From f0f02ebab425320d90e9920af69250d67d3e733f Mon Sep 17 00:00:00 2001
From: Aron Granberg <aron.granberg@gmail.com>
Date: Wed, 23 Feb 2022 11:33:47 +0100
Subject: [PATCH 1/9] Fixed RVOController.velocity not working.

---
 Assets/AstarPathfindingProject/Core/RVO/RVOAgentBurst.cs    | 6 ++++--
 .../Core/RVO/RVOCoreSimulatorBurst.cs                       | 5 ++---
 Assets/AstarPathfindingProject/changelog.cs                 | 2 +-
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/Assets/AstarPathfindingProject/Core/RVO/RVOAgentBurst.cs b/Assets/AstarPathfindingProject/Core/RVO/RVOAgentBurst.cs
index b84ac93b..a025557e 100644
--- a/Assets/AstarPathfindingProject/Core/RVO/RVOAgentBurst.cs
+++ b/Assets/AstarPathfindingProject/Core/RVO/RVOAgentBurst.cs
@@ -502,7 +502,8 @@ namespace Pathfinding.RVO.Sampled {

            for (int agentIndex = startIndex; agentIndex < endIndex; agentIndex++) {
                if (agentData.manuallyControlled[agentIndex]) {
-                   // TODO
+                   output.speed[agentIndex] = agentData.desiredSpeed[agentIndex];
+                   output.targetPoint[agentIndex] = agentData.targetPoint[agentIndex];
                    continue;
                }

@@ -565,7 +566,8 @@ namespace Pathfinding.RVO.Sampled {

            for (int agentIndex = startIndex; agentIndex < endIndex; agentIndex++) {
                if (agentData.manuallyControlled[agentIndex]) {
-                   // TODO
+                   output.speed[agentIndex] = agentData.desiredSpeed[agentIndex];
+                   output.targetPoint[agentIndex] = agentData.targetPoint[agentIndex];
                    continue;
                }

diff --git a/Assets/AstarPathfindingProject/Core/RVO/RVOCoreSimulatorBurst.cs b/Assets/AstarPathfindingProject/Core/RVO/RVOCoreSimulatorBurst.cs
index d8c1df20..96368129 100644
--- a/Assets/AstarPathfindingProject/Core/RVO/RVOCoreSimulatorBurst.cs
+++ b/Assets/AstarPathfindingProject/Core/RVO/RVOCoreSimulatorBurst.cs
@@ -441,10 +441,8 @@ namespace Pathfinding.RVO {
            public void ForceSetVelocity (Vector3 velocity) {
                // A bit hacky, but it is approximately correct
                // assuming the agent does not move significantly
-               // TODO: non-burst also sets simulator.outputData.targetPoint
                simulator.simulationData.targetPoint[agentIndex] = simulator.simulationData.position[agentIndex] + (float3)velocity * 1000;
                simulator.simulationData.desiredSpeed[agentIndex] = velocity.magnitude;
-               // TODO: non-burst also sets CalculatedSpeed
                simulator.simulationData.manuallyControlled[agentIndex] = true;
            }
        }
@@ -973,6 +971,7 @@ namespace Pathfinding.RVO {
                // The normal is reset every simulation tick
                // Note that the copied data still contains the real normal.
                var clearJob = simulationData.collisionNormal.MemSet(float3.zero).Schedule(JobHandle.CombineDependencies(copyJob, preprocessJob));
+               var clearJob2 = simulationData.manuallyControlled.MemSet(false).Schedule(JobHandle.CombineDependencies(copyJob, preprocessJob));

                int batchSize = math.max(numAgents / 32, 4);
                var neighboursJob = new JobRVOCalculateNeighbours<T> {
@@ -1027,7 +1026,7 @@ namespace Pathfinding.RVO {
                var rvoJob = rvoJobData.ScheduleBatch(numAgents, batchSize, combinedJob);

                JobHandle.ScheduleBatchedJobs();
-               JobHandle.CombineDependencies(combinedJob, clearJob).Complete();
+               JobHandle.CombineDependencies(combinedJob, clearJob, clearJob2).Complete();

                if (DoubleBuffering && !anyDebugEnabled[0]) {
                    inProgressJob = rvoJob;
diff --git a/Assets/AstarPathfindingProject/changelog.cs b/Assets/AstarPathfindingProject/changelog.cs
index 56104a04..c8cae138 100644
--- a/Assets/AstarPathfindingProject/changelog.cs
+++ b/Assets/AstarPathfindingProject/changelog.cs
@@ -8,7 +8,7 @@
    - Fixed some smaller memory memory leaks in the unity editor.
    - Fixed some warnings related to ENABLE_UNITY_COLLECTIONS_CHECKS which burst would log when building a standalone player.
    - Fixed AIPathAlignedToSurface would throw an exception if no RVOController was attached.
-   - Fixed setting \reflink{RVOController.velocity} would be buggy except in 2D space (regression from 4.3.x).
+   - Fixed setting \reflink{RVOController.velocity} would not work because of a bug. (regression from 4.3.x).
    - Fixed setting \reflink{RichAI.rotation} while the agent was stationary would rotate the agent, but it would immediately rotate back to the previous heading.
    - Fixed the Teleport function not working properly for \reflink{LocalSpaceRichAI}.
    - Fixed the inspector for \reflink{LocalSpaceRichAI} not showing the very important \a graph field, making it very hard to use. This is a recent regression.
--
2.20.1