Defines the simulation. More...

Collaboration diagram for RVO.Simulator:

Public Member Functions
int	addAgent (Vector2 position)
	Adds a new agent with default properties to the simulation. More...

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

int	addObstacle (IList< Vector2 > vertices)
	Adds a new obstacle to the simulation. More...

void	Clear ()
	Clears the simulation. More...

float	doStep ()
	Performs a simulation step and updates the two-dimensional position and two-dimensional velocity of each agent. More...

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

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

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

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

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

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

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

IList< Line >	getAgentOrcaLines (int agentNo)
	Returns the ORCA constraints of the specified agent. More...

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

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

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

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

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

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

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

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

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

int	GetNumWorkers ()
	Returns the count of workers. More...

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

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

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

float	getTimeStep ()
	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 (Vector2 point1, Vector2 point2, float radius)
	Performs a visibility query between the two specified points with respect to the obstacles. More...

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

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

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

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

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

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

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

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

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

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

void	setGlobalTime (float globalTime)
	Sets the global time of the simulation. More...

void	SetNumWorkers (int numWorkers)
	Sets the number of workers. More...

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

Properties
static Simulator	Instance `[get]`

Detailed Description

Defines the simulation.

Member Function Documentation

◆ addAgent() [1/2]

int RVO.Simulator.addAgent ( Vector2 position )

inline

Adds a new agent with default properties to the simulation.

Returns: The number of the agent, or -1 when the agent defaults have not been set.

Parameters

position The two-dimensional starting position of this agent.

◆ addAgent() [2/2]

int RVO.Simulator.addAgent	(	Vector2	position,
		float	neighborDist,
		int	maxNeighbors,
		float	timeHorizon,
		float	timeHorizonObst,
		float	radius,
		float	maxSpeed,
		Vector2	velocity
	)

inline

Adds a new agent to the simulation.

Returns: The number of the agent.

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.

◆ addObstacle()

int RVO.Simulator.addObstacle ( IList< Vector2 > vertices )

inline

Adds a new obstacle to the simulation.

Returns: The number of the first vertex of the obstacle, or -1 when the number of vertices is less than two.

Parameters

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

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

◆ Clear()

void RVO.Simulator.Clear ( )

inline

Clears the simulation.

◆ doStep()

float RVO.Simulator.doStep ( )

inline

Performs a simulation step and updates the two-dimensional position and two-dimensional velocity of each agent.

Returns: The global time after the simulation step.

◆ getAgentAgentNeighbor()

int RVO.Simulator.getAgentAgentNeighbor	(	int	agentNo,
		int	neighborNo
	)

inline

Returns the specified agent neighbor of the specified agent.

Returns: The number of the neighboring 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.

◆ getAgentMaxNeighbors()

int RVO.Simulator.getAgentMaxNeighbors ( int agentNo )

inline

Returns the maximum neighbor count of a specified agent.

Returns: The present maximum neighbor count of the agent.

Parameters

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

◆ getAgentMaxSpeed()

float RVO.Simulator.getAgentMaxSpeed ( int agentNo )

inline

Returns the maximum speed of a specified agent.

Returns: The present maximum speed of the agent.

Parameters

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

◆ getAgentNeighborDist()

float RVO.Simulator.getAgentNeighborDist ( int agentNo )

inline

Returns the maximum neighbor distance of a specified agent.

Returns: The present maximum neighbor distance of the agent.

Parameters

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

◆ getAgentNumAgentNeighbors()

int RVO.Simulator.getAgentNumAgentNeighbors ( int agentNo )

inline

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

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.

◆ getAgentNumObstacleNeighbors()

int RVO.Simulator.getAgentNumObstacleNeighbors ( int agentNo )

inline

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

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.

◆ getAgentObstacleNeighbor()

int RVO.Simulator.getAgentObstacleNeighbor	(	int	agentNo,
		int	neighborNo
	)

inline

Returns the specified obstacle neighbor of the specified agent.

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

Parameters

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

◆ getAgentOrcaLines()

IList<Line> RVO.Simulator.getAgentOrcaLines ( int agentNo )

inline

Returns the ORCA constraints of the specified agent.

Returns: A list of lines representing the ORCA constraints.

Parameters

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

The halfplane to the left of each line is the region of permissible velocities with respect to that ORCA constraint.

◆ getAgentPosition()

Vector2 RVO.Simulator.getAgentPosition ( int agentNo )

inline

Returns the two-dimensional position of a specified agent.

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

Parameters

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

◆ getAgentPrefVelocity()

Vector2 RVO.Simulator.getAgentPrefVelocity ( int agentNo )

inline

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

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

Parameters

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

◆ getAgentRadius()

float RVO.Simulator.getAgentRadius ( int agentNo )

inline

Returns the radius of a specified agent.

Returns: The present radius of the agent.

Parameters

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

◆ getAgentTimeHorizon()

float RVO.Simulator.getAgentTimeHorizon ( int agentNo )

inline

Returns the time horizon of a specified agent.

Returns: The present time horizon of the agent.

