pandemonium_engine/thirdparty/rvo2/Agent.h

#ifndef RVO_AGENT_H_
#define RVO_AGENT_H_
/*
 * 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
 *
 *     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 <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
 *
 * <http://gamma.cs.unc.edu/RVO2/>
 */

/**
 * \file    Agent.h
 * \brief   Contains the Agent class.
 */



#include "API.h"

#include <cstddef>
#include <utility>
#include <vector>

#include "Vector3.h"

// Note: Slightly modified to work better in Pandemonium.
// - 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 pandemonium 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 pandemonium feature that allows the Agent to avoid collision by mooving
    /// on the horizontal plane.
    bool ignore_y_;

    friend class KdTree;
};
} // namespace RVO

#endif /* RVO_AGENT_H_ */