Defines the simulation. More...

#include <RVOSimulator.h>

Public Member Functions
	RVOSimulator ()
	Constructs a simulator instance.

	RVOSimulator (float timeStep, float neighborDist, size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity=Vector2())
	Constructs a simulator instance and sets the default properties for any new agent that is added. More...

	~RVOSimulator ()
	Destroys this simulator instance.

size_t	addAgent (const Vector2 &position)
	Adds a new agent with default properties to the simulation. More...

size_t	addAgent (const Vector2 &position, float neighborDist, size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity=Vector2())
	Adds a new agent to the simulation. More...

size_t	addObstacle (const std::vector< Vector2 > &vertices)
	Adds a new obstacle to the simulation. More...

void	doStep ()
	Lets the simulator perform a simulation step and updates the two-dimensional position and two-dimensional velocity of each agent.

size_t	getAgentAgentNeighbor (size_t agentNo, size_t neighborNo) const
	Returns the specified agent neighbor of the specified agent. More...

size_t	getAgentMaxNeighbors (size_t agentNo) const
	Returns the maximum neighbor count of a specified agent. More...

float	getAgentMaxSpeed (size_t agentNo) const
	Returns the maximum speed of a specified agent. More...

float	getAgentNeighborDist (size_t agentNo) const
	Returns the maximum neighbor distance of a specified agent. More...

size_t	getAgentNumAgentNeighbors (size_t agentNo) const
	Returns the count of agent neighbors taken into account to compute the current velocity for the specified agent. More...

size_t	getAgentNumObstacleNeighbors (size_t agentNo) const
	Returns the count of obstacle neighbors taken into account to compute the current velocity for the specified agent. More...

size_t	getAgentNumORCALines (size_t agentNo) const
	Returns the count of ORCA constraints used to compute the current velocity for the specified agent. More...

size_t	getAgentObstacleNeighbor (size_t agentNo, size_t neighborNo) const
	Returns the specified obstacle neighbor of the specified agent. More...

const Line &	getAgentORCALine (size_t agentNo, size_t lineNo) const
	Returns the specified ORCA constraint of the specified agent. More...

const Vector2 &	getAgentPosition (size_t agentNo) const
	Returns the two-dimensional position of a specified agent. More...

const Vector2 &	getAgentPrefVelocity (size_t agentNo) const
	Returns the two-dimensional preferred velocity of a specified agent. More...

float	getAgentRadius (size_t agentNo) const
	Returns the radius of a specified agent. More...

float	getAgentTimeHorizon (size_t agentNo) const
	Returns the time horizon of a specified agent. More...

float	getAgentTimeHorizonObst (size_t agentNo) const
	Returns the time horizon with respect to obstacles of a specified agent. More...

const Vector2 &	getAgentVelocity (size_t agentNo) const
	Returns the two-dimensional linear velocity of a specified agent. More...

float	getGlobalTime () const
	Returns the global time of the simulation. More...

size_t	getNumAgents () const
	Returns the count of agents in the simulation. More...

size_t	getNumObstacleVertices () const
	Returns the count of obstacle vertices in the simulation. More...

const Vector2 &	getObstacleVertex (size_t vertexNo) const
	Returns the two-dimensional position of a specified obstacle vertex. More...

size_t	getNextObstacleVertexNo (size_t vertexNo) const
	Returns the number of the obstacle vertex succeeding the specified obstacle vertex in its polygon. More...

size_t	getPrevObstacleVertexNo (size_t vertexNo) const
	Returns the number of the obstacle vertex preceding the specified obstacle vertex in its polygon. More...

float	getTimeStep () const
	Returns the time step of the simulation. More...

void	processObstacles ()
	Processes the obstacles that have been added so that they are accounted for in the simulation. More...

bool	queryVisibility (const Vector2 &point1, const Vector2 &point2, float radius=0.0f) const
	Performs a visibility query between the two specified points with respect to the obstacles. More...

