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diff --git a/thirdparty/rvo2/rvo2_2d/RVOSimulator2d.h b/thirdparty/rvo2/rvo2_2d/RVOSimulator2d.h new file mode 100644 index 0000000000..e074e0fe0e --- /dev/null +++ b/thirdparty/rvo2/rvo2_2d/RVOSimulator2d.h @@ -0,0 +1,592 @@ +/* + * RVOSimulator2d.h + * 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/> + */ + +#ifndef RVO2D_RVO_SIMULATOR_H_ +#define RVO2D_RVO_SIMULATOR_H_ + +/** + * \file RVOSimulator2d.h + * \brief Contains the RVOSimulator2D class. + */ + +#include <cstddef> +#include <limits> +#include <vector> + +#include "Vector2.h" + +namespace RVO2D { + /** + * \brief Error value. + * + * A value equal to the largest unsigned integer that is returned in case + * of an error by functions in RVO2D::RVOSimulator2D. + */ + const size_t RVO2D_ERROR = std::numeric_limits<size_t>::max(); + + /** + * \brief Defines a directed line. + */ + class Line { + public: + /** + * \brief A point on the directed line. + */ + Vector2 point; + + /** + * \brief The direction of the directed line. + */ + Vector2 direction; + }; + + class Agent2D; + class KdTree2D; + class Obstacle2D; + + /** + * \brief Defines the simulation. + * + * The main class of the library that contains all simulation functionality. + */ + class RVOSimulator2D { + public: + /** + * \brief Constructs a simulator instance. + */ + RVOSimulator2D(); + + /** + * \brief Constructs a simulator instance and sets the default + * properties for any new agent that is added. + * \param timeStep The time step of the simulation. + * Must be positive. + * \param neighborDist The default maximum distance (center point + * to center point) to other agents a new agent + * takes into account in the navigation. The + * larger this number, the longer he running + * time of the simulation. If the number is too + * low, the simulation will not be safe. Must be + * non-negative. + * \param maxNeighbors The default maximum number of other agents a + * new agent takes into account in the + * navigation. The larger this number, the + * longer the running time of the simulation. + * If the number is too low, the simulation + * will not be safe. + * \param timeHorizon The default minimal amount of time for which + * a new agent's velocities that are computed + * by the simulation are safe with respect to + * other agents. The larger this number, the + * sooner an agent will respond to the presence + * of other agents, but the less freedom the + * agent has in choosing its velocities. + * Must be positive. + * \param timeHorizonObst The default minimal amount of time for which + * a new agent's velocities that are computed + * by the simulation are safe with respect to + * obstacles. The larger this number, the + * sooner an agent will respond to the presence + * of obstacles, but the less freedom the agent + * has in choosing its velocities. + * Must be positive. + * \param radius The default radius of a new agent. + * Must be non-negative. + * \param maxSpeed The default maximum speed of a new agent. + * Must be non-negative. + * \param velocity The default initial two-dimensional linear + * velocity of a new agent (optional). + */ + RVOSimulator2D(float timeStep, float neighborDist, size_t maxNeighbors, + float timeHorizon, float timeHorizonObst, float radius, + float maxSpeed, const Vector2 &velocity = Vector2()); + + /** + * \brief Destroys this simulator instance. + */ + ~RVOSimulator2D(); + + /** + * \brief Adds a new agent with default properties to the + * simulation. + * \param position The two-dimensional starting position of + * this agent. + * \return The number of the agent, or RVO2D::RVO2D_ERROR when the agent + * defaults have not been set. + */ + size_t addAgent(const Vector2 &position); + + /** + * \brief Adds a new agent to the simulation. + * \param position The two-dimensional starting position of + * this agent. + * \param neighborDist The maximum distance (center point to + * center point) to other agents this agent + * takes into account in the navigation. The + * larger this number, the longer the running + * time of the simulation. If the number is too + * low, the simulation will not be safe. + * Must be non-negative. + * \param maxNeighbors The maximum number of other agents this + * agent takes into account in the navigation. + * The larger this number, the longer the + * running time of the simulation. If the + * number is too low, the simulation will not + * be safe. + * \param timeHorizon The minimal amount of time for which this + * agent's velocities that are computed by the + * simulation are safe with respect to other + * agents. The larger this number, the sooner + * this agent will respond to the presence of + * other agents, but the less freedom this + * agent has in choosing its velocities. + * Must be positive. + * \param timeHorizonObst The minimal amount of time for