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https://github.com/Relintai/pandemonium_engine.git
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124 lines
3.1 KiB
C++
124 lines
3.1 KiB
C++
#ifndef RVO_AGENT_H_
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#define RVO_AGENT_H_
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/*
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* Agent.h
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* RVO2-3D Library
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*
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* Copyright 2008 University of North Carolina at Chapel Hill
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Please send all bug reports to <geom@cs.unc.edu>.
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*
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* The authors may be contacted via:
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*
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* Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
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* Dept. of Computer Science
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* 201 S. Columbia St.
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* Frederick P. Brooks, Jr. Computer Science Bldg.
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* Chapel Hill, N.C. 27599-3175
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* United States of America
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*
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* <http://gamma.cs.unc.edu/RVO2/>
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*/
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/**
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* \file Agent.h
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* \brief Contains the Agent class.
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*/
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#include "API.h"
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#include <cstddef>
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#include <utility>
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#include <vector>
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#include "Vector3.h"
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// Note: Slightly modified to work better in Pandemonium.
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// - The agent can be created by anyone.
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// - The simulator pointer is removed.
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// - The update function is removed.
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// - The compute velocity function now need the timeStep.
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// - Moved the `Plane` class here.
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// - 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.
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namespace RVO {
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/**
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* \brief Defines a plane.
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*/
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class Plane {
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public:
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/**
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* \brief A point on the plane.
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*/
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Vector3 point;
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/**
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* \brief The normal to the plane.
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*/
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Vector3 normal;
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};
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/**
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* \brief Defines an agent in the simulation.
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*/
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class Agent {
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public:
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/**
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* \brief Constructs an agent instance.
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* \param sim The simulator instance.
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*/
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explicit Agent();
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/**
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* \brief Computes the neighbors of this agent.
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*/
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void computeNeighbors(class KdTree *kdTree_);
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/**
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* \brief Computes the new velocity of this agent.
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*/
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void computeNewVelocity(float timeStep);
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/**
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* \brief Inserts an agent neighbor into the set of neighbors of this agent.
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* \param agent A pointer to the agent to be inserted.
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* \param rangeSq The squared range around this agent.
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*/
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void insertAgentNeighbor(const Agent *agent, float &rangeSq);
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Vector3 newVelocity_;
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Vector3 position_;
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Vector3 prefVelocity_;
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Vector3 velocity_;
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size_t id_;
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size_t maxNeighbors_;
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float maxSpeed_;
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float neighborDist_;
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float radius_;
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float timeHorizon_;
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std::vector<std::pair<float, const Agent *> > agentNeighbors_;
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std::vector<Plane> orcaPlanes_;
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/// This is a pandemonium feature that allows the Agent to avoid collision by mooving
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/// on the horizontal plane.
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bool ignore_y_;
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friend class KdTree;
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};
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} // namespace RVO
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#endif /* RVO_AGENT_H_ */
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