rvo2: Sync with upstream commit bfc0486

https://github.com/snape/RVO2-3D/commit/bfc048670a4e85066e86a1f923d8ea92e3add3b2

10 files changed, 92 insertions, 167 deletions

diff --git a/modules/navigation/nav_map.h b/modules/navigation/nav_map.h
index 0ebdea30e1..f58a78d4ca 100644
--- a/modules/navigation/nav_map.h
+++ b/modules/navigation/nav_map.h
@@ -28,8 +28,8 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef RVO_SPACE_H
-#define RVO_SPACE_H
+#ifndef NAV_MAP_H
+#define NAV_MAP_H
 
 #include "nav_rid.h"
 
@@ -141,4 +141,4 @@ private:
 	void clip_path(const std::vector<gd::NavigationPoly> &p_navigation_polys, Vector<Vector3> &path, const gd::NavigationPoly *from_poly, const Vector3 &p_to_point, const gd::NavigationPoly *p_to_poly) const;
 };
 
-#endif // RVO_SPACE_H
+#endif // NAV_MAP_H
diff --git a/thirdparty/README.md b/thirdparty/README.md
index c6dc1ccd67..0047f1c66c 100644
--- a/thirdparty/README.md
+++ b/thirdparty/README.md
@@ -566,7 +566,7 @@ Files extracted from upstream source:
 ## rvo2
 
 - Upstream: https://github.com/snape/RVO2-3D
-- Version: 1.0.1 (e3883f288a9e55ecfed3633a01af3e12778c6acf, 2016)
+- Version: git (bfc048670a4e85066e86a1f923d8ea92e3add3b2, 2021)
 - License: Apache 2.0
 
 Files extracted from upstream source:
diff --git a/thirdparty/rvo2/API.h b/thirdparty/rvo2/API.h
deleted file mode 100644
index 9d424a661b..0000000000
--- a/thirdparty/rvo2/API.h
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * API.h
- * RVO2-3D Library
- *
- * Copyright 2008 University of North Carolina at Chapel Hill
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- * Please send all bug reports to <geom@cs.unc.edu>.
- *
- * 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
- *
- * <http://gamma.cs.unc.edu/RVO2/>
- */
-
-/**
- * \file    API.h
- * \brief   Contains definitions related to Microsoft Windows.
- */
-
-#ifndef RVO_API_H_
-#define RVO_API_H_
-
-#define RVO_API
-
-#endif /* RVO_API_H_ */
diff --git a/thirdparty/rvo2/Agent.cpp b/thirdparty/rvo2/Agent.cpp
index 49f14c4f7d..b35eee9c12 100644
--- a/thirdparty/rvo2/Agent.cpp
+++ b/thirdparty/rvo2/Agent.cpp
@@ -8,7 +8,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *     http://www.apache.org/licenses/LICENSE-2.0
+ *     https://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -27,7 +27,7 @@
  * Chapel Hill, N.C. 27599-3175
  * United States of America
  *
- * <http://gamma.cs.unc.edu/RVO2/>
+ * <https://gamma.cs.unc.edu/RVO2/>
  */
 
 #include "Agent.h"
@@ -42,7 +42,7 @@ namespace RVO {
 	/**
 	 * \brief   A sufficiently small positive number.
 	 */
-	const float RVO_EPSILON = 0.00001f;
+	const float RVO3D_EPSILON = 0.00001f;
 
 	/**
 	 * \brief   Defines a directed line.
@@ -168,12 +168,12 @@ namespace RVO {
 					const float b = relativePosition * relativeVelocity;
 					const float c = absSq(relativeVelocity) - absSq(cross(relativePosition, relativeVelocity)) / (distSq - combinedRadiusSq);
 					const float t = (b + std::sqrt(sqr(b) - a * c)) / a;
-					const Vector3 w = relativeVelocity - t * relativePosition;
-					const float wLength = abs(w);
-					const Vector3 unitW = w / wLength;
+					const Vector3 ww = relativeVelocity - t * relativePosition;
+					const float wwLength = abs(ww);
+					const Vector3 unitWW = ww / wwLength;
 
