Defines the simulation. More...

#include <RVOSimulator.h>

Public Member Functions
RVO_API	RVOSimulator ()
	Constructs a simulator instance.

RVO_API	RVOSimulator (float timeStep, float neighborDist, size_t maxNeighbors, float timeHorizon, float radius, float maxSpeed, const Vector3 &velocity=Vector3())
	Constructs a simulator instance and sets the default properties for any new agent that is added. More...

RVO_API	~RVOSimulator ()
	Destroys this simulator instance.

RVO_API size_t	addAgent (const Vector3 &position)
	Adds a new agent with default properties to the simulation. More...

RVO_API size_t	addAgent (const Vector3 &position, float neighborDist, size_t maxNeighbors, float timeHorizon, float radius, float maxSpeed, const Vector3 &velocity=Vector3())
	Adds a new agent to the simulation. More...

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

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

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

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

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

RVO_API 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...

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

RVO_API const Plane &	getAgentORCAPlane (size_t agentNo, size_t planeNo) const
	Returns the specified ORCA constraint of the specified agent. More...

RVO_API const Vector3 &	getAgentPosition (size_t agentNo) const
	Returns the three-dimensional position of a specified agent. More...

RVO_API const Vector3 &	getAgentPrefVelocity (size_t agentNo) const
	Returns the three-dimensional preferred velocity of a specified agent. More...

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

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

RVO_API const Vector3 &	getAgentVelocity (size_t agentNo) const
	Returns the three-dimensional linear velocity of a specified agent. More...

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

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

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

RVO_API void	removeAgent (size_t agentNo)
	Removes an agent from the simulation. More...

RVO_API void	setAgentDefaults (float neighborDist, size_t maxNeighbors, float timeHorizon, float radius, float maxSpeed, const Vector3 &velocity=Vector3())
	Sets the default properties for any new agent that is added. More...

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

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

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

RVO_API void	setAgentPosition (size_t agentNo, const Vector3 &position)
	Sets the three-dimensional position of a specified agent. More...

RVO_API void	setAgentPrefVelocity (size_t agentNo, const Vector3 &prefVelocity)
	Sets the three-dimensional preferred velocity of a specified agent. More...

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

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

RVO_API void	setAgentVelocity (size_t agentNo, const Vector3 &velocity)
	Sets the three-dimensional linear velocity of a specified agent. More...

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

Friends
class	Agent

class	KdTree

Detailed Description

Defines the simulation.

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

Constructor & Destructor Documentation

◆ RVOSimulator()

RVO_API RVO::RVOSimulator::RVOSimulator	(	float	timeStep,
		float	neighborDist,
		size_t	maxNeighbors,
		float	timeHorizon,
		float	radius,
		float	maxSpeed,
		const Vector3 &	velocity = `Vector3()`
	)

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 minimum 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.
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 three-dimensional linear velocity of a new agent (optional).

Member Function Documentation

◆ addAgent() [1/2]

RVO_API size_t RVO::RVOSimulator::addAgent ( const Vector3 & position )

Adds a new agent with default properties to the simulation.

Parameters

position The three-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]

RVO_API size_t RVO::RVOSimulator::addAgent	(	const Vector3 &	position,
		float	neighborDist,
		size_t	maxNeighbors,
		float	timeHorizon,
		float	radius,
		float	maxSpeed,
		const Vector3 &	velocity = `Vector3()`
	)

Adds a new agent to the simulation.

Parameters

position	The three-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 minimum 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.
radius	The radius of this agent. Must be non-negative.
maxSpeed	The maximum speed of this agent. Must be non-negative.
velocity	The initial three-dimensional linear velocity of this agent (optional).

Returns: The number of the agent.

◆ getAgentAgentNeighbor()

RVO_API 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()

RVO_API 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()

RVO_API 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()

RVO_API 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()

RVO_API 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.

◆ getAgentNumORCAPlanes()

RVO_API size_t RVO::RVOSimulator::getAgentNumORCAPlanes ( 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.