void	setAgentDefaults (float neighborDist, size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity=Vector2())
	Sets the default properties for any new agent that is added. More...

void	setAgentMaxNeighbors (size_t agentNo, size_t maxNeighbors)
	Sets the maximum neighbor count of a specified agent. More...

void	setAgentMaxSpeed (size_t agentNo, float maxSpeed)
	Sets the maximum speed of a specified agent. More...

void	setAgentNeighborDist (size_t agentNo, float neighborDist)
	Sets the maximum neighbor distance of a specified agent. More...

void	setAgentPosition (size_t agentNo, const Vector2 &position)
	Sets the two-dimensional position of a specified agent. More...

void	setAgentPrefVelocity (size_t agentNo, const Vector2 &prefVelocity)
	Sets the two-dimensional preferred velocity of a specified agent. More...

void	setAgentRadius (size_t agentNo, float radius)
	Sets the radius of a specified agent. More...

void	setAgentTimeHorizon (size_t agentNo, float timeHorizon)
	Sets the time horizon of a specified agent with respect to other agents. More...

void	setAgentTimeHorizonObst (size_t agentNo, float timeHorizonObst)
	Sets the time horizon of a specified agent with respect to obstacles. More...

void	setAgentVelocity (size_t agentNo, const Vector2 &velocity)
	Sets the two-dimensional linear velocity of a specified agent. More...

void	setTimeStep (float timeStep)
	Sets the time step of the simulation. More...

Friends
class	Agent

class	KdTree

class	Obstacle

Detailed Description

Defines the simulation.

The main class of the library that contains all simulation functionality.

Constructor & Destructor Documentation

◆ RVOSimulator()

RVO::RVOSimulator::RVOSimulator	(	float	timeStep,
		float	neighborDist,
		size_t	maxNeighbors,
		float	timeHorizon,
		float	timeHorizonObst,
		float	radius,
		float	maxSpeed,
		const Vector2 &	velocity = `Vector2()`
	)

Constructs a simulator instance and sets the default properties for any new agent that is added.

Parameters

timeStep	The time step of the simulation. Must be positive.
neighborDist	The default maximum distance (center point to center point) to other agents a new agent takes into account in the navigation. The larger this number, the longer he running time of the simulation. If the number is too low, the simulation will not be safe. Must be non-negative.
maxNeighbors	The default maximum number of other agents a new agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.
timeHorizon	The default minimal amount of time for which a new agent's velocities that are computed by the simulation are safe with respect to other agents. The larger this number, the sooner an agent will respond to the presence of other agents, but the less freedom the agent has in choosing its velocities. Must be positive.
timeHorizonObst	The default minimal amount of time for which a new agent's velocities that are computed by the simulation are safe with respect to obstacles. The larger this number, the sooner an agent will respond to the presence of obstacles, but the less freedom the agent has in choosing its velocities. Must be positive.
radius	The default radius of a new agent. Must be non-negative.
maxSpeed	The default maximum speed of a new agent. Must be non-negative.
velocity	The default initial two-dimensional linear velocity of a new agent (optional).

Member Function Documentation

◆ addAgent() [1/2]

size_t RVO::RVOSimulator::addAgent ( const Vector2 & position )

Adds a new agent with default properties to the simulation.

Parameters

position The two-dimensional starting position of this agent.

Returns: The number of the agent, or RVO::RVO_ERROR when the agent defaults have not been set.

◆ addAgent() [2/2]

size_t RVO::RVOSimulator::addAgent	(	const Vector2 &	position,
		float	neighborDist,
		size_t	maxNeighbors,
		float	timeHorizon,
		float	timeHorizonObst,
		float	radius,
		float	maxSpeed,
		const Vector2 &	velocity = `Vector2()`
	)

Adds a new agent to the simulation.

