/* * RVOSimulator.h * RVO2 Library * * SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill * SPDX-License-Identifier: Apache-2.0 * * 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 * * https://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 . * * 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 * * */ #ifndef RVO2D_RVO_SIMULATOR_H_ #define RVO2D_RVO_SIMULATOR_H_ /** * @file RVOSimulator2d.h * @brief Declares and defines the RVOSimulator2D class. */ #include #include namespace RVO2D { class Agent2D; class KdTree2D; class Line; class Obstacle2D; class Vector2; /** * @relates RVOSimulator2D * @brief Error value. A value equal to the largest unsigned integer that is * returned in case of an error by functions in RVO::RVOSimulator. */ extern const std::size_t RVO2D_ERROR; /** * @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[in] timeStep The time step of the simulation. Must be * positive. * @param[in] 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[in] 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[in] 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[in] 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[in] radius The default radius of a new agent. Must be * non-negative. * @param[in] maxSpeed The default maximum speed of a new agent. Must * be non-negative. */ RVOSimulator2D(float timeStep, float neighborDist, std::size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed); /** * @brief Constructs a simulator instance and sets the default properties * for any new agent that is added. * @param[in] timeStep The time step of the simulation. Must be * positive. * @param[in] 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[in] 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[in] 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[in] 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[in] radius The default radius of a new agent. Must be * non-negative. * @param[in] maxSpeed The default maximum speed of a new agent. Must * be non-negative. * @param[in] velocity The default initial two-dimensional linear * velocity of a new agent. */ RVOSimulator2D(float timeStep, float neighborDist, std::size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity); /** * @brief Destroys this simulator instance. */ ~RVOSimulator2D(); /** * @brief Adds a new agent with default properties to the simulation. * @param[in] position The two-dimensional starting position of this agent. * @return The number of the agent, or RVO::RVO2D_ERROR when the agent * defaults have not been set. */ std::size_t addAgent(const Vector2 &position); /** * @brief Adds a new agent to the simulation. * @param[in] position The two-dimensional starting position of this * agent. * @param[in] 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[in] 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[in] 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[in] 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[in] radius The radius of this agent. Must be non-negative. * @param[in] maxSpeed The maximum speed of this agent. Must be * non-negative. * @return The number of the agent. */ std::size_t addAgent(const Vector2 &position, float neighborDist, std::size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed); /** * @brief Adds a new agent to the simulation. * @param[in] position The two-dimensional starting position of this * agent. * @param[in] 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[in] 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[in] 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[in] 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[in] radius The radius of this agent. Must be non-negative. * @param[in] maxSpeed The maximum speed of this agent. Must be * non-negative. * @param[in] velocity The initial two-dimensional linear velocity of * this agent. * @return The number of the agent. */ std::size_t addAgent(const Vector2 &position, float neighborDist, std::size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity); /** * @brief Adds a new obstacle to the simulation. * @param[in] vertices List of the vertices of the polygonal obstacle in * counterclockwise order. * @return The number of the first vertex of the obstacle, or * RVO::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. */ std::size_t addObstacle(const std::vector &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[in] agentNo The number of the agent whose agent neighbor is to be * retrieved. * @param[in] neighborNo The number of the agent neighbor to be retrieved. * @return The number of the neighboring agent. */ std::size_t getAgentAgentNeighbor(std::size_t agentNo, std::size_t neighborNo) const; /** * @brief Returns the maximum neighbor count of a specified agent. * @param[in] agentNo The number of the agent whose maximum neighbor count is * to be retrieved. * @return The present maximum neighbor count of the agent. */ std::size_t getAgentMaxNeighbors(std::size_t agentNo) const; /** * @brief