124 lines
3 KiB
C++
124 lines
3 KiB
C++
/*
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* Agent3d.h
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* RVO2-3D 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 RVO3D_AGENT_H_
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#define RVO3D_AGENT_H_
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/**
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* @file Agent3d.h
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* @brief Contains the Agent3D class.
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*/
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#include <cstddef>
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#include <cstdint>
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#include <utility>
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#include <vector>
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#include "Plane.h"
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#include "Vector3.h"
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namespace RVO3D {
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class RVOSimulator3D;
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/**
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* @brief Defines an agent in the simulation.
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*/
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class Agent3D {
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public:
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/**
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* @brief Constructs an agent instance.
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* @param[in] sim The simulator instance.
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*/
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explicit Agent3D();
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/**
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* @brief Destroys this agent instance.
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*/
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~Agent3D();
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/**
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* @brief Computes the neighbors of this agent.
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*/
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void computeNeighbors(RVOSimulator3D *sim_);
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/**
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* @brief Computes the new velocity of this agent.
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*/
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void computeNewVelocity(RVOSimulator3D *sim_);
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/**
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* @brief Inserts an agent neighbor into the set of neighbors of this
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* agent.
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* @param[in] agent A pointer to the agent to be inserted.
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* @param[in] rangeSq The squared range around this agent.
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*/
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void insertAgentNeighbor(const Agent3D *agent,
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float &rangeSq); /* NOLINT(runtime/references) */
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/**
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* @brief Updates the three-dimensional position and three-dimensional
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* velocity of this agent.
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*/
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void update(RVOSimulator3D *sim_);;
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/* Not implemented. */
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Agent3D(const Agent3D &other);
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/* Not implemented. */
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Agent3D &operator=(const Agent3D &other);
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Vector3 newVelocity_;
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Vector3 position_;
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Vector3 prefVelocity_;
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Vector3 velocity_;
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RVOSimulator3D *sim_;
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std::size_t id_;
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std::size_t maxNeighbors_;
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float maxSpeed_;
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float neighborDist_;
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float radius_;
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float timeHorizon_;
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float timeHorizonObst_;
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std::vector<std::pair<float, const Agent3D *> > agentNeighbors_;
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std::vector<Plane> orcaPlanes_;
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float height_ = 1.0;
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uint32_t avoidance_layers_ = 1;
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uint32_t avoidance_mask_ = 1;
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float avoidance_priority_ = 1.0;
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friend class KdTree3D;
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friend class RVOSimulator3D;
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};
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} /* namespace RVO3D */
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#endif /* RVO3D_AGENT_H_ */
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