public void addObstacle(KInt2 a, KInt2 b)
{
Obstacle first = new Obstacle();
first.convex_ = true;
Obstacle second = new Obstacle();
second.convex_ = true;
first.previous_ = second;
second.previous_ = first;
first.next_ = second;
second.next_ = first;
first.point_ = a;
second.point_ = b;
first.direction_ = RVOMath.normalize(KInt2.ToInt2(b.x - a.x, b.y - a.y));
second.direction_ = -first.direction_;
first.id_ = obstacles_.Count;
obstacles_.Add(first);
second.id_ = obstacles_.Count;
obstacles_.Add(second);
}
public int queryNearAgent(KInt2 point, KInt radius)
{
if (getNumAgents() == 0)
{
return(-1);
}
return(kdTree_.queryNearAgent(point, radius));
}
/**
* <summary>Solves a two-dimensional linear program subject to linear
* constraints defined by lines and a circular constraint.</summary>
*
* <param name="lines">Lines defining the linear constraints.</param>
* <param name="numObstLines">Count of obstacle lines.</param>
* <param name="beginLine">The line on which the 2-d linear program
* failed.</param>
* <param name="radius">The radius of the circular constraint.</param>
* <param name="result">A reference to the result of the linear program.
* </param>
*/
private void linearProgram3(IList <Line> lines, int numObstLines, int beginLine, KInt radius, ref KInt2 result)
{
KInt distance = 0;
for (int i = beginLine; i < lines.Count; ++i)
{
if (RVOMath.det(lines[i].direction, lines[i].point - result) > distance)
{
/* Result does not satisfy constraint of line i. */
IList <Line> projLines = new List <Line>();
for (int ii = 0; ii < numObstLines; ++ii)
{
projLines.Add(lines[ii]);
}
for (int j = numObstLines; j < i; ++j)
{
Line line = new Line();
KInt determinant = RVOMath.det(lines[i].direction, lines[j].direction);
if (RVOMath.fabs(determinant) <= 0)
{
/* Line i and line j are parallel. */
if (RVOMath.Dot(lines[i].direction, lines[j].direction) > 0)
{
/* Line i and line j point in the same direction. */
continue;
}
else
{
/* Line i and line j point in opposite direction. */
line.point = (lines[i].point + lines[j].point) / 2;
}
}
else
{
line.point = lines[i].point + (RVOMath.det(lines[j].direction, lines[i].point - lines[j].point) / determinant) * lines[i].direction;
}
line.direction = RVOMath.normalize((lines[j].direction - lines[i].direction));
projLines.Add(line);
}
KInt2 tempResult = result;
if (linearProgram2(projLines, radius, KInt2.ToInt2(-lines[i].direction.IntY, lines[i].direction.IntX), true, ref result) < projLines.Count)
{
/*
* This should in principle not happen. The result is by
* definition already in the feasible region of this
* linear program. If it fails, it is due to small
* floating point error, and the current result is kept.
*/
result = tempResult;
}
distance = RVOMath.det(lines[i].direction, lines[i].point - result);
}
}
}
public bool ClosedObstaclePoint(int agentNo, ref KInt2 point)
{
Agent agent = agents_[agentNo2indexDict_[agentNo]];
if (agent.obstacleNeighbors_.Count > 0)
{
point = agent.obstacleNeighbors_[0].Value.point_;
return(true);
}
return(false);
}
/**
* <summary>Updates the two-dimensional position and two-dimensional
* velocity of this agent.</summary>
*/
internal void update()
{
if (newVelocity_.x > 10 || newVelocity_.y > 10 || newVelocity_.x < -10 || newVelocity_.y < -10)
{
//newVelocity_ = newVelocity_ / 1000;
UnityEngine.Debug.LogError("wrong velocity");
//return;
}
velocity_ = newVelocity_;
position_ += velocity_ * Simulator.Instance.timeStep_;
}
internal int queryNearAgent(KInt2 point, KInt radius)
{
KInt rangeSq = KInt.MaxValue;
int agentNo = -1;
queryAgentTreeRecursive(point, ref rangeSq, ref agentNo, 0);
if (rangeSq < radius * radius)
{
return(agentNo);
}
return(-1);
}
/**
* <summary>Computes the squared distance from a line segment with the
* specified endpoints to a specified point.</summary>
*
* <returns>The squared distance from the line segment to the point.
* </returns>
*
* <param name="vector1">The first endpoint of the line segment.</param>
* <param name="vector2">The second endpoint of the line segment.
