/* * RVOSimulator2d.h * RVO2 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/> */ #ifndef RVO2D_RVO_SIMULATOR_H_ #define RVO2D_RVO_SIMULATOR_H_ /** * \file RVOSimulator2d.h * \brief Contains the RVOSimulator2D class. */ #include <cstddef> #include <limits> #include <vector> #include "Vector2.h" namespace RVO2D { /** * \brief Error value. * * A value equal to the largest unsigned integer that is returned in case * of an error by functions in RVO2D::RVOSimulator2D. */ const size_t RVO2D_ERROR = std::numeric_limits<size_t>::max(); /** * \brief Defines a directed line. */ class Line { public: /** * \brief A point on the directed line. */ Vector2 point; /** * \brief The direction of the directed line. */ Vector2 direction; }; class Agent2D; class KdTree2D; class Obstacle2D; /** * \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 timeStep The time step of the simulation. * Must be positive. * \param 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 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 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 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 radius The default radius of a new agent. * Must be non-negative. * \param maxSpeed The default maximum speed of a new agent. * Must be non-negative. * \param velocity The default initial two-dimensional linear * velocity of a new agent (optional). */ RVOSimulator2D(float timeStep, float neighborDist, size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity = Vector2()); /** * \brief Destroys this simulator instance. */ ~RVOSimulator2D(); /** * \brief Adds a new agent with default properties to the * simulation. * \param position The two-dimensional starting position of * this agent. * \return The number of the agent, or RVO2D::RVO2D_ERROR when the agent * defaults have not been set. */ size_t addAgent(const Vector2 &position); /** * \brief Adds a new agent to the simulation. * \param position The two-dimensional starting position of * this agent. * \param 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 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 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 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 radius The radius of this agent. * Must be non-negative. * \param maxSpeed The maximum speed of this agent. * Must be non-negative. * \param velocity The initial two-dimensional linear velocity * of this agent (optional). * \return The number of the agent. */ size_t addAgent(const Vector2 &position, float neighborDist, size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity = Vector2()); /** * \brief Adds a new obstacle to the simulation. * \param vertices List of the vertices of the polygonal * obstacle in counterclockwise order. * \return The number of the first vertex of the obstacle, * or RVO2D::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. */ size_t addObstacle(const std::vector<Vector2> &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 agentNo The number of the agent whose agent * neighbor is to be retrieved. * \param neighborNo The number of the agent neighbor to be * retrieved. * \return The number of the neighboring agent. */ size_t getAgentAgentNeighbor(size_t agentNo, size_t neighborNo) const; /** * \brief Returns the maximum neighbor count of a specified agent. * \param agentNo The number of the agent whose maximum * neighbor count is to be retrieved. * \return The present maximum neighbor count of the agent. */ size_t getAgentMaxNeighbors(size_t agentNo) const; /** * \brief Returns the maximum speed of a specified agent. * \param agentNo The number of the agent whose maximum speed * is to be retrieved. * \return The present maximum speed of the agent. */ float getAgentMaxSpeed(size_t agentNo) const; /** * \brief Returns the maximum neighbor distance of a specified * agent. * \param 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(size_t agentNo) const; /** * \brief Returns the count of agent neighbors taken into account to * compute the current velocity for the specified agent. * \param 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. */ size_t getAgentNumAgentNeighbors(size_t agentNo) const; /** * \brief Returns the count of obstacle neighbors taken into account * to compute the current velocity for the specified agent. * \param 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. */ size_t getAgentNumObstacleNeighbors(size_t agentNo) const; /** * \brief Returns the count of ORCA constraints used to compute * the current velocity for the specified agent. * \param 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. */ size_t getAgentNumORCALines(size_t agentNo) const; /** * \brief Returns the specified obstacle neighbor of the specified * agent. * \param agentNo The number of the agent whose obstacle * neighbor is to be retrieved. * \param neighborNo The number of the obstacle neighbor to be * retrieved. * \return The number of the first vertex of the neighboring obstacle * edge. */ size_t getAgentObstacleNeighbor(size_t agentNo, size_t neighborNo) const; /** * \brief Returns the specified ORCA constraint of the specified * agent. * \param agentNo The number of the agent whose ORCA * constraint is to be retrieved. * \param lineNo The number of the ORCA constraint to be * retrieved. * \return A line representing the specified ORCA constraint. * \note The halfplane to the left of the line is the region of * permissible velocities with respect to the specified * ORCA constraint. */ const Line &getAgentORCALine(size_t agentNo, size_t lineNo) const; /** * \brief Returns the two-dimensional position of a specified * agent. * \param 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(size_t agentNo) const; /** * \brief Returns the two-dimensional preferred velocity of a * specified agent. * \param 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(size_t agentNo) const; /** * \brief Returns the radius of a specified agent. * \param agentNo The number of the agent whose radius is to * be retrieved. * \return The present radius of the agent. */ float getAgentRadius(size_t agentNo) const; /** * \brief