This repository contains the RVO2 framework, as described below, along with Cython-based Python bindings. Its home is GitHub. New updates are released there. There are no explicit version numbers -- all commits on the master branch are supposed to be stable.

Building requires CMake and Cython to be installed. Run pip install -r requirements.txt to install the tested version of Cython, or run pip install Cython to install the latest version.

Run python setup.py build to build, and python setup.py install to install. Alternatively, if you want an in-place build that puts the compiled library right in the current directory, run `python setup.py build_ext --inplace'

Only tested with Python 2.7 and 3.4 on Ubuntu Linux. The setup.py script uses CMake to build the RVO2 library itself, before building the Python wrappers. If you have success (or failure) stories, please share them!

The Vector2 and Line classes from the RVO2 library are not wrapped. Instead, vectors are passed as tuples (x, y) from/to Python. Lines are passed as tuples (point x, point y, direction x, direction y).

An example:

#!/usr/bin/env python

import rvo2

sim = rvo2.PyRVOSimulator(1/60, 1.5, 5, 1.5, 2, 0.4, 2)

# Pass either just the position (the other parameters then use
# the default values passed to the PyRVOSimulator constructor),
# or pass all available parameters.
a0 = sim.addAgent((0, 0))
a1 = sim.addAgent((1, 0))
a2 = sim.addAgent((1, 1))
a3 = sim.addAgent((0, 1), 1.5, 5, 1.5, 2, 0.4, 2, (0, 0))

# Obstacles are also supported.
o1 = sim.addObstacle([(0.1, 0.1), (-0.1, 0.1), (-0.1, -0.1)])

sim.setAgentPrefVelocity(a0, (1, 1))
sim.setAgentPrefVelocity(a1, (-1, 1))
sim.setAgentPrefVelocity(a2, (-1, -1))
sim.setAgentPrefVelocity(a3, (1, -1))

print('Simulation has %i agents and %i obstacle vertices in it.' %
      (sim.getNumAgents(), sim.getNumObstacleVertices()))

print('Running simulation')

for step in range(20):
    sim.doStep()

    positions = ['(%5.3f, %5.3f)' % sim.getAgentPosition(agent_no)
                 for agent_no in (a0, a1, a2, a3)]
    print('step=%2i  t=%.3f  %s' % (step, sim.getGlobalTime(), '  '.join(positions)))

Calling Python-RVO2 from multiple threads has not been tested. However, code that may take longer to run (doStep(), processObstacles() and queryVisibility(...)) release the Global Interpreter Lock (GIL) so that other Python threads can run while RVO2 is processing.

http://gamma.cs.unc.edu/RVO2/

Copyright © 2008-2013 University of North Carolina at Chapel Hill. All rights reserved.

Permission to use, copy, modify, and distribute this software and its documentation for educational, research, and non-profit purposes, without fee, and without a written agreement is hereby granted, provided that the above copyright notice, this paragraph, and the following four paragraphs appear in all copies.

Permission to incorporate this software into commercial products may be obtained by contacting the authors (geom@cs.unc.edu) or the Office of Technology Development at the University of North Carolina at Chapel Hill (otd@unc.edu).

This software program and documentation are copyrighted by the University of North Carolina at Chapel Hill. The software program and documentation are supplied "as is," without any accompanying services from the University of North Carolina at Chapel Hill or the authors. The University of North Carolina at Chapel Hill and the authors do not warrant that the operation of the program will be uninterrupted or error-free. The end-user understands that the program was developed for research purposes and is advised not to rely exclusively on the program for any reason.

IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE AUTHORS BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE AUTHORS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND ANY STATUTORY WARRANTY OF NON-INFRINGEMENT. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS HAVE NO OBLIGATIONS TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

Please send all bug reports to geom@cs.unc.edu.

The authors may be contacted via:

Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, and Dinesh Manocha
Dept. of Computer Science
201 S. Columbia St.
Frederick P. Brooks, Jr. Computer Science Bldg.
Chapel Hill, N.C. 27599-3175
United States of America