public void Init()
{
Simulator.Instance.setTimeStep(0.15f);
Simulator.Instance.setAgentDefaults(neibourDist, maxNeibours, timeHorizon, obstacleTimeHorizon, radius, maxSpeed, new RVO.Vector2(0.0f, 0.0f));
for (int i = 0; i < agentCount; i++)
{
RVO.Vector2 pos = circleRadius *
new RVO.Vector2((float)Math.Cos(i * 2.0f * Math.PI / agentCount),
(float)Math.Sin(i * 2.0f * Math.PI / agentCount));
Simulator.Instance.addAgent(pos);
dirs.Add(RVOMath.normalize(-Simulator.Instance.getAgentPosition(i) - Simulator.Instance.getAgentPosition(i)));
goals.Add(-Simulator.Instance.getAgentPosition(i));
GameObject go = GameObject.CreatePrimitive(PrimitiveType.Capsule);
go.transform.position = new Vector3(pos.x(), 120, pos.y());
agents.Add(go);
}
ConvertToObstacle();
inited = true;
}
private void Update()
{
if (inited == false)
{
return;
}
//if ((Time.time - lastTime) > 0.25f)
//{
// lastTime = Time.time;
// for (int i = 0; i < goals.Count; i++)
// {
// goals[i] += dirs[i] * 0.8f;
// Debug.DrawLine(goals[i].ToVec3XZ(),goals[i].ToVec3XZ()+Vector3.up*5f,Color.cyan,0.25f);
// }
//}
if (ReachedGoal() == false)
{
SetPreferredVelocities();
Simulator.Instance.doStep();
}
for (int i = 0; i < agents.Count; i++)
{
vec2 = Simulator.Instance.getAgentPosition(i);
realPos.x = vec2.x();
realPos.z = vec2.y();
vec2 = Simulator.Instance.getAgentVelocity(i);
velocity.x = vec2.x_;
velocity.z = vec2.y_;
agentPos = agents[i].transform.position;
Debug.DrawLine(agentPos + Vector3.up * 1f,
agentPos + velocity.normalized * 2.5f + Vector3.up * 1f,
Color.green, Time.deltaTime);
Debug.DrawLine(realPos, realPos + Vector3.up * 10, Color.red, Time.deltaTime);
agents[i].transform.position = Vector3.Lerp(agentPos, realPos, Time.deltaTime * RVOMath.abs(Simulator.Instance.getAgentVelocity(i)));
}
}
private Vector3 ToVec3(RVO.Vector2 vec)
{
return(new Vector3(vec.x(), 0, vec.y()));
}