Updated Obstacle handling

Added auto-subdivision option + automatically closing polylines

Runtime/Obstacle.cs

@@ -27,7 +27,7 @@ namespace Nebukam.ORCA
     /// Obstacle definition within an ORCA simulation.
     /// An Obstacle can be seen as an either open or closed polyline : it is a list of linked points in space
     /// </summary>
-    public class Obstacle : VertexGroup<ObstacleVertex>, IRequireInit
+    public class Obstacle : PolyLine<ObstacleVertex>, IRequireInit
     {
 
         protected internal ORCALayer m_layerOccupation = ORCALayer.ANY;

Runtime/ObstacleGroup.cs

@@ -88,50 +88,64 @@ public Obstacle Add(Obstacle obstacle)
         /// <summary>
         /// Add an obstacle to the group, in the form of a list of vertices.
         /// </summary>
-        /// <param name="m_vertices">A list of vertices</param>
+        /// <param name="vertices">A list of vertices</param>
         /// <param name="inverseOrder">Whether or not the vertices should be added in reverse order</param>
+        /// <param name="maxSegmentLength">If > 0.0f, will subdivide segments larger than this threshold.</param>
         /// <returns>The newly created Obstacle</returns>
-        public Obstacle Add(IList<float3> m_vertices, bool inverseOrder = false)
+        public Obstacle Add(IList<float3> vertices, bool inverseOrder = false, float maxSegmentLength = 10.0f)
         {
             Obstacle obstacle = Pool.Rent<Obstacle>();
 
-            int count = m_vertices.Count;
+            int count = vertices.Count;
             if (!inverseOrder)
             {
                 for (int i = 0; i < count; i++)
-                    obstacle.Add(m_vertices[i]);
+                    obstacle.Add(vertices[i]);
             }
             else
             {
                 for (int i = count - 1; i >= 0; i--)
-                    obstacle.Add(m_vertices[i]);
+                    obstacle.Add(vertices[i]);
             }
 
+            if (math.distancesq(obstacle.vertices.Last().pos, obstacle.vertices.First().pos) != 0.0f)
+                obstacle.Add(obstacle.vertices.First().pos); // Close obstacle
+
+            if (maxSegmentLength > 0.0f)
+                obstacle.Subdivide(maxSegmentLength);
+
             return Add(obstacle);
         }
 
         /// <summary>
         /// Add an obstacle to the group, in the form of a list of vertices.
         /// </summary>
-        /// <param name="m_vertices">An array of vertices</param>
+        /// <param name="vertices">An array of vertices</param>
         /// <param name="inverseOrder">Whether or not the vertices should be added in reverse order</param>
+        /// <param name="maxSegmentLength">If > 0.0f, will subdivide segments larger than this threshold.</param>
         /// <returns>The newly created Obstacle</returns>
-        public Obstacle Add(float3[] m_vertices, bool inverseOrder = false)
+        public Obstacle Add(float3[] vertices, bool inverseOrder = false, float maxSegmentLength = 10.0f)
         {
             Obstacle obstacle = Pool.Rent<Obstacle>();
 
-            int count = m_vertices.Length;
+            int count = vertices.Length;
             if (!inverseOrder)
             {
                 for (int i = 0; i < count; i++)
-                    obstacle.Add(m_vertices[i]);
+                    obstacle.Add(vertices[i]);
             }
             else
             {
                 for (int i = count - 1; i >= 0; i--)
-                    obstacle.Add(m_vertices[i]);
+                    obstacle.Add(vertices[i]);
             }
 
+            if (math.distancesq(obstacle.vertices.Last().pos, obstacle.vertices.First().pos) != 0.0f)
+                obstacle.Add(obstacle.vertices.First().pos); // Close obstacle
+
+            if (maxSegmentLength > 0.0f)
+                obstacle.Subdivide(maxSegmentLength);
+
             return Add(obstacle);
         }
 

Samples~/Setup/ORCASetup.cs

@@ -29,6 +29,7 @@ public class ORCASetup : MonoBehaviour
         public int agentCount = 50;
         public float maxAgentRadius = 2f;
         public float maxSpeed = 1f;
+        public float minSpeed = 1f;
 
         [Header("Obstacles")]
         public int obstacleCount = 100;
@@ -111,6 +112,25 @@ private void Start()
 
             #endregion
 
+            #region create encompasing square boundary
+
+            float3[] squarePoints = new float3[] {
+                float3(min.x, min.y, 0f) * 1.2f,
+                float3(min.x, max.y, 0f)* 1.2f,
+                float3(max.x, max.y, 0f)* 1.2f,
+                float3(max.x, min.y, 0f)* 1.2f,
+            };
+
+            if (axis == AxisPair.XZ)
+            {
+                for (int i = 0; i < squarePoints.Length; i++)
+                    squarePoints[i] = float3(squarePoints[i].x, 0f, squarePoints[i].y);
+            }
+
+            obstacles.Add(squarePoints, false, 10.0f);
+
+            #endregion
+
             Random.InitState(seed + 10);
 