Parameters

position	The two-dimensional starting position of this agent.
neighborDist	The maximum distance (center point to center point) to other agents this agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe. Must be non-negative.
maxNeighbors	The maximum number of other agents this agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.
timeHorizon	The minimal amount of time for which this agent's velocities that are computed by the simulation are safe with respect to other agents. The larger this number, the sooner this agent will respond to the presence of other agents, but the less freedom this agent has in choosing its velocities. Must be positive.
timeHorizonObst	The minimal amount of time for which this agent's velocities that are computed by the simulation are safe with respect to obstacles. The larger this number, the sooner this agent will respond to the presence of obstacles, but the less freedom this agent has in choosing its velocities. Must be positive.
radius	The radius of this agent. Must be non-negative.
maxSpeed	The maximum speed of this agent. Must be non-negative.
velocity	The initial two-dimensional linear velocity of this agent (optional).

Returns: The number of the agent.

◆ addObstacle()

size_t RVO::RVOSimulator::addObstacle ( const std::vector< Vector2 > & vertices )

Adds a new obstacle to the simulation.

Parameters

vertices List of the vertices of the polygonal obstacle in counterclockwise order.

Returns: The number of the first vertex of the obstacle, or RVO::RVO_ERROR when the number of vertices is less than two.

Note: To add a "negative" obstacle, e.g. a bounding polygon around the environment, the vertices should be listed in clockwise order.

◆ getAgentAgentNeighbor()

size_t RVO::RVOSimulator::getAgentAgentNeighbor	(	size_t	agentNo,
		size_t	neighborNo
	)		const

Returns the specified agent neighbor of the specified agent.

Parameters

agentNo	The number of the agent whose agent neighbor is to be retrieved.
neighborNo	The number of the agent neighbor to be retrieved.

Returns: The number of the neighboring agent.

◆ getAgentMaxNeighbors()

size_t RVO::RVOSimulator::getAgentMaxNeighbors ( size_t agentNo ) const

Returns the maximum neighbor count of a specified agent.

Parameters

agentNo The number of the agent whose maximum neighbor count is to be retrieved.

Returns: The present maximum neighbor count of the agent.

◆ getAgentMaxSpeed()

float RVO::RVOSimulator::getAgentMaxSpeed ( size_t agentNo ) const

Returns the maximum speed of a specified agent.

Parameters

agentNo The number of the agent whose maximum speed is to be retrieved.

Returns: The present maximum speed of the agent.

◆ getAgentNeighborDist()

float RVO::RVOSimulator::getAgentNeighborDist ( size_t agentNo ) const

Returns the maximum neighbor distance of a specified agent.

Parameters

agentNo The number of the agent whose maximum neighbor distance is to be retrieved.

Returns: The present maximum neighbor distance of the agent.

◆ getAgentNumAgentNeighbors()

size_t RVO::RVOSimulator::getAgentNumAgentNeighbors ( size_t agentNo ) const

Returns the count of agent neighbors taken into account to compute the current velocity for the specified agent.

Parameters

agentNo The number of the agent whose count of agent neighbors is to be retrieved.

Returns: The count of agent neighbors taken into account to compute the current velocity for the specified agent.

◆ getAgentNumObstacleNeighbors()

size_t RVO::RVOSimulator::getAgentNumObstacleNeighbors ( size_t agentNo ) const

Returns the count of obstacle neighbors taken into account to compute the current velocity for the specified agent.

Parameters

agentNo The number of the agent whose count of obstacle neighbors is to be retrieved.

Returns: The count of obstacle neighbors taken into account to compute the current velocity for the specified agent.

◆ getAgentNumORCALines()

size_t RVO::RVOSimulator::getAgentNumORCALines ( size_t agentNo ) const

Returns the count of ORCA constraints used to compute the current velocity for the specified agent.

Parameters

agentNo The number of the agent whose count of ORCA constraints is to be retrieved.

Returns: The count of ORCA constraints used to compute the current velocity for the specified agent.

◆ getAgentObstacleNeighbor()

size_t RVO::RVOSimulator::getAgentObstacleNeighbor	(	size_t	agentNo,
		size_t	neighborNo
	)		const

Returns the specified obstacle neighbor of the specified agent.

