static void setPreferredVelocities(RVOSimulator sim)
{
/*
* Set the preferred velocity to be a vector of unit magnitude (speed) in the
* direction of the goal.
*/
#pragma omp parallel for
for (int i = 0; i < sim.getNumAgents(); ++i) {
Vector2 goalVector = goals[i] - sim.getAgentPosition(i);
if ((goalVector.LengthSquared()) > 1.0f) {
goalVector = Vector2.Normalize(goalVector);
}
sim.setAgentPrefVelocity(i, goalVector);
/*
* Perturb a little to avoid deadlocks due to perfect symmetry.
*/
float angle = (float)r.NextDouble() * 2.0f * (float)Math.PI ;
float dist = (float)r.NextDouble() * 0.0001f ;
sim.setAgentPrefVelocity(i, sim.getAgentPrefVelocity(i) +
dist * new Vector2((float) Math.Cos(angle), (float)Math.Sin(angle)));
}
}
internal SuperAgent(RVOSimulator sim)
{
sim_ = sim;
position_ = new Vector2();
radius_ = 1.0f;
velocity_ = new Vector2();
}
public override void OnLatePostScan()
{
if (!Application.isPlaying)
{
return;
}
RemoveObstacles();
NavGraph[] graphs = AstarPath.active.graphs;
RVOSimulator rvosim = FindObjectOfType(typeof(RVOSimulator)) as RVOSimulator;
if (rvosim == null)
{
throw new System.NullReferenceException("No RVOSimulator could be found in the scene. Please add one to any GameObject");
}
Pathfinding.RVO.Simulator sim = rvosim.GetSimulator();
for (int i = 0; i < graphs.Length; i++)
{
AddGraphObstacles(sim, graphs[i]);
}
sim.UpdateObstacles();
}
/** <summary>Create a DataThread object given necessary argument </summary>
* <param name="follow" Whether the simulation is looped or not/>
* <param name="looped" Whether the simulation is looped or not/>
* <param name="sim" The simulator from which data have to be saved />*/
public DataThread(RVOSimulator sim, bool looped, bool follow)
{
sim_ = sim;
loop_ = looped;
follow_ = follow;
Thread myThread = new Thread(new ThreadStart(ThreadLoop));
myThread.Start();
}
/** Finds a simulator in the scene.
*
* Saves found simulator in #sim.
*
* \throws System.InvalidOperationException When no RVOSimulator could be found.
*/
protected void FindSimulator()
{
RVOSimulator rvosim = FindObjectOfType(typeof(RVOSimulator)) as RVOSimulator;
if (rvosim == null)
{
throw new System.InvalidOperationException("No RVOSimulator could be found in the scene. Please add one to any GameObject");
}
sim = rvosim.GetSimulator();
}
public void Start()
{
this.cam = Camera.main;
RVOSimulator rvosimulator = UnityEngine.Object.FindObjectOfType(typeof(RVOSimulator)) as RVOSimulator;
if (rvosimulator == null)
{
base.enabled = false;
throw new Exception("No RVOSimulator in the scene. Please add one");
}
this.sim = rvosimulator.GetSimulator();
}
static bool reachedGoal(RVOSimulator sim)
{
/* Check if all agents have reached their goals. */
for (int i = 0; i < sim.getNumAgents(); ++i) {
if ((sim.getAgentPosition(i) - goals[i]).LengthSquared() > 20.0f * 20.0f) {
return false;
}
}
return true;
}
static void setPreferredVelocities(RVOSimulator sim)
{
for (int i = 0; i < sim.getNumAgents(); ++i) {
Vector3 goalVector = goals[i] - sim.getAgentPosition(i);
if ((goalVector.LengthSquared()) > 1.0f) {
goalVector = Vector3.Normalize(goalVector);
}
sim.setAgentPrefVelocity(i, goalVector);
}
}
public void Awake()
{
tr = transform;
RVOSimulator sim = FindObjectOfType(typeof(RVOSimulator)) as RVOSimulator;
if (sim == null)
{
Debug.LogError("No RVOSimulator component found in the scene. Please add one.");
return;
}
simulator = sim.GetSimulator();
}
public void Start()
{
this.mesh = new Mesh();
RVOSimulator rvosimulator = UnityEngine.Object.FindObjectOfType(typeof(RVOSimulator)) as RVOSimulator;
if (rvosimulator == null)
{
Debug.LogError("No RVOSimulator could be found in the scene. Please add a RVOSimulator component to any GameObject");
return;
}
this.sim = rvosimulator.GetSimulator();
base.GetComponent<MeshFilter>().mesh = this.mesh;
this.CreateAgents(this.agentCount);
}
public void UpdateLogic(int delta)
{
//pathFinding.Update();
//Int3 i3 = new Int3(20, 0, 0);
//Int1 y = 0;
//actor.ActorTransform.position += (Vector3)PathfindingUtility.Move(actor, i3, out y);
MyTileHandlerHelper.Singleton.Update();
// controller.Move(new Int3(0,0,5000));
// controller.UpdateLogic(delta);
