From 86cdf1f2cf795f4f8b89c0b2da221d4b225d8f5f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?R=C3=A9mi=20Verschelde?= Date: Wed, 18 May 2022 14:53:52 +0200 Subject: rvo2: Sync with upstream commit bfc0486 https://github.com/snape/RVO2-3D/commit/bfc048670a4e85066e86a1f923d8ea92e3add3b2 --- modules/navigation/nav_map.h | 6 +- thirdparty/README.md | 2 +- thirdparty/rvo2/API.h | 43 -------------- thirdparty/rvo2/Agent.cpp | 24 ++++---- thirdparty/rvo2/Agent.h | 12 ++-- thirdparty/rvo2/Definitions.h | 12 ++-- thirdparty/rvo2/KdTree.cpp | 10 ++-- thirdparty/rvo2/KdTree.h | 12 ++-- thirdparty/rvo2/Vector3.h | 66 +++++++++++----------- thirdparty/rvo2/patches/rvo2-godot-changes.patch | 72 ++++++++---------------- 10 files changed, 92 insertions(+), 167 deletions(-) delete mode 100644 thirdparty/rvo2/API.h 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 &p_navigation_polys, Vector &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 . - * - * 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 - * - * - */ - -/** - * \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 * - * + * */ #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 * - * + * */ /** * \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 #include @@ -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 * - * + * */ /** @@ -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 * - * + * */ #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 * - * + * */ /** * \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 #include @@ -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 * - * + * */ /** * \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 #include #include +#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 --#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 --#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 #include @@ -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 > agentNeighbors_; std::vector 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 kd-trees for agents in the simulation. */ class KdTree { @@ -261,7 +226,7 @@ index 5dbc2b492f..e05a7f40d4 100644 /** * \brief Defines an agent kd-tree node. */ -@@ -92,12 +95,12 @@ namespace RVO { +@@ -90,12 +93,12 @@ namespace RVO { * \brief Constructs a kd-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 agents_; std::vector 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 + #include + +-#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]; -- cgit v1.2.3