new int linearProgram2(IList <Line> lines, float radius, Vector2 optVelocity, bool directionOpt, ref Vector2 result)
{
if (!directionOpt)
{
/*
* Optimize direction. Note that the optimization velocity is of unit
* length in this case.
*/
result = optVelocity * radius;
}
else if (Vector2.absSq(optVelocity) > Vector2.sqr(radius))
{
/* Optimize closest point and outside circle. */
result = Vector2.normalize(optVelocity) * radius;
}
else
{
/* Optimize closest point and inside circle. */
result = optVelocity;
}
for (int i = 0; i < lines.Count; ++i)
{
if (Vector2.det(lines[i].direction, lines[i].point - result) > 0.0f)
{
/* Result does not satisfy constraint i. Compute new optimal result. */
Vector2 tempResult = result;
if (!linearProgram1(lines, i, radius, optVelocity, directionOpt, ref result))
{
result = tempResult;
return(i);
}
}
}
return(lines.Count);
}
public override void interactWith(SuperAgent agent)
{
SuperAgent other = agent;
Vector2 relativePosition = other.position_ - position_;
Vector2 relativeVelocity = velocity_ - other.velocity_;
float distSq = (float)Math.Round(Vector2.absSq(relativePosition), 3);
float combinedRadius = radius_ + other.radius_;
float combinedRadiusSq = (float)Math.Round(Vector2.sqr(combinedRadius), 3);
Vector2 w = new Vector2();
Line line = new Line();
Vector2 u;
if (distSq > combinedRadiusSq)
{
/* No collision. */
w = relativeVelocity - (1.0f / timeHorizon_) * relativePosition;
/* Vector from cutoff center to relative velocity. */
float wLengthSq = Vector2.absSq(w);
Vector2 unitW = new Vector2();
float dotProduct1 = w * relativePosition;
if (dotProduct1 < 0.0f && Vector2.sqr(dotProduct1) > combinedRadiusSq * wLengthSq)
{
/* Project on cut-off circle. */
float wLength = (float)Math.Round(Math.Sqrt(wLengthSq), 3);
unitW = w / wLength;
line.direction = new Vector2(unitW.y(), -unitW.x());
u = (combinedRadius * (1.0f / timeHorizon_) - wLength) * unitW;
}
else
{
/* Project on legs. */
float leg = (float)Math.Round(Math.Sqrt(distSq - combinedRadiusSq), 3);
if (Vector2.det(relativePosition, w) > 0.0f)
{
/* Project on left leg. */
line.direction = new Vector2(relativePosition.x() * leg - relativePosition.y() * combinedRadius, relativePosition.x() * combinedRadius + relativePosition.y() * leg) / distSq;
}
else
{
/* Project on right leg. */
line.direction = -new Vector2(relativePosition.x() * leg + relativePosition.y() * combinedRadius, -relativePosition.x() * combinedRadius + relativePosition.y() * leg) / distSq;
}
float dotProduct2 = (float)Math.Round(relativeVelocity * line.direction, 3);
u = dotProduct2 * line.direction - relativeVelocity;
}
}
else
{
/* Collision. Project on cut-off circle of time timeStep. */
float invTimeStep = (float)Math.Round(1.0f / sim_.getTimeStep(), 3);
/* Vector from cutoff center to relative velocity. */
w = relativeVelocity - invTimeStep * relativePosition;
float wLength = (float)Math.Round(Vector2.abs(w), 3);
Vector2 unitW = w / wLength;
line.direction = new Vector2(unitW.y(), -unitW.x());
u = (combinedRadius * invTimeStep - wLength) * unitW;
}
// This is where you can choose the proportion of responsabilities that each agents takes in avoiding collision
line.point = velocity_ + 0.5f * u;
orcaLines_.Add(line);
}
new public bool linearProgram1(IList <Line> lines, int lineNo, float radius, Vector2 optVelocity, bool directionOpt, ref Vector2 result)
{
float dotProduct = lines[lineNo].point * lines[lineNo].direction;
float discriminant = Vector2.sqr(dotProduct) + Vector2.sqr(radius) - Vector2.absSq(lines[lineNo].point);
if (discriminant < 0.0f)
{
/* Max speed circle fully invalidates line lineNo. */
return(false);
}
float sqrtDiscriminant = (float)Math.Sqrt(discriminant);
float tLeft = -dotProduct - sqrtDiscriminant;
