1 files changed, 0 insertions, 363 deletions
diff --git a/thirdparty/rvo2/rvo2_2d/RVOSimulator2d.cpp b/thirdparty/rvo2/rvo2_2d/RVOSimulator2d.cpp
deleted file mode 100644
index 9fb1555ebc..0000000000
--- a/thirdparty/rvo2/rvo2_2d/RVOSimulator2d.cpp
+++ /dev/null
@@ -1,363 +0,0 @@
-/*
- * RVOSimulator2d.cpp
- * RVO2 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/>
- */
-
-#include "RVOSimulator2d.h"
-
-#include "Agent2d.h"
-#include "KdTree2d.h"
-#include "Obstacle2d.h"
-
-#ifdef _OPENMP
-#include <omp.h>
-#endif
-
-namespace RVO2D {
-	RVOSimulator2D::RVOSimulator2D() : defaultAgent_(NULL), globalTime_(0.0f), kdTree_(NULL), timeStep_(0.0f)
-	{
-		kdTree_ = new KdTree2D(this);
-	}
-
-	RVOSimulator2D::RVOSimulator2D(float timeStep, float neighborDist, size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity) : defaultAgent_(NULL), globalTime_(0.0f), kdTree_(NULL), timeStep_(timeStep)
-	{
-		kdTree_ = new KdTree2D(this);
-		defaultAgent_ = new Agent2D();
-
-		defaultAgent_->maxNeighbors_ = maxNeighbors;
-		defaultAgent_->maxSpeed_ = maxSpeed;
-		defaultAgent_->neighborDist_ = neighborDist;
-		defaultAgent_->radius_ = radius;
-		defaultAgent_->timeHorizon_ = timeHorizon;
-		defaultAgent_->timeHorizonObst_ = timeHorizonObst;
-		defaultAgent_->velocity_ = velocity;
-	}
-
-	RVOSimulator2D::~RVOSimulator2D()
-	{
-		if (defaultAgent_ != NULL) {
-			delete defaultAgent_;
-		}
-
-		for (size_t i = 0; i < agents_.size(); ++i) {
-			delete agents_[i];
-		}
-
-		for (size_t i = 0; i < obstacles_.size(); ++i) {
-			delete obstacles_[i];
-		}
-
-		delete kdTree_;
-	}
-
-	size_t RVOSimulator2D::addAgent(const Vector2 &position)
-	{
-		if (defaultAgent_ == NULL) {
-			return RVO2D_ERROR;
-		}
-
-		Agent2D *agent = new Agent2D();
-
-		agent->position_ = position;
-		agent->maxNeighbors_ = defaultAgent_->maxNeighbors_;
-		agent->maxSpeed_ = defaultAgent_->maxSpeed_;
-		agent->neighborDist_ = defaultAgent_->neighborDist_;
-		agent->radius_ = defaultAgent_->radius_;
-		agent->timeHorizon_ = defaultAgent_->timeHorizon_;
-		agent->timeHorizonObst_ = defaultAgent_->timeHorizonObst_;
-		agent->velocity_ = defaultAgent_->velocity_;
-
-		agent->id_ = agents_.size();
-
-		agents_.push_back(agent);
-
-		return agents_.size() - 1;
-	}
-
-	size_t RVOSimulator2D::addAgent(const Vector2 &position, float neighborDist, size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity)
-	{
-		Agent2D *agent = new Agent2D();
-
-		agent->position_ = position;
-		agent->maxNeighbors_ = maxNeighbors;
-		agent->maxSpeed_ = maxSpeed;
-		agent->neighborDist_ = neighborDist;
-		agent->radius_ = radius;
-		agent->timeHorizon_ = timeHorizon;
-		agent->timeHorizonObst_ = timeHorizonObst;
-		agent->velocity_ = velocity;
-
-		agent->id_ = agents_.size();
-
-		agents_.push_back(agent);
-
-		return agents_.size() - 1;
-	}
-
-	size_t RVOSimulator2D::addObstacle(const std::vector<Vector2> &vertices)
-	{
-		if (vertices.size() < 2) {
-			return RVO2D_ERROR;
-		}
-
-		const size_t obstacleNo = obstacles_.size();
