Merge pull request #34776 from AndreaCatania/nav_pr

Integrated the new `NavigationServer` and `NavigationServer2D`

1 files changed, 124 insertions, 0 deletions

diff --git a/thirdparty/rvo2/src/KdTree.h b/thirdparty/rvo2/src/KdTree.h
new file mode 100644
index 0000000000..1dbad00ea4
--- /dev/null
+++ b/thirdparty/rvo2/src/KdTree.h
@@ -0,0 +1,124 @@
+/*
+ * KdTree.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    KdTree.h
+ * \brief   Contains the KdTree class.
+ */
+#ifndef RVO_KD_TREE_H_
+#define RVO_KD_TREE_H_
+
+#include "API.h"
+
+#include <cstddef>
+#include <vector>
+
+#include "Vector3.h"
+
+// Note: Slightly modified to work better with Godot.
+// - Removed `sim_`.
+// - KdTree things are public
+namespace RVO {
+class Agent;
+class RVOSimulator;
+
+/**
+	 * \brief   Defines <i>k</i>d-trees for agents in the simulation.
+	 */
+class KdTree {
+public:
+    /**
+		 * \brief   Defines an agent <i>k</i>d-tree node.
+		 */
+    class AgentTreeNode {
+    public:
+        /**
+			 * \brief   The beginning node number.
+			 */
+        size_t begin;
+
+        /**
+			 * \brief   The ending node number.
+			 */
+        size_t end;
+
+        /**
+			 * \brief   The left node number.
+			 */
+        size_t left;
+
+        /**
+			 * \brief   The right node number.
+			 */
+        size_t right;
+
+        /**
+			 * \brief   The maximum coordinates.
+			 */
+        Vector3 maxCoord;
+
+        /**
+			 * \brief   The minimum coordinates.
+			 */
+        Vector3 minCoord;
+    };
+
+    /**
+		 * \brief   Constructs a <i>k</i>d-tree instance.
+		 * \param   sim  The simulator instance.
+		 */
+    explicit KdTree();
+
+    /**
+		 * \brief   Builds an agent <i>k</i>d-tree.
+		 */
+    void buildAgentTree(std::vector<Agent *> agents);
+
+    void buildAgentTreeRecursive(size_t begin, size_t end, size_t node);
+
+    /**
+		 * \brief   Computes the agent neighbors of the specified agent.
+		 * \param   agent    A pointer to the agent for which agent neighbors are to be computed.
+		 * \param   rangeSq  The squared range around the agent.
+		 */
+    void computeAgentNeighbors(Agent *agent, float rangeSq) const;
+
+    void queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const;
+
+    std::vector<Agent *> agents_;
+    std::vector<AgentTreeNode> agentTree_;
+
+    friend class Agent;
+    friend class RVOSimulator;
+};
+} // namespace RVO
+
+#endif /* RVO_KD_TREE_H_ */