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rvo2: Re-sync with upstream, properly document Godot-specific changes

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Still tracking the `v1.0.1` tag for now, just reverting all the unnecessary
style changes that created a diff with upstream.

(cherry picked from commit 6c78170d8c)
This commit is contained in:
Rémi Verschelde 2022-05-18 14:21:02 +02:00
parent e88fb37e86
commit e317b7efbb
7 changed files with 804 additions and 471 deletions
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4
thirdparty/README.md vendored
View file

@ -505,12 +505,12 @@ Files extracted from upstream source:
Files extracted from upstream source:
- All .cpp and .h files in the `src/` folder except for RVO.h, RVOSimulator.cpp and RVOSimulator.h
- All .cpp and .h files in the `src/` folder except for Export.h, RVO.h, RVOSimulator.cpp and RVOSimulator.h
- LICENSE
Important: Some files have Godot-made changes; so to enrich the features
originally proposed by this library and better integrate this library with
Godot. Please check the file to know what's new.
Godot. See the patch in the `patches` folder for details.
## squish

2
thirdparty/rvo2/API.h vendored
View file

@ -38,8 +38,6 @@
#ifndef RVO_API_H_
#define RVO_API_H_
// -- GODOT start --
#define RVO_API
// -- GODOT end --
#endif /* RVO_API_H_ */

