/*
 * 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_ */