ActorManager.Singleton.UpdateLogic(delta);
RVOSimulator.GetInstance().UpdateLogic(delta);
}
public void Start()
{
mesh = new Mesh();
RVOSimulator rvoSim = FindObjectOfType(typeof(RVOSimulator)) as RVOSimulator;
if (rvoSim == null)
{
Debug.LogError("No RVOSimulator could be found in the scene. Please add a RVOSimulator component to any GameObject");
return;
}
sim = rvoSim.GetSimulator();
GetComponent <MeshFilter>().mesh = mesh;
CreateAgents(agentCount);
}
static void Main(string[] args)
{
/* Create a new simulator instance. */
RVOSimulator sim = new RVOSimulator();
/* Set up the scenario. */
setupScenario(sim);
/* Perform (and manipulate) the simulation. */
do
{
updateVisualization(sim);
setPreferredVelocities(sim);
sim.doStep();
} while (!reachedGoal(sim));
}
// Use this for initialization
IEnumerator Start()
{
if (target == null)
{
target = transform;
}
currentNodeInThePath = 0;
simulator = GameObject.FindGameObjectWithTag("RVOSim").GetComponent <RVOSimulator>();
pathNodes = new List <Vector3>();
yield return(StartCoroutine(StartPaths()));
if (agentIndex == -1)
{
agentIndex = simulator.addAgentToSim(transform.position, gameObject, pathNodes);
}
isAbleToStart = true;
}
IEnumerator Start()
{
currentNodeInThePath = 0;
simulator = GameObject.FindGameObjectWithTag("RVOSim").GetComponent <RVOSimulator>();
pathNodes = new List <Vector3>();
yield return(StartCoroutine(StartPaths()));
agentIndex = simulator.addAgentToSim(transform.position, gameObject, pathNodes);
if (updatePathtime <= 0)
{
Debug.Log("Incorrect Value of updatePathtime, setted to 1");
updatePathtime = 1;
}
updatePathtime_tmp = updatePathtime;
isAbleToStart = true;
}
public void Awake()
{
tr = transform;
// Find the RVOSimulator in this scene
if (cachedSimulator == null)
{
cachedSimulator = FindObjectOfType <RVOSimulator>();
}
if (cachedSimulator == null)
{
Debug.LogError("No RVOSimulator component found in the scene. Please add one.");
}
else
{
simulator = cachedSimulator.GetSimulator();
}
}
static void setupScenario(RVOSimulator sim)
{
/* Specify the global time step of the simulation. */
sim.setTimeStep(0.125f);
/* Specify the default parameters for agents that are subsequently added. */
sim.setAgentDefaults(15.0f, 10, 10.0f, 1.5f, 2.0f,new Vector3());
/* Add agents, specifying their start position, and store their goals on the opposite side of the environment. */
for (float a = 0; a < Math.PI; a += 0.1f) {
float z = 100.0f * (float)Math.Cos(a);
float r = 100.0f * (float)Math.Sin(a);
for (int i = 0; i < r / 2.5f; ++i) {
float x = r * (float)Math.Cos(i * 2.0f * (float)Math.PI / (r / 2.5f));
float y = r * (float)Math.Sin(i * 2.0f * (float)Math.PI / (r / 2.5f));
sim.addAgent(new Vector3(x, y, z));
goals.Add(sim.getAgentPosition(sim.getNumAgents() - 1));
}
}
}
public static Simulator GetSimulator()
{
if (null == AstarPath.active)
{
EB.Debug.LogError("No AstarPath component found in the scene.");
return(null);
}
RVOSimulator sim = AstarPath.active.gameObject.GetComponent <RVOSimulator>();
if (sim == null)
{
EB.Debug.LogError("No RVOSimulator component found in the scene. Please add one.");
return(null);
}
Simulator simulator = sim.GetSimulator();
if (simulator == null)
{
EB.Debug.LogError("No Simulator component found in the scene. Please add one.");
return(null);
}
return(simulator);
}
// Update is called once per frame
void Update()
{
if (group_b != group.isOn || avoidance_b != avoidance.isOn)
{
group_b = group.isOn;
avoidance_b = avoidance.isOn;
int range = agents.Count;
for (int i = 0; i < range; i++)
{
Destroy(agents[i].gameObject);
}
agents.Clear();
sim_ = new RVOSimulator();
Start();
}
if (!reachedGoal())
{
/*Changing preferred velocity*/
setPreferredVelocities();
/* Doing a step*/
doStep(false);
/*Printing Time * May harm performances */
//Debug.Log(sim_.getGlobalTime());
// This loop will change position, facing direction of the 3D agents on the unity scene
// They will move accordingly to the goal you gave them in the Setup
// you can also change their position in order to create a mouvement loop
for (int i = 0; i < getNumAgents(); ++i)
{
RVO.Vector2 position = getPosition(i);
// Determine if the agent is in the group One ...
