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4-way-oncomming-circle-obstacle.xml
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4-way-oncomming-circle-obstacle.xml
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<!--
Copyright (c) 2009-2015 Glen Berseth, Mubbasir Kapadia, Shawn Singh, Petros Faloutsos, Glenn Reinman
See license.txt for complete license.
--><!--
Copyright (c) 2009 Shawn Singh, Mubbasir Kapadia, Petros Faloutsos, Glenn Reinman
See license.txt for complete license.
-->
<SteerBenchTestCase xmlns="http://www.magix.ucla.edu/steerbench"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.magix.ucla.edu/steerbench
TestCaseSchema.xsd">
<header>
<version>1.2</version>
<name>simple-1</name>
<worldBounds>
<xmin>-100</xmin>
<xmax>100</xmax>
<ymin>0</ymin>
<ymax>0</ymax>
<zmin>-100</zmin>
<zmax>100</zmax>
</worldBounds>
</header>
<suggestedCameraView>
<position> <x>0</x> <y>35</y> <z>-10</z> </position>
<lookat> <x>0</x> <y>0</y> <z>0</z> </lookat>
<up> <x>0</x> <y>1</y> <z>0</z> </up>
<fovy>45</fovy>
</suggestedCameraView>
<obstacle>
<xmin>-98.5</xmin>
<xmax>-10.5</xmax>
<ymin>0</ymin>
<ymax>1</ymax>
<zmin>-98.5</zmin>
<zmax>-10.5</zmax>
</obstacle>
<obstacle>
<xmin>10.5</xmin>
<xmax>98.5</xmax>
<ymin>0</ymin>
<ymax>1</ymax>
<zmin>-98.5</zmin>
<zmax>-10.5</zmax>
</obstacle>
<obstacle>
<xmin>-98.5</xmin>
<xmax>-10.5</xmax>
<ymin>0</ymin>
<ymax>1</ymax>
<zmin>10.5</zmin>
<zmax>98.5</zmax>
</obstacle>
<obstacle>
<xmin>10.5</xmin>
<xmax>98.5</xmax>
<ymin>0</ymin>
<ymax>1</ymax>
<zmin>10.5</zmin>
<zmax>98.5</zmax>
</obstacle>
<circleObstacle>
<radius>5</radius>
<height>1</height>
<position><x>0</x> <y>0</y> <z>0</z></position>
</circleObstacle>
<agentRegion>
<numAgents>100</numAgents>
<regionBounds>
<xmin>-10</xmin>
<xmax>10</xmax>
<ymin>0</ymin>
<ymax>0</ymax>
<zmin>-40</zmin>
<zmax>-20</zmax>
</regionBounds>
<initialConditions>
<direction> <x>1</x> <y>0</y> <z>0</z> </direction>
<radius>0.5</radius>
<speed>1.2</speed>
</initialConditions>
<goalSequence>
<seekStaticTarget>
<targetLocation> <x>0</x> <y>0</y> <z>30</z> </targetLocation>
<desiredSpeed>1.3</desiredSpeed>
<timeDuration>1000.0</timeDuration>
<Behaviour>
<SteeringAlgorithm>
rvo2dAI
</SteeringAlgorithm>
<Parameters>
<parameter>
<key>rvo_max_speed</key>
<value>1.23</value>
</parameter>
<parameter>
<key>rvo_time_horizon</key>
<value>10.73</value>
</parameter>
</Parameters>
</Behaviour>
</seekStaticTarget>
</goalSequence>
</agentRegion>
<agentRegion>
<numAgents>100</numAgents>
<regionBounds>
<xmin>-10</xmin>
<xmax>10</xmax>
<ymin>0</ymin>
<ymax>0</ymax>
<zmin>20</zmin>
<zmax>40</zmax>
</regionBounds>
<initialConditions>
<direction> <x>1</x> <y>0</y> <z>0</z> </direction>
<radius>0.5</radius>
<speed>1.2</speed>
</initialConditions>
<goalSequence>
<seekStaticTarget>
<targetLocation> <x>0</x> <y>0</y> <z>-30</z> </targetLocation>
<desiredSpeed>1.3</desiredSpeed>
<timeDuration>1000.0</timeDuration>
<Behaviour>
<SteeringAlgorithm>
pprAI
</SteeringAlgorithm>
<Parameters>
<parameter>
<key>ped_max_speed</key>
<value>1.5</value>
</parameter>
<parameter>
<key>ped_typical_speed</key>
<value>1.0</value>
</parameter>
</Parameters>
</Behaviour>
</seekStaticTarget>
</goalSequence>
</agentRegion>
<agentRegion>
<numAgents>100</numAgents>
<regionBounds>
<xmin>-40</xmin>
<xmax>-20</xmax>
<ymin>0</ymin>
<ymax>0</ymax>
<zmin>-10</zmin>
<zmax>10</zmax>
</regionBounds>
<initialConditions>
<direction> <x>1</x> <y>0</y> <z>0</z> </direction>
<radius>0.5</radius>
<speed>1.2</speed>
</initialConditions>
<goalSequence>
<seekStaticTarget>
<targetLocation> <x>30</x> <y>0</y> <z>0</z> </targetLocation>
<desiredSpeed>1.3</desiredSpeed>
<timeDuration>1000.0</timeDuration>
<state>5</state>
<Behaviour>
<SteeringAlgorithm>
footstep
</SteeringAlgorithm>
<Parameters>
<parameter>
<key>ped_max_speed</key>
<value>4.73</value>
</parameter>
<parameter>
<key>ped_typical_speed</key>
<value>3.73</value>
</parameter>
</Parameters>
</Behaviour>
</seekStaticTarget>
</goalSequence>
</agentRegion>
<agentRegion>
<numAgents>100</numAgents>
<regionBounds>
<xmin>20</xmin>
<xmax>40</xmax>
<ymin>0</ymin>
<ymax>0</ymax>
<zmin>-10</zmin>
<zmax>10</zmax>
</regionBounds>
<initialConditions>
<direction> <x>1</x> <y>0</y> <z>0</z> </direction>
<radius>0.5</radius>
<speed>1.2</speed>
</initialConditions>
<goalSequence>
<seekStaticTarget>
<targetLocation> <x>-30</x> <y>0</y> <z>0</z> </targetLocation>
<desiredSpeed>1.3</desiredSpeed>
<timeDuration>1000.0</timeDuration>
<state>5</state>
<Behaviour>
<SteeringAlgorithm>
cc
</SteeringAlgorithm>
<Parameters>
<parameter>
<key>ped_max_speed</key>
<value>4.73</value>
</parameter>
<parameter>
<key>ped_typical_speed</key>
<value>3.73</value>
</parameter>
</Parameters>
</Behaviour>
</seekStaticTarget>
</goalSequence>
</agentRegion>
</SteerBenchTestCase>