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<td></td> <td class="paramtype">float </td> <td class="paramname"> <em>radiusDefault</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>goalRadiusDefault</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>prefSpeedDefault</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>maxSpeedDefault</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>safetyFactorDefault</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>maxAccelDefault</em> = <code>RVO_INFTY</code>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const <a class="el" href="class_r_v_o_1_1_vector2.html">Vector2</a> & </td> <td class="paramname"> <em>velocityDefault</em> = <code><a class="el" href="class_r_v_o_1_1_vector2.html">Vector2</a>(0, 0)</code>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>orientationDefault</em> = <code>0</code>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>classDefault</em> = <code>0</code></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td width="100%"></td> </tr> </table></div><div class="memdoc"><p>Sets the default parameters for agents that are subsequently added. <dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>velSampleCountDefault</em> </td><td>The default number of candidate velocities sampled for the agent in each step of the simulation. The running time of the simulation increases linearly with this number. </td></tr> <tr><td valign="top"></td><td valign="top"><em>neighborDistDefault</em> </td><td>The default distance within which the agent take other agents and obstacles into account in the navigation. The larger this number, the larger the running time of the simulation. If the number is too low, the simulation will not be safe. </td></tr> <tr><td valign="top"></td><td valign="top"><em>maxNeighborsDefault</em> </td><td>The default maximum number of other agents and obstacles the agent takes into account in the navigation. The larger this number, the larger the running time of the simulation. If the number is too low, the simulation will not be safe. </td></tr> <tr><td valign="top"></td><td valign="top"><em>radiusDefault</em> </td><td>The default radius of the agents </td></tr> <tr><td valign="top"></td><td valign="top"><em>goalRadiusDefault</em> </td><td>The default goal radius of the agents </td></tr> <tr><td valign="top"></td><td valign="top"><em>prefSpeedDefault</em> </td><td>The default preferred speed of the agents </td></tr> <tr><td valign="top"></td><td valign="top"><em>maxSpeedDefault</em> </td><td>The default maximum speed of the agents </td></tr> <tr><td valign="top"></td><td valign="top"><em>safetyFactorDefault</em> </td><td>The default safety factor of the agents. I.e. the weight that is given to the 'time to collision' when penalizing a candidate velocity for the agent (vs. the distance to the preferred velocity). The higher this value, the 'safer' or the 'shyer' the agent is. The lower this value, the more 'aggressive' and 'reckless' the agent is. Its unit is distance. </td></tr> <tr><td valign="top"></td><td valign="top"><em>maxAccelDefault</em> </td><td>The default maximum acceleration of the agents </td></tr> <tr><td valign="top"></td><td valign="top"><em>velocityDefault</em> </td><td>The default initial velocity of the agents </td></tr> <tr><td valign="top"></td><td valign="top"><em>orientationDefault</em> </td><td>The default initial orientation of the agents </td></tr> <tr><td valign="top"></td><td valign="top"><em>classDefault</em> </td><td>The default class of the agent </td></tr> </table></dl></div></div><p><a class="anchor" name="592047a35ba07d8701f0a5216fc62d5a"></a><!-- doxytag: member="RVO::RVOSimulator::addAgent" ref="592047a35ba07d8701f0a5216fc62d5a" args="(const Vector2 &startPosition, int goalID)" --><div class="memitem"><div class="memproto"> <table class="memname"> <tr> <td class="memname">int RVO::RVOSimulator::addAgent </td> <td>(</td> <td class="paramtype">const <a class="el" href="class_r_v_o_1_1_vector2.html">Vector2</a> & </td> <td class="paramname"> <em>startPosition</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>goalID</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td width="100%"></td> </tr> </table></div><div class="memdoc"><p>Adds an agent with default parameters to the simulation. <dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>startPosition</em> </td><td>The start position of the agent </td></tr> <tr><td valign="top"></td><td valign="top"><em>goalID</em> </td><td>The ID of the goal of the agent </td></tr> </table></dl><dl class="return" compact><dt><b>Returns:</b></dt><dd>The function returns the ID of the agent that has been added, and an errorcode if the agent defaults have not been set, or when the function is called after the simulation has been initialized. </dd></dl></div></div><p><a class="anchor" name="f42ad285dc137249cb3de9c4437a1291"></a><!