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/*
* Obstacle2d.h
* RVO2 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/>
*/
#ifndef RVO2D_OBSTACLE_H_
#define RVO2D_OBSTACLE_H_
/**
* @file Obstacle2d.h
* @brief Declares the Obstacle2D class.
*/
#include <cstddef>
#include <cstdint>
#include "Vector2.h"
namespace RVO2D {
/**
* @brief Defines static obstacles in the simulation.
*/
class Obstacle2D {
public:
/**
* @brief Constructs a static obstacle instance.
*/
Obstacle2D();
/**
* @brief Destroys this static obstacle instance.
*/
~Obstacle2D();
/* Not implemented. */
Obstacle2D(const Obstacle2D &other);
/* Not implemented. */
Obstacle2D &operator=(const Obstacle2D &other);
Vector2 direction_;
Vector2 point_;
Obstacle2D *next_;
Obstacle2D *previous_;
std::size_t id_;
bool isConvex_;
float height_ = 1.0;
float elevation_ = 0.0;
uint32_t avoidance_layers_ = 1;
friend class Agent2D;
friend class KdTree2D;
friend class RVOSimulator2D;
};
} /* namespace RVO2D */
#endif /* RVO2D_OBSTACLE_H_ */
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