595 lines
19 KiB
C++
595 lines
19 KiB
C++
/*
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* Agent2d.cpp
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* RVO2 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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#include "Agent2d.h"
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#include "KdTree2d.h"
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#include "Obstacle2d.h"
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namespace RVO2D {
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Agent2D::Agent2D() : maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f), timeHorizonObst_(0.0f), id_(0) { }
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void Agent2D::computeNeighbors(RVOSimulator2D *sim_)
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{
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obstacleNeighbors_.clear();
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float rangeSq = sqr(timeHorizonObst_ * maxSpeed_ + radius_);
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sim_->kdTree_->computeObstacleNeighbors(this, rangeSq);
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agentNeighbors_.clear();
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if (maxNeighbors_ > 0) {
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rangeSq = sqr(neighborDist_);
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sim_->kdTree_->computeAgentNeighbors(this, rangeSq);
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}
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}
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/* Search for the best new velocity. */
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void Agent2D::computeNewVelocity(RVOSimulator2D *sim_)
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{
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orcaLines_.clear();
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const float invTimeHorizonObst = 1.0f / timeHorizonObst_;
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/* Create obstacle ORCA lines. */
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for (size_t i = 0; i < obstacleNeighbors_.size(); ++i) {
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const Obstacle2D *obstacle1 = obstacleNeighbors_[i].second;
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const Obstacle2D *obstacle2 = obstacle1->nextObstacle_;
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const Vector2 relativePosition1 = obstacle1->point_ - position_;
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const Vector2 relativePosition2 = obstacle2->point_ - position_;
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/*
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* Check if velocity obstacle of obstacle is already taken care of by
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* previously constructed obstacle ORCA lines.
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*/
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bool alreadyCovered = false;
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for (size_t j = 0; j < orcaLines_.size(); ++j) {
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if (det(invTimeHorizonObst * relativePosition1 - orcaLines_[j].point, orcaLines_[j].direction) - invTimeHorizonObst * radius_ >= -RVO_EPSILON && det(invTimeHorizonObst * relativePosition2 - orcaLines_[j].point, orcaLines_[j].direction) - invTimeHorizonObst * radius_ >= -RVO_EPSILON) {
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alreadyCovered = true;
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break;
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}
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}
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if (alreadyCovered) {
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continue;
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}
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/* Not yet covered. Check for collisions. */
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const float distSq1 = absSq(relativePosition1);
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const float distSq2 = absSq(relativePosition2);
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const float radiusSq = sqr(radius_);
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const Vector2 obstacleVector = obstacle2->point_ - obstacle1->point_;
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const float s = (-relativePosition1 * obstacleVector) / absSq(obstacleVector);
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const float distSqLine = absSq(-relativePosition1 - s * obstacleVector);
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Line line;
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if (s < 0.0f && distSq1 <= radiusSq) {
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/* Collision with left vertex. Ignore if non-convex. */
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if (obstacle1->isConvex_) {
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line.point = Vector2(0.0f, 0.0f);
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line.direction = normalize(Vector2(-relativePosition1.y(), relativePosition1.x()));
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orcaLines_.push_back(line);
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}
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continue;
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}
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else if (s > 1.0f && distSq2 <= radiusSq) {
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/* Collision with right vertex. Ignore if non-convex
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* or if it will be taken care of by neighoring obstace */
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if (obstacle2->isConvex_ && det(relativePosition2, obstacle2->unitDir_) >= 0.0f) {
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line.point = Vector2(0.0f, 0.0f);
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line.direction = normalize(Vector2(-relativePosition2.y(), relativePosition2.x()));
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orcaLines_.push_back(line);
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}
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continue;
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}
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else if (s >= 0.0f && s < 1.0f && distSqLine <= radiusSq) {
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/* Collision with obstacle segment. */
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line.point = Vector2(0.0f, 0.0f);
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line.direction = -obstacle1->unitDir_;
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orcaLines_.push_back(line);
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continue;
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}
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/*
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* No collision.
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* Compute legs. When obliquely viewed, both legs can come from a single
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* vertex. Legs extend cut-off line when nonconvex vertex.
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*/
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Vector2 leftLegDirection, rightLegDirection;
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if (s < 0.0f && distSqLine <= radiusSq) {
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/*
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* Obstacle viewed obliquely so that left vertex
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* defines velocity obstacle.