Parameters

agentNo	The number of the agent whose obstacle neighbor is to be retrieved.
neighborNo	The number of the obstacle neighbor to be retrieved.

Returns: The number of the first vertex of the neighboring obstacle edge.

◆ getAgentORCALine()

const Line& RVO::RVOSimulator::getAgentORCALine	(	size_t	agentNo,
		size_t	lineNo
	)		const

Returns the specified ORCA constraint of the specified agent.

Parameters

agentNo	The number of the agent whose ORCA constraint is to be retrieved.
lineNo	The number of the ORCA constraint to be retrieved.

Returns: A line representing the specified ORCA constraint.

Note: The halfplane to the left of the line is the region of permissible velocities with respect to the specified ORCA constraint.

◆ getAgentPosition()

const Vector2& RVO::RVOSimulator::getAgentPosition ( size_t agentNo ) const

Returns the two-dimensional position of a specified agent.

Parameters

agentNo The number of the agent whose two-dimensional position is to be retrieved.

Returns: The present two-dimensional position of the (center of the) agent.

◆ getAgentPrefVelocity()

const Vector2& RVO::RVOSimulator::getAgentPrefVelocity ( size_t agentNo ) const

Returns the two-dimensional preferred velocity of a specified agent.

Parameters

agentNo The number of the agent whose two-dimensional preferred velocity is to be retrieved.

Returns: The present two-dimensional preferred velocity of the agent.

◆ getAgentRadius()

float RVO::RVOSimulator::getAgentRadius ( size_t agentNo ) const

Returns the radius of a specified agent.

Parameters

agentNo The number of the agent whose radius is to be retrieved.

Returns: The present radius of the agent.

◆ getAgentTimeHorizon()

float RVO::RVOSimulator::getAgentTimeHorizon ( size_t agentNo ) const

Returns the time horizon of a specified agent.

Parameters

agentNo The number of the agent whose time horizon is to be retrieved.

Returns: The present time horizon of the agent.

◆ getAgentTimeHorizonObst()

float RVO::RVOSimulator::getAgentTimeHorizonObst ( size_t agentNo ) const

Returns the time horizon with respect to obstacles of a specified agent.

Parameters

agentNo The number of the agent whose time horizon with respect to obstacles is to be retrieved.

Returns: The present time horizon with respect to obstacles of the agent.

◆ getAgentVelocity()

const Vector2& RVO::RVOSimulator::getAgentVelocity ( size_t agentNo ) const

Returns the two-dimensional linear velocity of a specified agent.

Parameters

agentNo The number of the agent whose two-dimensional linear velocity is to be retrieved.

Returns: The present two-dimensional linear velocity of the agent.

◆ getGlobalTime()

float RVO::RVOSimulator::getGlobalTime ( ) const

Returns the global time of the simulation.

Returns: The present global time of the simulation (zero initially).

◆ getNextObstacleVertexNo()

size_t RVO::RVOSimulator::getNextObstacleVertexNo ( size_t vertexNo ) const

Returns the number of the obstacle vertex succeeding the specified obstacle vertex in its polygon.

Parameters

vertexNo The number of the obstacle vertex whose successor is to be retrieved.

Returns: The number of the obstacle vertex succeeding the specified obstacle vertex in its polygon.

◆ getNumAgents()

size_t RVO::RVOSimulator::getNumAgents ( ) const

Returns the count of agents in the simulation.

Returns: The count of agents in the simulation.

◆ getNumObstacleVertices()

size_t RVO::RVOSimulator::getNumObstacleVertices ( ) const

Returns the count of obstacle vertices in the simulation.

Returns: The count of obstacle vertices in the simulation.

◆ getObstacleVertex()

const Vector2& RVO::RVOSimulator::getObstacleVertex ( size_t vertexNo ) const

Returns the two-dimensional position of a specified obstacle vertex.