-					plane.normal = unitW;
-					u = (combinedRadius * t - wLength) * unitW;
+					plane.normal = unitWW;
+					u = (combinedRadius * t - wwLength) * unitWW;
 				}
 			}
 			else {
@@ -247,7 +247,7 @@ namespace RVO {
 			const float numerator = (planes[i].point - line.point) * planes[i].normal;
 			const float denominator = line.direction * planes[i].normal;
 
-			if (sqr(denominator) <= RVO_EPSILON) {
+			if (sqr(denominator) <= RVO3D_EPSILON) {
 				/* Lines line is (almost) parallel to plane i. */
 				if (numerator > 0.0f) {
 					return false;
@@ -322,7 +322,7 @@ namespace RVO {
 			const Vector3 planeOptVelocity = optVelocity - (optVelocity * planes[planeNo].normal) * planes[planeNo].normal;
 			const float planeOptVelocityLengthSq = absSq(planeOptVelocity);
 
-			if (planeOptVelocityLengthSq <= RVO_EPSILON) {
+			if (planeOptVelocityLengthSq <= RVO3D_EPSILON) {
 				result = planeCenter;
 			}
 			else {
@@ -347,7 +347,7 @@ namespace RVO {
 				/* Compute intersection line of plane i and plane planeNo. */
 				Vector3 crossProduct = cross(planes[i].normal, planes[planeNo].normal);
 
-				if (absSq(crossProduct) <= RVO_EPSILON) {
+				if (absSq(crossProduct) <= RVO3D_EPSILON) {
 					/* Planes planeNo and i are (almost) parallel, and plane i fully invalidates plane planeNo. */
 					return false;
 				}
@@ -410,7 +410,7 @@ namespace RVO {
 
 					const Vector3 crossProduct = cross(planes[j].normal, planes[i].normal);
 
-					if (absSq(crossProduct) <= RVO_EPSILON) {
+					if (absSq(crossProduct) <= RVO3D_EPSILON) {
 						/* Plane i and plane j are (almost) parallel. */
 						if (planes[i].normal * planes[j].normal > 0.0f) {
 							/* Plane i and plane j point in the same direction. */
diff --git a/thirdparty/rvo2/Agent.h b/thirdparty/rvo2/Agent.h
index fd0bf4d1d4..45fbead2f5 100644
--- a/thirdparty/rvo2/Agent.h
+++ b/thirdparty/rvo2/Agent.h
@@ -8,7 +8,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *     http://www.apache.org/licenses/LICENSE-2.0
+ *     https://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -27,17 +27,15 @@
  * Chapel Hill, N.C. 27599-3175
  * United States of America
  *
- * <http://gamma.cs.unc.edu/RVO2/>
+ * <https://gamma.cs.unc.edu/RVO2/>
  */
 
 /**
  * \file    Agent.h
  * \brief   Contains the Agent class.
  */
-#ifndef RVO_AGENT_H_
-#define RVO_AGENT_H_
-
-#include "API.h"
+#ifndef RVO3D_AGENT_H_
+#define RVO3D_AGENT_H_
 
 #include <cstddef>
 #include <utility>
@@ -117,4 +115,4 @@ namespace RVO {
 	};
 }
 
-#endif /* RVO_AGENT_H_ */
+#endif /* RVO3D_AGENT_H_ */
diff --git a/thirdparty/rvo2/Definitions.h b/thirdparty/rvo2/Definitions.h
index a73aca9908..707d3c897f 100644
--- a/thirdparty/rvo2/Definitions.h
+++ b/thirdparty/rvo2/Definitions.h
@@ -8,7 +8,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *     http://www.apache.org/licenses/LICENSE-2.0
+ *     https://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -27,7 +27,7 @@
  * Chapel Hill, N.C. 27599-3175
  * United States of America
  *
- * <http://gamma.cs.unc.edu/RVO2/>
+ * <https://gamma.cs.unc.edu/RVO2/>
  */
 