* </param>
* <param name="vector3">The point to which the squared distance is to
* be calculated.</param>
*/
internal static KInt distSqPointLineSegment(KInt2 vector1, KInt2 vector2, KInt2 vector3)
{
KInt r = Dot(vector3 - vector1, vector2 - vector1) / absSq(vector2 - vector1);// (v31.IntX * v21.IntX + v31.IntY * v21.IntY) * KInt.divscale / KInt2.div2scale;
if (r < 0)
{
return(absSq(vector3 - vector1));
}
if (r > 1)
{
return(absSq(vector3 - vector2));
}
return(absSq(vector3 - (vector1 + r * (vector2 - vector1))));
}
private void queryAgentTreeRecursive(KInt2 position, ref KInt rangeSq, ref int agentNo, int node)
{
if (agentTree_[node].end_ - agentTree_[node].begin_ <= MAX_LEAF_SIZE)
{
for (int i = agentTree_[node].begin_; i < agentTree_[node].end_; ++i)
{
KInt distSq = RVOMath.absSq(position - agents_[i].position_);
if (distSq < rangeSq)
{
rangeSq = distSq;
agentNo = agents_[i].id_;
}
}
}
else
{
KInt distSqLeft = RVOMath.sqr(ReduceMax(agentTree_[agentTree_[node].left_].minx, position.IntX)) + RVOMath.sqr(ReduceMax(position.IntX, agentTree_[agentTree_[node].left_].maxx)) + RVOMath.sqr(ReduceMax(agentTree_[agentTree_[node].left_].miny, position.IntY)) + RVOMath.sqr(ReduceMax(position.IntY, agentTree_[agentTree_[node].left_].maxy));
KInt distSqRight = RVOMath.sqr(ReduceMax(agentTree_[agentTree_[node].right_].minx, position.IntX)) + RVOMath.sqr(ReduceMax(position.IntX, agentTree_[agentTree_[node].right_].maxx)) + RVOMath.sqr(ReduceMax(agentTree_[agentTree_[node].right_].miny, position.IntY)) + RVOMath.sqr(ReduceMax(position.IntY, agentTree_[agentTree_[node].right_].maxy));
if (distSqLeft < distSqRight)
{
if (distSqLeft < rangeSq)
{
queryAgentTreeRecursive(position, ref rangeSq, ref agentNo, agentTree_[node].left_);
if (distSqRight < rangeSq)
{
queryAgentTreeRecursive(position, ref rangeSq, ref agentNo, agentTree_[node].right_);
}
}
}
else
{
if (distSqRight < rangeSq)
{
queryAgentTreeRecursive(position, ref rangeSq, ref agentNo, agentTree_[node].right_);
if (distSqLeft < rangeSq)
{
queryAgentTreeRecursive(position, ref rangeSq, ref agentNo, agentTree_[node].left_);
}
}
}
}
}
/**
* <summary>Adds a new agent to the simulation.</summary>
*
* <returns>The number of the agent.</returns>
*
* <param name="position">The two-dimensional starting position of this
* agent.</param>
* <param name="neighborDist">The maximum distance (center point to
* center point) to other agents this agent takes into account in the
* navigation. The larger this number, the longer the running time of
* the simulation. If the number is too low, the simulation will not be
* safe. Must be non-negative.</param>
* <param name="maxNeighbors">The maximum number of other agents this
* agent takes into account in the navigation. The larger this number,
* the longer the running time of the simulation. If the number is too
* low, the simulation will not be safe.</param>
* <param name="timeHorizon">The minimal amount of time for which this
* agent's velocities that are computed by the simulation are safe with
* respect to other agents. The larger this number, the sooner this
* agent will respond to the presence of other agents, but the less
* freedom this agent has in choosing its velocities. Must be positive.
* </param>
* <param name="timeHorizonObst">The minimal amount of time for which
* this agent's velocities that are computed by the simulation are safe
* with respect to obstacles. The larger this number, the sooner this
* agent will respond to the presence of obstacles, but the less freedom
* this agent has in choosing its velocities. Must be positive.</param>
* <param name="radius">The radius of this agent. Must be non-negative.
* </param>
* <param name="maxSpeed">The maximum speed of this agent. Must be
* non-negative.</param>
* <param name="velocity">The initial two-dimensional linear velocity of
* this agent.</param>
*/
public int addAgent(KInt2 position, KInt neighborDist, int maxNeighbors, KInt timeHorizon, KInt timeHorizonObst, KInt radius, KInt maxSpeed, KInt2 velocity)
{
Agent agent = new Agent();
agent.id_ = s_totalID;
s_totalID++;
agent.maxNeighbors_ = maxNeighbors;
agent.maxSpeed_ = maxSpeed;
agent.neighborDist_ = neighborDist;
agent.position_ = position;
agent.radius_ = radius;
agent.timeHorizon_ = timeHorizon;
agent.timeHorizonObst_ = timeHorizonObst;
agent.velocity_ = velocity;
agents_.Add(agent);
onAddAgent();
return(agent.id_);
}
/**
* <summary>Recursive method for querying the visibility between two
* points within a specified radius.</summary>
*
* <returns>True if q1 and q2 are mutually visible within the radius;
* false otherwise.</returns>
*
* <param name="q1">The first point between which visibility is to be
* tested.</param>
* <param name="q2">The second point between which visibility is to be
* tested.</param>
* <param name="radius">The radius within which visibility is to be
* tested.</param>
* <param name="node">The current obstacle k-D node.</param>
*/
private bool queryVisibilityRecursive(KInt2 q1, KInt2 q2, KInt radius, ObstacleTreeNode node)
{
if (node == null)
{
return(true);
}
Obstacle obstacle1 = node.obstacle_;
Obstacle obstacle2 = obstacle1.next_;
KInt q1LeftOfI = RVOMath.leftOf(obstacle1.point_, obstacle2.point_, q1);
