Struct JobRVO Extends IJobParallelForBatched

bool BiasDesiredVelocity (

NativeArray<ORCALine>	lines
int	numLines
ref float2	desiredVelocity
ref float2	targetPointInVelocitySpace
float	maxBiasRadians

)

Bias towards the right side of agents.

Rotate desiredVelocity at most [value] number of radians. 1 radian ≈ 57° This breaks up symmetries.

The desired velocity will only be rotated if it is inside a velocity obstacle (VO). If it is inside one, it will not be rotated further than to the edge of it

The targetPointInVelocitySpace will be rotated by the same amount as the desired velocity

void DebugTrace (

int	agentIndex
float2	prev
float2	current
int	stepIndex

)

float2 EvaluateGradient (

int	agentIndex
NativeSlice<VelocityObstacle>	vos
float2	p
out float	value
float2	desiredVelocity

)

Evaluate gradient and value of the cost function at velocity p.

void Execute (

int	startIndex
int	batchSize

)

void ExecuteORCA (

int	startIndex
int	batchSize

)

void ExecuteSampled (

int	startIndex
int	batchSize

)

int GenerateNeighbourAgentVOs (

int	agentIndex
NativeArray<VelocityObstacle>	velocityObstacles
NativeSlice<int>	neighbours

)

float2 GradientDescent (

int	agentIndex
NativeSlice<VelocityObstacle>	vos
float2	sampleAround1
float2	sampleAround2
float2	desiredVelocity

)

bool LinearProgram1 (

NativeArray<ORCALine>	lines
int	lineIndex
float	radius
float2	optimalVelocity
bool	directionOpt
ref float2	result

)

LinearProgram2Output LinearProgram2 (

NativeArray<ORCALine>	lines
int	numLines
float	radius
float2	optimalVelocity
bool	directionOpt

)

void LinearProgram3 (

NativeArray<ORCALine>	lines
int	numLines
int	numFixedLines
int	beginLine
float	radius
ref float2	result
NativeArray<ORCALine>	scratchBuffer

)

float2 Trace (

int	agentIndex
NativeSlice<VelocityObstacle>	vos
float2	p
out float	score
float2	desiredVelocity
int	iterations
float	stepSize

)

Traces the vector field constructed out of the velocity obstacles.

Returns the position which gives the minimum score (approximately).

bool BiasDesiredVelocity (

NativeSlice<VelocityObstacle>	vos
ref float2	desiredVelocity
ref float2	targetPointInVelocitySpace
float	maxBiasRadians

)

Bias towards the right side of agents.

Rotate desiredVelocity at most [value] number of radians. 1 radian ≈ 57° This breaks up symmetries.

The desired velocity will only be rotated if it is inside a velocity obstacle (VO). If it is inside one, it will not be rotated further than to the edge of it

The targetPointInVelocitySpace will be rotated by the same amount as the desired velocity

void DrawVO (

CommandBuilder	draw
float2	circleCenter
float	radius
float2	origin

)

Vector3 FromXZ (

float2

p

)

(x, 0, y)

Color Rainbow (

float

v

)

float det (

float2	vector1
float2	vector2

)

SimulatorBurst.AgentData agentData

bool allowBoundsChecks

float collisionStrength

Should be in the range [0,1].

float deltaTime

CommandBuilder draw

SimulatorBurst.AgentOutputData output

float symmetryBreakingBias

SimulatorBurst.TemporaryAgentData temporaryAgentData

const float DesiredVelocityWeight = 0.1f

const int MaxObstacleCount = 50