 /**
@@ -35,10 +35,8 @@
  * \brief  Contains functions and constants used in multiple classes.
  */
 
-#ifndef RVO_DEFINITIONS_H_
-#define RVO_DEFINITIONS_H_
-
-#include "API.h"
+#ifndef RVO3D_DEFINITIONS_H_
+#define RVO3D_DEFINITIONS_H_
 
 namespace RVO {
 	/**
@@ -52,4 +50,4 @@ namespace RVO {
 	}
 }
 
-#endif /* RVO_DEFINITIONS_H_ */
+#endif /* RVO3D_DEFINITIONS_H_ */
diff --git a/thirdparty/rvo2/KdTree.cpp b/thirdparty/rvo2/KdTree.cpp
index c6d43ee415..c857f299df 100644
--- a/thirdparty/rvo2/KdTree.cpp
+++ b/thirdparty/rvo2/KdTree.cpp
@@ -8,7 +8,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *     http://www.apache.org/licenses/LICENSE-2.0
+ *     https://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -27,7 +27,7 @@
  * Chapel Hill, N.C. 27599-3175
  * United States of America
  *
- * <http://gamma.cs.unc.edu/RVO2/>
+ * <https://gamma.cs.unc.edu/RVO2/>
  */
 
 #include "KdTree.h"
@@ -38,7 +38,7 @@
 #include "Definitions.h"
 
 namespace RVO {
-	const size_t RVO_MAX_LEAF_SIZE = 10;
+	const size_t RVO3D_MAX_LEAF_SIZE = 10;
 
 	KdTree::KdTree() { }
 
@@ -68,7 +68,7 @@ namespace RVO {
 			agentTree_[node].minCoord[2] = std::min(agentTree_[node].minCoord[2], agents_[i]->position_.z());
 		}
 
-		if (end - begin > RVO_MAX_LEAF_SIZE) {
+		if (end - begin > RVO3D_MAX_LEAF_SIZE) {
 			/* No leaf node. */
 			size_t coord;
 
@@ -127,7 +127,7 @@ namespace RVO {
 
 	void KdTree::queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const
 	{
-		if (agentTree_[node].end - agentTree_[node].begin <= RVO_MAX_LEAF_SIZE) {
+		if (agentTree_[node].end - agentTree_[node].begin <= RVO3D_MAX_LEAF_SIZE) {
 			for (size_t i = agentTree_[node].begin; i < agentTree_[node].end; ++i) {
 				agent->insertAgentNeighbor(agents_[i], rangeSq);
 			}
diff --git a/thirdparty/rvo2/KdTree.h b/thirdparty/rvo2/KdTree.h
index e05a7f40d4..69d8920ce0 100644
--- a/thirdparty/rvo2/KdTree.h
+++ b/thirdparty/rvo2/KdTree.h
@@ -8,7 +8,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *     http://www.apache.org/licenses/LICENSE-2.0
+ *     https://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -27,16 +27,14 @@
  * Chapel Hill, N.C. 27599-3175
  * United States of America
  *
- * <http://gamma.cs.unc.edu/RVO2/>
+ * <https://gamma.cs.unc.edu/RVO2/>
  */
 /**
  * \file    KdTree.h
  * \brief   Contains the KdTree class.
  */
-#ifndef RVO_KD_TREE_H_
-#define RVO_KD_TREE_H_
-
-#include "API.h"
+#ifndef RVO3D_KD_TREE_H_
+#define RVO3D_KD_TREE_H_
 
 #include <cstddef>
 #include <vector>
@@ -121,4 +119,4 @@ namespace RVO {
 	};
 }
 
