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();
}
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.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(VectorUtils.ToVector2(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);
}