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*/
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if (!obstacle1->isConvex_) {
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/* Ignore obstacle. */
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continue;
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}
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obstacle2 = obstacle1;
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const float leg1 = std::sqrt(distSq1 - radiusSq);
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leftLegDirection = Vector2(relativePosition1.x() * leg1 - relativePosition1.y() * radius_, relativePosition1.x() * radius_ + relativePosition1.y() * leg1) / distSq1;
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rightLegDirection = Vector2(relativePosition1.x() * leg1 + relativePosition1.y() * radius_, -relativePosition1.x() * radius_ + relativePosition1.y() * leg1) / distSq1;
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}
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else if (s > 1.0f && distSqLine <= radiusSq) {
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/*
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* Obstacle viewed obliquely so that
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* right vertex defines velocity obstacle.
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*/
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if (!obstacle2->isConvex_) {
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/* Ignore obstacle. */
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continue;
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}
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obstacle1 = obstacle2;
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const float leg2 = std::sqrt(distSq2 - radiusSq);
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leftLegDirection = Vector2(relativePosition2.x() * leg2 - relativePosition2.y() * radius_, relativePosition2.x() * radius_ + relativePosition2.y() * leg2) / distSq2;
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rightLegDirection = Vector2(relativePosition2.x() * leg2 + relativePosition2.y() * radius_, -relativePosition2.x() * radius_ + relativePosition2.y() * leg2) / distSq2;
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}
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else {
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/* Usual situation. */
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if (obstacle1->isConvex_) {
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const float leg1 = std::sqrt(distSq1 - radiusSq);
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leftLegDirection = Vector2(relativePosition1.x() * leg1 - relativePosition1.y() * radius_, relativePosition1.x() * radius_ + relativePosition1.y() * leg1) / distSq1;
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}
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else {
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/* Left vertex non-convex; left leg extends cut-off line. */
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leftLegDirection = -obstacle1->unitDir_;
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}
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if (obstacle2->isConvex_) {
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const float leg2 = std::sqrt(distSq2 - radiusSq);
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rightLegDirection = Vector2(relativePosition2.x() * leg2 + relativePosition2.y() * radius_, -relativePosition2.x() * radius_ + relativePosition2.y() * leg2) / distSq2;
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}
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else {
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/* Right vertex non-convex; right leg extends cut-off line. */
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rightLegDirection = obstacle1->unitDir_;
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}
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}
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/*
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* Legs can never point into neighboring edge when convex vertex,
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* take cutoff-line of neighboring edge instead. If velocity projected on
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* "foreign" leg, no constraint is added.
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*/
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const Obstacle2D *const leftNeighbor = obstacle1->prevObstacle_;
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bool isLeftLegForeign = false;
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bool isRightLegForeign = false;
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if (obstacle1->isConvex_ && det(leftLegDirection, -leftNeighbor->unitDir_) >= 0.0f) {
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/* Left leg points into obstacle. */
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leftLegDirection = -leftNeighbor->unitDir_;
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isLeftLegForeign = true;
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}
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if (obstacle2->isConvex_ && det(rightLegDirection, obstacle2->unitDir_) <= 0.0f) {
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/* Right leg points into obstacle. */
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rightLegDirection = obstacle2->unitDir_;
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isRightLegForeign = true;
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}
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/* Compute cut-off centers. */
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const Vector2 leftCutoff = invTimeHorizonObst * (obstacle1->point_ - position_);
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const Vector2 rightCutoff = invTimeHorizonObst * (obstacle2->point_ - position_);
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const Vector2 cutoffVec = rightCutoff - leftCutoff;
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/* Project current velocity on velocity obstacle. */
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/* Check if current velocity is projected on cutoff circles. */
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const float t = (obstacle1 == obstacle2 ? 0.5f : ((velocity_ - leftCutoff) * cutoffVec) / absSq(cutoffVec));
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const float tLeft = ((velocity_ - leftCutoff) * leftLegDirection);
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const float tRight = ((velocity_ - rightCutoff) * rightLegDirection);
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if ((t < 0.0f && tLeft < 0.0f) || (obstacle1 == obstacle2 && tLeft < 0.0f && tRight < 0.0f)) {
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/* Project on left cut-off circle. */
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const Vector2 unitW = normalize(velocity_ - leftCutoff);
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line.direction = Vector2(unitW.y(), -unitW.x());
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line.point = leftCutoff + radius_ * invTimeHorizonObst * unitW;
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orcaLines_.push_back(line);
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continue;
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}
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else if (t > 1.0f && tRight < 0.0f) {
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/* Project on right cut-off circle. */
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const Vector2 unitW = normalize(velocity_ - rightCutoff);
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line.direction = Vector2(unitW.y(), -unitW.x());
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line.point = rightCutoff + radius_ * invTimeHorizonObst * unitW;
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orcaLines_.push_back(line);
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continue;
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}
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/*
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* Project on left leg, right leg, or cut-off line, whichever is closest
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* to velocity.