-#endif /* RVO_KD_TREE_H_ */
+#endif /* RVO3D_KD_TREE_H_ */
diff --git a/thirdparty/rvo2/Vector3.h b/thirdparty/rvo2/Vector3.h
index 8c8835c865..f44e311f29 100644
--- a/thirdparty/rvo2/Vector3.h
+++ b/thirdparty/rvo2/Vector3.h
@@ -8,7 +8,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *     http://www.apache.org/licenses/LICENSE-2.0
+ *     https://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -27,32 +27,32 @@
  * Chapel Hill, N.C. 27599-3175
  * United States of America
  *
- * <http://gamma.cs.unc.edu/RVO2/>
+ * <https://gamma.cs.unc.edu/RVO2/>
  */
 
 /**
  * \file    Vector3.h
  * \brief   Contains the Vector3 class.
  */
-#ifndef RVO_VECTOR3_H_
-#define RVO_VECTOR3_H_
-
-#include "API.h"
+#ifndef RVO3D_VECTOR3_H_
+#define RVO3D_VECTOR3_H_
 
 #include <cmath>
 #include <cstddef>
 #include <ostream>
 
+#define RVO3D_EXPORT
+
 namespace RVO {
 	/**
 	 * \brief  Defines a three-dimensional vector.
 	 */
-	class Vector3 {
+	class RVO3D_EXPORT Vector3 {
 	public:
 		/**
 		 * \brief   Constructs and initializes a three-dimensional vector instance to zero.
 		 */
-		RVO_API inline Vector3()
+		inline Vector3()
 		{
 			val_[0] = 0.0f;
 			val_[1] = 0.0f;
@@ -63,7 +63,7 @@ namespace RVO {
 		 * \brief   Constructs and initializes a three-dimensional vector from the specified three-element array.
 		 * \param   val  The three-element array containing the xyz-coordinates.
 		 */
-		RVO_API inline explicit Vector3(const float val[3])
+		inline explicit Vector3(const float val[3])
 		{
 			val_[0] = val[0];
 			val_[1] = val[1];
@@ -76,7 +76,7 @@ namespace RVO {
 		 * \param   y  The y-coordinate of the three-dimensional vector.
 		 * \param   z  The z-coordinate of the three-dimensional vector.
 		 */
-		RVO_API inline Vector3(float x, float y, float z)
+		inline Vector3(float x, float y, float z)
 		{
 			val_[0] = x;
 			val_[1] = y;
@@ -87,39 +87,39 @@ namespace RVO {
 		 * \brief   Returns the x-coordinate of this three-dimensional vector.
 		 * \return  The x-coordinate of the three-dimensional vector.
 		 */
-		RVO_API inline float x() const { return val_[0]; }
+		inline float x() const { return val_[0]; }
 
 		/**
 		 * \brief   Returns the y-coordinate of this three-dimensional vector.
 		 * \return  The y-coordinate of the three-dimensional vector.
 		 */
-		RVO_API inline float y() const { return val_[1]; }
+		inline float y() const { return val_[1]; }
 
 		/**
 		 * \brief   Returns the z-coordinate of this three-dimensional vector.
 		 * \return  The z-coordinate of the three-dimensional vector.
 		 */
-		RVO_API inline float z() const { return val_[2]; }
+		inline float z() const { return val_[2]; }
 
 		/**
 		 * \brief   Returns the specified coordinate of this three-dimensional vector.
 		 * \param   i  The coordinate that should be returned (0 <= i < 3).
 		 * \return  The specified coordinate of the three-dimensional vector.
 		 */
-		RVO_API inline float operator[](size_t i) const { return val_[i]; }
+		inline float operator[](size_t i) const { return val_[i]; }
 
 		/**
 		 * \brief   Returns a reference to the specified coordinate of this three-dimensional vector.
 		 * \param   i  The coordinate to which a reference should be returned (0 <= i < 3).
 		 * \return  A reference to the specified coordinate of the three-dimensional vector.
 		 */
-		RVO_API inline float &operator[](size_t i) { return val_[i]; }
+		inline float &operator[](size_t i) { return val_[i]; }
 
