initial commit, 4.5 stable

thirdparty/rvo2/rvo2_3d/Agent3d.h

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+/*
+ * Agent.h
+ * RVO2-3D 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/>
+ */
+
+/**
+ * \file    Agent.h
+ * \brief   Contains the Agent class.
+ */
+#ifndef RVO3D_AGENT_H_
+#define RVO3D_AGENT_H_
+
+#include <cstddef>
+#include <cstdint>
+#include <utility>
+#include <vector>
+
+#include "RVOSimulator3d.h"
+#include "Vector3.h"
+
+namespace RVO3D {
+	/**
+	 * \brief   Defines an agent in the simulation.
+	 */
+	class Agent3D {
+	public:
+		/**
+		 * \brief   Constructs an agent instance.
+		 * \param   sim  The simulator instance.
+		 */
+		explicit Agent3D();
+
+		/**
+		 * \brief   Computes the neighbors of this agent.
+		 */
+		void computeNeighbors(RVOSimulator3D *sim_);
+
+		/**
+		 * \brief   Computes the new velocity of this agent.
+		 */
+		void computeNewVelocity(RVOSimulator3D *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 Agent3D *agent, float &rangeSq);
+
+		/**
+		 * \brief   Updates the three-dimensional position and three-dimensional velocity of this agent.
+		 */
+		void update(RVOSimulator3D *sim_);
+
+		Vector3 newVelocity_;
+		Vector3 position_;
+		Vector3 prefVelocity_;
+		Vector3 velocity_;
+		RVOSimulator3D *sim_;
+		size_t id_;
+		size_t maxNeighbors_;
+		float maxSpeed_;
+		float neighborDist_;
+		float radius_;
+		float timeHorizon_;
+		float timeHorizonObst_;
+		std::vector<std::pair<float, const Agent3D *> > agentNeighbors_;
+		std::vector<Plane> orcaPlanes_;
+		float height_ = 1.0;
+		uint32_t avoidance_layers_ = 1;
+		uint32_t avoidance_mask_ = 1;
+		float avoidance_priority_ = 1.0;
+
+		friend class KdTree3D;
+		friend class RVOSimulator3D;
+	};
+}
+
+#endif /* RVO3D_AGENT_H_ */