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*/
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const float distSqCutoff = ((t < 0.0f || t > 1.0f || obstacle1 == obstacle2) ? std::numeric_limits<float>::infinity() : absSq(velocity_ - (leftCutoff + t * cutoffVec)));
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const float distSqLeft = ((tLeft < 0.0f) ? std::numeric_limits<float>::infinity() : absSq(velocity_ - (leftCutoff + tLeft * leftLegDirection)));
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const float distSqRight = ((tRight < 0.0f) ? std::numeric_limits<float>::infinity() : absSq(velocity_ - (rightCutoff + tRight * rightLegDirection)));
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if (distSqCutoff <= distSqLeft && distSqCutoff <= distSqRight) {
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/* Project on cut-off line. */
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line.direction = -obstacle1->unitDir_;
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line.point = leftCutoff + radius_ * invTimeHorizonObst * Vector2(-line.direction.y(), line.direction.x());
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orcaLines_.push_back(line);
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continue;
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}
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else if (distSqLeft <= distSqRight) {
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/* Project on left leg. */
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if (isLeftLegForeign) {
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continue;
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}
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line.direction = leftLegDirection;
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line.point = leftCutoff + radius_ * invTimeHorizonObst * Vector2(-line.direction.y(), line.direction.x());
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orcaLines_.push_back(line);
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continue;
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}
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else {
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/* Project on right leg. */
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if (isRightLegForeign) {
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continue;
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}
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line.direction = -rightLegDirection;
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line.point = rightCutoff + radius_ * invTimeHorizonObst * Vector2(-line.direction.y(), line.direction.x());
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orcaLines_.push_back(line);
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continue;
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}
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}
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const size_t numObstLines = orcaLines_.size();
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const float invTimeHorizon = 1.0f / timeHorizon_;
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/* Create agent ORCA lines. */
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for (size_t i = 0; i < agentNeighbors_.size(); ++i) {
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const Agent2D *const other = agentNeighbors_[i].second;
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//const float timeHorizon_mod = (avoidance_priority_ - other->avoidance_priority_ + 1.0f) * 0.5f;
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//const float invTimeHorizon = (1.0f / timeHorizon_) * timeHorizon_mod;
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const Vector2 relativePosition = other->position_ - position_;
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const Vector2 relativeVelocity = velocity_ - other->velocity_;
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const float distSq = absSq(relativePosition);
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const float combinedRadius = radius_ + other->radius_;
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const float combinedRadiusSq = sqr(combinedRadius);
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Line line;
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Vector2 u;
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if (distSq > combinedRadiusSq) {
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/* No collision. */
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const Vector2 w = relativeVelocity - invTimeHorizon * relativePosition;
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/* Vector from cutoff center to relative velocity. */
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const float wLengthSq = absSq(w);
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const float dotProduct1 = w * relativePosition;
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if (dotProduct1 < 0.0f && sqr(dotProduct1) > combinedRadiusSq * wLengthSq) {
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/* Project on cut-off circle. */
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const float wLength = std::sqrt(wLengthSq);
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const Vector2 unitW = w / wLength;
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line.direction = Vector2(unitW.y(), -unitW.x());
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u = (combinedRadius * invTimeHorizon - wLength) * unitW;
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}
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else {
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/* Project on legs. */
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const float leg = std::sqrt(distSq - combinedRadiusSq);
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if (det(relativePosition, w) > 0.0f) {
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/* Project on left leg. */
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line.direction = Vector2(relativePosition.x() * leg - relativePosition.y() * combinedRadius, relativePosition.x() * combinedRadius + relativePosition.y() * leg) / distSq;
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}
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else {
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/* Project on right leg. */
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line.direction = -Vector2(relativePosition.x() * leg + relativePosition.y() * combinedRadius, -relativePosition.x() * combinedRadius + relativePosition.y() * leg) / distSq;