-- doxytag: member="RVO::RVOSimulator::addAgent" ref="f42ad285dc137249cb3de9c4437a1291" args="(const Vector2 &startPosition, int goalID, int velSampleCount, float neighborDist, int maxNeighbors, float radius, float goalRadius, float prefSpeed, float maxSpeed, float safetyFactor, float maxAccel=RVO_INFTY, const Vector2 &velocity=Vector2(0, 0), float orientation=0, int classID=0)" --><div class="memitem"><div class="memproto"> <table class="memname"> <tr> <td class="memname">int RVO::RVOSimulator::addAgent </td> <td>(</td> <td class="paramtype">const <a class="el" href="class_r_v_o_1_1_vector2.html">Vector2</a> & </td> <td class="paramname"> <em>startPosition</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>goalID</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>velSampleCount</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>neighborDist</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>maxNeighbors</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>radius</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>goalRadius</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>prefSpeed</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>maxSpeed</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>safetyFactor</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>maxAccel</em> = <code>RVO_INFTY</code>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const <a class="el" href="class_r_v_o_1_1_vector2.html">Vector2</a> & </td> <td class="paramname"> <em>velocity</em> = <code><a class="el" href="class_r_v_o_1_1_vector2.html">Vector2</a>(0, 0)</code>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>orientation</em> = <code>0</code>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>classID</em> = <code>0</code></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td width="100%"></td> </tr> </table></div><div class="memdoc"><p>Adds an agent with specified parameters to the simulation. <dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>startPosition</em> </td><td>The start position of the agent </td></tr> <tr><td valign="top"></td><td valign="top"><em>goalID</em> </td><td>The ID of the goal of the agent </td></tr> <tr><td valign="top"></td><td valign="top"><em>velSampleCount</em> </td><td>The number of candidate velocities sampled for the agent in each step of the simulation. The running time of the simulation increases linearly with this number. </td></tr> <tr><td valign="top"></td><td valign="top"><em>neighborDist</em> </td><td>The distance within which the agent take other agents and obstacles into account in the navigation. The larger this number, the larger the running time of the simulation. If the number is too low, the simulation will not be safe. </td></tr> <tr><td valign="top"></td><td valign="top"><em>maxNeighbors</em> </td><td>The maximum number of other agents and obstacles the agent takes into account in the navigation. The larger this number, the larger the running time of the simulation. If the number is too low, the simulation will not be safe. </td></tr> <tr><td valign="top"></td><td valign="top"><em>radius</em> </td><td>The radius of the agent </td></tr> <tr><td valign="top"></td><td valign="top"><em>goalRadius</em> </td><td>The goal radius of the agent; an agent is said to have reached its goal when it is within a distance goalRadius from its goal position. </td></tr> <tr><td valign="top"></td><td valign="top"><em>prefSpeed</em> </td><td>The preferred speed of the agent </td></tr> <tr><td valign="top"></td><td valign="top"><em>maxSpeed</em> </td><td>The maximum speed of the agent </td></tr> <tr><td valign="top"></td><td valign="top"><em>safetyFactor</em> </td><td>The safety factor of the agent. I.e. the weight that is given to the 'time to collision' when penalizing a candidate velocity for the agent (vs. the distance to the preferred velocity). The higher this value, the 'safer' or the 'shyer' the agent is. The lower this value, the more 'aggressive' and 'reckless' the agent is. Its unit is distance. </td></tr> <tr><td valign="top"></td><td valign="top"><em>maxAccel</em> </td><td>The maximum acceleration of the agent </td></tr> <tr><td valign="top"></td><td valign="top"><em>velocity</em> </td><td>The initial velocity of the agent </td></tr> <tr><td valign="top"></td><td valign="top"><em>orientation</em> </td><td>The initial orientation of the agent </td></tr> <tr><td valign="top"></td><td valign="top"><em>classID</em> </td><td>The class of the agent; the class of an agent does not affect the simulation, but can be used in external applications to distinguish among agents </td></tr> </table></dl><dl class="return" compact><dt><b>Returns:</b></dt><dd>The function returns the ID of the agent that has been added. It returns an errorcode when the function is called after the simulation has been initialized. </dd></dl></div></div><p><a class="anchor" name="90a0a8fa67ec4b08e1befaf376362d53"></a><!-- doxytag: member="RVO::RVOSimulator::addObstacle" ref="90a0a8fa67ec4b08e1befaf376362d53" args="(const Vector2 &point1, const Vector2 &point2)" --><div class="memitem"><div class="memproto">⌨️ 快捷键说明
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