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; }