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}
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const float dotProduct2 = relativeVelocity * line.direction;
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u = dotProduct2 * line.direction - relativeVelocity;
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}
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}
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else {
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/* Collision. Project on cut-off circle of time timeStep. */
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const float invTimeStep = 1.0f / sim_->timeStep_;
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/* Vector from cutoff center to relative velocity. */
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const Vector2 w = relativeVelocity - invTimeStep * relativePosition;
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const float wLength = abs(w);
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const Vector2 unitW = w / wLength;
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line.direction = Vector2(unitW.y(), -unitW.x());
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u = (combinedRadius * invTimeStep - wLength) * unitW;
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}
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line.point = velocity_ + 0.5f * u;
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orcaLines_.push_back(line);
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}
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size_t lineFail = linearProgram2(orcaLines_, maxSpeed_, prefVelocity_, false, newVelocity_);
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if (lineFail < orcaLines_.size()) {
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linearProgram3(orcaLines_, numObstLines, lineFail, maxSpeed_, newVelocity_);
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}
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}
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void Agent2D::insertAgentNeighbor(const Agent2D *agent, float &rangeSq)
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{
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// no point processing same agent
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if (this == agent) {
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return;
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}
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// ignore other agent if layers/mask bitmasks have no matching bit
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if ((avoidance_mask_ & agent->avoidance_layers_) == 0) {
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return;
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}
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// ignore other agent if this agent is below or above
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if ((elevation_ > agent->elevation_ + agent->height_) || (elevation_ + height_ < agent->elevation_)) {
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return;
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}
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if (avoidance_priority_ > agent->avoidance_priority_) {
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return;
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}
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const float distSq = absSq(position_ - agent->position_);
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if (distSq < rangeSq) {
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if (agentNeighbors_.size() < maxNeighbors_) {
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agentNeighbors_.push_back(std::make_pair(distSq, agent));
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}
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size_t i = agentNeighbors_.size() - 1;
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while (i != 0 && distSq < agentNeighbors_[i - 1].first) {
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agentNeighbors_[i] = agentNeighbors_[i - 1];
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--i;
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}
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agentNeighbors_[i] = std::make_pair(distSq, agent);
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if (agentNeighbors_.size() == maxNeighbors_) {
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rangeSq = agentNeighbors_.back().first;
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}
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}
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}
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void Agent2D::insertObstacleNeighbor(const Obstacle2D *obstacle, float rangeSq)
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{
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const Obstacle2D *const nextObstacle = obstacle->nextObstacle_;
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// ignore obstacle if no matching layer/mask
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if ((avoidance_mask_ & nextObstacle->avoidance_layers_) == 0) {
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return;
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}
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// ignore obstacle if below or above
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if ((elevation_ > obstacle->elevation_ + obstacle->height_) || (elevation_ + height_ < obstacle->elevation_)) {
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return;
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}
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const float distSq = distSqPointLineSegment(obstacle->point_, nextObstacle->point_, position_);
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if (distSq < rangeSq) {
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obstacleNeighbors_.push_back(std::make_pair(distSq, obstacle));
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size_t i = obstacleNeighbors_.size() - 1;
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while (i != 0 && distSq < obstacleNeighbors_[i - 1].first) {
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obstacleNeighbors_[i] = obstacleNeighbors_[i - 1];
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--i;
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}
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obstacleNeighbors_[i] = std::make_pair(distSq, obstacle);
