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/*
* 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_ */