KInt q2LeftOfI = RVOMath.leftOf(obstacle1.point_, obstacle2.point_, q2);
KInt LengthI = RVOMath.absSq(obstacle2.point_ - obstacle1.point_);
// KInt invLengthI = 1.0f / RVOMath.absSq(obstacle2.point_ - obstacle1.point_);
if (q1LeftOfI >= 0 && q2LeftOfI >= 0)
{
return(queryVisibilityRecursive(q1, q2, radius, node.left_) && ((RVOMath.sqr(q1LeftOfI) / LengthI >= RVOMath.sqr(radius) && RVOMath.sqr(q2LeftOfI) / LengthI >= RVOMath.sqr(radius)) || queryVisibilityRecursive(q1, q2, radius, node.right_)));
}
if (q1LeftOfI <= 0 && q2LeftOfI <= 0)
{
return(queryVisibilityRecursive(q1, q2, radius, node.right_) && ((RVOMath.sqr(q1LeftOfI) / LengthI >= RVOMath.sqr(radius) && RVOMath.sqr(q2LeftOfI) / LengthI >= RVOMath.sqr(radius)) || queryVisibilityRecursive(q1, q2, radius, node.left_)));
}
if (q1LeftOfI >= 0 && q2LeftOfI <= 0)
{
/* One can see through obstacle from left to right. */
return(queryVisibilityRecursive(q1, q2, radius, node.left_) && queryVisibilityRecursive(q1, q2, radius, node.right_));
}
KInt point1LeftOfQ = RVOMath.leftOf(q1, q2, obstacle1.point_);
KInt point2LeftOfQ = RVOMath.leftOf(q1, q2, obstacle2.point_);
KInt LengthQ = RVOMath.absSq(q2 - q1);
// KInt invLengthQ = 1.0f / RVOMath.absSq(q2 - q1);
return(point1LeftOfQ * point2LeftOfQ >= 0 && RVOMath.sqr(point1LeftOfQ) / LengthQ > RVOMath.sqr(radius) && RVOMath.sqr(point2LeftOfQ) / LengthQ > RVOMath.sqr(radius) && queryVisibilityRecursive(q1, q2, radius, node.left_) && queryVisibilityRecursive(q1, q2, radius, node.right_));
}
/**
* <summary>Adds a new agent with default properties to the simulation.
* </summary>
*
* <returns>The number of the agent, or -1 when the agent defaults have
* not been set.</returns>
*
* <param name="position">The two-dimensional starting position of this
* agent.</param>
*/
public int addAgent(KInt2 position)
{
if (defaultAgent_ == null)
{
return(-1);
}
Agent agent = new Agent();
agent.id_ = s_totalID;
s_totalID++;
agent.maxNeighbors_ = defaultAgent_.maxNeighbors_;
agent.maxSpeed_ = defaultAgent_.maxSpeed_;
agent.neighborDist_ = defaultAgent_.neighborDist_;
agent.position_ = position;
agent.radius_ = defaultAgent_.radius_;
agent.timeHorizon_ = defaultAgent_.timeHorizon_;
agent.timeHorizonObst_ = defaultAgent_.timeHorizonObst_;
agent.velocity_ = defaultAgent_.velocity_;
agents_.Add(agent);
onAddAgent();
return(agent.id_);
}
/**
* <summary>Solves a two-dimensional linear program subject to linear
* constraints defined by lines and a circular constraint.</summary>
*
* <returns>The number of the line it fails on, and the number of lines
* if successful.</returns>
*
* <param name="lines">Lines defining the linear constraints.</param>
* <param name="radius">The radius of the circular constraint.</param>
* <param name="optVelocity">The optimization velocity.</param>
* <param name="directionOpt">True if the direction should be optimized.
* </param>
* <param name="result">A reference to the result of the linear program.
* </param>
*/
private int linearProgram2(IList <Line> lines, KInt radius, KInt2 optVelocity, bool directionOpt, ref KInt2 result)
{
if (directionOpt)
{
/*
* Optimize direction. Note that the optimization velocity is of
* unit length in this case.
*/
result = optVelocity * radius;
}
else if (RVOMath.absSq(optVelocity) > RVOMath.sqr(radius))
{
/* Optimize closest point and outside circle. */
result = RVOMath.normalize(optVelocity) * radius;
}
else
{
/* Optimize closest point and inside circle. */
result = optVelocity;
}
for (int i = 0; i < lines.Count; ++i)
{
if (RVOMath.det(lines[i].direction, lines[i].point - result) > 0)
{
/* Result does not satisfy constraint i. Compute new optimal result. */
KInt2 tempResult = result;
if (!linearProgram1(lines, i, radius, optVelocity, directionOpt, ref result))
{
result = tempResult;
return(i);
}
}
}
return(lines.Count);
}
/**
* <summary>Queries the visibility between two points within a specified
* radius.</summary>
*
* <returns>True if q1 and q2 are mutually visible within the radius;
* false otherwise.</returns>
*
* <param name="q1">The first point between which visibility is to be
* tested.</param>
* <param name="q2">The second point between which visibility is to be
* tested.</param>
* <param name="radius">The radius within which visibility is to be
* tested.</param>
*/
internal bool queryVisibility(KInt2 q1, KInt2 q2, KInt radius)
{
return(queryVisibilityRecursive(q1, q2, radius, obstacleTree_));
}
/**
* <summary>Computes the squared length of a specified two-dimensional
* vector.</summary>
*
* <returns>The squared length of the two-dimensional vector.</returns>
*
* <param name="vector">The two-dimensional vector whose squared length
* is to be computed.</param>
*/
public static KInt absSq(KInt2 vector)
{
return(KInt.ToInt((vector.IntX * vector.IntX + vector.IntY * vector.IntY) * KInt.divscale / KInt2.div2scale));
}
/**
* <summary>Computes the normalization of the specified two-dimensional
* vector.</summary>
*
* <returns>The normalization of the two-dimensional vector.</returns>
*
* <param name="vector">The two-dimensional vector whose normalization
* is to be computed.</param>
*/
public static KInt2 normalize(KInt2 vector)
{
return(vector.normalized);
}
/**
* <summary>Computes the length of a specified two-dimensional vector.