-
-		for (size_t i = 0; i < vertices.size(); ++i) {
-			Obstacle2D *obstacle = new Obstacle2D();
-			obstacle->point_ = vertices[i];
-
-			if (i != 0) {
-				obstacle->prevObstacle_ = obstacles_.back();
-				obstacle->prevObstacle_->nextObstacle_ = obstacle;
-			}
-
-			if (i == vertices.size() - 1) {
-				obstacle->nextObstacle_ = obstacles_[obstacleNo];
-				obstacle->nextObstacle_->prevObstacle_ = obstacle;
-			}
-
-			obstacle->unitDir_ = normalize(vertices[(i == vertices.size() - 1 ? 0 : i + 1)] - vertices[i]);
-
-			if (vertices.size() == 2) {
-				obstacle->isConvex_ = true;
-			}
-			else {
-				obstacle->isConvex_ = (leftOf(vertices[(i == 0 ? vertices.size() - 1 : i - 1)], vertices[i], vertices[(i == vertices.size() - 1 ? 0 : i + 1)]) >= 0.0f);
-			}
-
-			obstacle->id_ = obstacles_.size();
-
-			obstacles_.push_back(obstacle);
-		}
-
-		return obstacleNo;
-	}
-
-	void RVOSimulator2D::doStep()
-	{
-		kdTree_->buildAgentTree(agents_);
-
-		for (int i = 0; i < static_cast<int>(agents_.size()); ++i) {
-			agents_[i]->computeNeighbors(this);
-			agents_[i]->computeNewVelocity(this);
-		}
-
-		for (int i = 0; i < static_cast<int>(agents_.size()); ++i) {
-			agents_[i]->update(this);
-		}
-
-		globalTime_ += timeStep_;
-	}
-
-	size_t RVOSimulator2D::getAgentAgentNeighbor(size_t agentNo, size_t neighborNo) const
-	{
-		return agents_[agentNo]->agentNeighbors_[neighborNo].second->id_;
-	}
-
-	size_t RVOSimulator2D::getAgentMaxNeighbors(size_t agentNo) const
-	{
-		return agents_[agentNo]->maxNeighbors_;
-	}
-
-	float RVOSimulator2D::getAgentMaxSpeed(size_t agentNo) const
-	{
-		return agents_[agentNo]->maxSpeed_;
-	}
-
-	float RVOSimulator2D::getAgentNeighborDist(size_t agentNo) const
-	{
-		return agents_[agentNo]->neighborDist_;
-	}
-
-	size_t RVOSimulator2D::getAgentNumAgentNeighbors(size_t agentNo) const
-	{
-		return agents_[agentNo]->agentNeighbors_.size();
-	}
-
-	size_t RVOSimulator2D::getAgentNumObstacleNeighbors(size_t agentNo) const
-	{
-		return agents_[agentNo]->obstacleNeighbors_.size();
-	}
-
-	size_t RVOSimulator2D::getAgentNumORCALines(size_t agentNo) const
-	{
-		return agents_[agentNo]->orcaLines_.size();
-	}
-
-	size_t RVOSimulator2D::getAgentObstacleNeighbor(size_t agentNo, size_t neighborNo) const
-	{
-		return agents_[agentNo]->obstacleNeighbors_[neighborNo].second->id_;
-	}
-
-	const Line &RVOSimulator2D::getAgentORCALine(size_t agentNo, size_t lineNo) const
-	{
-		return agents_[agentNo]->orcaLines_[lineNo];
-	}
-
-	const Vector2 &RVOSimulator2D::getAgentPosition(size_t agentNo) const
-	{
-		return agents_[agentNo]->position_;
-	}
-
-	const Vector2 &RVOSimulator2D::getAgentPrefVelocity(size_t agentNo) const
-	{
-		return agents_[agentNo]->prefVelocity_;
-	}
-
-	float RVOSimulator2D::getAgentRadius(size_t agentNo) const
-	{
-		return agents_[agentNo]->radius_;
-	}
-
-	float RVOSimulator2D::getAgentTimeHorizon(size_t agentNo) const
-	{
-		return agents_[agentNo]->timeHorizon_;
-	}
-
-	float RVOSimulator2D::getAgentTimeHorizonObst(size_t agentNo) const
