initial commit, 4.5 stable

thirdparty/rvo2/rvo2_2d/Agent2d.h

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+/*
+ * Agent2d.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_AGENT_H_
+#define RVO2D_AGENT_H_
+
+/**
+ * \file       Agent2d.h
+ * \brief      Contains the Agent class.
+ */
+
+#include "Definitions.h"
+#include "RVOSimulator2d.h"
+
+namespace RVO2D {
+	/**
+	 * \brief      Defines an agent in the simulation.
+	 */
+	class Agent2D {
+	public:
+		/**
+		 * \brief      Constructs an agent instance.
+		 * \param      sim             The simulator instance.
+		 */
+		explicit Agent2D();
+
+		/**
+		 * \brief      Computes the neighbors of this agent.
+		 */
+		void computeNeighbors(RVOSimulator2D *sim_);
+
+		/**
+		 * \brief      Computes the new velocity of this agent.
+		 */
+		void computeNewVelocity(RVOSimulator2D *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 Agent2D *agent, float &rangeSq);
+
+		/**
+		 * \brief      Inserts a static obstacle neighbor into the set of neighbors
+		 *             of this agent.
+		 * \param      obstacle        The number of the static obstacle to be
+		 *                             inserted.
+		 * \param      rangeSq         The squared range around this agent.
+		 */
+		void insertObstacleNeighbor(const Obstacle2D *obstacle, float rangeSq);
+
+		/**
+		 * \brief      Updates the two-dimensional position and two-dimensional
+		 *             velocity of this agent.
+		 */
+		void update(RVOSimulator2D *sim_);
+
+		std::vector<std::pair<float, const Agent2D *> > agentNeighbors_;
+		size_t maxNeighbors_;
+		float maxSpeed_;
+		float neighborDist_;
+		Vector2 newVelocity_;
+		std::vector<std::pair<float, const Obstacle2D *> > obstacleNeighbors_;
+		std::vector<Line> orcaLines_;
+		Vector2 position_;
+		Vector2 prefVelocity_;
+		float radius_;
+		float timeHorizon_;
+		float timeHorizonObst_;
+		Vector2 velocity_;
+		float height_ = 0.0;
+		float elevation_ = 0.0;
+		uint32_t avoidance_layers_ = 1;
+		uint32_t avoidance_mask_ = 1;
+		float avoidance_priority_ = 1.0;
+
+		size_t id_;
+
+		friend class KdTree2D;
+		friend class RVOSimulator2D;
+	};
+
+	/**
+	 * \relates    Agent
+	 * \brief      Solves a one-dimensional linear program on a specified line
+	 *             subject to linear constraints defined by lines and a circular
+	 *             constraint.
+	 * \param      lines         Lines defining the linear constraints.
+	 * \param      lineNo        The specified line constraint.
+	 * \param      radius        The radius of the circular constraint.
+	 * \param      optVelocity   The optimization velocity.
+	 * \param      directionOpt  True if the direction should be optimized.
+	 * \param      result        A reference to the result of the linear program.
+	 * \return     True if successful.
+	 */
+	bool linearProgram1(const std::vector<Line> &lines, size_t lineNo,
+						float radius, const Vector2 &optVelocity,
+						bool directionOpt, Vector2 &result);
+
+	/**
+	 * \relates    Agent
+	 * \brief      Solves a two-dimensional linear program subject to linear
+	 *             constraints defined by lines and a circular constraint.
+	 * \param      lines         Lines defining the linear constraints.
+	 * \param      radius        The radius of the circular constraint.
+	 * \param      optVelocity   The optimization velocity.
+	 * \param      directionOpt  True if the direction should be optimized.
+	 * \param      result        A reference to the result of the linear program.
+	 * \return     The number of the line it fails on, and the number of lines if successful.
+	 */
+	size_t linearProgram2(const std::vector<Line> &lines, float radius,
+						  const Vector2 &optVelocity, bool directionOpt,
+						  Vector2 &result);
+
+	/**
+	 * \relates    Agent
+	 * \brief      Solves a two-dimensional linear program subject to linear
+	 *             constraints defined by lines and a circular constraint.
+	 * \param      lines         Lines defining the linear constraints.
+	 * \param      numObstLines  Count of obstacle lines.
+	 * \param      beginLine     The line on which the 2-d linear program failed.
+	 * \param      radius        The radius of the circular constraint.
+	 * \param      result        A reference to the result of the linear program.
+	 */
+	void linearProgram3(const std::vector<Line> &lines, size_t numObstLines, size_t beginLine,
+						float radius, Vector2 &result);
+}
+
+#endif /* RVO2D_AGENT_H_ */