#ifndef?_WIN32_WINNT????//?Allow?use?of?features?specific?to?Windows?XP?or?later.???????????????????
#define?_WIN32_WINNT?0x0501??//?Change?this?to?the?appropriate?value?to?target?other?versions?of?Windows.
#endif????????????

#include?
#include?
#include?

#include?“RVOSimulator.h“

void?setupScenario（?RVO::RVOSimulator?*?sim?）?{
??//?Specify?global?time?step?of?the?simulation
??sim->setTimeStep（?0.25f?）;

??//?Specify?default?parameters?for?agents?that?are?subsequently?added
??sim->setAgentDefaults（?250?15.0f?10?2.0f?3.0f?1.0f?2.0f?7.5f?1.0f?）;

??//?Add?agents?（and?simulataneously?their?goals）?specifying?their?start?position?and?goal?ID
??sim->addAgent（?RVO::Vector2（-50.0f?-50.0f）?sim->addGoal（?RVO::Vector2（50.0f?50.0f）?）?）;
??sim->addAgent（?RVO::Vector2（50.0f?-50.0f）?sim->addGoal（?RVO::Vector2（-50.0f?50.0f）?）?）;
??sim->addAgent（?RVO::Vector2（50.0f?50.0f）?sim->addGoal（?RVO::Vector2（-50.0f?-50.0f）?）?）;
??sim->addAgent（?RVO::Vector2（-50.0f?50.0f）?sim->addGoal（?RVO::Vector2（50.0f?-50.0f）?）?）;

??//?Add?（line?segment）?obstacles?specifying?both?endpoints?of?the?line?segments
??sim->addObstacle（?RVO::Vector2（-7.0f?-20.0f）?RVO::Vector2（-7.0f?20.0f）?）;
??sim->addObstacle（?RVO::Vector2（-7.0f?20.0f）?RVO::Vector2（7.0f?20.0f）?）;
??sim->addObstacle（?RVO::Vector2（7.0f?20.0f）?RVO::Vector2（7.0f?-20.0f）?）;
??sim->addObstacle（?RVO::Vector2（7.0f?-20.0f）?RVO::Vector2（-7.0f?-20.0f）?）;

??//?Add?roadmap?vertices?specifying?their?position
??sim->addRoadmapVertex（?RVO::Vector2（-10.0f?-23.0f）?）;
??sim->addRoadmapVertex（?RVO::Vector2（-10.0f?23.0f）?）;
??sim->addRoadmapVertex（?RVO::Vector2（10.0f?23.0f）?）;
??sim->addRoadmapVertex（?RVO::Vector2（10.0f?-23.0f）?）;

??//?Do?not?automatically?create?edges?between?mutually?visible?roadmap?vertices
??sim->setRoadmapAutomatic（?false?）;

??//?Manually?specify?edges?between?vertices?specifying?the?ID‘s?of?the?vertices?the?edges?connect
??sim->addRoadmapEdge（?0?1?）;
??sim->addRoadmapEdge（?1?2?）;
??sim->addRoadmapEdge（?2?3?）;
??sim->addRoadmapEdge（?3?0?）;
}


void?updateVisualization（?RVO::RVOSimulator?*?sim?）?{
??//?Output?the?current?global?time
??std::cout?<getGlobalTime（）?<
??//?Output?the?position?and?orientation?for?all?the?agents
??for?（int?i?=?0;?i?getNumAgents（）;?++i）?{
????std::cout?<getAgentPosition（?i?）?<getAgentOrientation（?i?）?<??}

??std::cout?<}


int?_tmain（int?argc?_TCHAR*?argv[]）
{
??//?Create?a?simulator?instance?
??RVO::RVOSimulator?*?sim?=?RVO::RVOSimulator::Instance（）;

??//?Set?up?the?scenario
??setupScenario（?sim?）;???????

??//?Initialize?the?simulation
??sim->initSimulation（）;

??//?Perform?（and?manipulate）?the?simulation
??do?{???????????????????????
????updateVisualization（?sim?）;
????sim->doStep（）;
??}?while?（?!sim->getReachedGoal（）?）;

??delete?sim;

??return?0;
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2008-05-26?05:16??doc\
?????目錄???????????0??2008-05-26?05:16??doc\html\
?????文件????????1536??2008-05-26?05:16??doc\html\annotated.html
?????文件???????17254??2008-05-26?05:16??doc\html\class_r_v_o_1_1_r_v_o_simulator-members.html
?????文件???????93981??2008-05-26?05:16??doc\html\class_r_v_o_1_1_r_v_o_simulator.html
?????文件????????5927??2008-05-26?05:16??doc\html\class_r_v_o_1_1_vector2-members.html
?????文件???????25047??2008-05-26?05:16??doc\html\class_r_v_o_1_1_vector2.html
?????文件????????2302??2008-05-26?05:16??doc\html\compiling.html
?????文件????????8175??2008-05-26?05:16??doc\html\doxygen.css
?????文件????????1281??2008-05-26?05:16??doc\html\doxygen.png
?????文件????????1482??2008-05-26?05:16??doc\html\files.html
?????文件???????11907??2008-05-26?05:16??doc\html\functions.html
?????文件???????11824??2008-05-26?05:16??doc\html\functions_func.html
?????文件????????3776??2008-05-26?05:16??doc\html\globals.html
?????文件????????2910??2008-05-26?05:16??doc\html\globals_defs.html
?????文件????????2219??2008-05-26?05:16??doc\html\globals_func.html
?????文件????????1967??2008-05-26?05:16??doc\html\index.html
?????文件????????8925??2008-05-26?05:16??doc\html\params.html
?????文件????????1762??2008-05-26?05:16??doc\html\tabs.css
?????文件??????????35??2008-05-26?05:16??doc\html\tab_b.gif
?????文件?????????706??2008-05-26?05:16??doc\html\tab_l.gif
?????文件????????2585??2008-05-26?05:16??doc\html\tab_r.gif
?????文件???????13096??2008-05-26?05:16??doc\html\using.html
?????文件???????14614??2008-05-26?05:16??doc\html\vector2_8h.html
?????文件???????10227??2008-05-26?05:16??doc\html\_r_v_o_simulator_8h.html
?????目錄???????????0??2008-05-22?08:14??example\
?????文件????????2973??2008-05-22?08:13??example\example.cpp
?????文件?????????878??2008-05-22?07:35??example\example.sln
?????文件????????4253??2008-05-22?08:06??example\example.vcproj
?????目錄???????????0??2008-05-26?05:03??include\
?????目錄???????????0??2008-05-26?05:02??lib\
............此處省略21個文件信息