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.
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 firstname.lastname@example.org.
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
npm install rvo2 --save
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.
Run as non-admin (installs node-gyp in your own environment)
npm install --global node-gypnode-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\Release in case the linker complains that it cannot find the
Compiling the library
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
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].
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
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
%include "std_vector.i"%include "exception.i"/* http://www.swig.org/Doc1.3/Library.html#Library_stl_cpp_library */;
Manual edits to VS2015 solution
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).