float tRight = -dotProduct + sqrtDiscriminant;
;
for (int i = 0; i < lineNo; ++i)
{
float denominator = Vector2.det(lines[lineNo].direction, lines[i].direction);
float numerator = Vector2.det(lines[i].direction, lines[lineNo].point - lines[i].point);
if (Math.Abs(denominator) <= RVO_EPSILON)
{
/* Lines lineNo and i are (almost) parallel. */
if (numerator < 0.0f)
{
return(false);
}
else
{
continue;
}
}
float t = numerator / denominator;
if (denominator >= 0.0f)
{
/* Line i bounds line lineNo on the right. */
tRight = Math.Min(tRight, t);
}
else
{
/* Line i bounds line lineNo on the left. */
tLeft = Math.Max(tLeft, t);
}
if (tLeft > tRight)
{
return(false);
}
}
if (!directionOpt)
{
/* Optimize direction. */
if (optVelocity * lines[lineNo].direction > 0.0f)
{
/* 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. */
float t = 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);
}
public override void interactWith(Obstacle obstacle)
{
Obstacle obstacle1 = obstacle;
Obstacle obstacle2 = obstacle1.next_;
Vector2 relativePosition1 = obstacle1.point_ - position_;
Vector2 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 (Vector2.det((1.0f / timeHorizonObst_) * relativePosition1 - orcaLines_[j].point, orcaLines_[j].direction) - (1.0f / timeHorizonObst_) * radius_ >= -RVO_EPSILON &&
Vector2.det((1.0f / timeHorizonObst_) * relativePosition2 - orcaLines_[j].point, orcaLines_[j].direction) - (1.0f / timeHorizonObst_) * radius_ >= -RVO_EPSILON)
{
alreadyCovered = true;
break;
}
}
if (alreadyCovered)
{
return;
}
/* Not yet covered. Check for collisions. */
float distSq1 = Vector2.absSq(relativePosition1);
float distSq2 = Vector2.absSq(relativePosition2);
float radiusSq = Vector2.sqr(radius_);
Vector2 obstacleVector = obstacle2.point_ - obstacle1.point_;
float s = (-relativePosition1 * obstacleVector) / Vector2.absSq(obstacleVector);
float distSqLine = Vector2.absSq(-relativePosition1 - s * obstacleVector);
Line line;
if (s < 0 && distSq1 <= radiusSq)
{
/* Collision with left vertex. Ignore if non-convex. */
if (obstacle1.convex_)
{
line.point = new Vector2(0, 0);
line.direction = Vector2.normalize(new Vector2(-relativePosition1.y(), relativePosition1.x()));
orcaLines_.Add(line);
}
return;
}
else if (s > 1 && distSq2 <= radiusSq)
{
/* Collision with right vertex. Ignore if non-convex
* or if it will be taken care of by neighoring obstace */
if (obstacle2.convex_ && Vector2.det(relativePosition2, obstacle2.direction_) >= 0)
{
line.point = new Vector2(0, 0);
line.direction = Vector2.normalize(new Vector2(-relativePosition2.y(), relativePosition2.x()));
orcaLines_.Add(line);
}
return;
}
else if (s >= 0 && s < 1 && distSqLine <= radiusSq)
{
/* Collision with obstacle segment. */
line.point = new Vector2(0, 0);
line.direction = -obstacle1.direction_;
orcaLines_.Add(line);
return;
}
/*
* No collision.
* Compute legs. When obliquely viewed, both legs can come from a single
* vertex. Legs extend cut-off line when nonconvex vertex.
*/
Vector2 leftLegDirection, rightLegDirection;
if (s < 0 && distSqLine <= radiusSq)
{
/*
* Obstacle viewed obliquely so that left vertex
* defines velocity obstacle.
*/
if (!obstacle1.convex_)
{
/* Ignore obstacle. */
return;
}
obstacle2 = obstacle1;
float leg1 = (float)Math.Sqrt(distSq1 - radiusSq);
leftLegDirection = new Vector2(relativePosition1.x() * leg1 - relativePosition1.y() * radius_, relativePosition1.x() * radius_ + relativePosition1.y() * leg1) / distSq1;
rightLegDirection = new Vector2(relativePosition1.x() * leg1 + relativePosition1.y() * radius_, -relativePosition1.x() * radius_ + relativePosition1.y() * leg1) / distSq1;
}
else if (s > 1 && distSqLine <= radiusSq)
{
/*
* Obstacle viewed obliquely so that
* right vertex defines velocity obstacle.
