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diff --git a/thirdparty/rvo2/rvo2_3d/RVOSimulator3d.cc b/thirdparty/rvo2/rvo2_3d/RVOSimulator3d.cc
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+++ b/thirdparty/rvo2/rvo2_3d/RVOSimulator3d.cc
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+/*
+ * RVOSimulator3d.cc
+ * RVO2-3D Library
+ *
+ * SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * 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
+ *
+ * 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
+ *
+ * <https://gamma.cs.unc.edu/RVO2/>
+ */
+
+#include "RVOSimulator3d.h"
+
+#include <utility>
+
+#ifdef _OPENMP
+#include <omp.h>
+#endif /* _OPENMP */
+
+#include "Agent3d.h"
+#include "KdTree3d.h"
+#include "Plane.h"
+
+namespace RVO3D {
+RVOSimulator3D::RVOSimulator3D()
+    : defaultAgent_(NULL),
+      kdTree_(new KdTree3D(this)),
+      globalTime_(0.0F),
+      timeStep_(0.0F) {}
+
+RVOSimulator3D::RVOSimulator3D(float timeStep, float neighborDist,
+                           std::size_t maxNeighbors, float timeHorizon,
+                           float radius, float maxSpeed,
+                           const Vector3 &velocity)
+    : defaultAgent_(new Agent3D()),
+      kdTree_(new KdTree3D(this)),
+      globalTime_(0.0F),
+      timeStep_(timeStep) {
+  defaultAgent_->maxNeighbors_ = maxNeighbors;
+  defaultAgent_->maxSpeed_ = maxSpeed;
+  defaultAgent_->neighborDist_ = neighborDist;
+  defaultAgent_->radius_ = radius;
+  defaultAgent_->timeHorizon_ = timeHorizon;
+  defaultAgent_->velocity_ = velocity;
+}
+
+RVOSimulator3D::~RVOSimulator3D() {
+  delete defaultAgent_;
+  delete kdTree_;
+
+  for (std::size_t i = 0U; i < agents_.size(); ++i) {
+    delete agents_[i];
+  }
+}
+
+std::size_t RVOSimulator3D::getAgentNumAgentNeighbors(std::size_t agentNo) const {
+  return agents_[agentNo]->agentNeighbors_.size();
+}
+
+std::size_t RVOSimulator3D::getAgentAgentNeighbor(std::size_t agentNo,
+                                                std::size_t neighborNo) const {
+  return agents_[agentNo]->agentNeighbors_[neighborNo].second->id_;
+}
+
+std::size_t RVOSimulator3D::getAgentNumORCAPlanes(std::size_t agentNo) const {
+  return agents_[agentNo]->orcaPlanes_.size();
+}
+
+const Plane &RVOSimulator3D::getAgentORCAPlane(std::size_t agentNo,
+                                             std::size_t planeNo) const {
+  return agents_[agentNo]->orcaPlanes_[planeNo];
+}
+
+void RVOSimulator3D::removeAgent(std::size_t agentNo) {
+  delete agents_[agentNo];
+  agents_[agentNo] = agents_.back();
+  agents_.pop_back();
+}
+
+std::size_t RVOSimulator3D::addAgent(const Vector3 &position) {
+  if (defaultAgent_ == NULL) {
+    return RVO3D_ERROR;
+  }
+
+  Agent3D *agent = new Agent3D();
+
+  agent->position_ = position;
+  agent->maxNeighbors_ = defaultAgent_->maxNeighbors_;
+  agent->maxSpeed_ = defaultAgent_->maxSpeed_;
+  agent->neighborDist_ = defaultAgent_->neighborDist_;
+  agent->radius_ = defaultAgent_->radius_;
+  agent->timeHorizon_ = defaultAgent_->timeHorizon_;
+  agent->velocity_ = defaultAgent_->velocity_;
+
+  agent->id_ = agents_.size();
+
+  agents_.push_back(agent);
+
+  return agents_.size() - 1U;
+}
+
+std::size_t RVOSimulator3D::addAgent(const Vector3 &position, float neighborDist,
+                                   std::size_t maxNeighbors, float timeHorizon,
+                                   float radius, float maxSpeed,
+                                   const Vector3 &velocity) {
+  Agent3D *agent = new Agent3D();
+
+  agent->position_ = position;
+  agent->maxNeighbors_ = maxNeighbors;
+  agent->maxSpeed_ = maxSpeed;