 		/**
 		 * \brief   Computes the negation of this three-dimensional vector.
 		 * \return  The negation of this three-dimensional vector.
 		 */
-		RVO_API inline Vector3 operator-() const
+		inline Vector3 operator-() const
 		{
 			return Vector3(-val_[0], -val_[1], -val_[2]);
 		}
@@ -129,7 +129,7 @@ namespace RVO {
 		 * \param   vector  The three-dimensional vector with which the dot product should be computed.
 		 * \return  The dot product of this three-dimensional vector with a specified three-dimensional vector.
 		 */
-		RVO_API inline float operator*(const Vector3 &vector) const
+		inline float operator*(const Vector3 &vector) const
 		{
 			return val_[0] * vector[0] + val_[1] * vector[1] + val_[2] * vector[2];
 		}
@@ -139,7 +139,7 @@ namespace RVO {
 		 * \param   scalar  The scalar value with which the scalar multiplication should be computed.
 		 * \return  The scalar multiplication of this three-dimensional vector with a specified scalar value.
 		 */
-		RVO_API inline Vector3 operator*(float scalar) const
+		inline Vector3 operator*(float scalar) const
 		{
 			return Vector3(val_[0] * scalar, val_[1] * scalar, val_[2] * scalar);
 		}
@@ -149,7 +149,7 @@ namespace RVO {
 		 * \param   scalar  The scalar value with which the scalar division should be computed.
 		 * \return  The scalar division of this three-dimensional vector with a specified scalar value.
 		 */
-		RVO_API inline Vector3 operator/(float scalar) const
+		inline Vector3 operator/(float scalar) const
 		{
 			const float invScalar = 1.0f / scalar;
 
@@ -161,7 +161,7 @@ namespace RVO {
 		 * \param   vector  The three-dimensional vector with which the vector sum should be computed.
 		 * \return 	The vector sum of this three-dimensional vector with a specified three-dimensional vector.
 		 */
-		RVO_API inline Vector3 operator+(const Vector3 &vector) const
+		inline Vector3 operator+(const Vector3 &vector) const
 		{
 			return Vector3(val_[0] + vector[0], val_[1] + vector[1], val_[2] + vector[2]);
 		}
@@ -171,7 +171,7 @@ namespace RVO {
 		 * \param   vector  The three-dimensional vector with which the vector difference should be computed.
 		 * \return  The vector difference of this three-dimensional vector with a specified three-dimensional vector.
 		 */
-		RVO_API inline Vector3 operator-(const Vector3 &vector) const
+		inline Vector3 operator-(const Vector3 &vector) const
 		{
 			return Vector3(val_[0] - vector[0], val_[1] - vector[1], val_[2] - vector[2]);
 		}
@@ -181,7 +181,7 @@ namespace RVO {
 		 * \param   vector  The three-dimensional vector with which to test for equality.
 		 * \return  True if the three-dimensional vectors are equal.
 		 */
-		RVO_API inline bool operator==(const Vector3 &vector) const
+		inline bool operator==(const Vector3 &vector) const
 		{
 			return val_[0] == vector[0] && val_[1] == vector[1] && val_[2] == vector[2];
 		}
@@ -191,7 +191,7 @@ namespace RVO {
 		 * \param   vector  The three-dimensional vector with which to test for inequality.
 		 * \return  True if the three-dimensional vectors are not equal.
 		 */
-		RVO_API inline bool operator!=(const Vector3 &vector) const
+		inline bool operator!=(const Vector3 &vector) const
 		{
 			return val_[0] != vector[0] || val_[1] != vector[1] || val_[2] != vector[2];
 		}
@@ -201,7 +201,7 @@ namespace RVO {
 		 * \param   scalar  The scalar value with which the scalar multiplication should be computed.
 		 * \return  A reference to this three-dimensional vector.
 		 */
-		RVO_API inline Vector3 &operator*=(float scalar)
+		inline Vector3 &operator*=(float scalar)
 		{
 			val_[0] *= scalar;
 			val_[1] *= scalar;
@@ -215,7 +215,7 @@ namespace RVO {
 		 * \param   scalar  The scalar value with which the scalar division should be computed.
 		 * \return  A reference to this three-dimensional vector.
 		 */
-		RVO_API inline Vector3 &operator/=(float scalar)
+		inline Vector3 &operator/=(float scalar)
 		{
 			const float invScalar = 1.0f / scalar;
 
