mirror of
https://github.com/godotengine/godot.git
synced 2024-12-27 11:24:59 +08:00
107 lines
2.7 KiB
C++
107 lines
2.7 KiB
C++
/*
|
|
* 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_ */
|