Parameters

vertexNo The number of the obstacle vertex to be retrieved.

Returns: The two-dimensional position of the specified obstacle vertex.

◆ getPrevObstacleVertexNo()

size_t RVO::RVOSimulator::getPrevObstacleVertexNo ( size_t vertexNo ) const

Returns the number of the obstacle vertex preceding the specified obstacle vertex in its polygon.

Parameters

vertexNo The number of the obstacle vertex whose predecessor is to be retrieved.

Returns: The number of the obstacle vertex preceding the specified obstacle vertex in its polygon.

◆ getTimeStep()

float RVO::RVOSimulator::getTimeStep ( ) const

Returns the time step of the simulation.

Returns: The present time step of the simulation.

◆ processObstacles()

void RVO::RVOSimulator::processObstacles ( )

Processes the obstacles that have been added so that they are accounted for in the simulation.

Note: Obstacles added to the simulation after this function has been called are not accounted for in the simulation.

◆ queryVisibility()

bool RVO::RVOSimulator::queryVisibility	(	const Vector2 &	point1,
		const Vector2 &	point2,
		float	radius = `0.0f`
	)		const

Performs a visibility query between the two specified points with respect to the obstacles.

Parameters

point1	The first point of the query.
point2	The second point of the query.
radius	The minimal distance between the line connecting the two points and the obstacles in order for the points to be mutually visible (optional). Must be non-negative.

Returns: A boolean specifying whether the two points are mutually visible. Returns true when the obstacles have not been processed.

◆ setAgentDefaults()

void RVO::RVOSimulator::setAgentDefaults	(	float	neighborDist,
		size_t	maxNeighbors,
		float	timeHorizon,
		float	timeHorizonObst,
		float	radius,
		float	maxSpeed,
		const Vector2 &	velocity = `Vector2()`
	)

Sets the default properties for any new agent that is added.

Parameters

neighborDist	The default maximum distance (center point to center point) to other agents a new agent takes into account in the navigation. The larger this number, the longer he running time of the simulation. If the number is too low, the simulation will not be safe. Must be non-negative.
maxNeighbors	The default maximum number of other agents a new agent takes into account in the navigation. The larger this number, the longer the running time of the simulation. If the number is too low, the simulation will not be safe.
timeHorizon	The default minimal amount of time for which a new agent's velocities that are computed by the simulation are safe with respect to other agents. The larger this number, the sooner an agent will respond to the presence of other agents, but the less freedom the agent has in choosing its velocities. Must be positive.
timeHorizonObst	The default minimal amount of time for which a new agent's velocities that are computed by the simulation are safe with respect to obstacles. The larger this number, the sooner an agent will respond to the presence of obstacles, but the less freedom the agent has in choosing its velocities. Must be positive.
radius	The default radius of a new agent. Must be non-negative.
maxSpeed	The default maximum speed of a new agent. Must be non-negative.
velocity	The default initial two-dimensional linear velocity of a new agent (optional).

◆ setAgentMaxNeighbors()

void RVO::RVOSimulator::setAgentMaxNeighbors	(	size_t	agentNo,
		size_t	maxNeighbors
	)

Sets the maximum neighbor count of a specified agent.

Parameters

agentNo	The number of the agent whose maximum neighbor count is to be modified.
maxNeighbors	The replacement maximum neighbor count.

◆ setAgentMaxSpeed()

void RVO::RVOSimulator::setAgentMaxSpeed	(	size_t	agentNo,
		float	maxSpeed
	)

Sets the maximum speed of a specified agent.

Parameters

agentNo	The number of the agent whose maximum speed is to be modified.
maxSpeed	The replacement maximum speed. Must be non-negative.

◆ setAgentNeighborDist()

void RVO::RVOSimulator::setAgentNeighborDist	(	size_t	agentNo,
		float	neighborDist
	)

Sets the maximum neighbor distance of a specified agent.