@@ -232,7 +232,7 @@ namespace RVO {
 		 * \param   vector  The three-dimensional vector with which the vector sum should be computed.
 		 * \return  A reference to this three-dimensional vector.
 		 */
-		RVO_API inline Vector3 &operator+=(const Vector3 &vector)
+		inline Vector3 &operator+=(const Vector3 &vector)
 		{
 			val_[0] += vector[0];
 			val_[1] += vector[1];
@@ -246,7 +246,7 @@ namespace RVO {
 		 * \param   vector  The three-dimensional vector with which the vector difference should be computed.
 		 * \return  A reference to this three-dimensional vector.
 		 */
-		RVO_API inline Vector3 &operator-=(const Vector3 &vector)
+		inline Vector3 &operator-=(const Vector3 &vector)
 		{
 			val_[0] -= vector[0];
 			val_[1] -= vector[1];
@@ -267,7 +267,7 @@ namespace RVO {
 	 * \param    vector  The three-dimensional vector with which the scalar multiplication should be computed.
 	 * \return   The scalar multiplication of the three-dimensional vector with the scalar value.
 	 */
-	inline Vector3 operator*(float scalar, const Vector3 &vector)
+	RVO3D_EXPORT inline Vector3 operator*(float scalar, const Vector3 &vector)
 	{
 		return Vector3(scalar * vector[0], scalar * vector[1], scalar * vector[2]);
 	}
@@ -279,7 +279,7 @@ namespace RVO {
 	 * \param    vector2  The second vector with which the cross product should be computed.
 	 * \return   The cross product of the two specified vectors.
 	 */
-	inline Vector3 cross(const Vector3 &vector1, const Vector3 &vector2)
+	RVO3D_EXPORT inline Vector3 cross(const Vector3 &vector1, const Vector3 &vector2)
 	{
 		return Vector3(vector1[1] * vector2[2] - vector1[2] * vector2[1], vector1[2] * vector2[0] - vector1[0] * vector2[2], vector1[0] * vector2[1] - vector1[1] * vector2[0]);
 	}
@@ -291,7 +291,7 @@ namespace RVO {
 	 * \param    vector  The three-dimensional vector which to insert into the output stream.
 	 * \return   A reference to the output stream.
 	 */
-	inline std::ostream &operator<<(std::ostream &os, const Vector3 &vector)
+	RVO3D_EXPORT inline std::ostream &operator<<(std::ostream &os, const Vector3 &vector)
 	{
 		os << "(" << vector[0] << "," << vector[1] << "," << vector[2] << ")";
 
