int main()
{
Simulator simulator;
simulator.setTimeStep(0.25f);
simulator.setAgentDefaults(15.0f, 10, 1.5f, 1.5f, 1.0f, 2.0f);
for (std::size_t i = 0; i < 250; ++i) {
const Vector2 position = 200.0f * Vector2(std::cos(0.004f * i * HRVO_TWO_PI), std::sin(0.004f * i * HRVO_TWO_PI));
simulator.addAgent(position, simulator.addGoal(-position));
}
do {
#if HRVO_OUTPUT_TIME_AND_POSITIONS
std::cout << simulator.getGlobalTime();
for (std::size_t i = 0; i < simulator.getNumAgents(); ++i) {
std::cout << " " << simulator.getAgentPosition(i);
}
std::cout << std::endl;
#endif /* HRVO_OUTPUT_TIME_AND_POSITIONS */
simulator.doStep();
}
while (!simulator.haveReachedGoals());
return 0;
}
