C# Class RVO.Simulator

Defines the simulation.

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Public Methods

Method	Description
Clear ( ) : void	Clears the simulation.
GetNumWorkers ( ) : int	Returns the count of workers.
SetNumWorkers ( int numWorkers ) : void	Sets the number of workers.
addAgent ( Vector2 position ) : int	Adds a new agent with default properties to the simulation. *
addAgent ( Vector2 position, float neighborDist, int maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, Vector2 velocity ) : int	Adds a new agent to the simulation.
addObstacle ( IList vertices ) : int	Adds a new obstacle to the simulation. To add a "negative" obstacle, e.g. a bounding polygon around * the environment, the vertices should be listed in clockwise order. *
doStep ( ) : float	Performs a simulation step and updates the two-dimensional * position and two-dimensional velocity of each agent.
getAgentAgentNeighbor ( int agentNo, int neighborNo ) : int	Returns the specified agent neighbor of the specified agent. *
getAgentMaxNeighbors ( int agentNo ) : int	Returns the maximum neighbor count of a specified agent. *
getAgentMaxSpeed ( int agentNo ) : float	Returns the maximum speed of a specified agent.
getAgentNeighborDist ( int agentNo ) : float	Returns the maximum neighbor distance of a specified agent. *
getAgentNumAgentNeighbors ( int agentNo ) : int	Returns the count of agent neighbors taken into account to * compute the current velocity for the specified agent.
getAgentNumObstacleNeighbors ( int agentNo ) : int	Returns the count of obstacle neighbors taken into account * to compute the current velocity for the specified agent.
getAgentObstacleNeighbor ( int agentNo, int neighborNo ) : int	Returns the specified obstacle neighbor of the specified * agent.
getAgentOrcaLines ( int agentNo ) : IList	Returns the ORCA constraints of the specified agent. * The halfplane to the left of each line is the region of * permissible velocities with respect to that ORCA constraint. *
getAgentPosition ( int agentNo ) : Vector2	Returns the two-dimensional position of a specified agent. *
getAgentPrefVelocity ( int agentNo ) : Vector2	Returns the two-dimensional preferred velocity of a * specified agent.
getAgentRadius ( int agentNo ) : float	Returns the radius of a specified agent.
getAgentTimeHorizon ( int agentNo ) : float	Returns the time horizon of a specified agent.
getAgentTimeHorizonObst ( int agentNo ) : float	Returns the time horizon with respect to obstacles of a * specified agent.
getAgentVelocity ( int agentNo ) : Vector2	Returns the two-dimensional linear velocity of a specified * agent.
getGlobalTime ( ) : float	Returns the global time of the simulation.
getNextObstacleVertexNo ( int vertexNo ) : int	Returns the number of the obstacle vertex succeeding the * specified obstacle vertex in its polygon.
getNumAgents ( ) : int	Returns the count of agents in the simulation.
getNumObstacleVertices ( ) : int	Returns the count of obstacle vertices in the simulation. *
getObstacleVertex ( int vertexNo ) : Vector2	Returns the two-dimensional position of a specified obstacle * vertex.
getPrevObstacleVertexNo ( int vertexNo ) : int	Returns the number of the obstacle vertex preceding the * specified obstacle vertex in its polygon.
getTimeStep ( ) : float	Returns the time step of the simulation.
processObstacles ( ) : void	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 ( Vector2 point1, Vector2 point2, float radius ) : bool	Performs a visibility query between the two specified points * with respect to the obstacles.
setAgentDefaults ( float neighborDist, int maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, Vector2 velocity ) : void	Sets the default properties for any new agent that is added. *
setAgentMaxNeighbors ( int agentNo, int maxNeighbors ) : void	Sets the maximum neighbor count of a specified agent. *
setAgentMaxSpeed ( int agentNo, float maxSpeed ) : void	Sets the maximum speed of a specified agent.
setAgentNeighborDist ( int agentNo, float neighborDist ) : void	Sets the maximum neighbor distance of a specified agent. *
setAgentPosition ( int agentNo, Vector2 position ) : void	Sets the two-dimensional position of a specified agent. *
setAgentPrefVelocity ( int agentNo, Vector2 prefVelocity ) : void	Sets the two-dimensional preferred velocity of a specified * agent.
setAgentRadius ( int agentNo, float radius ) : void	Sets the radius of a specified agent.
setAgentTimeHorizon ( int agentNo, float timeHorizon ) : void	Sets the time horizon of a specified agent with respect to * other agents.
setAgentTimeHorizonObst ( int agentNo, float timeHorizonObst ) : void	Sets the time horizon of a specified agent with respect to * obstacles.
setAgentVelocity ( int agentNo, Vector2 velocity ) : void	Sets the two-dimensional linear velocity of a specified * agent.
setGlobalTime ( float globalTime ) : void	Sets the global time of the simulation.
setTimeStep ( float timeStep ) : void	Sets the time step of the simulation.