Parameters

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

◆ getAgentTimeHorizonObst()

float RVO.Simulator.getAgentTimeHorizonObst ( int agentNo )

inline

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

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

Parameters

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

◆ getAgentVelocity()

Vector2 RVO.Simulator.getAgentVelocity ( int agentNo )

inline

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

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

Parameters

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

◆ getGlobalTime()

float RVO.Simulator.getGlobalTime ( )

inline

Returns the global time of the simulation.

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

◆ getNextObstacleVertexNo()

int RVO.Simulator.getNextObstacleVertexNo ( int vertexNo )

inline

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

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.

◆ getNumAgents()

int RVO.Simulator.getNumAgents ( )

inline

Returns the count of agents in the simulation.

Returns: The count of agents in the simulation.

◆ getNumObstacleVertices()

int RVO.Simulator.getNumObstacleVertices ( )

inline

Returns the count of obstacle vertices in the simulation.

Returns: The count of obstacle vertices in the simulation.

◆ GetNumWorkers()

int RVO.Simulator.GetNumWorkers ( )

inline

Returns the count of workers.

Returns: The count of workers.

◆ getObstacleVertex()

Vector2 RVO.Simulator.getObstacleVertex ( int vertexNo )

inline

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

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

Parameters

vertexNo The number of the obstacle vertex to be retrieved.

◆ getPrevObstacleVertexNo()

int RVO.Simulator.getPrevObstacleVertexNo ( int vertexNo )

inline

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

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.

◆ getTimeStep()

float RVO.Simulator.getTimeStep ( )

inline

Returns the time step of the simulation.

Returns: The present time step of the simulation.

◆ processObstacles()

void RVO.Simulator.processObstacles ( )

inline

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

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

◆ queryVisibility()

bool RVO.Simulator.queryVisibility	(	Vector2	point1,
		Vector2	point2,
		float	radius
	)

inline

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

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

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.

◆ setAgentDefaults()

void RVO.Simulator.setAgentDefaults	(	float	neighborDist,
		int	maxNeighbors,
		float	timeHorizon,
		float	timeHorizonObst,
		float	radius,
		float	maxSpeed,
		Vector2	velocity
	)

inline

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.

◆ setAgentMaxNeighbors()

void RVO.Simulator.setAgentMaxNeighbors	(	int	agentNo,
		int	maxNeighbors
	)

inline

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.Simulator.setAgentMaxSpeed	(	int	agentNo,
		float	maxSpeed
	)

inline

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.Simulator.setAgentNeighborDist	(	int	agentNo,
		float	neighborDist
	)

inline

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.Simulator.setAgentPosition	(	int	agentNo,
		Vector2	position
	)

inline

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.Simulator.setAgentPrefVelocity	(	int	agentNo,
		Vector2	prefVelocity
	)

inline

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.Simulator.setAgentRadius	(	int	agentNo,
		float	radius
	)

inline

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.Simulator.setAgentTimeHorizon	(	int	agentNo,
		float	timeHorizon
	)

inline

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.Simulator.setAgentTimeHorizonObst	(	int	agentNo,
		float	timeHorizonObst
	)

inline

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.Simulator.setAgentVelocity	(	int	agentNo,
		Vector2	velocity
	)

inline

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.

◆ setGlobalTime()

void RVO.Simulator.setGlobalTime ( float globalTime )

inline

Sets the global time of the simulation.

Parameters

globalTime The global time of the simulation.

◆ SetNumWorkers()

void RVO.Simulator.SetNumWorkers ( int numWorkers )

inline

Sets the number of workers.

Parameters

numWorkers The number of workers.

◆ setTimeStep()

void RVO.Simulator.setTimeStep ( float timeStep )

inline

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:

Simulator.cs

Public Member Functions

Properties

Detailed Description

Member Function Documentation

◆ addAgent() [1/2]

◆ addAgent() [2/2]

◆ addObstacle()

◆ Clear()

◆ doStep()

◆ getAgentAgentNeighbor()

◆ getAgentMaxNeighbors()

◆ getAgentMaxSpeed()

◆ getAgentNeighborDist()

◆ getAgentNumAgentNeighbors()

◆ getAgentNumObstacleNeighbors()

◆ getAgentObstacleNeighbor()

◆ getAgentOrcaLines()

◆ getAgentPosition()

◆ getAgentPrefVelocity()

◆ getAgentRadius()

◆ getAgentTimeHorizon()

◆ getAgentTimeHorizonObst()

◆ getAgentVelocity()

◆ getGlobalTime()

◆ getNextObstacleVertexNo()

◆ getNumAgents()

◆ getNumObstacleVertices()

◆ GetNumWorkers()

◆ getObstacleVertex()

◆ getPrevObstacleVertexNo()

◆ getTimeStep()

◆ processObstacles()

◆ queryVisibility()

◆ setAgentDefaults()

◆ setAgentMaxNeighbors()

◆ setAgentMaxSpeed()

◆ setAgentNeighborDist()

◆ setAgentPosition()

◆ setAgentPrefVelocity()

◆ setAgentRadius()

◆ setAgentTimeHorizon()

◆ setAgentTimeHorizonObst()

◆ setAgentVelocity()

◆ setGlobalTime()

◆ SetNumWorkers()

◆ setTimeStep()