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}
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//}
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}
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void Agent2D::update(RVOSimulator2D *sim_)
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{
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velocity_ = newVelocity_;
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position_ += velocity_ * sim_->timeStep_;
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}
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bool linearProgram1(const std::vector<Line> &lines, size_t lineNo, float radius, const Vector2 &optVelocity, bool directionOpt, Vector2 &result)
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{
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const float dotProduct = lines[lineNo].point * lines[lineNo].direction;
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const float discriminant = sqr(dotProduct) + sqr(radius) - absSq(lines[lineNo].point);
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if (discriminant < 0.0f) {
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/* Max speed circle fully invalidates line lineNo. */
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return false;
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}
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const float sqrtDiscriminant = std::sqrt(discriminant);
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float tLeft = -dotProduct - sqrtDiscriminant;
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float tRight = -dotProduct + sqrtDiscriminant;
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for (size_t i = 0; i < lineNo; ++i) {
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const float denominator = det(lines[lineNo].direction, lines[i].direction);
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const float numerator = det(lines[i].direction, lines[lineNo].point - lines[i].point);
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if (std::fabs(denominator) <= RVO_EPSILON) {
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/* Lines lineNo and i are (almost) parallel. */
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if (numerator < 0.0f) {
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return false;
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}
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else {
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continue;
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}
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}
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const float t = numerator / denominator;
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|
if (denominator >= 0.0f) {
|
|
/* Line i bounds line lineNo on the right. */
|
|
tRight = std::min(tRight, t);
|
|
}
|
|
else {
|
|
/* Line i bounds line lineNo on the left. */
|
|
tLeft = std::max(tLeft, t);
|
|
}
|
|
|
|
if (tLeft > tRight) {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
if (directionOpt) {
|
|
/* Optimize direction. */
|
|
if (optVelocity * lines[lineNo].direction > 0.0f) {
|
|
/* Take right extreme. */
|
|
result = lines[lineNo].point + tRight * lines[lineNo].direction;
|
|
}
|
|
else {
|
|
/* Take left extreme. */
|
|
result = lines[lineNo].point + tLeft * lines[lineNo].direction;
|
|
}
|
|
}
|
|
else {
|
|
/* Optimize closest point. */
|
|
const float t = lines[lineNo].direction * (optVelocity - lines[lineNo].point);
|
|
|
|
if (t < tLeft) {
|
|
result = lines[lineNo].point + tLeft * lines[lineNo].direction;
|
|
}
|
|
else if (t > tRight) {
|
|
result = lines[lineNo].point + tRight * lines[lineNo].direction;
|
|
}
|
|
else {
|
|
result = lines[lineNo].point + t * lines[lineNo].direction;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
size_t linearProgram2(const std::vector<Line> &lines, float radius, const Vector2 &optVelocity, bool directionOpt, Vector2 &result)
|
|
{
|
|
if (directionOpt) {
|
|
/*
|
|
* Optimize direction. Note that the optimization velocity is of unit
|
|
* length in this case.
|
|
*/
|
|
result = optVelocity * radius;
|
|
}
|
|
else if (absSq(optVelocity) > sqr(radius)) {
|
|
/* Optimize closest point and outside circle. */
|
|
result = normalize(optVelocity) * radius;
|
|
}
|
|
else {
|
|
/* Optimize closest point and inside circle. */
|
|
result = optVelocity;
|
|
}
|
|
|
|
for (size_t i = 0; i < lines.size(); ++i) {
|
|
if (det(lines[i].direction, lines[i].point - result) > 0.0f) {
|
|
/* Result does not satisfy constraint i. Compute new optimal result. */
|
|
const Vector2 tempResult = result;
|
|
|
|
if (!linearProgram1(lines, i, radius, optVelocity, directionOpt, result)) {
|
|
result = tempResult;
|
|
return i;
|
|
}
|
|
}
|
|
}
|
|
|
|
return lines.size();
|
|
}
|
|
|
|
void linearProgram3(const std::vector<Line> &lines, size_t numObstLines, size_t beginLine, float radius, Vector2 &result)
|
|
{
|
|
float distance = 0.0f;
|
|
|
|
for (size_t i = beginLine; i < lines.size(); ++i) {
|
|
if (det(lines[i].direction, lines[i].point - result) > distance) {
|
|
/* Result does not satisfy constraint of line i. */
|
|
std::vector<Line> projLines(lines.begin(), lines.begin() + static_cast<ptrdiff_t>(numObstLines));
|
|
|
|
for (size_t j = numObstLines; j < i; ++j) {
|
|
Line line;
|
|
|
|
float determinant = det(lines[i].direction, lines[j].direction);
|
|
|
|
if (std::fabs(determinant) <= RVO_EPSILON) {
|
|
/* Line i and line j are parallel. */
|
|
if (lines[i].direction * lines[j].direction > 0.0f) {
|
|
/* Line i and line j point in the same direction. */
|
|
continue;
|
|
}
|
|
else {
|
|
/* Line i and line j point in opposite direction. */
|
|
line.point = 0.5f * (lines[i].point + lines[j].point);
|
|
}
|
|
}
|
|
else {
|
|
line.point = lines[i].point + (det(lines[j].direction, lines[i].point - lines[j].point) / determinant) * lines[i].direction;
|
|
}
|
|
|
|
line.direction = normalize(lines[j].direction - lines[i].direction);
|
|
projLines.push_back(line);
|
|
}
|
|
|
|
const Vector2 tempResult = result;
|
|
|
|
if (linearProgram2(projLines, radius, Vector2(-lines[i].direction.y(), lines[i].direction.x()), true, result) < projLines.size()) {
|
|
/* This should in principle not happen. The result is by definition
|
|
* already in the feasible region of this linear program. If it fails,
|
|
* it is due to small floating point error, and the current result is
|
|
* kept.
|
|
*/
|
|
result = tempResult;
|
|
}
|
|
|
|
distance = det(lines[i].direction, lines[i].point - result);
|
|
}
|
|
}
|
|
}
|
|
}
|