Private Methods

Method	Description
Simulator ( ) : System	Constructs and initializes a simulation.

Method Details

Clear() public method

Clears the simulation.

public Clear ( ) : void
return	void

GetNumWorkers() public method

Returns the count of workers.

public GetNumWorkers ( ) : int
return	int

SetNumWorkers() public method

Sets the number of workers.

public SetNumWorkers ( int numWorkers ) : void
numWorkers	int	The number of workers.
return	void

addAgent() public method

Adds a new agent with default properties to the simulation. *

public addAgent ( Vector2 position ) : int
position	Vector2	The two-dimensional starting position of this * agent.
return	int

addAgent() public method

Adds a new agent to the simulation.

public addAgent ( Vector2 position, float neighborDist, int maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, Vector2 velocity ) : int
position	Vector2	The two-dimensional starting position of this * agent.
neighborDist	float	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	int	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	float	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	float	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	float	The radius of this agent. Must be non-negative. *
maxSpeed	float	The maximum speed of this agent. Must be * non-negative.
velocity	Vector2	The initial two-dimensional linear velocity of * this agent.
return	int

addObstacle() public method

Adds a new obstacle to the simulation.

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

public addObstacle ( IList vertices ) : int
vertices	IList	List of the vertices of the polygonal obstacle * in counterclockwise order.
return	int

doStep() public method

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

public doStep ( ) : float
return	float

getAgentAgentNeighbor() public method

Returns the specified agent neighbor of the specified agent. *

public getAgentAgentNeighbor ( int agentNo, int neighborNo ) : int
agentNo	int	The number of the agent whose agent neighbor is * to be retrieved.
neighborNo	int	The number of the agent neighbor to be * retrieved.
return	int

getAgentMaxNeighbors() public method

Returns the maximum neighbor count of a specified agent. *

public getAgentMaxNeighbors ( int agentNo ) : int
agentNo	int	The number of the agent whose maximum neighbor * count is to be retrieved.
return	int

getAgentMaxSpeed() public method

Returns the maximum speed of a specified agent.

public getAgentMaxSpeed ( int agentNo ) : float
agentNo	int	The number of the agent whose maximum speed is * to be retrieved.
return	float

getAgentNeighborDist() public method

Returns the maximum neighbor distance of a specified agent. *

public getAgentNeighborDist ( int agentNo ) : float
agentNo	int	The number of the agent whose maximum neighbor * distance is to be retrieved.
return	float

getAgentNumAgentNeighbors() public method

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

public getAgentNumAgentNeighbors ( int agentNo ) : int
agentNo	int	The number of the agent whose count of agent * neighbors is to be retrieved.
return	int

getAgentNumObstacleNeighbors() public method

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

public getAgentNumObstacleNeighbors ( int agentNo ) : int
agentNo	int	The number of the agent whose count of obstacle * neighbors is to be retrieved.
return	int

getAgentObstacleNeighbor() public method

Returns the specified obstacle neighbor of the specified * agent.

public getAgentObstacleNeighbor ( int agentNo, int neighborNo ) : int
agentNo	int	The number of the agent whose obstacle neighbor * is to be retrieved.
neighborNo	int	The number of the obstacle neighbor to be * retrieved.
return	int

getAgentOrcaLines() public method

Returns the ORCA constraints of the specified agent. *

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

public getAgentOrcaLines ( int agentNo ) : IList
agentNo	int	The number of the agent whose ORCA constraints * are to be retrieved.
return	IList

getAgentPosition() public method

Returns the two-dimensional position of a specified agent. *

public getAgentPosition ( int agentNo ) : Vector2
agentNo	int	The number of the agent whose two-dimensional * position is to be retrieved.
return	Vector2

getAgentPrefVelocity() public method

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

public getAgentPrefVelocity ( int agentNo ) : Vector2
agentNo	int	The number of the agent whose two-dimensional * preferred velocity is to be retrieved.
return	Vector2

getAgentRadius() public method

Returns the radius of a specified agent.

public getAgentRadius ( int agentNo ) : float
agentNo	int	The number of the agent whose radius is to be * retrieved.
return	float

getAgentTimeHorizon() public method

Returns the time horizon of a specified agent.

public getAgentTimeHorizon ( int agentNo ) : float
agentNo	int	The number of the agent whose time horizon is * to be retrieved.
return	float

getAgentTimeHorizonObst() public method

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

public getAgentTimeHorizonObst ( int agentNo ) : float
agentNo	int	The number of the agent whose time horizon with * respect to obstacles is to be retrieved.
return	float

getAgentVelocity() public method

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

public getAgentVelocity ( int agentNo ) : Vector2
agentNo	int	The number of the agent whose two-dimensional * linear velocity is to be retrieved.
return	Vector2

getGlobalTime() public method

Returns the global time of the simulation.