Returns the maximum speed of a specified agent. * @param[in] agentNo The number of the agent whose maximum speed is to be * retrieved. * @return The present maximum speed of the agent. */ float getAgentMaxSpeed(std::size_t agentNo) const; /** * @brief Returns the maximum neighbor distance of a specified agent. * @param[in] 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(std::size_t agentNo) const; /** * @brief Returns the count of agent neighbors taken into account to * compute the current velocity for the specified agent. * @param[in] 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. */ std::size_t getAgentNumAgentNeighbors(std::size_t agentNo) const; /** * @brief Returns the count of obstacle neighbors taken into account to * compute the current velocity for the specified agent. * @param[in] 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. */ std::size_t getAgentNumObstacleNeighbors(std::size_t agentNo) const; /** * @brief Returns the count of ORCA constraints used to compute the * current velocity for the specified agent. * @param[in] 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. */ std::size_t getAgentNumORCALines(std::size_t agentNo) const; /** * @brief Returns the specified obstacle neighbor of the specified agent. * @param[in] agentNo The number of the agent whose obstacle neighbor is to * be retrieved. * @param[in] neighborNo The number of the obstacle neighbor to be retrieved. * @return The number of the first vertex of the neighboring obstacle edge. */ std::size_t getAgentObstacleNeighbor(std::size_t agentNo, std::size_t neighborNo) const; /** * @brief Returns the specified ORCA constraint of the specified agent. * @param[in] agentNo The number of the agent whose ORCA constraint is to be * retrieved. * @param[in] lineNo The number of the ORCA constraint to be retrieved. * @return A line representing the specified ORCA constraint. * @note The half-plane to the left of the line is the region of * permissible velocities with respect to the specified ORCA * constraint. */ const Line &getAgentORCALine(std::size_t agentNo, std::size_t lineNo) const; /** * @brief Returns the two-dimensional position of a specified agent. * @param[in] 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(std::size_t agentNo) const; /** * @brief Returns the two-dimensional preferred velocity of a specified * agent. * @param[in] 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(std::size_t agentNo) const; /** * @brief Returns the radius of a specified agent. * @param[in] agentNo The number of the agent whose radius is to be retrieved. * @return The present radius of the agent. */ float getAgentRadius(std::size_t agentNo) const; /** * @brief Returns the time horizon of a specified agent. * @param[in] agentNo The number of the agent whose time horizon is to be * retrieved. * @return The present time horizon of the agent. */ float getAgentTimeHorizon(std::size_t agentNo) const; /** * @brief Returns the time horizon with respect to obstacles of a * specified agent. * @param[in] 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(std::size_t agentNo) const; /** * @brief Returns the two-dimensional linear velocity of a specified * agent. * @param[in] 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(std::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 { return globalTime_; } /** * @brief Returns the count of agents in the simulation. * @return The count of agents in the simulation. */ std::size_t getNumAgents() const { return agents_.size(); } /** * @brief Returns the count of obstacle vertices in the simulation. * @return The count of obstacle vertices in the simulation. */ std::size_t getNumObstacleVertices() const { return obstacles_.size(); } /** * @brief Returns the two-dimensional position of a specified obstacle * vertex. * @param[in] vertexNo The number of the obstacle vertex to be retrieved. * @return The two-dimensional position of the specified obstacle vertex. */ const Vector2 &getObstacleVertex(std::size_t vertexNo) const; /** * @brief Returns the number of the obstacle vertex succeeding the * specified obstacle vertex in its polygon. * @param[in] 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. */ std::size_t getNextObstacleVertexNo(std::size_t vertexNo) const; /** * @brief Returns the number of the obstacle vertex preceding the * specified obstacle vertex in its polygon. * @param[in] 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. */ std::size_t getPrevObstacleVertexNo(std::size_t vertexNo) const; /** * @brief Returns the time step of the simulation. * @return The present time step of the simulation. */ float getTimeStep() const { return timeStep_; } /** * @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[in] point1 The first point of the query. * @param[in] point2 The second point of the query. * @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) const; /** * @brief Performs a visibility query between the two specified points * with respect to the obstacles * @param[in] point1 The first point of the query. * @param[in] point2 The second point of the query. * @param[in] radius The minimal distance between the line connecting the two * points and the obstacles in order for the points to be * mutually visible. 