86 lines
2 KiB
C++
86 lines
2 KiB
C++
/*
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* Obstacle2d.h
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* RVO2 Library
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*
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* SPDX-FileCopyrightText: 2008 University of North Carolina at Chapel Hill
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* SPDX-License-Identifier: Apache-2.0
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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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* https://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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* <https://gamma.cs.unc.edu/RVO2/>
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*/
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#ifndef RVO2D_OBSTACLE_H_
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#define RVO2D_OBSTACLE_H_
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/**
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* @file Obstacle2d.h
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* @brief Declares the Obstacle2D class.
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*/
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#include <cstddef>
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#include <cstdint>
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#include "Vector2.h"
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namespace RVO2D {
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/**
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* @brief Defines static obstacles in the simulation.
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*/
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class Obstacle2D {
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public:
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/**
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* @brief Constructs a static obstacle instance.
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*/
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Obstacle2D();
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/**
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* @brief Destroys this static obstacle instance.
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*/
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~Obstacle2D();
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/* Not implemented. */
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Obstacle2D(const Obstacle2D &other);
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/* Not implemented. */
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Obstacle2D &operator=(const Obstacle2D &other);
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Vector2 direction_;
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Vector2 point_;
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Obstacle2D *next_;
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Obstacle2D *previous_;
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std::size_t id_;
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bool isConvex_;
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float height_ = 1.0;
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float elevation_ = 0.0;
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uint32_t avoidance_layers_ = 1;
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friend class Agent2D;
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friend class KdTree2D;
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friend class RVOSimulator2D;
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};
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} /* namespace RVO2D */
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#endif /* RVO2D_OBSTACLE_H_ */
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