RVO implementation in Unity3D

Today we managed to implement RVO in Unity. We used the C# version of RVO2 found on this page http://gamma.cs.unc.edu/RVO2/

Here's a scene consisting of 100 agents in a circle, with the goal of getting to the opposite side. It's a classic test and it seems to work fine.

Group changing formation

Here is a video of 10 agents changing formations. First we can see the magnificent creation of a horizontal row formation, then the group quickly changes into a stable vertical line formation and finally they end up in a triangle formation without colliding.

Implementation of RVO integrated with Unity

Here's a video of our attempt to remake the implementation of RVO (made by Stephen J. Guy, et al. http://gamma.cs.unc.edu/RVO2/).

The movement of the agents are working and most of them seem to be moving towards the opposite side of the circle (as specified as the goal for the agent). However, the agents doesn't seem to be avoiding each other nor do they change direction during the simulation, which they should do at some point.

But the simulation does run at a reasonable fps, so the computations aren't too heavy on the CPU.