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)));
}
}
void p_OnPickedLeftButton(SegmentInterceptInfo SegmentInterceptInfo)
{
destiny = SegmentInterceptInfo.ImpactPosition;
for (int i = 0; i < Simulator.getNumAgents(); i++)
{
Simulator.setAgentPrefVelocity(i, Vector3.Normalize(destiny - Simulator.getAgentPosition(i)));
}
}
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);
}
}
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));
}
}
}
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) );
}
}