112
thirdparty/rvo2/Agent.cpp vendored
View file

@ -32,23 +32,23 @@
#include "Agent.h"
#include <algorithm>
#include <cmath>
#include <algorithm>
#include "Definitions.h"
#include "KdTree.h"
namespace RVO {
/**
/**
* \brief A sufficiently small positive number.
*/
const float RVO_EPSILON = 0.00001f;
const float RVO_EPSILON = 0.00001f;
/**
/**
* \brief Defines a directed line.
*/
class Line {
public:
class Line {
public:
/**
* \brief The direction of the directed line.
*/
@ -58,9 +58,9 @@ public:
* \brief A point on the directed line.
*/
Vector3 point;
};
};
/**
/**
* \brief Solves a one-dimensional linear program on a specified line subject to linear constraints defined by planes and a spherical constraint.
* \param planes Planes defining the linear constraints.
* \param planeNo The plane on which the line lies.
@ -71,9 +71,9 @@ public:
* \param result A reference to the result of the linear program.
* \return True if successful.
*/
bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result);
bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result);
/**
/**
* \brief Solves a two-dimensional linear program on a specified plane subject to linear constraints defined by planes and a spherical constraint.
* \param planes Planes defining the linear constraints.
* \param planeNo The plane on which the 2-d linear program is solved
@ -83,9 +83,9 @@ bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line
* \param result A reference to the result of the linear program.
* \return True if successful.
*/
bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result);
bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result);
/**
/**
* \brief Solves a three-dimensional linear program subject to linear constraints defined by planes and a spherical constraint.
* \param planes Planes defining the linear constraints.
* \param radius The radius of the spherical constraint.
@ -94,29 +94,29 @@ bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radi
* \param result A reference to the result of the linear program.
* \return The number of the plane it fails on, and the number of planes if successful.
*/
size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result);
size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result);
/**
/**
* \brief Solves a four-dimensional linear program subject to linear constraints defined by planes and a spherical constraint.
* \param planes Planes defining the linear constraints.
* \param beginPlane The plane on which the 3-d linear program failed.
* \param radius The radius of the spherical constraint.
* \param result A reference to the result of the linear program.
*/
void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result);
void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result);
Agent::Agent() :
id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f), ignore_y_(false) {}
Agent::Agent() : id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f), ignore_y_(false) { }
void Agent::computeNeighbors(KdTree *kdTree_) {
void Agent::computeNeighbors(KdTree *kdTree_)
{
agentNeighbors_.clear();
if (maxNeighbors_ > 0) {
kdTree_->computeAgentNeighbors(this, neighborDist_ * neighborDist_);
}
}
}
#define ABS(m_v) (((m_v) < 0) ? (-(m_v)) : (m_v))
void Agent::computeNewVelocity(float timeStep) {
void Agent::computeNewVelocity(float timeStep)
{
orcaPlanes_.clear();
const float invTimeHorizon = 1.0f / timeHorizon_;
@ -132,6 +132,7 @@ void Agent::computeNewVelocity(float timeStep) {
// by moving only on the horizontal plane relative to the player velocity.
if (ignore_y_) {
// Skip if these are in two different heights
#define ABS(m_v) (((m_v) < 0) ? (-(m_v)) : (m_v))
if (ABS(relativePosition[1]) > combinedRadius * 2) {
continue;
}
@ -160,7 +161,8 @@ void Agent::computeNewVelocity(float timeStep) {
plane.normal = unitW;
u = (combinedRadius * invTimeHorizon - wLength) * unitW;
} else {
}
else {
/* Project on cone. */
const float a = distSq;
const float b = relativePosition * relativeVelocity;
@ -173,7 +175,8 @@ void Agent::computeNewVelocity(float timeStep) {
plane.normal = unitW;
u = (combinedRadius * t - wLength) * unitW;
}
} else {
}
else {
/* Collision. */
const float invTimeStep = 1.0f / timeStep;
const Vector3 w = relativeVelocity - invTimeStep * relativePosition;
@ -198,9 +201,10 @@ void Agent::computeNewVelocity(float timeStep) {