+  agent->neighborDist_ = neighborDist;
+  agent->radius_ = radius;
+  agent->timeHorizon_ = timeHorizon;
+  agent->velocity_ = velocity;
+
+  agent->id_ = agents_.size();
+
+  agents_.push_back(agent);
+
+  return agents_.size() - 1U;
+}
+
+void RVOSimulator3D::doStep() {
+  kdTree_->buildAgentTree(agents_);
+
+#ifdef _OPENMP
+#pragma omp parallel for
+#endif /* _OPENMP */
+  for (int i = 0; i < static_cast<int>(agents_.size()); ++i) {
+    agents_[i]->computeNeighbors(this);
+    agents_[i]->computeNewVelocity(this);
+  }
+
+#ifdef _OPENMP
+#pragma omp parallel for
+#endif /* _OPENMP */
+  for (int i = 0; i < static_cast<int>(agents_.size()); ++i) {
+    agents_[i]->update(this);
+  }
+
+  globalTime_ += timeStep_;
+}
+
+std::size_t RVOSimulator3D::getAgentMaxNeighbors(std::size_t agentNo) const {
+  return agents_[agentNo]->maxNeighbors_;
+}
+
+float RVOSimulator3D::getAgentMaxSpeed(std::size_t agentNo) const {
+  return agents_[agentNo]->maxSpeed_;
+}
+
+float RVOSimulator3D::getAgentNeighborDist(std::size_t agentNo) const {
+  return agents_[agentNo]->neighborDist_;
+}
+
+const Vector3 &RVOSimulator3D::getAgentPosition(std::size_t agentNo) const {
+  return agents_[agentNo]->position_;
+}
+
+const Vector3 &RVOSimulator3D::getAgentPrefVelocity(std::size_t agentNo) const {
+  return agents_[agentNo]->prefVelocity_;
+}
+
+float RVOSimulator3D::getAgentRadius(std::size_t agentNo) const {
+  return agents_[agentNo]->radius_;
+}
+
+float RVOSimulator3D::getAgentTimeHorizon(std::size_t agentNo) const {
+  return agents_[agentNo]->timeHorizon_;
+}
+
+const Vector3 &RVOSimulator3D::getAgentVelocity(std::size_t agentNo) const {
+  return agents_[agentNo]->velocity_;
+}
+
+void RVOSimulator3D::setAgentDefaults(float neighborDist,
+                                    std::size_t maxNeighbors, float timeHorizon,
+                                    float radius, float maxSpeed,
+                                    const Vector3 &velocity) {
+  if (defaultAgent_ == NULL) {
+    defaultAgent_ = new Agent3D();
+  }
+
+  defaultAgent_->maxNeighbors_ = maxNeighbors;
+  defaultAgent_->maxSpeed_ = maxSpeed;
+  defaultAgent_->neighborDist_ = neighborDist;
+  defaultAgent_->radius_ = radius;
+  defaultAgent_->timeHorizon_ = timeHorizon;
+  defaultAgent_->velocity_ = velocity;
+}
+
+void RVOSimulator3D::setAgentMaxNeighbors(std::size_t agentNo,
+                                        std::size_t maxNeighbors) {
+  agents_[agentNo]->maxNeighbors_ = maxNeighbors;
+}
+
+void RVOSimulator3D::setAgentMaxSpeed(std::size_t agentNo, float maxSpeed) {
+  agents_[agentNo]->maxSpeed_ = maxSpeed;
+}
+
+void RVOSimulator3D::setAgentNeighborDist(std::size_t agentNo,
+                                        float neighborDist) {
+  agents_[agentNo]->neighborDist_ = neighborDist;
+}
+
+void RVOSimulator3D::setAgentPosition(std::size_t agentNo,
+                                    const Vector3 &position) {
+  agents_[agentNo]->position_ = position;
+}
+
+void RVOSimulator3D::setAgentPrefVelocity(std::size_t agentNo,
+                                        const Vector3 &prefVelocity) {
+  agents_[agentNo]->prefVelocity_ = prefVelocity;
+}
+
+void RVOSimulator3D::setAgentRadius(std::size_t agentNo, float radius) {
+  agents_[agentNo]->radius_ = radius;
+}
+
+void RVOSimulator3D::setAgentTimeHorizon(std::size_t agentNo, float timeHorizon) {
+  agents_[agentNo]->timeHorizon_ = timeHorizon;
+}
+
+void RVOSimulator3D::setAgentVelocity(std::size_t agentNo,
+                                    const Vector3 &velocity) {
+  agents_[agentNo]->velocity_ = velocity;
+}
+} /* namespace RVO3D */