Parameters

agentNo	The number of the agent whose maximum neighbor distance is to be modified.
neighborDist	The replacement maximum neighbor distance. Must be non-negative.

◆ setAgentPosition()

void RVO::RVOSimulator::setAgentPosition	(	size_t	agentNo,
		const Vector2 &	position
	)

Sets the two-dimensional position of a specified agent.

Parameters

agentNo	The number of the agent whose two-dimensional position is to be modified.
position	The replacement of the two-dimensional position.

◆ setAgentPrefVelocity()

void RVO::RVOSimulator::setAgentPrefVelocity	(	size_t	agentNo,
		const Vector2 &	prefVelocity
	)

Sets the two-dimensional preferred velocity of a specified agent.

Parameters

agentNo	The number of the agent whose two-dimensional preferred velocity is to be modified.
prefVelocity	The replacement of the two-dimensional preferred velocity.

◆ setAgentRadius()

void RVO::RVOSimulator::setAgentRadius	(	size_t	agentNo,
		float	radius
	)

Sets the radius of a specified agent.

Parameters

agentNo	The number of the agent whose radius is to be modified.
radius	The replacement radius. Must be non-negative.

◆ setAgentTimeHorizon()

void RVO::RVOSimulator::setAgentTimeHorizon	(	size_t	agentNo,
		float	timeHorizon
	)

Sets the time horizon of a specified agent with respect to other agents.

Parameters

agentNo	The number of the agent whose time horizon is to be modified.
timeHorizon	The replacement time horizon with respect to other agents. Must be positive.

◆ setAgentTimeHorizonObst()

void RVO::RVOSimulator::setAgentTimeHorizonObst	(	size_t	agentNo,
		float	timeHorizonObst
	)

Sets the time horizon of a specified agent with respect to obstacles.

Parameters

agentNo	The number of the agent whose time horizon with respect to obstacles is to be modified.
timeHorizonObst	The replacement time horizon with respect to obstacles. Must be positive.

◆ setAgentVelocity()

void RVO::RVOSimulator::setAgentVelocity	(	size_t	agentNo,
		const Vector2 &	velocity
	)

Sets the two-dimensional linear velocity of a specified agent.

Parameters

agentNo	The number of the agent whose two-dimensional linear velocity is to be modified.
velocity	The replacement two-dimensional linear velocity.

◆ setTimeStep()

void RVO::RVOSimulator::setTimeStep ( float timeStep )

Sets the time step of the simulation.

Parameters

timeStep The time step of the simulation. Must be positive.

The documentation for this class was generated from the following file:

RVOSimulator.h

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ RVOSimulator()

Member Function Documentation

◆ addAgent() [1/2]

◆ addAgent() [2/2]

◆ addObstacle()

◆ getAgentAgentNeighbor()

◆ getAgentMaxNeighbors()

◆ getAgentMaxSpeed()

◆ getAgentNeighborDist()

◆ getAgentNumAgentNeighbors()

◆ getAgentNumObstacleNeighbors()

◆ getAgentNumORCALines()

◆ getAgentObstacleNeighbor()

◆ getAgentORCALine()

◆ getAgentPosition()

◆ getAgentPrefVelocity()

◆ getAgentRadius()

◆ getAgentTimeHorizon()

◆ getAgentTimeHorizonObst()

◆ getAgentVelocity()

◆ getGlobalTime()

◆ getNextObstacleVertexNo()

◆ getNumAgents()

◆ getNumObstacleVertices()

◆ getObstacleVertex()

◆ getPrevObstacleVertexNo()

◆ getTimeStep()

◆ processObstacles()

◆ queryVisibility()

◆ setAgentDefaults()

◆ setAgentMaxNeighbors()

◆ setAgentMaxSpeed()

◆ setAgentNeighborDist()

◆ setAgentPosition()

◆ setAgentPrefVelocity()

◆ setAgentRadius()

◆ setAgentTimeHorizon()

◆ setAgentTimeHorizonObst()

◆ setAgentVelocity()

◆ setTimeStep()