// Not 100% necessary, but better to have.
newVelocity_[1] = prefVelocity_[1];
}
}
}
void Agent::insertAgentNeighbor(const Agent *agent, float &rangeSq) {
void Agent::insertAgentNeighbor(const Agent *agent, float &rangeSq)
{
if (this != agent) {
const float distSq = absSq(position_ - agent->position_);
@ -223,9 +227,10 @@ void Agent::insertAgentNeighbor(const Agent *agent, float &rangeSq) {
}
}
}
}
}
bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) {
bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result)
{
const float dotProduct = line.point * line.direction;
const float discriminant = sqr(dotProduct) + sqr(radius) - absSq(line.point);
@ -246,7 +251,8 @@ bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line
/* Lines line is (almost) parallel to plane i. */
if (numerator > 0.0f) {
return false;
} else {
}
else {
continue;
}
}
@ -256,7 +262,8 @@ bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line
if (denominator >= 0.0f) {
/* Plane i bounds line on the left. */
tLeft = std::max(tLeft, t);
} else {
}
else {
/* Plane i bounds line on the right. */
tRight = std::min(tRight, t);
}
@ -271,27 +278,32 @@ bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line
if (optVelocity * line.direction > 0.0f) {
/* Take right extreme. */
result = line.point + tRight * line.direction;
} else {
}
else {
/* Take left extreme. */
result = line.point + tLeft * line.direction;
}
} else {
}
else {
/* Optimize closest point. */
const float t = line.direction * (optVelocity - line.point);
if (t < tLeft) {
result = line.point + tLeft * line.direction;
} else if (t > tRight) {
}
else if (t > tRight) {
result = line.point + tRight * line.direction;
} else {
}
else {
result = line.point + t * line.direction;
}
}
return true;
}
}
bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) {
bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result)
{
const float planeDist = planes[planeNo].point * planes[planeNo].normal;
const float planeDistSq = sqr(planeDist);
const float radiusSq = sqr(radius);
@ -312,10 +324,12 @@ bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radi
if (planeOptVelocityLengthSq <= RVO_EPSILON) {
result = planeCenter;
} else {
}
else {
result = planeCenter + std::sqrt(planeRadiusSq / planeOptVelocityLengthSq) * planeOptVelocity;
}
} else {
}
else {
/* Project point optVelocity on plane planeNo. */
result = optVelocity + ((planes[planeNo].point - optVelocity) * planes[planeNo].normal) * planes[planeNo].normal;
@ -350,16 +364,19 @@ bool linearProgram2(const std::vector<Plane> &planes, size_t planeNo, float radi
}
return true;
}
}
size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result) {
size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result)
{
if (directionOpt) {
/* Optimize direction. Note that the optimization velocity is of unit length in this case. */
result = optVelocity * radius;
} else if (absSq(optVelocity) > sqr(radius)) {
}
else if (absSq(optVelocity) > sqr(radius)) {
/* Optimize closest point and outside circle. */
result = normalize(optVelocity) * radius;
} else {
}
else {
/* Optimize closest point and inside circle. */
result = optVelocity;
}
@ -377,9 +394,10 @@ size_t linearProgram3(const std::vector<Plane> &planes, float radius, const Vect
}
return planes.size();
}
}
void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result) {
void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result)
{
float distance = 0.0f;
for (size_t i = beginPlane; i < planes.size(); ++i) {
@ -397,11 +415,13 @@ void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float r
if (planes[i].normal * planes[j].normal > 0.0f) {
/* Plane i and plane j point in the same direction. */
continue;
} else {
}
else {
/* Plane i and plane j point in opposite direction. */
plane.point = 0.5f * (planes[i].point + planes[j].point);
}
} else {
}
else {
/* Plane.point is point on line of intersection between plane i and plane j. */
const Vector3 lineNormal = cross(crossProduct, planes[i].normal);
plane.point = planes[i].point + (((planes[j].point - planes[i].point) * planes[j].normal) / (lineNormal * planes[j].normal)) * lineNormal;
@ -421,5 +441,5 @@ void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float r
distance = planes[i].normal * (planes[i].point - result);
}
}
}
}
} // namespace RVO

