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/*
* 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_ */
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