which this + * agent's velocities that are computed by the + * simulation are safe with respect to + * obstacles. The larger this number, the + * sooner this agent will respond to the + * presence of obstacles, but the less freedom + * this agent has in choosing its velocities. + * Must be positive. + * \param radius The radius of this agent. + * Must be non-negative. + * \param maxSpeed The maximum speed of this agent. + * Must be non-negative. + * \param velocity The initial two-dimensional linear velocity + * of this agent (optional). + * \return The number of the agent. + */ + size_t addAgent(const Vector2 &position, float neighborDist, + size_t maxNeighbors, float timeHorizon, + float timeHorizonObst, float radius, float maxSpeed, + const Vector2 &velocity = Vector2()); + + /** + * \brief Adds a new obstacle to the simulation. + * \param vertices List of the vertices of the polygonal + * obstacle in counterclockwise order. + * \return The number of the first vertex of the obstacle, + * or RVO2D::RVO2D_ERROR when the number of vertices is less than two. + * \note To add a "negative" obstacle, e.g. a bounding polygon around + * the environment, the vertices should be listed in clockwise + * order. + */ + size_t addObstacle(const std::vector<Vector2> &vertices); + + /** + * \brief Lets the simulator perform a simulation step and updates the + * two-dimensional position and two-dimensional velocity of + * each agent. + */ + void doStep(); + + /** + * \brief Returns the specified agent neighbor of the specified + * agent. + * \param agentNo The number of the agent whose agent + * neighbor is to be retrieved. + * \param neighborNo The number of the agent neighbor to be + * retrieved. + * \return The number of the neighboring agent. + */ + size_t getAgentAgentNeighbor(size_t agentNo, size_t neighborNo) const; + + /** + * \brief Returns the maximum neighbor count of a specified agent. + * \param agentNo The number of the agent whose maximum + * neighbor count is to be retrieved. + * \return The present maximum neighbor count of the agent. + */ + size_t getAgentMaxNeighbors(size_t agentNo) const; + + /** + * \brief Returns the maximum speed of a specified agent. + * \param agentNo The number of the agent whose maximum speed + * is to be retrieved. + * \return The present maximum speed of the agent. + */ + float getAgentMaxSpeed(size_t agentNo) const; + + /** + * \brief Returns the maximum neighbor distance of a specified + * agent. + * \param agentNo The number of the agent whose maximum + * neighbor distance is to be retrieved. + * \return The present maximum neighbor distance of the agent. + */ + float getAgentNeighborDist(size_t agentNo) const; + + /** + * \brief Returns the count of agent neighbors taken into account to + * compute the current velocity for the specified agent. + * \param agentNo The number of the agent whose count of agent + * neighbors is to be retrieved. + * \return The count of agent neighbors taken into account to compute + * the current velocity for the specified agent. + */ + size_t getAgentNumAgentNeighbors(size_t agentNo) const; + + /** + * \brief Returns the count of obstacle neighbors taken into account + * to compute the current velocity for the specified agent. + * \param agentNo The number of the agent whose count of + * obstacle neighbors is to be retrieved. + * \return The count of obstacle neighbors taken into account to + * compute the current velocity for the specified agent. + */ + size_t getAgentNumObstacleNeighbors(size_t agentNo) const; + + + /** + * \brief Returns the count of ORCA constraints used to compute + * the current velocity for the specified agent. + * \param agentNo The number of the agent whose count of ORCA + * constraints is to be retrieved. + * \return The count of ORCA constraints used to compute the current + * velocity for the specified agent. + */ + size_t getAgentNumORCALines(size_t agentNo) const; + + /** + * \brief Returns the specified obstacle neighbor of the specified + * agent. + * \param agentNo The number of the agent whose obstacle + * neighbor is to be retrieved. + * \param neighborNo The number of the obstacle neighbor to be + * retrieved. + * \return The number of the first vertex of the neighboring obstacle + * edge. + */ + size_t getAgentObstacleNeighbor(size_t agentNo, size_t neighborNo) const; + + /** + * \brief Returns the specified ORCA constraint of the specified + * agent. + * \param agentNo The number of the agent whose ORCA + * constraint is to be retrieved. + * \param lineNo The number of the ORCA constraint to be + * retrieved. + * \return A line representing the specified ORCA constraint. + * \note The halfplane to the left of the line is the region of + * permissible velocities with respect to the specified + * ORCA constraint. + */ + const Line &getAgentORCALine(size_t agentNo, size_t lineNo) const; + + /** + * \brief