godot/thirdparty/rvo2/patches/rvo2-godot-changes.patch

diff --git a/thirdparty/rvo2/Agent.cpp b/thirdparty/rvo2/Agent.cpp
index 5e49a3554c..b35eee9c12 100644
--- a/thirdparty/rvo2/Agent.cpp
+++ b/thirdparty/rvo2/Agent.cpp
@@ -105,18 +105,17 @@ namespace RVO {
 	 */
 	void linearProgram4(const std::vector<Plane> &planes, size_t beginPlane, float radius, Vector3 &result);
 
-	Agent::Agent(RVOSimulator *sim) : sim_(sim), id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f) { }
+	Agent::Agent() : id_(0), maxNeighbors_(0), maxSpeed_(0.0f), neighborDist_(0.0f), radius_(0.0f), timeHorizon_(0.0f), ignore_y_(false) { }
 
-	void Agent::computeNeighbors()
+	void Agent::computeNeighbors(KdTree *kdTree_)
 	{
 		agentNeighbors_.clear();
-
 		if (maxNeighbors_ > 0) {
-			sim_->kdTree_->computeAgentNeighbors(this, neighborDist_ * neighborDist_);
+			kdTree_->computeAgentNeighbors(this, neighborDist_ * neighborDist_);
 		}
 	}
 
-	void Agent::computeNewVelocity()
+	void Agent::computeNewVelocity(float timeStep)
 	{
 		orcaPlanes_.clear();
 		const float invTimeHorizon = 1.0f / timeHorizon_;
@@ -124,10 +123,24 @@ namespace RVO {
 		/* Create agent ORCA planes. */
 		for (size_t i = 0; i < agentNeighbors_.size(); ++i) {
 			const Agent *const other = agentNeighbors_[i].second;
-			const Vector3 relativePosition = other->position_ - position_;
-			const Vector3 relativeVelocity = velocity_ - other->velocity_;
-			const float distSq = absSq(relativePosition);
+
+			Vector3 relativePosition = other->position_ - position_;
+			Vector3 relativeVelocity = velocity_ - other->velocity_;
 			const float combinedRadius = radius_ + other->radius_;
+
+			// This is a Godot feature that allow the agents to avoid the collision
+			// by moving only on the horizontal plane relative to the player velocity.
+			if (ignore_y_) {
+				// Skip if these are in two different heights
+#define ABS(m_v) (((m_v) < 0) ? (-(m_v)) : (m_v))
+				if (ABS(relativePosition[1]) > combinedRadius * 2) {
+					continue;
+				}
+				relativePosition[1] = 0;
+				relativeVelocity[1] = 0;
+			}
+
+			const float distSq = absSq(relativePosition);
 			const float combinedRadiusSq = sqr(combinedRadius);
 
 			Plane plane;
@@ -165,7 +178,7 @@ namespace RVO {
 			}
 			else {
 				/* Collision. */
-				const float invTimeStep = 1.0f / sim_->timeStep_;
+				const float invTimeStep = 1.0f / timeStep;
 				const Vector3 w = relativeVelocity - invTimeStep * relativePosition;
 				const float wLength = abs(w);
 				const Vector3 unitW = w / wLength;
@@ -183,6 +196,11 @@ namespace RVO {
 		if (planeFail < orcaPlanes_.size()) {
 			linearProgram4(orcaPlanes_, planeFail, maxSpeed_, newVelocity_);
 		}
+
+		if (ignore_y_) {
+			// Not 100% necessary, but better to have.
+			newVelocity_[1] = prefVelocity_[1];
+		}
 	}
 
 	void Agent::insertAgentNeighbor(const Agent *agent, float &rangeSq)
@@ -211,12 +229,6 @@ namespace RVO {
 		}
 	}
 
-	void Agent::update()
-	{
-		velocity_ = newVelocity_;
-		position_ += velocity_ * sim_->timeStep_;
-	}
-
 	bool linearProgram1(const std::vector<Plane> &planes, size_t planeNo, const Line &line, float radius, const Vector3 &optVelocity, bool directionOpt, Vector3 &result)
 	{
 		const float dotProduct = line.point * line.direction;
diff --git a/thirdparty/rvo2/Agent.h b/thirdparty/rvo2/Agent.h
index d3922ec645..45fbead2f5 100644
--- a/thirdparty/rvo2/Agent.h
+++ b/thirdparty/rvo2/Agent.h
@@ -41,30 +41,52 @@
 #include <utility>
 #include <vector>
 
-#include "RVOSimulator.h"
 #include "Vector3.h"
 
+// Note: Slightly modified to work better in Godot.
+// - The agent can be created by anyone.
+// - The simulator pointer is removed.
+// - The update function is removed.
+// - The compute velocity function now need the timeStep.
+// - Moved the `Plane` class here.
+// - Added a new parameter `ignore_y_` in the `Agent`. This parameter is used to control a godot feature that allows to avoid collisions by moving on the horizontal plane.
 namespace RVO {
+	/**
+	 * \brief   Defines a plane.
+	 */
+	class Plane {
+	public:
+		/**
+		 * \brief   A point on the plane.
+		 */
+		Vector3 point;
+
+		/**
+		 * \brief   The normal to the plane.
+		 */
+		Vector3 normal;
+	};
+
 	/**
 	 * \brief   Defines an agent in the simulation.
 	 */
 	class Agent {
-	private:
+	public:
 		/**
 		 * \brief   Constructs an agent instance.
 		 * \param   sim  The simulator instance.
 		 */
-		explicit Agent(RVOSimulator *sim);
+		explicit Agent();
 