* </summary>
*
* <param name="vector">The two-dimensional vector whose length is to be
* computed.</param>
* <returns>The length of the two-dimensional vector.</returns>
*/
public static KInt abs(KInt2 vector)
{
return(vector.IntMagnitude);
}
/**
* <summary>Computes the signed distance from a line connecting the
* specified points to a specified point.</summary>
*
* <returns>Positive when the point c lies to the left of the line ab.
* </returns>
*
* <param name="a">The first point on the line.</param>
* <param name="b">The second point on the line.</param>
* <param name="c">The point to which the signed distance is to be
* calculated.</param>
*/
internal static KInt leftOf(KInt2 a, KInt2 b, KInt2 c)
{
return(det(a - c, b - a));
}
/**
* <summary>Sets the default properties for any new agent that is added.
* </summary>
*
* <param name="neighborDist">The default maximum distance (center point
* to center point) to other agents a new agent takes into account in
* the navigation. The larger this number, the longer he running time of
* the simulation. If the number is too low, the simulation will not be
* safe. Must be non-negative.</param>
* <param name="maxNeighbors">The default maximum number of other agents
* a new agent takes into account in the navigation. The larger this
* number, the longer the running time of the simulation. If the number
* is too low, the simulation will not be safe.</param>
* <param name="timeHorizon">The default minimal amount of time for
* which a new agent's velocities that are computed by the simulation
* are safe with respect to other agents. The larger this number, the
* sooner an agent will respond to the presence of other agents, but the
* less freedom the agent has in choosing its velocities. Must be
* positive.</param>
* <param name="timeHorizonObst">The default minimal amount of time for
* which a new agent's velocities that are computed by the simulation
* are safe with respect to obstacles. The larger this number, the
* sooner an agent will respond to the presence of obstacles, but the
* less freedom the agent has in choosing its velocities. Must be
* positive.</param>
* <param name="radius">The default radius of a new agent. Must be
* non-negative.</param>
* <param name="maxSpeed">The default maximum speed of a new agent. Must
* be non-negative.</param>
* <param name="velocity">The default initial two-dimensional linear
* velocity of a new agent.</param>
*/
public void setAgentDefaults(KInt neighborDist, int maxNeighbors, KInt timeHorizon, KInt timeHorizonObst, KInt radius, KInt maxSpeed, KInt2 velocity)
{
if (defaultAgent_ == null)
{
defaultAgent_ = new Agent();
}
defaultAgent_.maxNeighbors_ = maxNeighbors;
defaultAgent_.maxSpeed_ = maxSpeed;
defaultAgent_.neighborDist_ = neighborDist;
defaultAgent_.radius_ = radius;
defaultAgent_.timeHorizon_ = timeHorizon;
defaultAgent_.timeHorizonObst_ = timeHorizonObst;
defaultAgent_.velocity_ = velocity;
}
public void addObstacle(KInt3 a, KInt3 b)
{
addObstacle(KInt2.ToInt2(a.x, a.z), KInt2.ToInt2(b.x, b.z));
}
public static KInt Dot(KInt2 left, KInt2 right)
{
return(KInt.ToInt((left.IntX * right.IntX + left.IntY * right.IntY) * KInt.divscale / KInt2.div2scale));
}
/**
* <summary>Computes the new velocity of this agent.</summary>
*/
internal void computeNewVelocity()
{
orcaLines_.Clear();
//KInt invTimeHorizonObst = 1 / timeHorizonObst_;
KInt tempradius = radius_ / timeHorizonObst_;
/* Create obstacle ORCA lines. */
for (int i = 0; i < obstacleNeighbors_.Count; ++i)
{
Obstacle obstacle1 = obstacleNeighbors_[i].Value;
Obstacle obstacle2 = obstacle1.next_;
KInt2 relativePosition1 = obstacle1.point_ - position_;
KInt2 relativePosition2 = obstacle2.point_ - position_;
/*
* Check if velocity obstacle of obstacle is already taken care
* of by previously constructed obstacle ORCA lines.
*/
bool alreadyCovered = false;
for (int j = 0; j < orcaLines_.Count; ++j)
{
if (RVOMath.det(relativePosition1 / timeHorizonObst_ - orcaLines_[j].point, orcaLines_[j].direction) - tempradius >= 0 && RVOMath.det(relativePosition2 / timeHorizonObst_ - orcaLines_[j].point, orcaLines_[j].direction) - tempradius >= 0)
{
alreadyCovered = true;
break;
}
}
if (alreadyCovered)
{
continue;
}
/* Not yet covered. Check for collisions. */
KInt distSq1 = RVOMath.absSq(relativePosition1);
KInt distSq2 = RVOMath.absSq(relativePosition2);
KInt radiusSq = RVOMath.sqr(radius_);
KInt2 obstacleVector = obstacle2.point_ - obstacle1.point_;
KInt s = (-RVOMath.Dot(relativePosition1, obstacleVector)) / RVOMath.absSq(obstacleVector);
KInt distSqLine = RVOMath.absSq(-relativePosition1 - s * obstacleVector);
Line line = new Line();
if (s < 0 && distSq1 <= radiusSq)
{
/* Collision with left vertex. Ignore if non-convex. */
if (obstacle1.convex_)
{
line.point = KInt2.zero;
line.direction = RVOMath.normalize(KInt2.ToInt2(-relativePosition1.IntY, relativePosition1.IntX));
orcaLines_.Add(line);
}
continue;
}
else if (s > 1 && distSq2 <= radiusSq)
{
/*
* Collision with right vertex. Ignore if non-convex or if
* it will be taken care of by neighboring obstacle.