*/
if (!obstacle2.convex_)
{
/* Ignore obstacle. */
return;
}
obstacle1 = obstacle2;
float leg2 = (float)Math.Sqrt(distSq2 - radiusSq);
leftLegDirection = new Vector2(relativePosition2.x() * leg2 - relativePosition2.y() * radius_, relativePosition2.x() * radius_ + relativePosition2.y() * leg2) / distSq2;
rightLegDirection = new Vector2(relativePosition2.x() * leg2 + relativePosition2.y() * radius_, -relativePosition2.x() * radius_ + relativePosition2.y() * leg2) / distSq2;
}
else
{
/* Usual situation. */
if (obstacle1.convex_)
{
float leg1 = (float)Math.Sqrt(distSq1 - radiusSq);
leftLegDirection = new Vector2(relativePosition1.x() * leg1 - relativePosition1.y() * radius_, relativePosition1.x() * radius_ + relativePosition1.y() * leg1) / distSq1;
}
else
{
/* Left vertex non-convex; left leg extends cut-off line. */
leftLegDirection = -obstacle1.direction_;
}
if (obstacle2.convex_)
{
float leg2 = (float)Math.Sqrt(distSq2 - radiusSq);
rightLegDirection = new Vector2(relativePosition2.x() * leg2 + relativePosition2.y() * radius_, -relativePosition2.x() * radius_ + relativePosition2.y() * leg2) / distSq2;
}
else
{
/* Right vertex non-convex; right leg extends cut-off line. */
rightLegDirection = obstacle1.direction_;
}
}
/*
* 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 (obstacle.convex_ && Vector2.det(leftLegDirection, -leftNeighbor.direction_) >= 0.0f)
{
/* Left leg points into obstacle. */
leftLegDirection = -leftNeighbor.direction_;
isLeftLegForeign = true;
}
if (obstacle2.convex_ && Vector2.det(rightLegDirection, obstacle2.direction_) <= 0.0f)
{
/* Right leg points into obstacle. */
rightLegDirection = obstacle2.direction_;
isRightLegForeign = true;
}
/* Compute cut-off centers. */
Vector2 leftCutoff = (1.0f / timeHorizonObst_) * (obstacle1.point_ - position_);
Vector2 rightCutoff = (1.0f / timeHorizonObst_) * (obstacle2.point_ - position_);
Vector2 cutoffVec = rightCutoff - leftCutoff;
/* Project current velocity on velocity obstacle. */
/* Check if current velocity is projected on cutoff circles. */
float t = (obstacle1 == obstacle2 ? 0.5f : ((velocity_ - leftCutoff) * cutoffVec) / Vector2.absSq(cutoffVec));
float tLeft = ((velocity_ - leftCutoff) * leftLegDirection);
float tRight = ((velocity_ - rightCutoff) * rightLegDirection);
if ((t < 0.0f && tLeft < 0.0f) || (obstacle1 == obstacle2 && tLeft < 0.0f && tRight < 0.0f))
{
/* Project on left cut-off circle. */
Vector2 unitW = Vector2.normalize(velocity_ - leftCutoff);
line.direction = new Vector2(unitW.y(), -unitW.x());
line.point = leftCutoff + radius_ * (1.0f / timeHorizonObst_) * unitW;
orcaLines_.Add(line);
return;
}
else if (t > 1.0f && tRight < 0.0f)
{
/* Project on right cut-off circle. */
Vector2 unitW = Vector2.normalize(velocity_ - rightCutoff);
line.direction = new Vector2(unitW.y(), -unitW.x());
line.point = rightCutoff + radius_ * (1.0f / timeHorizonObst_) * unitW;
orcaLines_.Add(line);
return;
}
/*
* Project on left leg, right leg, or cut-off line, whichever is closest
* to velocity.
