mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-25 13:17:22 +01:00
124 lines
3.1 KiB
C++
124 lines
3.1 KiB
C++
#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_ */
|