19
thirdparty/rvo2/Agent.h vendored
View file

@ -53,11 +53,11 @@
// - Moved the `Plane` class here.
// - Added a new parameter `ignore_y_` in the `Agent`. This parameter is used to control a godot feature that allows to avoid collisions by moving on the horizontal plane.
namespace RVO {
/**
/**
* \brief Defines a plane.
*/
class Plane {
public:
class Plane {
public:
/**
* \brief A point on the plane.
*/
@ -67,14 +67,13 @@ public:
* \brief The normal to the plane.
*/
Vector3 normal;
};
};
/**
/**
* \brief Defines an agent in the simulation.
*/
class Agent {
public:
class Agent {
public:
/**
* \brief Constructs an agent instance.
* \param sim The simulator instance.
@ -115,7 +114,7 @@ public:
bool ignore_y_;
friend class KdTree;
};
} // namespace RVO
};
}
#endif /* RVO_AGENT_H_ */

36
thirdparty/rvo2/KdTree.cpp vendored
View file

@ -38,20 +38,22 @@
#include "Definitions.h"
namespace RVO {
const size_t RVO_MAX_LEAF_SIZE = 10;
const size_t RVO_MAX_LEAF_SIZE = 10;
KdTree::KdTree() {}
KdTree::KdTree() { }
void KdTree::buildAgentTree(std::vector<Agent *> agents) {
void KdTree::buildAgentTree(std::vector<Agent *> agents)
{
agents_.swap(agents);
if (!agents_.empty()) {
agentTree_.resize(2 * agents_.size() - 1);
buildAgentTreeRecursive(0, agents_.size(), 0);
}
}
}
void KdTree::buildAgentTreeRecursive(size_t begin, size_t end, size_t node) {
void KdTree::buildAgentTreeRecursive(size_t begin, size_t end, size_t node)
{
agentTree_[node].begin = begin;
agentTree_[node].end = end;
agentTree_[node].minCoord = agents_[begin]->position_;
@ -72,9 +74,11 @@ void KdTree::buildAgentTreeRecursive(size_t begin, size_t end, size_t node) {
if (agentTree_[node].maxCoord[0] - agentTree_[node].minCoord[0] > agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] && agentTree_[node].maxCoord[0] - agentTree_[node].minCoord[0] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) {
coord = 0;
} else if (agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) {
}
else if (agentTree_[node].maxCoord[1] - agentTree_[node].minCoord[1] > agentTree_[node].maxCoord[2] - agentTree_[node].minCoord[2]) {
coord = 1;
} else {
}
else {
coord = 2;
}
@ -114,18 +118,21 @@ void KdTree::buildAgentTreeRecursive(size_t begin, size_t end, size_t node) {
buildAgentTreeRecursive(begin, left, agentTree_[node].left);
buildAgentTreeRecursive(left, end, agentTree_[node].right);
}
}
}
void KdTree::computeAgentNeighbors(Agent *agent, float rangeSq) const {
void KdTree::computeAgentNeighbors(Agent *agent, float rangeSq) const
{
queryAgentTreeRecursive(agent, rangeSq, 0);
}
}
void KdTree::queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const {
void KdTree::queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const
{
if (agentTree_[node].end - agentTree_[node].begin <= RVO_MAX_LEAF_SIZE) {
for (size_t i = agentTree_[node].begin; i < agentTree_[node].end; ++i) {
agent->insertAgentNeighbor(agents_[i], rangeSq);
}
} else {
}
else {
const float distSqLeft = sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[0] - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].left].maxCoord[0])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[1] - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].left].maxCoord[1])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minCoord[2] - agent->position_.z())) + sqr(std::max(0.0f, agent->position_.z() - agentTree_[agentTree_[node].left].maxCoord[2]));
const float distSqRight = sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[0] - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].right].maxCoord[0])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[1] - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].right].maxCoord[1])) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minCoord[2] - agent->position_.z())) + sqr(std::max(0.0f, agent->position_.z() - agentTree_[agentTree_[node].right].maxCoord[2]));
@ -138,7 +145,8 @@ void KdTree::queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node)
queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right);
}
}
} else {
}
else {
if (distSqRight < rangeSq) {
queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right);
@ -148,5 +156,5 @@ void KdTree::queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node)
}
}
}
}
}
} // namespace RVO

