RVO2

RVO2 is a node.js wrapper around the pedestrian simulator RVO2 library which implements the ORCA algorithm. The wrapper is created with SWIG (Simplified Wrapper and Interface Generator) and node-gyp to generate the bindings for node.js.

About RVO2

RVO2 Library is an easy-to-use C++ implementation of the optimal reciprocal collision avoidance (ORCA) formulation http://gamma.cs.unc.edu/ORCA/ for multi-agent simulation. RVO2 Library automatically uses parallelism for computing the motion of the agents on machines with multiple processors and a compiler supporting OpenMP http://www.openmp.org/.

Please send all bug reports to [email protected].

The authors may be contacted via:

Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, 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

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

Installation

npm install rvo2 --save

Usage

See the examples folder.

Manual compilation

In case you want to compile the application yourself, here are some instructions to help you along the way. Please note that these instructions were only tested on Windows.

Prerequisites

Install node.

Run as non-admin (installs node-gyp in your own environment)

npm install --global node-gyp
node-gyp install

Run as admin to install the C++ tools.

npm install --global --production windows-build-tools

Optionally, copy folder c:\Users\USERNAME\.node-gyp\6.9.5\x64 to c:\Users\USERNAME\.node-gyp\6.9.5\Release in case the linker complains that it cannot find the node.lib file.

Compiling the library

swig -javascript -node -c++ rvo2.i

Open the generated rvo2_wrap.cxx in your favorite editor and replace std::vector< Line > with std::vector< RVO::Line >.

Finally, compile the library with:

node-gyp rebuild --verbose

Some remarks about the process

The first time I've tried the above, it didn't work, and I had to manually make several changes to the VS2015 solution to get it working. See below. When it finally worked, I started looking for options to create a better SWIG file (rvo2.i), and a better binding.gyp file.

When building the solution with node-gyp, I received the following error: LINK : warning LNK4098: defaultlib 'LIBCMT' conflicts with use of other libs; use /NODEFAULTLIB:library [C:\dev\web\test_rvo2\build\rvo2.vcxproj]. Unfortunatelty, binding.gyp is poorly documented, but after some trial-and-error, I added 'ldflags': [ '/NODEFAULTLIB:libcmt.lib ' ] to the file. In addition, I've added all the source *.cpp files too to the sources property.

About the SWIG file, there was also a lot of trial-and-error involved: specifically, I needed to include the std_vector.i file since the C++ code uses std::vector, and I needed to create a mapping from vector<RVO::Vector2> to a new name, in this case vectorvector.

%include "std_vector.i"
%include "exception.i"

/* http://www.swig.org/Doc1.3/Library.html#Library_stl_cpp_library */
namespace std {
   %template(vectori) vector<int>;
   %template(vectord) vector<double>;
   %template(vectorline) vector<RVO::Line>;
   %template(vectorvector) vector<RVO::Vector2>;
};

Manual edits to VS2015 solution

Open build\binding.sln solution in VS2015 replace in rvo2 Line --> RVO::Line Switch to RELEASE mode

Open rvo2 project properties Linker | Input | Additional dependencies and add: msvcrt.lib; msvcmrt.lib Linker | Input | Ignore specific default libraries and add libcmt.lib

Add the original *.cpp to the rvo2 project (drag-n-drop).