def orca(agent, colliding_agents, t, dt):
"""Compute ORCA solution for agent. NOTE: velocity must be _instantly_
changed on tick *edge*, like first-order integration, otherwise the method
undercompensates and you will still risk colliding."""
lines = []
for collider in colliding_agents:
dv, n = get_avoidance_velocity(agent, collider, t, dt)
line = Line(agent.velocity + dv / 2, n)
lines.append(line)
return halfplane_optimize(lines, agent.pref_velocity), lines
def orca(agent, colliding_agents, t, dt):
"""Compute ORCA solution for agent. NOTE: velocity must be _instantly_
changed on tick *edge*, like first-order integration, otherwise the method
undercompensates and you will still risk colliding."""
lines = []
for collider in colliding_agents:
dv, n = get_avoidance_velocity(agent, collider, t, dt)
line = Line(agent.velocity + dv / 2, n)
lines.append(line)
return halfplane_optimize(lines, agent.pref_velocity), lines