◆ getAgentORCAPlane()

RVO_API const Plane& RVO::RVOSimulator::getAgentORCAPlane	(	size_t	agentNo,
		size_t	planeNo
	)		const

Returns the specified ORCA constraint of the specified agent.

Parameters

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

Returns: A plane representing the specified ORCA constraint.

Note: The halfspace to which the normal of the plane points is the region of permissible velocities with respect to the specified ORCA constraint.

◆ getAgentPosition()

RVO_API const Vector3& RVO::RVOSimulator::getAgentPosition ( size_t agentNo ) const

Returns the three-dimensional position of a specified agent.

Parameters

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

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

◆ getAgentPrefVelocity()

RVO_API const Vector3& RVO::RVOSimulator::getAgentPrefVelocity ( size_t agentNo ) const

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

Parameters

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

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

◆ getAgentRadius()

RVO_API 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()

RVO_API 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.

◆ getAgentVelocity()

RVO_API const Vector3& RVO::RVOSimulator::getAgentVelocity ( size_t agentNo ) const

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

Parameters

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

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

◆ getGlobalTime()

RVO_API float RVO::RVOSimulator::getGlobalTime ( ) const

Returns the global time of the simulation.

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

◆ getNumAgents()

RVO_API size_t RVO::RVOSimulator::getNumAgents ( ) const

Returns the count of agents in the simulation.

Returns: The count of agents in the simulation.

◆ getTimeStep()

RVO_API float RVO::RVOSimulator::getTimeStep ( ) const

Returns the time step of the simulation.

Returns: The present time step of the simulation.

◆ removeAgent()

RVO_API void RVO::RVOSimulator::removeAgent ( size_t agentNo )

Removes an agent from the simulation.

Parameters

agentNo The number of the agent that is to be removed.

Note: After the removal of the agent, the agent that previously had number getNumAgents() - 1 will now have number agentNo.

◆ setAgentDefaults()

RVO_API void RVO::RVOSimulator::setAgentDefaults	(	float	neighborDist,
		size_t	maxNeighbors,
		float	timeHorizon,
		float	radius,
		float	maxSpeed,
		const Vector3 &	velocity = `Vector3()`
	)

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 minimum 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.
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 three-dimensional linear velocity of a new agent (optional).

◆ setAgentMaxNeighbors()

RVO_API 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()

RVO_API 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()

RVO_API 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()

RVO_API void RVO::RVOSimulator::setAgentPosition	(	size_t	agentNo,
		const Vector3 &	position
	)

Sets the three-dimensional position of a specified agent.

Parameters

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

◆ setAgentPrefVelocity()

RVO_API void RVO::RVOSimulator::setAgentPrefVelocity	(	size_t	agentNo,
		const Vector3 &	prefVelocity
	)

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

Parameters

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

◆ setAgentRadius()

RVO_API 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()

RVO_API 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.

◆ setAgentVelocity()

RVO_API void RVO::RVOSimulator::setAgentVelocity	(	size_t	agentNo,
		const Vector3 &	velocity
	)

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

Parameters

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

◆ setTimeStep()

RVO_API 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]

◆ getAgentAgentNeighbor()

◆ getAgentMaxNeighbors()

◆ getAgentMaxSpeed()

◆ getAgentNeighborDist()

◆ getAgentNumAgentNeighbors()

◆ getAgentNumORCAPlanes()

◆ getAgentORCAPlane()

◆ getAgentPosition()

◆ getAgentPrefVelocity()

◆ getAgentRadius()

◆ getAgentTimeHorizon()

◆ getAgentVelocity()

◆ getGlobalTime()

◆ getNumAgents()

◆ getTimeStep()

◆ removeAgent()

◆ setAgentDefaults()

◆ setAgentMaxNeighbors()

◆ setAgentMaxSpeed()

◆ setAgentNeighborDist()

◆ setAgentPosition()

◆ setAgentPrefVelocity()

◆ setAgentRadius()

◆ setAgentTimeHorizon()

◆ setAgentVelocity()

◆ setTimeStep()