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ObstacleAvoidance

proof_engine::pathfinding::steering

Struct ObstacleAvoidance 

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pub struct ObstacleAvoidance {
    pub obstacles: Vec<CircleObstacle>,
    pub detection_length: f32,
    pub avoidance_force: f32,
}
Expand description

Steers around circular obstacles using a forward feeler.

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§obstacles: Vec<CircleObstacle>§detection_length: f32§avoidance_force: f32

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impl ObstacleAvoidance

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pub fn new(detection_length: f32) -> Self

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pub fn add_obstacle(&mut self, obs: CircleObstacle)

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pub fn steer(&self, agent: &SteeringAgent) -> SteeringOutput

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