#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?

#ifdef?_MSC_VER
#include?
#else
#define?_TCHAR?char
#define?_tmain?main
#endif

#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（?-1?）;

??//?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??2014-05-08?23:50??RVO\
?????文件?????????117??2013-02-08?01:03??RVO\AUTHORS
?????文件????????2039??2014-05-08?23:48??RVO\COPYING
?????文件??????????81??2009-02-14?20:52??RVO\Makefile.am
?????文件???????23068??2013-02-08?01:34??RVO\Makefile.in
?????文件??????????64??2013-02-08?01:26??RVO\README
?????目錄???????????0??2013-02-08?01:34??RVO\RVOLIB\
?????文件???????11146??2009-02-14?20:52??RVO\RVOLIB\Agent.cpp
?????文件????????5695??2009-02-14?20:52??RVO\RVOLIB\Agent.h
?????文件????????1724??2009-02-14?20:52??RVO\RVOLIB\Goal.cpp
?????文件?????????831??2009-01-26?19:44??RVO\RVOLIB\Goal.h
?????文件???????11734??2009-02-14?20:52??RVO\RVOLIB\KDTree.cpp
?????文件????????1881??2009-02-14?20:52??RVO\RVOLIB\KDTree.h
?????文件?????????614??2009-02-14?20:52??RVO\RVOLIB\Makefile.am
?????文件???????19181??2013-02-08?01:34??RVO\RVOLIB\Makefile.in
?????文件?????????255??2009-01-26?19:44??RVO\RVOLIB\Obstacle.cpp
?????文件?????????869??2009-02-14?20:52??RVO\RVOLIB\Obstacle.h
?????文件????????4208??2009-02-14?20:52??RVO\RVOLIB\RVODef.h
?????文件????????1083??2009-01-26?19:44??RVO\RVOLIB\RVOLIB.sln
?????文件????????6772??2009-02-14?20:52??RVO\RVOLIB\RVOLIB.vcproj
?????文件???????11805??2009-02-14?20:52??RVO\RVOLIB\RVOSimulator.cpp
?????文件???????38946??2009-02-14?20:52??RVO\RVOLIB\RVOSimulator.h
?????文件?????????818??2009-02-14?20:52??RVO\RVOLIB\RoadmapVertex.cpp
?????文件????????1456??2009-02-14?20:52??RVO\RVOLIB\RoadmapVertex.h
?????文件????????5796??2009-02-14?20:53??RVO\RVOLIB\vector2.h
?????文件???????38531??2013-02-08?01:33??RVO\aclocal.m4
?????目錄???????????0??2013-02-08?01:34??RVO\build-aux\
?????文件????????5826??2013-02-08?01:34??RVO\build-aux\ar-lib
?????文件???????23491??2013-02-08?01:34??RVO\build-aux\depcomp
?????文件???????13997??2013-02-08?01:34??RVO\build-aux\install-sh
?????文件????????6873??2013-02-08?01:34??RVO\build-aux\missing
............此處省略41個文件信息