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Unofficial port of RVO2 to Python3

License: Apache License 2.0

Python 100.00%

collision-avoidance rvo robotics gamedev

rvo2's Introduction

Optimal Reciprocal Collision Avoidance

Original site: http://gamma.cs.unc.edu/RVO2/ Original repo: https://github.com/snape/RVO2-CS

This is almost a line-for-line port of the C# version of RV02 to pure Python 3. It is not meant to be peformant but simple.

Example:

from rvo.simulator import Simulator

simulator = Simulator()
id0 = simulator.add_agent(Vector2(0, 0))
id1 = simulator.add_agent(Vector2(0, 1))
id2 = simulator.add_agent(Vector2(1, 1))

goal = Vector2(0, 0)
goal0 = goal - simulator.agents_[id0].position_
goal1 = goal - simulator.agents_[id1].position_
goal2 = goal - simulator.agents_[id2].position_

while True:
    simulator.set_agent_pref_velocity(id0, goal0)
    simulator.set_agent_pref_velocity(id1, goal1)
    simulator.set_agent_pref_velocity(id2, goal2)

    simulator.step()

See Circle and Blocks for more involved examples.

rvo2's People

Contributors

Stargazers

Watchers

Forkers

cuiguangzhe123 fethicandan gandhiandy hewudi666 zhangmingcheng28 lukeprotag haochihlin wyx1314dd sheviarivas

rvo2's Issues

Use a thread pool like in the original

This was omitted for simplicity but it would speed things up quite a bit with many agents. Some parts could probably be vectorized but that would be more work.

Example error

Example file (in description) does not work, because agent defaults are not set.
For example:
simulator.set_agent_defaults(2, 4, 1, 1, 1, 14, Vector2(0, 0))

Problem with static obstacles?

When I add extra static obstacles between the robot and the goal, it seems the robot can't figure out the correct V_pref ?

Make the API more pythonic

Since this is a direct port from C# it could use some modifications for Python.

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