 		/**
 		 * \brief   Computes the neighbors of this agent.
 		 */
-		void computeNeighbors();
+		void computeNeighbors(class KdTree *kdTree_);
 
 		/**
 		 * \brief   Computes the new velocity of this agent.
 		 */
-		void computeNewVelocity();
+		void computeNewVelocity(float timeStep);
 
 		/**
 		 * \brief   Inserts an agent neighbor into the set of neighbors of this agent.
@@ -73,16 +95,10 @@ namespace RVO {
 		 */
 		void insertAgentNeighbor(const Agent *agent, float &rangeSq);
 
-		/**
-		 * \brief   Updates the three-dimensional position and three-dimensional velocity of this agent.
-		 */
-		void update();
-
 		Vector3 newVelocity_;
 		Vector3 position_;
 		Vector3 prefVelocity_;
 		Vector3 velocity_;
-		RVOSimulator *sim_;
 		size_t id_;
 		size_t maxNeighbors_;
 		float maxSpeed_;
@@ -91,9 +107,11 @@ namespace RVO {
 		float timeHorizon_;
 		std::vector<std::pair<float, const Agent *> > agentNeighbors_;
 		std::vector<Plane> orcaPlanes_;
+		/// This is a godot feature that allows the Agent to avoid collision by mooving
+		/// on the horizontal plane.
+		bool ignore_y_;
 
 		friend class KdTree;
-		friend class RVOSimulator;
 	};
 }
 
diff --git a/thirdparty/rvo2/KdTree.cpp b/thirdparty/rvo2/KdTree.cpp
index 5e9e9777a6..c857f299df 100644
--- a/thirdparty/rvo2/KdTree.cpp
+++ b/thirdparty/rvo2/KdTree.cpp
@@ -36,16 +36,15 @@
 
 #include "Agent.h"
 #include "Definitions.h"
-#include "RVOSimulator.h"
 
 namespace RVO {
 	const size_t RVO3D_MAX_LEAF_SIZE = 10;
 
-	KdTree::KdTree(RVOSimulator *sim) : sim_(sim) { }
+	KdTree::KdTree() { }
 
-	void KdTree::buildAgentTree()
+	void KdTree::buildAgentTree(std::vector<Agent *> agents)
 	{
-		agents_ = sim_->agents_;
+		agents_.swap(agents);
 
 		if (!agents_.empty()) {
 			agentTree_.resize(2 * agents_.size() - 1);
diff --git a/thirdparty/rvo2/KdTree.h b/thirdparty/rvo2/KdTree.h
index a09384c20f..69d8920ce0 100644
--- a/thirdparty/rvo2/KdTree.h
+++ b/thirdparty/rvo2/KdTree.h
@@ -41,6 +41,9 @@
 
 #include "Vector3.h"
 
+// Note: Slightly modified to work better with Godot.
+// - Removed `sim_`.
+// - KdTree things are public
 namespace RVO {
 	class Agent;
 	class RVOSimulator;
@@ -49,7 +52,7 @@ namespace RVO {
 	 * \brief   Defines <i>k</i>d-trees for agents in the simulation.
 	 */
 	class KdTree {
-	private:
+	public:
 		/**
 		 * \brief   Defines an agent <i>k</i>d-tree node.
 		 */
@@ -90,12 +93,12 @@ namespace RVO {
 		 * \brief   Constructs a <i>k</i>d-tree instance.
 		 * \param   sim  The simulator instance.
 		 */
-		explicit KdTree(RVOSimulator *sim);
+		explicit KdTree();
 
 		/**
 		 * \brief   Builds an agent <i>k</i>d-tree.
 		 */
-		void buildAgentTree();
+		void buildAgentTree(std::vector<Agent *> agents);
 
 		void buildAgentTreeRecursive(size_t begin, size_t end, size_t node);
 
@@ -110,7 +113,6 @@ namespace RVO {
 
 		std::vector<Agent *> agents_;
 		std::vector<AgentTreeNode> agentTree_;
-		RVOSimulator *sim_;
 
 		friend class Agent;
 		friend class RVOSimulator;
diff --git a/thirdparty/rvo2/Vector3.h b/thirdparty/rvo2/Vector3.h
index 6c3223bb87..f44e311f29 100644
--- a/thirdparty/rvo2/Vector3.h
+++ b/thirdparty/rvo2/Vector3.h
@@ -41,7 +41,7 @@
 #include <cstddef>
 #include <ostream>
 
-#include "Export.h"
+#define RVO3D_EXPORT
 
 namespace RVO {
 	/**
@@ -59,17 +59,6 @@ namespace RVO {
 			val_[2] = 0.0f;
 		}
 
-		/**
-		 * \brief   Constructs and initializes a three-dimensional vector from the specified three-dimensional vector.
-		 * \param   vector  The three-dimensional vector containing the xyz-coordinates.
-		 */
-		inline Vector3(const Vector3 &vector)
-		{
-			val_[0] = vector[0];
-			val_[1] = vector[1];
-			val_[2] = vector[2];
-		}
-
 		/**
 		 * \brief   Constructs and initializes a three-dimensional vector from the specified three-element array.
 		 * \param   val  The three-element array containing the xyz-coordinates.