*/
float distSqCutoff = ((t <0.0f || t> 1.0f || obstacle1 == obstacle2) ? Single.PositiveInfinity : Vector2.absSq(velocity_ - (leftCutoff + t * cutoffVec)));
float distSqLeft = ((tLeft < 0.0f) ? Single.PositiveInfinity : Vector2.absSq(velocity_ - (leftCutoff + tLeft * leftLegDirection)));
float distSqRight = ((tRight < 0.0f) ? Single.PositiveInfinity : Vector2.absSq(velocity_ - (rightCutoff + tRight * rightLegDirection)));
if (distSqCutoff <= distSqLeft && distSqCutoff <= distSqRight)
{
/* Project on cut-off line. */
line.direction = -obstacle1.direction_;
line.point = leftCutoff + radius_ * (1.0f / timeHorizonObst_) * new Vector2(-line.direction.y(), line.direction.x());
orcaLines_.Add(line);
return;
}
else if (distSqLeft <= distSqRight)
{
/* Project on left leg. */
if (isLeftLegForeign)
{
return;
}
line.direction = leftLegDirection;
line.point = leftCutoff + radius_ * (1.0f / timeHorizonObst_) * new Vector2(-line.direction.y(), line.direction.x());
orcaLines_.Add(line);
return;
}
else
{
/* Project on right leg. */
if (isRightLegForeign)
{
return;
}
line.direction = -rightLegDirection;
line.point = rightCutoff + radius_ * (1.0f / timeHorizonObst_) * new Vector2(-line.direction.y(), line.direction.x());
orcaLines_.Add(line);
return;
}
}
// Update is called once per frame
void Update()
{
for (int block = 0; block < workers.Count; ++block)
{
doneEvents_[block].Reset();
ThreadPool.QueueUserWorkItem(workers[block].clear);
}
WaitHandle.WaitAll(doneEvents_);
updateWorker(workers.Count);
if (!reachedGoal())
{
if (hum_but_.isOn && !human_prefab)
{
int range = agents.Count;
for (int i = 0; i < range; i++)
{
Destroy(agents[i].gameObject);
addAgent(human, agents[i].position, sim_.getDefaultRadius(), i);
}
human_prefab = true;
}
else if (!hum_but_.isOn && human_prefab)
{
int range = agents.Count;
for (int i = 0; i < range; i++)
{
Destroy(agents[i].gameObject);
addAgent(prefab, agents[i].position, sim_.getDefaultRadius(), i);
}
human_prefab = false;
}
setAgentsProperties();
setPreferredVelocities();
sim_.initialize_virtual_and_agents();
for (int i = 0; i < getNumAgents(); i++)
{
Vector2 agent_position = sim_.getAgentPosition(i);
Vector2 p1 = agent_position + new Vector2(corridor_length_, 0);
sim_.addVirtualAgent(0, p1);
}
doStep(true);
/* Output the current global time. */
//print(Simulator.Instance.getGlobalTime());
if (follow_but_.isOn != follow_)
{
follow_ = follow_but_.isOn;
for (int i = 0; i < getNumAgents(); ++i)
{
sim_.agents_[i].follows_ = follow_;
}
}
if (save_but_.isOn != sim_.save)
{
sim_.save = save_but_.isOn;
}
Vector3 pos3 = Camera.main.transform.position;
Camera.main.transform.position = new Vector3(pos3.x, camera_height_.value, pos3.z);
int totot = getNumAgents();
for (int i = 0; i < getNumAgents(); ++i)
{
Vector2 position = sim_.getAgentPosition(i);
agents[i].transform.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 (human_prefab)
{
if (Vector2.absSq(sim_.getAgentVelocity(i) * 4) > 1.5f)
{
agents[i].GetComponent <Animator>().CrossFade("mixamo.com", 10, 1);
}
agents[i].GetComponent <Animator>().speed = Vector2.absSq(sim_.getAgentVelocity(i) * 4);
}
if (!human_prefab)
{
setColor(i);
}
}
}
else
{
for (int i = 0; i < getNumAgents(); ++i)
{
agents[i].transform.GetComponent <Rigidbody>().isKinematic = true;
}
}
for (int block = 0; block < workers.Count; ++block)
{
doneEvents_[block].Reset();
ThreadPool.QueueUserWorkItem(workers[block].computeMedVelocity);
}
WaitHandle.WaitAll(doneEvents_);
String tmp = "";
for (int i = 0; i < workers.Count; i++)
{
tmp += Vector2.abs(workers[i].vit_moy) + "\t";
}
