Collision Avoidance

Categories

Description

Calculates the slowdown and turning required to avoid a possible collision in a crowd simulation. It considers neighboring actor instances and goals.

This node does not set velocity or position itself. Instead, it sets the following attributes:

These values should be used by other nodes to update the position, velocity, and other attributes.

Ports

Inputs

Mute	Disables the calculations. Connect a per-point value to affect individual points.
In Name	A name to prefix to Reference to fully resolve the name.
Reference	The name of the point cloud that updates the positions of the actor instances.

Input1

Actor Position	The positions of each actor instance.
Actor Forward	The direction that each actor instance is facing.
Neighbors Position	An array containing the positions of the other actor instances that each instance can "see".
Actor Velocity	The velocities of each actor instance.
Neighbors Velocity	An array containing the velocities of the other actor instances that each instance can "see".
Actor Size	The radii of the actor instances for determining actual collision.
Neighbors Size	An array containing the sizes of the other actor instances that each instance can "see".
Actor Goal	The position that each actor instance is trying to reach. This may be an interim goal such as a wall exit.
Anticipation Factor	Controls the time to a potential collision at which an actor starts turning.
Anticipation Contrast	Controls the turning response based on the time to a potential collision. At high values, actors turn very slowly when a collision is far off but very quickly when it is close. At lower values, there is less difference in the amount of turning.
Braking Threshold	The time (in seconds) to a potential collision at which an actor starts to slow down.
Max Angular Velocity	The maximum horizontal change of direction of each actor instance, in degrees per second.
Simulation Step	The length of one simulation sample in seconds.

Outputs

Execute	Connect to the ICE tree root to execute this node.
Out Name	The fully resolved name of the simulation point cloud (In Name + Reference).