1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
|
/*
* 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
*
* 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 KdTree.h
* \brief Contains the KdTree class.
*/
#ifndef RVO3D_KD_TREE_H_
#define RVO3D_KD_TREE_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;
};
}
#endif /* RVO3D_KD_TREE_H_ */
|