Returns the two-dimensional position of a specified + * agent. + * \param agentNo The number of the agent whose + * two-dimensional position is to be retrieved. + * \return The present two-dimensional position of the (center of the) + * agent. + */ + const Vector2 &getAgentPosition(size_t agentNo) const; + + /** + * \brief Returns the two-dimensional preferred velocity of a + * specified agent. + * \param agentNo The number of the agent whose + * two-dimensional preferred velocity is to be + * retrieved. + * \return The present two-dimensional preferred velocity of the agent. + */ + const Vector2 &getAgentPrefVelocity(size_t agentNo) const; + + /** + * \brief Returns the radius of a specified agent. + * \param agentNo The number of the agent whose radius is to + * be retrieved. + * \return The present radius of the agent. + */ + float getAgentRadius(size_t agentNo) const; + + /** + * \brief Returns the time horizon of a specified agent. + * \param agentNo The number of the agent whose time horizon + * is to be retrieved. + * \return The present time horizon of the agent. + */ + float getAgentTimeHorizon(size_t agentNo) const; + + /** + * \brief Returns the time horizon with respect to obstacles of a + * specified agent. + * \param agentNo The number of the agent whose time horizon + * with respect to obstacles is to be + * retrieved. + * \return The present time horizon with respect to obstacles of the + * agent. + */ + float getAgentTimeHorizonObst(size_t agentNo) const; + + /** + * \brief Returns the two-dimensional linear velocity of a + * specified agent. + * \param agentNo The number of the agent whose + * two-dimensional linear velocity is to be + * retrieved. + * \return The present two-dimensional linear velocity of the agent. + */ + const Vector2 &getAgentVelocity(size_t agentNo) const; + + /** + * \brief Returns the global time of the simulation. + * \return The present global time of the simulation (zero initially). + */ + float getGlobalTime() const; + + /** + * \brief Returns the count of agents in the simulation. + * \return The count of agents in the simulation. + */ + size_t getNumAgents() const; + + /** + * \brief Returns the count of obstacle vertices in the simulation. + * \return The count of obstacle vertices in the simulation. + */ + size_t getNumObstacleVertices() const; + + /** + * \brief Returns the two-dimensional position of a specified obstacle + * vertex. + * \param vertexNo The number of the obstacle vertex to be + * retrieved. + * \return The two-dimensional position of the specified obstacle + * vertex. + */ + const Vector2 &getObstacleVertex(size_t vertexNo) const; + + /** + * \brief Returns the number of the obstacle vertex succeeding the + * specified obstacle vertex in its polygon. + * \param vertexNo The number of the obstacle vertex whose + * successor is to be retrieved. + * \return The number of the obstacle vertex succeeding the specified + * obstacle vertex in its polygon. + */ + size_t getNextObstacleVertexNo(size_t vertexNo) const; + + /** + * \brief Returns the number of the obstacle vertex preceding the + * specified obstacle vertex in its polygon. + * \param vertexNo The number of the obstacle vertex whose + * predecessor is to be retrieved. + * \return The number of the obstacle vertex preceding the specified + * obstacle vertex in its polygon. + */ + size_t getPrevObstacleVertexNo(size_t vertexNo) const; + + /** + * \brief Returns the time step of the simulation. + * \return The present time step of the simulation. + */ + float getTimeStep() const; + + /** + * \brief Processes the obstacles that have been added so that they + * are accounted for in the simulation. + * \note Obstacles added to the simulation after this function has + * been called are not accounted for in the simulation. + */ + void processObstacles(); + + /** + * \brief Performs a visibility query between the two specified + * points with respect to the obstacles + * \param point1 The first point of the query. + * \param point2 The second point of the query. + * \param radius The minimal distance between the line + * connecting the two points and the obstacles + * in order for the points to be mutually + * visible (optional). Must be non-negative. + * \return A boolean specifying whether the two points are mutually + * visible. Returns true when the obstacles have not been + * processed. + */ + bool queryVisibility(const Vector2 &point1, const Vector2 &point2, + float radius = 0.0f) const; + + /** + * \brief Sets the default properties for any new agent that is + * added. + * \param neighborDist The default maximum distance (center point + * to center point) to other agents a new agent + * takes into account in the navigation. The + * larger this number, the longer he running + * time of the simulation. If the number is too + * low, the simulation will not be safe. + * Must be