*/
if (obstacle2.convex_ && RVOMath.det(relativePosition2, obstacle2.direction_) >= 0)
{
line.point = KInt2.zero;
line.direction = RVOMath.normalize(KInt2.ToInt2(-relativePosition2.IntY, relativePosition2.IntX));
orcaLines_.Add(line);
}
continue;
}
else if (s >= 0 && s < 1 && distSqLine <= radiusSq)
{
/* Collision with obstacle segment. */
line.point = KInt2.zero;
line.direction = -obstacle1.direction_;
orcaLines_.Add(line);
continue;
}
/*
* No collision. Compute legs. When obliquely viewed, both legs
* can come from a single vertex. Legs extend cut-off line when
* non-convex vertex.
*/
KInt2 leftLegDirection, rightLegDirection;
if (s < 0 && distSqLine <= radiusSq)
{
/*
* Obstacle viewed obliquely so that left vertex
* defines velocity obstacle.
*/
if (!obstacle1.convex_)
{
/* Ignore obstacle. */
continue;
}
obstacle2 = obstacle1;
KInt leg1 = RVOMath.sqrt(distSq1 - radiusSq);
leftLegDirection = KInt2.ToInt2(relativePosition1.IntX * leg1 - relativePosition1.IntY * radius_, relativePosition1.IntX * radius_ + relativePosition1.IntY * leg1) / distSq1;
rightLegDirection = KInt2.ToInt2(relativePosition1.IntX * leg1 + relativePosition1.IntY * radius_, -relativePosition1.IntX * radius_ + relativePosition1.IntY * leg1) / distSq1;
if (isover(leftLegDirection) || isover(rightLegDirection))
{
UnityEngine.Debug.LogError("!!!");
}
}
else if (s > 1 && distSqLine <= radiusSq)
{
/*
* Obstacle viewed obliquely so that
* right vertex defines velocity obstacle.
*/
if (!obstacle2.convex_)
{
/* Ignore obstacle. */
continue;
}
obstacle1 = obstacle2;
KInt leg2 = RVOMath.sqrt(distSq2 - radiusSq);
leftLegDirection = KInt2.ToInt2(relativePosition2.IntX * leg2 - relativePosition2.IntY * radius_, relativePosition2.IntX * radius_ + relativePosition2.IntY * leg2) / distSq2;
rightLegDirection = KInt2.ToInt2(relativePosition2.IntX * leg2 + relativePosition2.IntY * radius_, -relativePosition2.IntX * radius_ + relativePosition2.IntY * leg2) / distSq2;
if (isover(leftLegDirection) || isover(rightLegDirection))
{
Debug.LogError("!!!");
}
}
else
{
/* Usual situation. */
if (obstacle1.convex_)
{
KInt leg1 = RVOMath.sqrt(distSq1 - radiusSq);
leftLegDirection = KInt2.ToInt2(relativePosition1.IntX * leg1 - relativePosition1.IntY * radius_, relativePosition1.IntX * radius_ + relativePosition1.IntY * leg1) / distSq1;
if (isover(leftLegDirection))
{
Debug.LogError("!!!");
}
}
else
{
/* Left vertex non-convex; left leg extends cut-off line. */
leftLegDirection = -obstacle1.direction_;
if (isover(leftLegDirection))
{
Debug.LogError("!!!");
}
}
if (obstacle2.convex_)
{
KInt leg2 = RVOMath.sqrt(distSq2 - radiusSq);
rightLegDirection = KInt2.ToInt2(relativePosition2.IntX * leg2 + relativePosition2.IntY * radius_, -relativePosition2.IntX * radius_ + relativePosition2.IntY * leg2) / distSq2;
if (isover(rightLegDirection))
{
Debug.LogError("!!!");
}
}
else
{
/* Right vertex non-convex; right leg extends cut-off line. */
rightLegDirection = obstacle1.direction_;
if (isover(rightLegDirection))
{
Debug.LogError("!!!");
}
}
}
/*
* Legs can never point into neighboring edge when convex
* vertex, take cutoff-line of neighboring edge instead. If
* velocity projected on "foreign" leg, no constraint is added.
