About Agent's size and shap


#1

Hi,
If my agent is not a capsule but a cube.( like the image shows below)
The blue one is my agent, orange color is the obstacle and green space is my goal.

How can I set my gird graph to get a path for my BIG agent?
Just set a big diameter value in collision testing, or it has another better solution?

I’ve thought about using the RVOController, but its shape is not for the cube.


#2

Hi

This package can only really approximate rectangular agents using circles, and you are correct in that setting the diameter setting is the best solution. An alternative is the erosion setting, they are almost identical but erosion also applies near ledges (i.e where there is not really an obstacle, but rather an absence of ground). The diameter setting is faster and more flexible for the most part though.