14
thirdparty/rvo2/KdTree.h vendored
View file

@ -47,14 +47,14 @@
// - Removed `sim_`.
// - KdTree things are public
namespace RVO {
class Agent;
class RVOSimulator;
class Agent;
class RVOSimulator;
/**
/**
* \brief Defines <i>k</i>d-trees for agents in the simulation.
*/
class KdTree {
public:
class KdTree {
public:
/**
* \brief Defines an agent <i>k</i>d-tree node.
*/
@ -118,7 +118,7 @@ public:
friend class Agent;
friend class RVOSimulator;
};
} // namespace RVO
};
}
#endif /* RVO_KD_TREE_H_ */

308
thirdparty/rvo2/patches/rvo2-godot-changes.patch vendored Normal file
View file

@ -0,0 +1,308 @@
diff --git a/thirdparty/rvo2/API.h b/thirdparty/rvo2/API.h
index afef140253..9d424a661b 100644
--- a/thirdparty/rvo2/API.h
+++ b/thirdparty/rvo2/API.h
@@ -38,30 +38,6 @@
#ifndef RVO_API_H_
#define RVO_API_H_
-#ifdef _WIN32
-#include <SDKDDKVer.h>
-#define WIN32_LEAN_AND_MEAN
-#define NOCOMM
-#define NOIMAGE
-#define NOIME
-#define NOKANJI
-#define NOMCX
-#define NOMINMAX
-#define NOPROXYSTUB
-#define NOSERVICE
-#define NOSOUND
-#define NOTAPE
-#define NORPC
-#define _USE_MATH_DEFINES
-#include <windows.h>
-#endif
-
-#ifdef RVO_EXPORTS
-#define RVO_API __declspec(dllexport)
-#elif defined(RVO_IMPORTS)
-#define RVO_API __declspec(dllimport)
-#else
#define RVO_API
-#endif
#endif /* RVO_API_H_ */
diff --git a/thirdparty/rvo2/Agent.cpp b/thirdparty/rvo2/Agent.cpp
index 1a236c7831..49f14c4f7d 100644
--- a/thirdparty/rvo2/Agent.cpp
+++ b/thirdparty/rvo2/Agent.cpp
@@ -105,18 +105,17 @@ namespace RVO {
*/
void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result);
- Agent::Agent(RVOSimulator *sim) : sim_(sim), id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f) { }
+ Agent::Agent() : id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f), ignore_y_(false) { }
- void Agent::computeNeighbors()
+ void Agent::computeNeighbors(KdTree *kdTree_)
{
agentNeighbors_.clear();
-
if (maxNeighbors_ > 0) {
- sim_->kdTree_->computeAgentNeighbors(this, neighborDist_ * neighborDist_);
+ kdTree_->computeAgentNeighbors(this, neighborDist_ * neighborDist_);
}
}
- void Agent::computeNewVelocity()
+ void Agent::computeNewVelocity(float timeStep)
{
orcaPlanes_.clear();
const float invTimeHorizon = 1.0f / timeHorizon_;
@@ -124,10 +123,24 @@ namespace RVO {
/* Create agent ORCA planes. */
for (size_t i = 0; i < agentNeighbors_.size(); ++i) {
const Agent *const other = agentNeighbors_[i].second;
- const Vector3 relativePosition = other->position_ - position_;
- const Vector3 relativeVelocity = velocity_ - other->velocity_;
- const float distSq = absSq(relativePosition);
+
+ Vector3 relativePosition = other->position_ - position_;
+ Vector3 relativeVelocity = velocity_ - other->velocity_;
const float combinedRadius = radius_ + other->radius_;
+
+ // This is a Godot feature that allow the agents to avoid the collision
+ // by moving only on the horizontal plane relative to the player velocity.
+ if (ignore_y_) {
+ // Skip if these are in two different heights
+#define ABS(m_v) (((m_v) < 0) ? (-(m_v)) : (m_v))
+ if (ABS(relativePosition[1]) > combinedRadius * 2) {
+ continue;
+ }
+ relativePosition[1] = 0;
+ relativeVelocity[1] = 0;
+ }
+
+ const float distSq = absSq(relativePosition);
const float combinedRadiusSq = sqr(combinedRadius);
Plane plane;
@@ -165,7 +178,7 @@ namespace RVO {
}
else {
/* Collision. */
- const float invTimeStep = 1.0f / sim_->timeStep_;
+ const float invTimeStep = 1.0f / timeStep;
const Vector3 w = relativeVelocity - invTimeStep * relativePosition;
const float wLength = abs(w);
const Vector3 unitW = w / wLength;
@@ -183,6 +196,11 @@ namespace RVO {
if (planeFail < orcaPlanes_.size()) {
linearProgram4(orcaPlanes_, planeFail, maxSpeed_, newVelocity_);
}
+
+ if (ignore_y_) {
+ // Not 100% necessary, but better to have.
+ newVelocity_[1] = prefVelocity_[1];
+ }
}
void Agent::insertAgentNeighbor(const Agent *agent, float &rangeSq)
@@ -211,12 +229,6 @@ namespace RVO {
}
}
- void Agent::update()
- {
- velocity_ = newVelocity_;
- position_ += velocity_ * sim_->timeStep_;
- }
-
bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result)
{
const float dotProduct = line.point * line.direction;
diff --git a/thirdparty/rvo2/Agent.h b/thirdparty/rvo2/Agent.h
index 238f2d31b7..fd0bf4d1d4 100644
--- a/thirdparty/rvo2/Agent.h
+++ b/thirdparty/rvo2/Agent.h
@@ -43,30 +43,52 @@
#include <utility>
#include <vector>
-#include "RVOSimulator.h"