Returns the time horizon of a specified agent. * \param agentNo The number of the agent whose time horizon * is to be retrieved. * \return The present time horizon of the agent. */ float getAgentTimeHorizon(size_t agentNo) const; /** * \brief Returns the time horizon with respect to obstacles of a * specified agent. * \param 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(size_t agentNo) const; /** * \brief Returns the two-dimensional linear velocity of a * specified agent. * \param 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(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; /** * \brief Returns the count of agents in the simulation. * \return The count of agents in the simulation. */ size_t getNumAgents() const; /** * \brief Returns the count of obstacle vertices in the simulation. * \return The count of obstacle vertices in the simulation. */ size_t getNumObstacleVertices() const; /** * \brief Returns the two-dimensional position of a specified obstacle * vertex. * \param vertexNo The number of the obstacle vertex to be * retrieved. * \return The two-dimensional position of the specified obstacle * vertex. */ const Vector2 &getObstacleVertex(size_t vertexNo) const; /** * \brief Returns the number of the obstacle vertex succeeding the * specified obstacle vertex in its polygon. * \param 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. */ size_t getNextObstacleVertexNo(size_t vertexNo) const; /** * \brief Returns the number of the obstacle vertex preceding the * specified obstacle vertex in its polygon. * \param 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. */ size_t getPrevObstacleVertexNo(size_t vertexNo) const; /** * \brief Returns the time step of the simulation. * \return The present time step of the simulation. */ float getTimeStep() const; /** * \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 point1 The first point of the query. * \param point2 The second point of the query. * \param radius The minimal distance between the line * connecting the two points and the obstacles * in order for the points to be mutually * visible (optional). 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 = 0.0f) const; /** * \brief Sets the default properties for any new agent that is * added. * \param 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 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 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 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 radius The default radius of a new agent. * Must be non-negative. * \param maxSpeed The default maximum speed of a new agent. * Must be non-negative. * \param velocity The default initial two-dimensional linear * velocity of a new agent (optional). */ void setAgentDefaults(float neighborDist, size_t maxNeighbors, float timeHorizon, float timeHorizonObst, float radius, float maxSpeed, const Vector2 &velocity = Vector2()); /** * \brief Sets the maximum neighbor count of a specified agent. * \param agentNo The number of the agent whose maximum * neighbor count is to be modified. * \param maxNeighbors The replacement maximum neighbor count. */ void setAgentMaxNeighbors(size_t agentNo, size_t maxNeighbors); /** * \brief Sets the maximum speed of a specified agent. * \param agentNo The number of the agent whose maximum speed * is to be modified. * \param maxSpeed The replacement maximum speed. Must be * non-negative. */ void setAgentMaxSpeed(size_t agentNo, float maxSpeed); /** * \brief Sets the maximum neighbor distance of a specified agent. * \param agentNo The number of the agent whose maximum * neighbor distance is to be modified. * \param neighborDist The replacement maximum neighbor distance. * Must be non-negative. */ void setAgentNeighborDist(size_t agentNo, float neighborDist); /** * \brief Sets the two-dimensional position of a specified agent. * \param agentNo The number of the agent whose * two-dimensional position is to be modified. * \param position The replacement of the two-dimensional * position. */ void setAgentPosition(size_t agentNo, const Vector2 &position); /** * \brief Sets the two-dimensional preferred velocity of a * specified agent. * \param agentNo The number of the agent whose * two-dimensional preferred velocity is to be * modified. * \param prefVelocity The replacement of the two-dimensional * preferred velocity. */ void setAgentPrefVelocity(size_t agentNo, const Vector2 &prefVelocity); /** * \brief Sets the radius of a specified agent. * \param agentNo The number of the agent whose radius is to * be modified. * \param radius The replacement radius. * Must be non-negative. */ void setAgentRadius(size_t agentNo, float radius); /** * \brief Sets the time horizon of a specified agent with respect * to other agents. * \param agentNo The number of the agent whose time horizon * is to be modified. * \param timeHorizon The replacement time horizon with respect * to other agents. Must be positive. */ void setAgentTimeHorizon(size_t agentNo, float timeHorizon); /** * \brief Sets the time horizon of a specified agent with respect * to obstacles. * \param agentNo The number of the agent whose time horizon * with respect to obstacles is to be modified. * \param timeHorizonObst The replacement time horizon with respect to * obstacles. Must be positive. */ void setAgentTimeHorizonObst(size_t agentNo, float timeHorizonObst); /** * \brief Sets the two-dimensional linear velocity of a specified * agent. * \param agentNo The number of the agent whose * two-dimensional linear velocity is to be * modified. * \param velocity The replacement two-dimensional linear * velocity. */ void setAgentVelocity(size_t agentNo, const Vector2 &velocity); /** * \brief Sets the time step of the simulation. * \param timeStep The time step of the simulation. * Must be positive. */ void setTimeStep(float timeStep); public: std::vector<Agent2D *> agents_; Agent2D *defaultAgent_; float globalTime_; KdTree2D *kdTree_; std::vector<Obstacle2D *> obstacles_; float timeStep_; friend class Agent2D; friend class KdTree2D; friend class Obstacle2D; }; } #endif /* RVO2D_RVO_SIMULATOR_H_ */