using (TextWriter tw = new StreamWriter(name, true))
{
tw.WriteLine(tmp);
}
}
internal SuperAgent representGroup(Agent observer)
{
// Compute the left & right tangent points obtained for each agent of the group
// First element of the pair = right tangent
// Second element of the pair = left tangent
IList <Pair <Vector2, Vector2> > tangents = new List <Pair <Vector2, Vector2> >();
IList <Pair <Vector2, Vector2> > radii = new List <Pair <Vector2, Vector2> >();
for (int i = 0; i < agents_.Count; i++)
{
tangents.Add(computeTangentsPoints(observer, agents_[i]));
Pair <Vector2, Vector2> rads = new Pair <Vector2, Vector2>();
rads.First = tangents[i].First - observer.position_;
rads.Second = tangents[i].Second - observer.position_;
radii.Add(rads);
}
// Compute the group tangent points (extrema)
int rightExtremumId = 0;
int leftExtremumId = 0;
for (int i = 1; i < tangents.Count; i++)
{
// Comparison
if (Vector2.isOnTheLeftSide(radii[rightExtremumId].First, radii[i].First))
{
rightExtremumId = i;
}
if (Vector2.isOnTheLeftSide(radii[i].Second, radii[leftExtremumId].Second))
{
leftExtremumId = i;
}
}
// If the tangent are taking more than 180°, cannot be considered as a group
for (int i = 0; i < agents_.Count; i++)
{
if (Vector2.isOnTheLeftSide(radii[rightExtremumId].First, radii[i].First))
{
//std::cout << "Problem representing groups : tangent angle > 180°\n";
return(new SuperAgent(null));
}
if (Vector2.isOnTheLeftSide(radii[i].Second, radii[leftExtremumId].Second))
{
//std::cout << "Problem representing groups : tangent angle > 180°\n";
return(new SuperAgent(null));
}
}
// Compute bisector
Vector2 rightTangent = Vector2.rotation(radii[rightExtremumId].First, (float)Math.PI / 2);
Vector2 leftTangent = Vector2.rotation(radii[leftExtremumId].Second, -(float)Math.PI / 2);
Vector2 intersectionPoint = Vector2.intersectOf2Lines(tangents[rightExtremumId].First, tangents[rightExtremumId].First + rightTangent,
tangents[leftExtremumId].Second, tangents[leftExtremumId].Second + leftTangent);
// alpha/2 is more usefull than alpha
float alpha2 = Vector2.angle(Vector2.rotation(tangents[leftExtremumId].Second - intersectionPoint, -Vector2.angle(tangents[rightExtremumId].First - intersectionPoint))) / 2;
if (alpha2 < 0)
{
//std::cout << "Problem representing groups : angle computation\n SHALL NOT HAPPEN !!! \n";
// But if radii are different or if
return(new SuperAgent(null));
}
Vector2 bisector_normalize_vector = Vector2.normalize(observer.position_ - intersectionPoint);
// Compute circle
// The distance between the observer and the circle (along the bisector axis)
float d = Single.PositiveInfinity;
float a, b, c, delta, x;
int constrainingAgent = 0;
for (int i = 0; i < agents_.Count; i++)
{
Vector2 ic1 = agents_[i].position_ - intersectionPoint;
a = 1 - Vector2.sqr((float)Math.Sin(alpha2));
b = 2 * (agents_[i].radius_ * (float)Math.Sin(alpha2) - ic1 * bisector_normalize_vector);
c = Vector2.absSq(ic1) - Vector2.sqr(agents_[i].radius_);
delta = Vector2.sqr(b) - 4 * a * c;
if (delta <= 0)
{
if (delta < -4 * RVO_EPSILON * c)
{
return(new SuperAgent(null));
}
else
{
delta = 0;
}
}
x = (-b + (float)Math.Sqrt(delta)) / (2 * a);
if (x < d)
{
d = x;
constrainingAgent = i;
}
}
if (d < Vector2.abs(observer.position_ - intersectionPoint) + observer.radius_ + d * Math.Sin(alpha2))
{
return(new SuperAgent(null));
}
SuperAgent toReturn = new SuperAgent(sim_);
toReturn.position_ = intersectionPoint + bisector_normalize_vector * d;
toReturn.radius_ = d * (float)Math.Sin(alpha2);
toReturn.velocity_ = agents_[constrainingAgent].velocity_;
return(toReturn);
}
