/* * Agent.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 * * 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, * 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 * * <https://gamma.cs.unc.edu/RVO2/> */ /** * \file Agent.h * \brief Contains the Agent class. */ #ifndef RVO3D_AGENT_H_ #define RVO3D_AGENT_H_ #include <cstddef> #include <utility> #include <vector> #include "Vector3.h" // Note: Slightly modified to work better in Godot. // - The agent can be created by anyone. // - The simulator pointer is removed. // - The update function is removed. // - The compute velocity function now need the timeStep. // - Moved the `Plane` class here. // - Added a new parameter `ignore_y_` in the `Agent`. This parameter is used to control a godot feature that allows to avoid collisions by moving on the horizontal plane. namespace RVO { /** * \brief Defines a plane. */ class Plane { public: /** * \brief A point on the plane. */ Vector3 point; /** * \brief The normal to the plane. */ Vector3 normal; }; /** * \brief Defines an agent in the simulation. */ class Agent { public: /** * \brief Constructs an agent instance. * \param sim The simulator instance. */ explicit Agent(); /** * \brief Computes the neighbors of this agent. */ void computeNeighbors(class KdTree *kdTree_); /** * \brief Computes the new velocity of this agent. */ void computeNewVelocity(float timeStep); /** * \brief Inserts an agent neighbor into the set of neighbors of this agent. * \param agent A pointer to the agent to be inserted. * \param rangeSq The squared range around this agent. */ void insertAgentNeighbor(const Agent *agent, float &rangeSq); Vector3 newVelocity_; Vector3 position_; Vector3 prefVelocity_; Vector3 velocity_; size_t id_; size_t maxNeighbors_; float maxSpeed_; float neighborDist_; float radius_; float timeHorizon_; std::vector<std::pair<float, const Agent *> > agentNeighbors_; std::vector<Plane> orcaPlanes_; /// This is a godot feature that allows the Agent to avoid collision by mooving /// on the horizontal plane. bool ignore_y_; friend class KdTree; }; } #endif /* RVO3D_AGENT_H_ */