diff options
Diffstat (limited to 'thirdparty/rvo2/Agent.cpp')
-rw-r--r-- | thirdparty/rvo2/Agent.cpp | 24 |
1 files changed, 12 insertions, 12 deletions
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. */ |