public getGlobalTime ( ) : float
return	float

getNextObstacleVertexNo() public method

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

public getNextObstacleVertexNo ( int vertexNo ) : int
vertexNo	int	The number of the obstacle vertex whose * successor is to be retrieved.
return	int

getNumAgents() public method

Returns the count of agents in the simulation.

public getNumAgents ( ) : int
return	int

getNumObstacleVertices() public method

Returns the count of obstacle vertices in the simulation. *

public getNumObstacleVertices ( ) : int
return	int

getObstacleVertex() public method

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

public getObstacleVertex ( int vertexNo ) : Vector2
vertexNo	int	The number of the obstacle vertex to be * retrieved.
return	Vector2

getPrevObstacleVertexNo() public method

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

public getPrevObstacleVertexNo ( int vertexNo ) : int
vertexNo	int	The number of the obstacle vertex whose * predecessor is to be retrieved.
return	int

getTimeStep() public method

Returns the time step of the simulation.

public getTimeStep ( ) : float
return	float

processObstacles() public method

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.

public processObstacles ( ) : void
return	void

queryVisibility() public method

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

public queryVisibility ( Vector2 point1, Vector2 point2, float radius ) : bool
point1	Vector2	The first point of the query.
point2	Vector2	The second point of the query.
radius	float	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.
return	bool

setAgentDefaults() public method

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

public setAgentDefaults ( float neighborDist, int maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, Vector2 velocity ) : void
neighborDist	float	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	int	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	float	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	float	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	float	The default radius of a new agent. Must be * non-negative.
maxSpeed	float	The default maximum speed of a new agent. Must * be non-negative.
velocity	Vector2	The default initial two-dimensional linear * velocity of a new agent.
return	void

setAgentMaxNeighbors() public method

Sets the maximum neighbor count of a specified agent. *

public setAgentMaxNeighbors ( int agentNo, int maxNeighbors ) : void
agentNo	int	The number of the agent whose maximum neighbor * count is to be modified.
maxNeighbors	int	The replacement maximum neighbor count. *
return	void

setAgentMaxSpeed() public method

Sets the maximum speed of a specified agent.

public setAgentMaxSpeed ( int agentNo, float maxSpeed ) : void
agentNo	int	The number of the agent whose maximum speed is * to be modified.
maxSpeed	float	The replacement maximum speed. Must be * non-negative.
return	void

setAgentNeighborDist() public method

Sets the maximum neighbor distance of a specified agent. *

public setAgentNeighborDist ( int agentNo, float neighborDist ) : void
agentNo	int	The number of the agent whose maximum neighbor * distance is to be modified.
neighborDist	float	The replacement maximum neighbor distance. * Must be non-negative.
return	void

setAgentPosition() public method

Sets the two-dimensional position of a specified agent. *

public setAgentPosition ( int agentNo, Vector2 position ) : void
agentNo	int	The number of the agent whose two-dimensional * position is to be modified.
position	Vector2	The replacement of the two-dimensional * position.
return	void

setAgentPrefVelocity() public method

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

public setAgentPrefVelocity ( int agentNo, Vector2 prefVelocity ) : void
agentNo	int	The number of the agent whose two-dimensional * preferred velocity is to be modified.
prefVelocity	Vector2	The replacement of the two-dimensional * preferred velocity.
return	void

setAgentRadius() public method

Sets the radius of a specified agent.

public setAgentRadius ( int agentNo, float radius ) : void
agentNo	int	The number of the agent whose radius is to be * modified.
radius	float	The replacement radius. Must be non-negative. *
return	void

setAgentTimeHorizon() public method

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

public setAgentTimeHorizon ( int agentNo, float timeHorizon ) : void
agentNo	int	The number of the agent whose time horizon is * to be modified.
timeHorizon	float	The replacement time horizon with respect * to other agents. Must be positive.
return	void

setAgentTimeHorizonObst() public method

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

public setAgentTimeHorizonObst ( int agentNo, float timeHorizonObst ) : void
agentNo	int	The number of the agent whose time horizon with * respect to obstacles is to be modified.
timeHorizonObst	float	The replacement time horizon with * respect to obstacles. Must be positive.
return	void

setAgentVelocity() public method

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

public setAgentVelocity ( int agentNo, Vector2 velocity ) : void
agentNo	int	The number of the agent whose two-dimensional * linear velocity is to be modified.
velocity	Vector2	The replacement two-dimensional linear * velocity.
return	void

setGlobalTime() public method

Sets the global time of the simulation.

public setGlobalTime ( float globalTime ) : void
globalTime	float	The global time of the simulation.
return	void

setTimeStep() public method

Sets the time step of the simulation.

public setTimeStep ( float timeStep ) : void
timeStep	float	The time step of the simulation. Must be * positive.
return	void