount; i++)
{
Vector2 agentVec2 = Simulator.Instance.getAgentPosition(i);
Vector2 station = rvoGameObject[i].GetComponent <RVOAgent>().GetStation();
RVOAgent agent = rvoGameObject[i].GetComponent <RVOAgent>();
Vector2 prefVelocity = RVOWithUnity.CalcPrefVelocity(agentVec2, station, agent);
Simulator.Instance.setAgentPrefVelocity(i, prefVelocity);
}
Simulator.Instance.doStep();
}
void OnAnimatorMove()
{
if (this.GetComponent <interact>().onConversation)
{
return;
}
// Update postion to agent position
RVO.Vector2 agentPosRVO = Simulator.Instance.getAgentPosition(agentId);
Vector3 agentPos = toUnityVector(agentPosRVO);
transform.position = agentPos;
this.GetComponent <NavMeshAgent>().nextPosition = agentPos + transform.forward;
//if(shouldMove) transform.position = agentPos;
}
public static bool isTwoSide(Vector2 line, Vector2 sideA, Vector2 sideB)
{
float detA = RVOMath.det(sideA, line);
float detB = RVOMath.det(sideB, line);
if ((detA > eps && detB > eps) || (detA < -eps && detB < -eps))
{
return(false);
}
else
{
return(true);
}
}
// Start is called before the first frame update
void Start()
{
RVO.Simulator.Instance.setTimeStep(0.03f);
RVO.Simulator.Instance.setAgentDefaults(neighborDist, maxNeighbors, timeHorizon, timeHorizonObst,
radius, maxSpeed, new RVO.Vector2(velocity.x, velocity.y));
if (AddObstacleTest)
{
float ObstacleExtend = ObstacleRadius + 0.5f;
List <RVO.Vector2> obstacleVerts = new List <RVO.Vector2>()
{
new RVO.Vector2(ObstacleCenterPos.x - ObstacleExtend, ObstacleCenterPos.z - ObstacleExtend),
new RVO.Vector2(ObstacleCenterPos.x - ObstacleExtend, ObstacleCenterPos.z + ObstacleExtend),
new RVO.Vector2(ObstacleCenterPos.x + ObstacleExtend, ObstacleCenterPos.z + ObstacleExtend),
new RVO.Vector2(ObstacleCenterPos.x + ObstacleExtend, ObstacleCenterPos.z - ObstacleExtend),
};
RVO.Simulator.Instance.addObstacle(obstacleVerts);
}
float angleStep = Mathf.PI * 2 / robotCount;
robots = new Transform[robotCount];
robotAgentIds = new int[robotCount];
goals = new RVO.Vector2[robotCount];
for (int i = 0; i < robotCount; ++i)
{
GameObject go = GameObject.CreatePrimitive(PrimitiveType.Capsule);
Color clr = new Color(UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f), UnityEngine.Random.Range(0f, 1f));
go.GetComponent <MeshRenderer>().material.SetColor("_Color", clr);
robots[i] = go.transform;
robots[i].localScale = new Vector3(radius, radius, radius);
robots[i].localPosition = Vector3.zero;
Vector3 initPos = new Vector3(circleRadius * Mathf.Cos(i * angleStep), 0,
circleRadius * Mathf.Sin(i * angleStep));
robots[i].position = initPos;
goals[i] = new RVO.Vector2(-initPos.x, -initPos.z);
robotAgentIds[i] = RVO.Simulator.Instance.addAgent(new RVO.Vector2(initPos.x, initPos.z));
//RVO.Simulator.Instance.setAgentMaxSpeed(robotAgentIds[i], UnityEngine.Random.Range(1f, 2f));
}
random = new System.Random();
Invoke("Run", 2);
}
// Use this for initialization
void Start()
{
agents = new List <Transform>(); //Initializing the list of Unity Agents
setupScenario(); //Calling setupScenario
this.gameObject.transform.localScale = new Vector3(7, 1, 7); // The script is attached to a plane, so this will change the size of the plane
this.gameObject.transform.position = new Vector3(0, 0, 0); //This will change the position of this plane
Application.targetFrameRate = 30; // This will fix the maximum framerate of the scene
for (int i = 0; i < getNumAgents(); i++) // loop -> For each agent
{
RVO.Vector2 position = getPosition(i); // Getting the position of the agent in the simulator
addAgent(agent, new Vector3(position.x(), 1.5f, position.y())); //Instantiating the Unity Agent at the correct position
agents[i].localScale = new Vector3(sim_.getAgentRadius(i), sim_.getAgentRadius(i), sim_.getAgentRadius(i)); //Adapting the size of the agent to the radius we set in the simulator
}
}
void checkArrivedCorner()
{
if (corner >= agent.path.corners.Length)
{
return;
}
RVO.Vector2 agentPosRVO = Simulator.Instance.getAgentPosition(agentId);
Vector3 agentPos = toUnityVector(agentPosRVO);
float distToCorner = Vector3.Distance(agentPos, agent.path.corners[corner]);
// if arrived at next corner
if (distToCorner <= minDistCorner)
{
corner++;
}
}
void updateRVO()
{
if (corner >= agent.path.corners.Length)
{
return;
}
RVO.Vector2 agentLoc = Simulator.Instance.getAgentPosition(agentId);
RVO.Vector2 goalVector = toRVOVector(agent.path.corners[corner]) - agentLoc;
if (RVOMath.absSq(goalVector) > 1.0f)
{
goalVector = RVOMath.normalize(goalVector);
}
Simulator.Instance.setAgentPrefVelocity(agentId, goalVector);
}
// 大球
void CreateGameObject(Vector3 position, GameObject spherePrefab, float radius)
{
Simulator.Instance.setAgentDefaults(10.0f, 10, 1f, 1.0f, radius / 2f, speed, new RVO.Vector2(0.0f, 0.0f));
// orca
RVO.Vector2 p = new RVO.Vector2(position.x, position.z);
int index = Simulator.Instance.addAgent(p);
Simulator.Instance.setAgentMass(index, 1.1f);
// 目标点
goals.Add(p);
// 物体
GameObject g = GameObject.Instantiate(mSpherePrefab01);
g.transform.localScale = new Vector3(radius, radius, radius);
mSpheres.Add(g);
mSphereScritps.Add(g.AddComponent <Sphere>());
}