#include "Vector3.h"
+// Note: Slightly modified to work better in Godot.
+// - The agent can be created by anyone.
+// - The simulator pointer is removed.
+// - The update function is removed.
+// - The compute velocity function now need the timeStep.
+// - Moved the `Plane` class here.
+// - Added a new parameter `ignore_y_` in the `Agent`. This parameter is used to control a godot feature that allows to avoid collisions by moving on the horizontal plane.
namespace RVO {
+ /**
+ * \brief Defines a plane.
+ */
+ class Plane {
+ public:
+ /**
+ * \brief A point on the plane.
+ */
+ Vector3 point;
+
+ /**
+ * \brief The normal to the plane.
+ */
+ Vector3 normal;
+ };
+
/**
* \brief Defines an agent in the simulation.
*/
class Agent {
- private:
+ public:
/**
* \brief Constructs an agent instance.
* \param sim The simulator instance.
*/
- explicit Agent(RVOSimulator *sim);
+ explicit Agent();
/**
* \brief Computes the neighbors of this agent.
*/
- void computeNeighbors();
+ void computeNeighbors(class KdTree *kdTree_);
/**
* \brief Computes the new velocity of this agent.
*/
- void computeNewVelocity();
+ void computeNewVelocity(float timeStep);
/**
* \brief Inserts an agent neighbor into the set of neighbors of this agent.
@@ -75,16 +97,10 @@ namespace RVO {
*/
void insertAgentNeighbor(const Agent *agent, float &rangeSq);
- /**
- * \brief Updates the three-dimensional position and three-dimensional velocity of this agent.
- */
- void update();
-
Vector3 newVelocity_;
Vector3 position_;
Vector3 prefVelocity_;
Vector3 velocity_;
- RVOSimulator *sim_;
size_t id_;
size_t maxNeighbors_;
float maxSpeed_;
@@ -93,9 +109,11 @@ namespace RVO {
float timeHorizon_;
std::vector<std::pair<float, const Agent *> > agentNeighbors_;
std::vector<Plane> orcaPlanes_;
+ /// This is a godot feature that allows the Agent to avoid collision by mooving
+ /// on the horizontal plane.
+ bool ignore_y_;
friend class KdTree;
- friend class RVOSimulator;
};
}
diff --git a/thirdparty/rvo2/KdTree.cpp b/thirdparty/rvo2/KdTree.cpp
index 719fabdf34..c6d43ee415 100644
--- a/thirdparty/rvo2/KdTree.cpp
+++ b/thirdparty/rvo2/KdTree.cpp
@@ -36,16 +36,15 @@
#include "Agent.h"
#include "Definitions.h"
-#include "RVOSimulator.h"
namespace RVO {
const size_t RVO_MAX_LEAF_SIZE = 10;
- KdTree::KdTree(RVOSimulator *sim) : sim_(sim) { }
+ KdTree::KdTree() { }
- void KdTree::buildAgentTree()
+ void KdTree::buildAgentTree(std::vector<Agent *> agents)
{
- agents_ = sim_->agents_;
+ agents_.swap(agents);
if (!agents_.empty()) {
agentTree_.resize(2 * agents_.size() - 1);
diff --git a/thirdparty/rvo2/KdTree.h b/thirdparty/rvo2/KdTree.h
index 5dbc2b492f..e05a7f40d4 100644
--- a/thirdparty/rvo2/KdTree.h
+++ b/thirdparty/rvo2/KdTree.h
@@ -43,6 +43,9 @@
#include "Vector3.h"
+// Note: Slightly modified to work better with Godot.
+// - Removed `sim_`.
+// - KdTree things are public
namespace RVO {
class Agent;
class RVOSimulator;
@@ -51,7 +54,7 @@ namespace RVO {
* \brief Defines <i>k</i>d-trees for agents in the simulation.
*/
class KdTree {
- private:
+ public:
/**
* \brief Defines an agent <i>k</i>d-tree node.
*/
@@ -92,12 +95,12 @@ namespace RVO {
* \brief Constructs a <i>k</i>d-tree instance.
* \param sim The simulator instance.
*/
- explicit KdTree(RVOSimulator *sim);
+ explicit KdTree();
/**
* \brief Builds an agent <i>k</i>d-tree.
*/
- void buildAgentTree();
+ void buildAgentTree(std::vector<Agent *> agents);
void buildAgentTreeRecursive(size_t begin, size_t end, size_t node);
@@ -112,7 +115,6 @@ namespace RVO {
std::vector<Agent *> agents_;
std::vector<AgentTreeNode> agentTree_;
- RVOSimulator *sim_;
friend class Agent;
friend class RVOSimulator;
diff --git a/thirdparty/rvo2/Vector3.h b/thirdparty/rvo2/Vector3.h
index adf3382339..8c8835c865 100644
--- a/thirdparty/rvo2/Vector3.h
+++ b/thirdparty/rvo2/Vector3.h
@@ -59,17 +59,6 @@ namespace RVO {
val_[2] = 0.0f;
}
- /**
- * \brief Constructs and initializes a three-dimensional vector from the specified three-dimensional vector.
- * \param vector The three-dimensional vector containing the xyz-coordinates.
- */
- RVO_API inline Vector3(const Vector3 &vector)
- {
- val_[0] = vector[0];
- val_[1] = vector[1];
- val_[2] = vector[2];
- }
-
/**
* \brief Constructs and initializes a three-dimensional vector from the specified three-element array.
* \param val The three-element array containing the xyz-coordinates.