-	{
-		return agents_[agentNo]->timeHorizonObst_;
-	}
-
-	const Vector2 &RVOSimulator2D::getAgentVelocity(size_t agentNo) const
-	{
-		return agents_[agentNo]->velocity_;
-	}
-
-	float RVOSimulator2D::getGlobalTime() const
-	{
-		return globalTime_;
-	}
-
-	size_t RVOSimulator2D::getNumAgents() const
-	{
-		return agents_.size();
-	}
-
-	size_t RVOSimulator2D::getNumObstacleVertices() const
-	{
-		return obstacles_.size();
-	}
-
-	const Vector2 &RVOSimulator2D::getObstacleVertex(size_t vertexNo) const
-	{
-		return obstacles_[vertexNo]->point_;
-	}
-
-	size_t RVOSimulator2D::getNextObstacleVertexNo(size_t vertexNo) const
-	{
-		return obstacles_[vertexNo]->nextObstacle_->id_;
-	}
-
-	size_t RVOSimulator2D::getPrevObstacleVertexNo(size_t vertexNo) const
-	{
-		return obstacles_[vertexNo]->prevObstacle_->id_;
-	}
-
-	float RVOSimulator2D::getTimeStep() const
-	{
-		return timeStep_;
-	}
-
-	void RVOSimulator2D::processObstacles()
-	{
-		kdTree_->buildObstacleTree(obstacles_);
-	}
-
-	bool RVOSimulator2D::queryVisibility(const Vector2 &point1, const Vector2 &point2, float radius) const
-	{
-		return kdTree_->queryVisibility(point1, point2, radius);
-	}
-
-	void RVOSimulator2D::setAgentDefaults(float neighborDist, size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity)
-	{
-		if (defaultAgent_ == NULL) {
-			defaultAgent_ = new Agent2D();
-		}
-
-		defaultAgent_->maxNeighbors_ = maxNeighbors;
-		defaultAgent_->maxSpeed_ = maxSpeed;
-		defaultAgent_->neighborDist_ = neighborDist;
-		defaultAgent_->radius_ = radius;
-		defaultAgent_->timeHorizon_ = timeHorizon;
-		defaultAgent_->timeHorizonObst_ = timeHorizonObst;
-		defaultAgent_->velocity_ = velocity;
-	}
-
-	void RVOSimulator2D::setAgentMaxNeighbors(size_t agentNo, size_t maxNeighbors)
-	{
-		agents_[agentNo]->maxNeighbors_ = maxNeighbors;
-	}
-
-	void RVOSimulator2D::setAgentMaxSpeed(size_t agentNo, float maxSpeed)
-	{
-		agents_[agentNo]->maxSpeed_ = maxSpeed;
-	}
-
-	void RVOSimulator2D::setAgentNeighborDist(size_t agentNo, float neighborDist)
-	{
-		agents_[agentNo]->neighborDist_ = neighborDist;
-	}
-
-	void RVOSimulator2D::setAgentPosition(size_t agentNo, const Vector2 &position)
-	{
-		agents_[agentNo]->position_ = position;
-	}
-
-	void RVOSimulator2D::setAgentPrefVelocity(size_t agentNo, const Vector2 &prefVelocity)
-	{
-		agents_[agentNo]->prefVelocity_ = prefVelocity;
-	}
-
-	void RVOSimulator2D::setAgentRadius(size_t agentNo, float radius)
-	{
-		agents_[agentNo]->radius_ = radius;
-	}
-
-	void RVOSimulator2D::setAgentTimeHorizon(size_t agentNo, float timeHorizon)
-	{
-		agents_[agentNo]->timeHorizon_ = timeHorizon;
-	}
-
-	void RVOSimulator2D::setAgentTimeHorizonObst(size_t agentNo, float timeHorizonObst)
-	{
-		agents_[agentNo]->timeHorizonObst_ = timeHorizonObst;
-	}
-
-	void RVOSimulator2D::setAgentVelocity(size_t agentNo, const Vector2 &velocity)
-	{
-		agents_[agentNo]->velocity_ = velocity;
-	}
-
-	void RVOSimulator2D::setTimeStep(float timeStep)
-	{
-		timeStep_ = timeStep;
-	}
-}