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| author | Rémi Verschelde <rverschelde@gmail.com> | 2023-06-29 12:50:49 +0200 |
|---|---|---|
| committer | Rémi Verschelde <rverschelde@gmail.com> | 2023-06-29 12:50:49 +0200 |
| commit | d0c1dd16ee101fa51448c896372cbfa487705ee4 (patch) | |
| tree | 3184b32ff1272c088b9e06e85b58cbf0ad5c5ddf /thirdparty/rvo2/rvo2_3d/Agent3d.h | |
| parent | c83f912bcb33d441b90afe36bad38880acbe5f15 (diff) | |
| download | redot-engine-d0c1dd16ee101fa51448c896372cbfa487705ee4.tar.gz | |
Revert "Update RVO2 to git 2022.09"
This reverts commit c92088110567bd9c61aa046e9a93bdbc6469073e.
Fixes #78826.
Diffstat (limited to 'thirdparty/rvo2/rvo2_3d/Agent3d.h')
| -rw-r--r-- | thirdparty/rvo2/rvo2_3d/Agent3d.h | 148 |
1 files changed, 65 insertions, 83 deletions
diff --git a/thirdparty/rvo2/rvo2_3d/Agent3d.h b/thirdparty/rvo2/rvo2_3d/Agent3d.h index 353d64ce82..d99e3cac66 100644 --- a/thirdparty/rvo2/rvo2_3d/Agent3d.h +++ b/thirdparty/rvo2/rvo2_3d/Agent3d.h @@ -1,15 +1,14 @@ /* - * Agent3d.h + * Agent.h * RVO2-3D Library * - * SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill - * SPDX-License-Identifier: Apache-2.0 + * 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 + * 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, @@ -28,97 +27,80 @@ * Chapel Hill, N.C. 27599-3175 * United States of America * - * <https://gamma.cs.unc.edu/RVO2/> + * <http://gamma.cs.unc.edu/RVO2/> */ -#ifndef RVO3D_AGENT_H_ -#define RVO3D_AGENT_H_ - /** - * @file Agent3d.h - * @brief Contains the Agent3D class. + * \file Agent.h + * \brief Contains the Agent class. */ +#ifndef RVO3D_AGENT_H_ +#define RVO3D_AGENT_H_ #include <cstddef> #include <cstdint> #include <utility> #include <vector> -#include "Plane.h" +#include "RVOSimulator3d.h" #include "Vector3.h" namespace RVO3D { -class RVOSimulator3D; - -/** - * @brief Defines an agent in the simulation. - */ -class Agent3D { - public: - /** - * @brief Constructs an agent instance. - * @param[in] sim The simulator instance. - */ - explicit Agent3D(); - - /** - * @brief Destroys this agent instance. - */ - ~Agent3D(); - - /** - * @brief Computes the neighbors of this agent. - */ - void computeNeighbors(RVOSimulator3D *sim_); - - /** - * @brief Computes the new velocity of this agent. - */ - void computeNewVelocity(RVOSimulator3D *sim_); - - /** - * @brief Inserts an agent neighbor into the set of neighbors of this - * agent. - * @param[in] agent A pointer to the agent to be inserted. - * @param[in] rangeSq The squared range around this agent. - */ - void insertAgentNeighbor(const Agent3D *agent, - float &rangeSq); /* NOLINT(runtime/references) */ - - /** - * @brief Updates the three-dimensional position and three-dimensional - * velocity of this agent. - */ - void update(RVOSimulator3D *sim_);; - - /* Not implemented. */ - Agent3D(const Agent3D &other); - - /* Not implemented. */ - Agent3D &operator=(const Agent3D &other); - - Vector3 newVelocity_; - Vector3 position_; - Vector3 prefVelocity_; - Vector3 velocity_; - RVOSimulator3D *sim_; - std::size_t id_; - std::size_t maxNeighbors_; - float maxSpeed_; - float neighborDist_; - float radius_; - float timeHorizon_; - float timeHorizonObst_; - std::vector<std::pair<float, const Agent3D *> > agentNeighbors_; - std::vector<Plane> orcaPlanes_; - float height_ = 1.0; - uint32_t avoidance_layers_ = 1; - uint32_t avoidance_mask_ = 1; - float avoidance_priority_ = 1.0; - - friend class KdTree3D; - friend class RVOSimulator3D; -}; -} /* namespace RVO3D */ + /** + * \brief Defines an agent in the simulation. + */ + class Agent3D { + public: + /** + * \brief Constructs an agent instance. + * \param sim The simulator instance. + */ + explicit Agent3D(); + + /** + * \brief Computes the neighbors of this agent. + */ + void computeNeighbors(RVOSimulator3D *sim_); + + /** + * \brief Computes the new velocity of this agent. + */ + void computeNewVelocity(RVOSimulator3D *sim_); + + /** + * \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 Agent3D *agent, float &rangeSq); + + /** + * \brief Updates the three-dimensional position and three-dimensional velocity of this agent. + */ + void update(RVOSimulator3D *sim_); + + Vector3 newVelocity_; + Vector3 position_; + Vector3 prefVelocity_; + Vector3 velocity_; + RVOSimulator3D *sim_; + size_t id_; + size_t maxNeighbors_; + float maxSpeed_; + float neighborDist_; + float radius_; + float timeHorizon_; + float timeHorizonObst_; + std::vector<std::pair<float, const Agent3D *> > agentNeighbors_; + std::vector<Plane> orcaPlanes_; + float height_ = 1.0; + uint32_t avoidance_layers_ = 1; + uint32_t avoidance_mask_ = 1; + float avoidance_priority_ = 1.0; + + friend class KdTree3D; + friend class RVOSimulator3D; + }; +} #endif /* RVO3D_AGENT_H_ */ |