@@ -304,7 +304,7 @@ namespace RVO {
 	 * \param    vector  The three-dimensional vector whose length is to be computed.
 	 * \return   The length of the three-dimensional vector.
 	 */
-	inline float abs(const Vector3 &vector)
+	RVO3D_EXPORT inline float abs(const Vector3 &vector)
 	{
 		return std::sqrt(vector * vector);
 	}
@@ -315,7 +315,7 @@ namespace RVO {
 	 * \param    vector  The three-dimensional vector whose squared length is to be computed.
 	 * \return   The squared length of the three-dimensional vector.
 	 */
-	inline float absSq(const Vector3 &vector)
+	RVO3D_EXPORT inline float absSq(const Vector3 &vector)
 	{
 		return vector * vector;
 	}
@@ -326,7 +326,7 @@ namespace RVO {
 	 * \param    vector  The three-dimensional vector whose normalization is to be computed.
 	 * \return   The normalization of the three-dimensional vector.
 	 */
-	inline Vector3 normalize(const Vector3 &vector)
+	RVO3D_EXPORT inline Vector3 normalize(const Vector3 &vector)
 	{
 		return vector / abs(vector);
 	}
diff --git a/thirdparty/rvo2/patches/rvo2-godot-changes.patch b/thirdparty/rvo2/patches/rvo2-godot-changes.patch
index 054c22ad98..16dbc203ed 100644
--- a/thirdparty/rvo2/patches/rvo2-godot-changes.patch
+++ b/thirdparty/rvo2/patches/rvo2-godot-changes.patch
@@ -1,40 +1,5 @@
-diff --git a/thirdparty/rvo2/API.h b/thirdparty/rvo2/API.h
-index afef140253..9d424a661b 100644
---- a/thirdparty/rvo2/API.h
-+++ b/thirdparty/rvo2/API.h
-@@ -38,30 +38,6 @@
- #ifndef RVO_API_H_
- #define RVO_API_H_
- 
--#ifdef _WIN32
--#include <SDKDDKVer.h>
--#define WIN32_LEAN_AND_MEAN
--#define NOCOMM
--#define NOIMAGE
--#define NOIME
--#define NOKANJI
--#define NOMCX
--#define NOMINMAX
--#define NOPROXYSTUB
--#define NOSERVICE
--#define NOSOUND
--#define NOTAPE
--#define NORPC
--#define _USE_MATH_DEFINES
--#include <windows.h>
--#endif
--
--#ifdef RVO_EXPORTS
--#define RVO_API __declspec(dllexport)
--#elif defined(RVO_IMPORTS)
--#define RVO_API __declspec(dllimport)
--#else
- #define RVO_API
--#endif
- 
- #endif /* RVO_API_H_ */
 diff --git a/thirdparty/rvo2/Agent.cpp b/thirdparty/rvo2/Agent.cpp
-index 1a236c7831..49f14c4f7d 100644
+index 5e49a3554c..b35eee9c12 100644
 --- a/thirdparty/rvo2/Agent.cpp
 +++ b/thirdparty/rvo2/Agent.cpp
 @@ -105,18 +105,17 @@ namespace RVO {
@@ -123,10 +88,10 @@ index 1a236c7831..49f14c4f7d 100644
  	{
  		const float dotProduct = line.point * line.direction;
 diff --git a/thirdparty/rvo2/Agent.h b/thirdparty/rvo2/Agent.h
-index 238f2d31b7..fd0bf4d1d4 100644
+index d3922ec645..45fbead2f5 100644
 --- a/thirdparty/rvo2/Agent.h
 +++ b/thirdparty/rvo2/Agent.h
-@@ -43,30 +43,52 @@
+@@ -41,30 +41,52 @@
  #include <utility>
  #include <vector>
  
@@ -184,7 +149,7 @@ index 238f2d31b7..fd0bf4d1d4 100644
  
  		/**
  		 * \brief   Inserts an agent neighbor into the set of neighbors of this agent.
-@@ -75,16 +97,10 @@ namespace RVO {
+@@ -73,16 +95,10 @@ namespace RVO {
  		 */
  		void insertAgentNeighbor(const Agent *agent, float &rangeSq);
  
@@ -201,7 +166,7 @@ index 238f2d31b7..fd0bf4d1d4 100644
  		size_t id_;
  		size_t maxNeighbors_;
  		float maxSpeed_;
-@@ -93,9 +109,11 @@ namespace RVO {
+@@ -91,9 +107,11 @@ namespace RVO {
  		float timeHorizon_;
  		std::vector<std::pair<float, const Agent *> > agentNeighbors_;
  		std::vector<Plane> orcaPlanes_;
@@ -215,7 +180,7 @@ index 238f2d31b7..fd0bf4d1d4 100644
  }
  
 diff --git a/thirdparty/rvo2/KdTree.cpp b/thirdparty/rvo2/KdTree.cpp
-index 719fabdf34..c6d43ee415 100644
+index 5e9e9777a6..c857f299df 100644
 --- a/thirdparty/rvo2/KdTree.cpp
 +++ b/thirdparty/rvo2/KdTree.cpp
 @@ -36,16 +36,15 @@
@@ -225,7 +190,7 @@ index 719fabdf34..c6d43ee415 100644
 -#include "RVOSimulator.h"
  
  namespace RVO {
- 	const size_t RVO_MAX_LEAF_SIZE = 10;
+ 	const size_t RVO3D_MAX_LEAF_SIZE = 10;
  