non-negative. + * \param maxNeighbors The default maximum number of other agents a + * new agent takes into account in the + * navigation. The larger this number, the + * longer the running time of the simulation. + * If the number is too low, the simulation + * will not be safe. + * \param timeHorizon The default minimal amount of time for which + * a new agent's velocities that are computed + * by the simulation are safe with respect to + * other agents. The larger this number, the + * sooner an agent will respond to the presence + * of other agents, but the less freedom the + * agent has in choosing its velocities. + * Must be positive. + * \param timeHorizonObst The default minimal amount of time for which + * a new agent's velocities that are computed + * by the simulation are safe with respect to + * obstacles. The larger this number, the + * sooner an agent will respond to the presence + * of obstacles, but the less freedom the agent + * has in choosing its velocities. + * Must be positive. + * \param radius The default radius of a new agent. + * Must be non-negative. + * \param maxSpeed The default maximum speed of a new agent. + * Must be non-negative. + * \param velocity The default initial two-dimensional linear + * velocity of a new agent (optional). + */ + void setAgentDefaults(float neighborDist, size_t maxNeighbors, + float timeHorizon, float timeHorizonObst, + float radius, float maxSpeed, + const Vector2 &velocity = Vector2()); + + /** + * \brief Sets the maximum neighbor count of a specified agent. + * \param agentNo The number of the agent whose maximum + * neighbor count is to be modified. + * \param maxNeighbors The replacement maximum neighbor count. + */ + void setAgentMaxNeighbors(size_t agentNo, size_t maxNeighbors); + + /** + * \brief Sets the maximum speed of a specified agent. + * \param agentNo The number of the agent whose maximum speed + * is to be modified. + * \param maxSpeed The replacement maximum speed. Must be + * non-negative. + */ + void setAgentMaxSpeed(size_t agentNo, float maxSpeed); + + /** + * \brief Sets the maximum neighbor distance of a specified agent. + * \param agentNo The number of the agent whose maximum + * neighbor distance is to be modified. + * \param neighborDist The replacement maximum neighbor distance. + * Must be non-negative. + */ + void setAgentNeighborDist(size_t agentNo, float neighborDist); + + /** + * \brief Sets the two-dimensional position of a specified agent. + * \param agentNo The number of the agent whose + * two-dimensional position is to be modified. + * \param position The replacement of the two-dimensional + * position. + */ + void setAgentPosition(size_t agentNo, const Vector2 &position); + + /** + * \brief Sets the two-dimensional preferred velocity of a + * specified agent. + * \param agentNo The number of the agent whose + * two-dimensional preferred velocity is to be + * modified. + * \param prefVelocity The replacement of the two-dimensional + * preferred velocity. + */ + void setAgentPrefVelocity(size_t agentNo, const Vector2 &prefVelocity); + + /** + * \brief Sets the radius of a specified agent. + * \param agentNo The number of the agent whose radius is to + * be modified. + * \param radius The replacement radius. + * Must be non-negative. + */ + void setAgentRadius(size_t agentNo, float radius); + + /** + * \brief Sets the time horizon of a specified agent with respect + * to other agents. + * \param agentNo The number of the agent whose time horizon + * is to be modified. + * \param timeHorizon The replacement time horizon with respect + * to other agents. Must be positive. + */ + void setAgentTimeHorizon(size_t agentNo, float timeHorizon); + + /** + * \brief Sets the time horizon of a specified agent with respect + * to obstacles. + * \param agentNo The number of the agent whose time horizon + * with respect to obstacles is to be modified. + * \param timeHorizonObst The replacement time horizon with respect to + * obstacles. Must be positive. + */ + void setAgentTimeHorizonObst(size_t agentNo, float timeHorizonObst); + + /** + * \brief Sets the two-dimensional linear velocity of a specified + * agent. + * \param agentNo The number of the agent whose + * two-dimensional linear velocity is to be + * modified. + * \param velocity The replacement two-dimensional linear + * velocity. + */ + void setAgentVelocity(size_t agentNo, const Vector2 &velocity); + + /** + * \brief Sets the time step of the simulation. + * \param timeStep The time step of the simulation. + * Must be positive. + */ + void setTimeStep(float timeStep); + + public: + std::vector<Agent2D *> agents_; + Agent2D *defaultAgent_; + float globalTime_; + KdTree2D *kdTree_; + std::vector<Obstacle2D *> obstacles_; + float timeStep_; + + friend class Agent2D; + friend class KdTree2D; + friend class Obstacle2D; + }; +} + +#endif /* RVO2D_RVO_SIMULATOR_H_ */ |