09bc9eb101
Change the entire navigation system. Remove editor prefix from nav mesh generator class. It is now used for baking at runtime as well. Navigation supports obstacle avoidance now with the RVO2 library. Nav system will also automatically link all nav meshes together to form one overall complete nav map.
124 lines
2.9 KiB
C++
124 lines
2.9 KiB
C++
/*
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* KdTree.h
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* RVO2-3D Library
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*
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* Copyright 2008 University of North Carolina at Chapel Hill
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Please send all bug reports to <geom@cs.unc.edu>.
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*
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* The authors may be contacted via:
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*
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* Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
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* Dept. of Computer Science
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* 201 S. Columbia St.
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* Frederick P. Brooks, Jr. Computer Science Bldg.
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* Chapel Hill, N.C. 27599-3175
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* United States of America
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*
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* <http://gamma.cs.unc.edu/RVO2/>
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*/
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/**
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* \file KdTree.h
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* \brief Contains the KdTree class.
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*/
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#ifndef RVO_KD_TREE_H_
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#define RVO_KD_TREE_H_
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#include "API.h"
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#include <cstddef>
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#include <vector>
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#include "Vector3.h"
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// Note: Slightly modified to work better with Godot.
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// - Removed `sim_`.
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// - KdTree things are public
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namespace RVO {
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class Agent;
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class RVOSimulator;
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/**
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* \brief Defines <i>k</i>d-trees for agents in the simulation.
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*/
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class KdTree {
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public:
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/**
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* \brief Defines an agent <i>k</i>d-tree node.
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*/
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class AgentTreeNode {
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public:
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/**
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* \brief The beginning node number.
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*/
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size_t begin;
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/**
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* \brief The ending node number.
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*/
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size_t end;
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/**
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* \brief The left node number.
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*/
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size_t left;
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/**
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* \brief The right node number.
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*/
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size_t right;
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/**
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* \brief The maximum coordinates.
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*/
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Vector3 maxCoord;
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/**
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* \brief The minimum coordinates.
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*/
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Vector3 minCoord;
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};
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/**
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* \brief Constructs a <i>k</i>d-tree instance.
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* \param sim The simulator instance.
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*/
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explicit KdTree();
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/**
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* \brief Builds an agent <i>k</i>d-tree.
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*/
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void buildAgentTree(std::vector<Agent *> agents);
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void buildAgentTreeRecursive(size_t begin, size_t end, size_t node);
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/**
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* \brief Computes the agent neighbors of the specified agent.
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* \param agent A pointer to the agent for which agent neighbors are to be computed.
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* \param rangeSq The squared range around the agent.
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*/
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void computeAgentNeighbors(Agent *agent, float rangeSq) const;
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void queryAgentTreeRecursive(Agent *agent, float &rangeSq, size_t node) const;
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std::vector<Agent *> agents_;
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std::vector<AgentTreeNode> agentTree_;
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friend class Agent;
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friend class RVOSimulator;
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};
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} // namespace RVO
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#endif /* RVO_KD_TREE_H_ */
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