*/
Obstacle leftNeighbor = obstacle1.previous_;
bool isLeftLegForeign = false;
bool isRightLegForeign = false;
if (obstacle1.convex_ && RVOMath.det(leftLegDirection, -leftNeighbor.direction_) >= 0)
{
/* Left leg points into obstacle. */
leftLegDirection = -leftNeighbor.direction_;
if (isover(leftLegDirection))
{
Debug.LogError("!!!");
}
isLeftLegForeign = true;
}
if (obstacle2.convex_ && RVOMath.det(rightLegDirection, obstacle2.direction_) <= 0)
{
/* Right leg points into obstacle. */
rightLegDirection = obstacle2.direction_;
isRightLegForeign = true;
if (isover(rightLegDirection))
{
Debug.LogError("!!!");
}
}
/* Compute cut-off centers. */
KInt2 leftCutOff = (obstacle1.point_ - position_) / timeHorizonObst_;
KInt2 rightCutOff = (obstacle2.point_ - position_) / timeHorizonObst_;
KInt2 cutOffVector = rightCutOff - leftCutOff;
/* Project current velocity on velocity obstacle. */
/* Check if current velocity is projected on cutoff circles. */
KInt sqvalue = RVOMath.absSq(cutOffVector);
KInt t = KInt.ToInt(KInt.divscale / 2);
if (obstacle1 != obstacle2)
{
if (sqvalue == 0)
{
t = KInt.MaxValue;
}
else
{
t = RVOMath.Dot((velocity_ - leftCutOff), cutOffVector) / sqvalue;
}
}
KInt tLeft = RVOMath.Dot((velocity_ - leftCutOff), leftLegDirection);
KInt tRight = RVOMath.Dot((velocity_ - rightCutOff), rightLegDirection);
if ((t < 0 && tLeft < 0) || (obstacle1 == obstacle2 && tLeft < 0 && tRight < 0))
{
/* Project on left cut-off circle. */
KInt2 unitW = RVOMath.normalize((velocity_ - leftCutOff));
line.direction = KInt2.ToInt2(unitW.IntY, -unitW.IntX);
line.point = leftCutOff + radius_ * unitW / timeHorizonObst_;
orcaLines_.Add(line);
continue;
}
else if (t > 1 && tRight < 0)
{
/* Project on right cut-off circle. */
KInt2 unitW = RVOMath.normalize((velocity_ - rightCutOff));
line.direction = KInt2.ToInt2(unitW.IntY, -unitW.IntX);
line.point = rightCutOff + radius_ * unitW / timeHorizonObst_;
orcaLines_.Add(line);
continue;
}
/*
* Project on left leg, right leg, or cut-off line, whichever is
* closest to velocity.
*/
KInt distSqCutoff = (t < 0 || t > 1 || obstacle1 == obstacle2) ? KInt.MaxValue : RVOMath.absSq(velocity_ - (leftCutOff + t * cutOffVector));
KInt distSqLeft = tLeft < 0 ? KInt.MaxValue : RVOMath.absSq(velocity_ - (leftCutOff + tLeft * leftLegDirection));
KInt distSqRight = tRight < 0 ? KInt.MaxValue : RVOMath.absSq(velocity_ - (rightCutOff + tRight * rightLegDirection));
if (distSqCutoff <= distSqLeft && distSqCutoff <= distSqRight)
{
/* Project on cut-off line. */
line.direction = -obstacle1.direction_;
line.point = leftCutOff + radius_ * KInt2.ToInt2(-line.direction.IntY, line.direction.IntX) / timeHorizonObst_;
orcaLines_.Add(line);
continue;
}
if (distSqLeft <= distSqRight)
{
/* Project on left leg. */
if (isLeftLegForeign)
{
continue;
}
line.direction = leftLegDirection;
line.point = leftCutOff + radius_ * KInt2.ToInt2(-line.direction.IntY, line.direction.IntX) / timeHorizonObst_;
orcaLines_.Add(line);
continue;
}
/* Project on right leg. */
if (isRightLegForeign)
{
continue;
}
line.direction = -rightLegDirection;
line.point = rightCutOff + radius_ * KInt2.ToInt2(-line.direction.IntY, line.direction.IntX) / timeHorizonObst_;
orcaLines_.Add(line);
}
int numObstLines = orcaLines_.Count;
//KInt invTimeHorizon = 1 / timeHorizon_;
/* Create agent ORCA lines. */
for (int i = 0; i < agentNeighbors_.Count; ++i)
{
Agent other = agentNeighbors_[i].Value;
KInt2 relativePosition = other.position_ - position_;
KInt2 relativeVelocity = velocity_ - other.velocity_;
KInt distSq = RVOMath.absSq(relativePosition);
KInt combinedRadius = radius_ + other.radius_;
KInt combinedRadiusSq = RVOMath.sqr(combinedRadius);
Line line = new Line();
KInt2 u;
if (distSq > combinedRadiusSq)
{
/* No collision. */
KInt2 w = relativeVelocity - relativePosition / timeHorizon_;
/* Vector from cutoff center to relative velocity. */
KInt wLengthSq = RVOMath.absSq(w);
KInt dotProduct1 = RVOMath.Dot(w, relativePosition);
if (dotProduct1 < 0 && RVOMath.sqr(dotProduct1) > combinedRadiusSq * wLengthSq)
{
/* Project on cut-off circle. */
KInt wLength = RVOMath.sqrt(wLengthSq);
if (wLength == 0)
{
continue;
}
KInt2 unitW = w / wLength;
line.direction = KInt2.ToInt2(unitW.IntY, -unitW.IntX);
u = (combinedRadius / timeHorizon_ - wLength) * unitW;
}
else
{
/* Project on legs. */