 -	KdTree::KdTree(RVOSimulator *sim) : sim_(sim) { }
 +	KdTree::KdTree() { }
@@ -239,10 +204,10 @@ index 719fabdf34..c6d43ee415 100644
  		if (!agents_.empty()) {
  			agentTree_.resize(2 * agents_.size() - 1);
 diff --git a/thirdparty/rvo2/KdTree.h b/thirdparty/rvo2/KdTree.h
-index 5dbc2b492f..e05a7f40d4 100644
+index a09384c20f..69d8920ce0 100644
 --- a/thirdparty/rvo2/KdTree.h
 +++ b/thirdparty/rvo2/KdTree.h
-@@ -43,6 +43,9 @@
+@@ -41,6 +41,9 @@
  
  #include "Vector3.h"
  
@@ -252,7 +217,7 @@ index 5dbc2b492f..e05a7f40d4 100644
  namespace RVO {
  	class Agent;
  	class RVOSimulator;
-@@ -51,7 +54,7 @@ namespace RVO {
+@@ -49,7 +52,7 @@ namespace RVO {
  	 * \brief   Defines <i>k</i>d-trees for agents in the simulation.
  	 */
  	class KdTree {
@@ -261,7 +226,7 @@ index 5dbc2b492f..e05a7f40d4 100644
  		/**
  		 * \brief   Defines an agent <i>k</i>d-tree node.
  		 */
-@@ -92,12 +95,12 @@ namespace RVO {
+@@ -90,12 +93,12 @@ namespace RVO {
  		 * \brief   Constructs a <i>k</i>d-tree instance.
  		 * \param   sim  The simulator instance.
  		 */
@@ -276,7 +241,7 @@ index 5dbc2b492f..e05a7f40d4 100644
  
  		void buildAgentTreeRecursive(size_t begin, size_t end, size_t node);
  
-@@ -112,7 +115,6 @@ namespace RVO {
+@@ -110,7 +113,6 @@ namespace RVO {
  
  		std::vector<Agent *> agents_;
  		std::vector<AgentTreeNode> agentTree_;
@@ -285,9 +250,18 @@ index 5dbc2b492f..e05a7f40d4 100644
  		friend class Agent;
  		friend class RVOSimulator;
 diff --git a/thirdparty/rvo2/Vector3.h b/thirdparty/rvo2/Vector3.h
-index adf3382339..8c8835c865 100644
+index 6c3223bb87..f44e311f29 100644
 --- a/thirdparty/rvo2/Vector3.h
 +++ b/thirdparty/rvo2/Vector3.h
+@@ -41,7 +41,7 @@
+ #include <cstddef>
+ #include <ostream>
+ 
+-#include "Export.h"
++#define RVO3D_EXPORT
+ 
+ namespace RVO {
+ 	/**
 @@ -59,17 +59,6 @@ namespace RVO {
  			val_[2] = 0.0f;
  		}
@@ -296,7 +270,7 @@ index adf3382339..8c8835c865 100644
 -		 * \brief   Constructs and initializes a three-dimensional vector from the specified three-dimensional vector.
 -		 * \param   vector  The three-dimensional vector containing the xyz-coordinates.
 -		 */
--		RVO_API inline Vector3(const Vector3 &vector)
+-		inline Vector3(const Vector3 &vector)
 -		{
 -			val_[0] = vector[0];
 -			val_[1] = vector[1];