if (i < getNumAgents() / 2)
{
if (position.x() >= 90.0f)
{
RVO.Vector2 vector2 = sim_.getAgentVelocity(i);
agents[i].rotation = Quaternion.LookRotation(new Vector3(vector2.x_, 0, vector2.y_));
setPosition(i, new RVO.Vector2(-89, position.y()));
agents[i].position = new Vector3(-89, 0f, position.y());
}
else
{
RVO.Vector2 vector2 = sim_.getAgentVelocity(i);
agents[i].rotation = Quaternion.LookRotation(new Vector3(vector2.x_, 0, vector2.y_));
agents[i].position = new Vector3(position.x(), 0f, position.y());
}
}
//... Or in the group Two
else
{
if (position.x() <= -90.0f)
{
setPosition(i, new RVO.Vector2(89, position.y()));
RVO.Vector2 vector2 = sim_.getAgentVelocity(i);
agents[i].rotation = Quaternion.LookRotation(new Vector3(vector2.x_, 0, vector2.y_));
agents[i].position = new Vector3(89, 0f, position.y());
}
else
{
RVO.Vector2 vector2 = sim_.getAgentVelocity(i);
agents[i].rotation = Quaternion.LookRotation(new Vector3(vector2.x_, 0, vector2.y_));
agents[i].position = new Vector3(position.x(), 0f, position.y());
}
}
}
}
else
{
for (int i = 0; i < getNumAgents(); ++i)
{
agents[i].GetComponent <Rigidbody>().isKinematic = true;
}
}
}
internal static HandleRef getCPtr(RVOSimulator obj)
{
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
static void setupScenario(RVOSimulator sim)
{
/* Specify the global time step of the simulation. */
sim.setTimeStep(0.25f);
/* Specify the default parameters for agents that are subsequently added. */
sim.setAgentDefaults(15.0f, 10, 5.0f, 5.0f, 2.0f, 2.0f,new Vector2());
/*
* Add agents, specifying their start position, and store their goals on the
* opposite side of the environment.
*/
for (int i = 0; i < 5; ++i) {
for (int j = 0; j < 5; ++j) {
sim.addAgent(new Vector2(55.0f + i * 10.0f, 55.0f + j * 10.0f));
goals.Add(new Vector2(-75.0f, -75.0f));
sim.addAgent(new Vector2(-55.0f - i * 10.0f, 55.0f + j * 10.0f));
goals.Add(new Vector2(75.0f, -75.0f));
sim.addAgent(new Vector2(55.0f + i * 10.0f, -55.0f - j * 10.0f));
goals.Add(new Vector2(-75.0f, 75.0f));
sim.addAgent(new Vector2(-55.0f - i * 10.0f, -55.0f - j * 10.0f));
goals.Add(new Vector2(75.0f, 75.0f));
}
}
/*
* Add (polygonal) obstacles, specifying their vertices in counterclockwise
* order.
*/
List<Vector2> obstacle1 = new List<Vector2>();
List<Vector2> obstacle2= new List<Vector2>();
List<Vector2> obstacle3= new List<Vector2>();
List<Vector2> obstacle4= new List<Vector2>();
obstacle1.Add(new Vector2(-10.0f, 40.0f));
obstacle1.Add(new Vector2(-40.0f, 40.0f));
obstacle1.Add(new Vector2(-40.0f, 10.0f));
obstacle1.Add(new Vector2(-10.0f, 10.0f));
obstacle2.Add(new Vector2(10.0f, 40.0f));
obstacle2.Add(new Vector2(10.0f, 10.0f));
obstacle2.Add(new Vector2(40.0f, 10.0f));
obstacle2.Add(new Vector2(40.0f, 40.0f));
obstacle3.Add(new Vector2(10.0f, -40.0f));
obstacle3.Add(new Vector2(40.0f, -40.0f));
obstacle3.Add(new Vector2(40.0f, -10.0f));
obstacle3.Add(new Vector2(10.0f, -10.0f));
obstacle4.Add(new Vector2(-10.0f, -40.0f));
obstacle4.Add(new Vector2(-10.0f, -10.0f));
obstacle4.Add(new Vector2(-40.0f, -10.0f));
obstacle4.Add(new Vector2(-40.0f, -40.0f));
sim.addObstacle(obstacle1);
sim.addObstacle(obstacle2);
sim.addObstacle(obstacle3);
sim.addObstacle(obstacle4);
/* Process the obstacles so that they are accounted for in the simulation. */
sim.processObstacles();
}
static void updateVisualization(RVOSimulator sim)
{
/* Output the current position of all the agents. */
for (int i = 0; i < sim.getNumAgents(); ++i) {
Console.WriteLine(sim.getAgentPosition(i) );
}
}
