public void ExecuteRemoves() { if (m_removes.Count > 0 || m_forceRefresh) { if (m_removes.Count > 0) { m_removes.Sort(); for (int i = m_removes.Count - 1; i >= 0; i--) { m_agents.RemoveAt(m_removes[i]); } m_removes.Clear(); } m_instance.Clear(); Init(); for (int i = 0; i < m_obstacles.Count; i++) { m_obstacles[i].Add(m_instance); } m_instance.processObstacles(); for (int i = 0; i < m_agents.Count; i++) { m_agents[i].Add(); if (m_agents[i].Id != i) { Debug.LogErrorFormat("RVO instance mismatch [rebuild] {0} {1}", i, m_agents[i].Id); } } } }
// Use this for initialization void Start() { units = new List <AIPath>(); sim = RVO.Simulator.Instance; sim.setAgentDefaults(neighborDist, maxNeighbors, timeHorizon, timeHorizonObst, radius, maxSpeed, new RVO.Vector2(0, 0)); sim.SetNumWorkers(1); //TODO add obstacles? //process obstacles sim.processObstacles(); instance = this; }
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); }