How to Visualize the Half-Plane for an Agent

General Local Avoidance
1

Recently, I’ve been reading the ORCA algorithm and came across something called a half-plane. I’d like to visualize what it looks like for an agent. Is there a debug option or tool that can show it?

2

Would you be able to send me a link to where you read this? Gonna need to read up on it myself to see.

3

@tealtxgr

Here is the PDF link. The code in Astar project has an ORCALine struct, which defines the half-plane.

4

There are debug options available on the RVOController and FollowerEntity that show these.

See RVO - A* Pathfinding Project enable the AgentVO option.

5

I see that AgentVo is working, but I want to visualize the half-plane created by the neighbor agent and the obstacle. The documentation mentions a method for this, but I’m unsure how to enable it in the Inspector:
https://arongranberg.com/astar/docs/orcaline/drawashalfplane.html#DrawAsHalfPlane

6

Hi

Somewhat confusingly, they are actually drawn if you enable both AgentVOs and ObstacleVOs.

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In the picture they are drawn as magenta lines.

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