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) const; /** * @brief Sets the default properties for any new agent that is added. * @param[in] 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[in] 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[in] 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[in] 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[in] radius The default radius of a new agent. Must be * non-negative. * @param[in] maxSpeed The default maximum speed of a new agent. Must * be non-negative. */ void setAgentDefaults(float neighborDist, std::size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed); /** * @brief Sets the default properties for any new agent that is added. * @param[in] 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[in] 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[in] 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[in] 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[in] radius The default radius of a new agent. Must be * non-negative. * @param[in] maxSpeed The default maximum speed of a new agent. Must * be non-negative. * @param[in] velocity The default initial two-dimensional linear * velocity of a new agent. */ void setAgentDefaults(float neighborDist, std::size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity); /** * @brief Sets the maximum neighbor count of a specified agent. * @param[in] agentNo The number of the agent whose maximum neighbor * count is to be modified. * @param[in] maxNeighbors The replacement maximum neighbor count. */ void setAgentMaxNeighbors(std::size_t agentNo, std::size_t maxNeighbors); /** * @brief Sets the maximum speed of a specified agent. * @param[in] agentNo The number of the agent whose maximum speed is to be * modified. * @param[in] maxSpeed The replacement maximum speed. Must be non-negative. */ void setAgentMaxSpeed(std::size_t agentNo, float maxSpeed); /** * @brief Sets the maximum neighbor distance of a specified agent. * @param[in] agentNo The number of the agent whose maximum neighbor * distance is to be modified. * @param[in] neighborDist The replacement maximum neighbor distance. Must be * non-negative. */ void setAgentNeighborDist(std::size_t agentNo, float neighborDist); /** * @brief Sets the two-dimensional position of a specified agent. * @param[in] agentNo The number of the agent whose two-dimensional position * is to be modified. * @param[in] position The replacement of the two-dimensional position. */ void setAgentPosition(std::size_t agentNo, const Vector2 &position); /** * @brief Sets the two-dimensional preferred velocity of a specified * agent. * @param[in] agentNo The number of the agent whose two-dimensional * preferred velocity is to be modified. * @param[in] prefVelocity The replacement of the two-dimensional preferred * velocity. */ void setAgentPrefVelocity(std::size_t agentNo, const Vector2 &prefVelocity); /** * @brief Sets the radius of a specified agent. * @param[in] agentNo The number of the agent whose radius is to be modified. * @param[in] radius The replacement radius. Must be non-negative. */ void setAgentRadius(std::size_t agentNo, float radius); /** * @brief Sets the time horizon of a specified agent with respect to other * agents. * @param[in] agentNo The number of the agent whose time horizon is to be * modified. * @param[in] timeHorizon The replacement time horizon with respect to other * agents. Must be positive. */ void setAgentTimeHorizon(std::size_t agentNo, float timeHorizon); /** * @brief Sets the time horizon of a specified agent with respect to * obstacles. * @param[in] agentNo The number of the agent whose time horizon with * respect to obstacles is to be modified. * @param[in] timeHorizonObst The replacement time horizon with respect to * obstacles. Must be positive. */ void setAgentTimeHorizonObst(std::size_t agentNo, float timeHorizonObst); /** * @brief Sets the two-dimensional linear velocity of a specified agent. * @param[in] agentNo The number of the agent whose two-dimensional linear * velocity is to be modified. * @param[in] velocity The replacement two-dimensional linear velocity. */ void setAgentVelocity(std::size_t agentNo, const Vector2 &velocity); /** * @brief Sets the time step of the simulation. * @param[in] timeStep The time step of the simulation. Must be positive. */ void setTimeStep(float timeStep) { timeStep_ = timeStep; } public: /* Not implemented. */ RVOSimulator2D(const RVOSimulator2D &other); /* Not implemented. */ RVOSimulator2D &operator=(const RVOSimulator2D &other); std::vector agents_; std::vector obstacles_; Agent2D *defaultAgent_; KdTree2D *kdTree_; float globalTime_; float timeStep_; friend class KdTree2D; }; } /* namespace RVO2D */ #endif /* RVO2D_RVO_SIMULATOR_H_ */