/// <summary>
/// Finds a simulator in the scene.
///
/// Saves found simulator in <see cref="sim"/>.
///
/// \throws System.InvalidOperationException When no RVOSimulator could be found.
/// </summary>
protected void FindSimulator()
{
if (RVOSimulator.active == null)
{
throw new System.InvalidOperationException("No RVOSimulator could be found in the scene. Please add one to any GameObject");
}
sim = RVOSimulator.active.GetSimulator();
}
/// <summary>Adds obstacles for a navmesh/recast graph</summary>
void AddGraphObstacles(Pathfinding.RVO.ISimulator simulator, INavmesh navmesh)
{
GraphUtilities.GetContours(navmesh, (vertices, cycle) => {
var verticesV3 = new Vector3[vertices.Count];
for (int i = 0; i < verticesV3.Length; i++)
{
verticesV3[i] = (Vector3)vertices[i];
}
// Pool the 'vertices' list to reduce allocations
ListPool <Int3> .Release(vertices);
obstacles.Add(simulator.AddObstacle(verticesV3, wallHeight, cycle));
});
}
/// <summary>Adds obstacles for a grid graph</summary>
void AddGraphObstacles(Pathfinding.RVO.ISimulator sim, GridGraph grid)
{
bool reverse = Vector3.Dot(grid.transform.TransformVector(Vector3.up), sim.MovementPlane == MovementPlane.XY ? Vector3.back : Vector3.up) > 0;
GraphUtilities.GetContours(grid, vertices => {
// Check if the contour is traced in the wrong direction from the one we want it in.
// If we did not do this then instead of the obstacles keeping the agents OUT of the walls
// they would keep them INSIDE the walls.
if (reverse)
{
System.Array.Reverse(vertices);
}
obstacles.Add(sim.AddObstacle(vertices, wallHeight, true));
}, wallHeight * 0.4f);
}
