/* * RVOSimulator3d.h * RVO2-3D 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 RVO3D_RVO_SIMULATOR_H_ #define RVO3D_RVO_SIMULATOR_H_ /** * @file RVOSimulator3d.h * @brief Contains the RVOSimulator3D class. */ #include #include #include #include "Vector3.h" namespace RVO3D { class Agent3D; class KdTree3D; class Plane; /** * @brief Error value. A value equal to the largest unsigned integer, which is * returned in case of an error by functions in RVO::RVOSimulator. */ const std::size_t RVO3D_ERROR = std::numeric_limits::max(); /** * @brief Defines the simulation. The main class of the library that contains * all simulation functionality. */ class RVOSimulator3D { public: /** * @brief Constructs a simulator instance. */ RVOSimulator3D(); /** * @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 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 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 minimum 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] 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 three-dimensional linear * velocity of a new agent (optional). */ RVOSimulator3D(float timeStep, float neighborDist, std::size_t maxNeighbors, float timeHorizon, float radius, float maxSpeed, const Vector3 &velocity = Vector3()); /** * @brief Destroys this simulator instance. */ ~RVOSimulator3D(); /** * @brief Adds a new agent with default properties to the simulation. * @param[in] position The three-dimensional starting position of this agent. * @return The number of the agent or RVO::RVO3D_ERROR when the agent * defaults have not been set. */ std::size_t addAgent(const Vector3 &position); /** * @brief Adds a new agent to the simulation. * @param[in] position The three-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 minimum 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] 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 three-dimensional linear velocity of * this agent (optional). * @return The number of the agent. */ std::size_t addAgent(const Vector3 &position, float neighborDist, std::size_t maxNeighbors, float timeHorizon, float radius, float maxSpeed, const Vector3 &velocity = Vector3()); /** * @brief Lets the simulator perform a simulation step and updates the * three-dimensional position and three-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 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 * i to be retrieved. * @return The count of ORCA constraints used to compute the current * velocity for the specified agent. */ std::size_t getAgentNumORCAPlanes(std::size_t agentNo) 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] planeNo The number of the ORCA constraint to be retrieved. * @return A plane representing the specified ORCA constraint. * @note The halfspace to which the normal of the plane points is the * region of permissible velocities with respect to the specified * ORCA constraint. */ const Plane &getAgentORCAPlane(std::size_t agentNo, std::size_t planeNo) const; /** * @brief Returns the three-dimensional position of a specified agent. * @param[in] agentNo The number of the agent whose three-dimensional position * is to be retrieved. * @return The present three-dimensional position of the (center of the) * agent. */ const Vector3 &getAgentPosition(std::size_t agentNo) const; /** * @brief Returns the three-dimensional preferred velocity of a specified * agent. * @param[in] agentNo The number of the agent whose three-dimensional * preferred velocity is to be retrieved. * @return The present three-dimensional preferred velocity of the agent. */ const Vector3 &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 three-dimensional linear velocity of a specified * agent. * @param[in] agentNo The number of the agent whose three-dimensional linear * velocity is to be retrieved. * @return The present three-dimensional linear velocity of the agent. */ const Vector3 &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 time step of the simulation. * @return The present time step of the simulation. */ float getTimeStep() const { return timeStep_; } /** * @brief Removes an agent from the simulation. * @param[in] agentNo The number of the agent that is to be removed. * @note After the removal of the agent, the agent that previously had * number getNumAgents() - 1 will now have number agentNo. */ void removeAgent(std::size_t agentNo); /** * @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 minimum 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] 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 three-dimensional linear * velocity of a new agent (optional). */ void setAgentDefaults(float neighborDist, std::size_t maxNeighbors, float timeHorizon, float radius, float maxSpeed, const Vector3 &velocity = Vector3()); /** * @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 three-dimensional position of a specified agent. * @param[in] agentNo The number of the agent whose three-dimensional * position is to be modified. * @param[in] position The replacement of the three-dimensional position. */ void setAgentPosition(std::size_t agentNo, const Vector3 &position); /** * @brief Sets the three-dimensional preferred velocity of a specified * agent. * @param[in] agentNo The number of the agent whose three-dimensional * preferred velocity is to be modified. * @param[in] prefVelocity The replacement of the three-dimensional preferred * velocity. */ void setAgentPrefVelocity(std::size_t agentNo, const Vector3 &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 three-dimensional linear velocity of a specified agent. * @param[in] agentNo The number of the agent whose three-dimensional linear * velocity is to be modified. * @param[in] velocity The replacement three-dimensional linear velocity. */ void setAgentVelocity(std::size_t agentNo, const Vector3 &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. */ RVOSimulator3D(const RVOSimulator3D &other); /* Not implemented. */ RVOSimulator3D &operator=(const RVOSimulator3D &other); Agent3D *defaultAgent_; KdTree3D *kdTree_; float globalTime_; float timeStep_; std::vector agents_; friend class Agent3D; friend class KdTree3D; }; } /* namespace RVO3D */ #endif /* RVO3D_RVO_SIMULATOR_H_ */