KInt leg = RVOMath.sqrt(distSq - combinedRadiusSq);
if (RVOMath.det(relativePosition, w) > 0)
{
/* Project on left leg. */
line.direction = KInt2.ToInt2(relativePosition.IntX * leg - relativePosition.IntY * combinedRadius, relativePosition.IntX * combinedRadius + relativePosition.IntY * leg) / distSq;
}
else
{
/* Project on right leg. */
line.direction = -KInt2.ToInt2(relativePosition.IntX * leg + relativePosition.IntY * combinedRadius, -relativePosition.IntX * combinedRadius + relativePosition.IntY * leg) / distSq;
}
KInt dotProduct2 = RVOMath.Dot(relativeVelocity, line.direction);
u = dotProduct2 * line.direction - relativeVelocity;
}
}
else
{
/* Collision. Project on cut-off circle of time timeStep. */
//KInt invTimeStep = 1 / Simulator.Instance.timeStep_;
/* Vector from cutoff center to relative velocity. */
KInt2 w = relativeVelocity - relativePosition / Simulator.Instance.timeStep_;
KInt wLength = RVOMath.abs(w);
if (wLength == 0)
{
continue;
}
KInt2 unitW = w / wLength;
line.direction = KInt2.ToInt2(unitW.IntY, -unitW.IntX);
u = (combinedRadius / Simulator.Instance.timeStep_ - wLength) * unitW;
}
line.point = velocity_ + u / 2;
orcaLines_.Add(line);
}
int lineFail = linearProgram2(orcaLines_, maxSpeed_, prefVelocity_, false, ref newVelocity_);
if (lineFail < orcaLines_.Count)
{
linearProgram3(orcaLines_, numObstLines, lineFail, maxSpeed_, ref newVelocity_);
}
}
bool isover(KInt2 dir)
{
return(dir.x > 100 || dir.y > 100);
}
/**
* <summary>Solves a one-dimensional linear program on a specified line
* subject to linear constraints defined by lines and a circular
* constraint.</summary>
*
* <returns>True if successful.</returns>
*
* <param name="lines">Lines defining the linear constraints.</param>
* <param name="lineNo">The specified line constraint.</param>
* <param name="radius">The radius of the circular constraint.</param>
* <param name="optVelocity">The optimization velocity.</param>
* <param name="directionOpt">True if the direction should be optimized.
* </param>
* <param name="result">A reference to the result of the linear program.
* </param>
*/
private bool linearProgram1(IList <Line> lines, int lineNo, KInt radius, KInt2 optVelocity, bool directionOpt, ref KInt2 result)
{
KInt dotProduct = RVOMath.Dot(lines[lineNo].point, lines[lineNo].direction);
KInt discriminant = RVOMath.sqr(dotProduct) + RVOMath.sqr(radius) - RVOMath.absSq(lines[lineNo].point);
if (discriminant < 0)
{
/* Max speed circle fully invalidates line lineNo. */
return(false);
}
KInt sqrtDiscriminant = RVOMath.sqrt(discriminant);
KInt tLeft = -dotProduct - sqrtDiscriminant;
KInt tRight = -dotProduct + sqrtDiscriminant;
for (int i = 0; i < lineNo; ++i)
{
KInt denominator = RVOMath.det(lines[lineNo].direction, lines[i].direction);
KInt numerator = RVOMath.det(lines[i].direction, lines[lineNo].point - lines[i].point);
if (RVOMath.fabs(denominator) <= 0)
{
/* Lines lineNo and i are (almost) parallel. */
if (numerator < 0)
{
return(false);
}
continue;
}
KInt t = numerator / denominator;
if (denominator >= 0)
{
/* Line i bounds line lineNo on the right. */
tRight = KInt.Min(tRight, t);
}
else
{
/* Line i bounds line lineNo on the left. */
tLeft = KInt.Max(tLeft, t);
}
if (tLeft > tRight)
{
return(false);
}
}
if (directionOpt)
{
/* Optimize direction. */
if (RVOMath.Dot(optVelocity, lines[lineNo].direction) > 0)
{
/* 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. */
KInt t = RVOMath.Dot(lines[lineNo].direction, (optVelocity - lines[lineNo].point));
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);
}
UnityEngine.Vector3 getUnityVector3(KInt2 v)
{
return(new UnityEngine.Vector3(v.x, 0, v.y));
}
/**
* <summary>Computes the determinant of a two-dimensional square matrix
* with rows consisting of the specified two-dimensional vectors.
* </summary>
*
* <returns>The determinant of the two-dimensional square matrix.
* </returns>
*
* <param name="vector1">The top row of the two-dimensional square
* matrix.</param>
* <param name="vector2">The bottom row of the two-dimensional square
* matrix.</param>
*/
internal static KInt det(KInt2 vector1, KInt2 vector2)
{
return(KInt.ToInt((vector1.IntX * vector2.IntY - vector1.IntY * vector2.IntX) * KInt.divscale / KInt2.div2scale));
}
/**
* <summary>Recursive method for building an obstacle k-D tree.