             #region create dyanmic obstacles
@@ -158,7 +178,7 @@ private void Start()
 
             for (int i = 0; i < agentCount; i++)
             {
-                if(axis == AxisPair.XY)
+                if (axis == AxisPair.XY)
                 {
                     a = agents.Add((float3)transform.position + float3(Random.value, Random.value, 0f)) as IAgent;
                 }
@@ -188,7 +208,7 @@ private void Start()
                 else
                 {
                     r = raycasts.Add(float3(Random.Range(min.x, max.x), 0f, Random.Range(min.y, max.y))) as Raycast;
-                    r.dir = normalize(float3(Random.Range(-1f, 1f),0f, Random.Range(-1f, 1f)));
+                    r.dir = normalize(float3(Random.Range(-1f, 1f), 0f, Random.Range(-1f, 1f)));
                 }
 
                 r.distance = raycastDistance;
@@ -219,7 +239,7 @@ private void Update()
 
 #if UNITY_EDITOR
                 //Agent body
-                if (axis == AxisPair.XY) 
+                if (axis == AxisPair.XY)
                 {
                     Draw.Circle2D(agentPos, agent.radius, Color.green, 12);
                     Draw.Circle2D(agentPos, agent.radiusObst, Color.cyan.A(0.15f), 12);
@@ -236,8 +256,10 @@ private void Update()
                 Draw.Line(agentPos, agentPos + (normalize(agent.prefVelocity) * agent.radius), Color.grey);
 #endif
                 //Update agent preferred velocity so it always tries to reach the "target" object
-                float agentSpeed = ((i + 1) * 0.5f);
-                agent.maxSpeed = agentSpeed;
+                float mspd = max(minSpeed + (i + 1) * 0.5f, maxSpeed);
+                float s = min(1f, distance(agent.pos, tr) / mspd);
+                float agentSpeed = mspd * s;
+                agent.maxSpeed = agentSpeed * s;
                 agent.prefVelocity = normalize(tr - agent.pos) * agentSpeed;
 
             }
@@ -260,9 +282,10 @@ private void Update()
                 for (int j = 1, count = o.Count; j < count; j++)
                 {
                     Draw.Line(o[j - 1].pos, o[j].pos, staticObstacleColor);
+                    Draw.Circle(o[j - 1].pos, 0.2f, Color.magenta, 6);
                 }
                 //Draw closing segment (simulation consider 2+ segments to be closed.)
-                if(!o.edge)
+                if (!o.edge)
                     Draw.Line(o[subCount - 1].pos, o[0].pos, staticObstacleColor);
             }
 
@@ -292,7 +315,7 @@ private void Update()
 
             Raycast r;
             float rad = 0.2f;
-            for(int i = 0, count = raycasts.Count; i < count; i++)
+            for (int i = 0, count = raycasts.Count; i < count; i++)
             {
                 r = raycasts[i] as Raycast;
                 Draw.Circle2D(r.pos, rad, Color.white, 3);

Samples~/Setup/ORCASetup.unity

@@ -158,9 +158,10 @@ MonoBehaviour:
   agentCount: 1000
   maxAgentRadius: 2
   maxSpeed: 1
-  obstacleCount: 25
+  minSpeed: 1
+  obstacleCount: 50
   dynObstacleCount: 0
-  maxObstacleRadius: 5
+  maxObstacleRadius: 10
   minObstacleEdgeCount: 3
   maxObstacleEdgeCount: 12
   min:
@@ -179,7 +180,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 311397813}
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: -17.8, y: 63.7, z: 0}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 0}
@@ -353,7 +354,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1867022038}
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 125.6, y: -98.4, z: 0}
+  m_LocalPosition: {x: 128.9, y: -129.9, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 0}

package.json

@@ -1,6 +1,6 @@
 {
   "name": "com.nebukam.orca",
-  "version": "1.1.6",
+  "version": "1.1.7",
   "displayName": "N:ORCA",
   "description": "Optimal Reciprocal Collision Avoidance",
   "unity": "2019.4",
@@ -27,7 +27,7 @@
     "com.unity.mathematics": "1.2.1"
   },
   "gitDependencies": {
-    "com.nebukam.common": "https://github.com/Nebukam/com.nebukam.common.git#0.1.4",
+    "com.nebukam.common": "https://github.com/Nebukam/com.nebukam.common.git#0.1.5",
     "com.nebukam.job-assist": "https://github.com/Nebukam/com.nebukam.job-assist.git#1.1.4"
   },
   "samples": [