* </summary>
*
* <returns>An obstacle k-D tree node.</returns>
*
* <param name="obstacles">A list of obstacles.</param>
*/
private ObstacleTreeNode buildObstacleTreeRecursive(IList <Obstacle> obstacles)
{
if (obstacles.Count == 0)
{
return(null);
}
ObstacleTreeNode node = new ObstacleTreeNode();
int optimalSplit = 0;
int minLeft = obstacles.Count;
int minRight = obstacles.Count;
for (int i = 0; i < obstacles.Count; ++i)
{
int leftSize = 0;
int rightSize = 0;
Obstacle obstacleI1 = obstacles[i];
Obstacle obstacleI2 = obstacleI1.next_;
/* Compute optimal split node. */
for (int j = 0; j < obstacles.Count; ++j)
{
if (i == j)
{
continue;
}
Obstacle obstacleJ1 = obstacles[j];
Obstacle obstacleJ2 = obstacleJ1.next_;
KInt j1LeftOfI = RVOMath.leftOf(obstacleI1.point_, obstacleI2.point_, obstacleJ1.point_);
KInt j2LeftOfI = RVOMath.leftOf(obstacleI1.point_, obstacleI2.point_, obstacleJ2.point_);
if (j1LeftOfI >= 0 && j2LeftOfI >= 0)
{
++leftSize;
}
else if (j1LeftOfI <= 0 && j2LeftOfI <= 0)
{
++rightSize;
}
else
{
++leftSize;
++rightSize;
}
if (!Less(Math.Max(leftSize, rightSize), Math.Min(leftSize, rightSize), Math.Max(minLeft, minRight), Math.Min(minLeft, minRight)))
{
break;
}
}
if (Less(Math.Max(leftSize, rightSize), Math.Min(leftSize, rightSize), Math.Max(minLeft, minRight), Math.Min(minLeft, minRight)))
{
minLeft = leftSize;
minRight = rightSize;
optimalSplit = i;
}
}
{
/* Build split node. */
IList <Obstacle> leftObstacles = new List <Obstacle>(minLeft);
for (int n = 0; n < minLeft; ++n)
{
leftObstacles.Add(null);
}
IList <Obstacle> rightObstacles = new List <Obstacle>(minRight);
for (int n = 0; n < minRight; ++n)
{
rightObstacles.Add(null);
}
int leftCounter = 0;
int rightCounter = 0;
int i = optimalSplit;
Obstacle obstacleI1 = obstacles[i];
Obstacle obstacleI2 = obstacleI1.next_;
for (int j = 0; j < obstacles.Count; ++j)
{
if (i == j)
{
continue;
}
Obstacle obstacleJ1 = obstacles[j];
Obstacle obstacleJ2 = obstacleJ1.next_;
KInt j1LeftOfI = RVOMath.leftOf(obstacleI1.point_, obstacleI2.point_, obstacleJ1.point_);
KInt j2LeftOfI = RVOMath.leftOf(obstacleI1.point_, obstacleI2.point_, obstacleJ2.point_);
if (j1LeftOfI >= 0 && j2LeftOfI >= 0)
{
leftObstacles[leftCounter++] = obstacles[j];
}
else if (j1LeftOfI <= 0 && j2LeftOfI <= 0)
{
rightObstacles[rightCounter++] = obstacles[j];
}
else
{
/* Split obstacle j. */
//KInt t = RVOMath.det(obstacleI2.point_ - obstacleI1.point_, obstacleJ1.point_ - obstacleI1.point_) / RVOMath.det(obstacleI2.point_ - obstacleI1.point_, obstacleJ1.point_ - obstacleJ2.point_);
KInt2 splitPoint = obstacleJ1.point_ + RVOMath.det(obstacleI2.point_ - obstacleI1.point_, obstacleJ1.point_ - obstacleI1.point_) * (obstacleJ2.point_ - obstacleJ1.point_) / RVOMath.det(obstacleI2.point_ - obstacleI1.point_, obstacleJ1.point_ - obstacleJ2.point_);
Obstacle newObstacle = new Obstacle();
newObstacle.point_ = splitPoint;
newObstacle.previous_ = obstacleJ1;
newObstacle.next_ = obstacleJ2;
newObstacle.convex_ = true;
newObstacle.direction_ = obstacleJ1.direction_;
newObstacle.id_ = Simulator.Instance.obstacles_.Count;
Simulator.Instance.obstacles_.Add(newObstacle);
obstacleJ1.next_ = newObstacle;
obstacleJ2.previous_ = newObstacle;
if (j1LeftOfI > 0)
{
leftObstacles[leftCounter++] = obstacleJ1;
rightObstacles[rightCounter++] = newObstacle;
}
else
{
rightObstacles[rightCounter++] = obstacleJ1;
leftObstacles[leftCounter++] = newObstacle;
}
}
}
node.obstacle_ = obstacleI1;
node.left_ = buildObstacleTreeRecursive(leftObstacles);
node.right_ = buildObstacleTreeRecursive(rightObstacles);
return(node);
}
}
/**
* <summary>Performs a visibility query between the two specified points
* with respect to the obstacles.</summary>
*
* <returns>A boolean specifying whether the two points are mutually
* visible. Returns true when the obstacles have not been processed.
* </returns>
*
* <param name="point1">The first point of the query.</param>
* <param name="point2">The second point of the query.</param>
* <param name="radius">The minimal distance between the line connecting
* the two points and the obstacles in order for the points to be
* mutually visible (optional). Must be non-negative.</param>
*/
public bool queryVisibility(KInt2 point1, KInt2 point2, KInt radius)
{
return(kdTree_.queryVisibility(point1, point2, radius));
}
/**
* <summary>Sets the two-dimensional linear velocity of a specified
* agent.</summary>
*
* <param name="agentNo">The number of the agent whose two-dimensional
* linear velocity is to be modified.</param>
* <param name="velocity">The replacement two-dimensional linear
* velocity.</param>
*/
public void setAgentVelocity(int agentNo, KInt2 velocity)
{
agents_[agentNo2indexDict_[agentNo]].velocity_ = velocity;
}
/**
* <summary>Sets the two-dimensional position of a specified agent.
* </summary>
*
* <param name="agentNo">The number of the agent whose two-dimensional
* position is to be modified.</param>
* <param name="position">The replacement of the two-dimensional
* position.</param>
*/
public void setAgentPosition(int agentNo, KInt2 position)
{
agents_[agentNo2indexDict_[agentNo]].position_ = position;
}
