Merge pull request #36102 from bruvzg/rvo2_mingw_fix
[MinGW] Remove unused WinAPI includes/defines from RVO2.
This commit is contained in:
Rémi Verschelde
GitHub
commit
8c73e81313
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@ -477,7 +477,7 @@ Files extracted from upstream source:
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Files extracted from upstream source:
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- All .cpp and .h files in the `src/` folder except for RVOSimulator.cpp and RVOSimulator.h
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- All .cpp and .h files in the `src/` folder except for RVO.h, RVOSimulator.cpp and RVOSimulator.h
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- LICENSE
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Important: Some files have Godot-made changes; so to enrich the features
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@ -38,34 +38,8 @@
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#ifndef RVO_API_H_
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#define RVO_API_H_
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#ifdef _WIN32
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#include <SDKDDKVer.h>
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#define WIN32_LEAN_AND_MEAN
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#define NOCOMM
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#define NOIMAGE
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#define NOIME
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#define NOKANJI
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#define NOMCX
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#ifndef NOMINMAX
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#define NOMINMAX
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#endif
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#define NOPROXYSTUB
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#define NOSERVICE
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#define NOSOUND
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#define NOTAPE
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#define NORPC
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#define _USE_MATH_DEFINES
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#include <windows.h>
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#undef CONNECT_DEFERRED // Avoid collision with the Godot Object class
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#undef CreateDialog // Avoid collision with the Godot CreateDialog class
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#endif
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#ifdef RVO_EXPORTS
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#define RVO_API __declspec(dllexport)
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#elif defined(RVO_IMPORTS)
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#define RVO_API __declspec(dllimport)
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#else
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// -- GODOT start --
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#define RVO_API
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#endif
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// -- GODOT end --
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#endif /* RVO_API_H_ */
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@ -1,406 +0,0 @@
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/*
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* RVO.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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#ifndef RVO_RVO_H_
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#define RVO_RVO_H_
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#include "API.h"
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#include "RVOSimulator.h"
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#include "Vector3.h"
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/**
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\file RVO.h
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\brief Includes all public headers in the library.
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\namespace RVO
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\brief Contains all classes, functions, and constants used in the library.
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\mainpage RVO2-3D Library
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\author Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, and Dinesh Manocha
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<b>RVO2-3D Library</b> is an easy-to-use C++ implementation of the
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<a href="http://gamma.cs.unc.edu/CA/">Optimal Reciprocal Collision Avoidance</a>
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(ORCA) formulation for multi-agent simulation in three dimensions. <b>RVO2-3D Library</b>
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automatically uses parallelism for computing the motion of the agents if your machine
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has multiple processors and your compiler supports <a href="http://www.openmp.org/">
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OpenMP</a>.
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Please follow the following steps to install and use <b>RVO2-3D Library</b>.
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- \subpage whatsnew
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- \subpage building
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- \subpage using
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- \subpage params
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See the documentation of the RVO::RVOSimulator class for an exhaustive list of
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public functions of <b>RVO2-3D Library</b>.
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<b>RVO2-3D Library</b>, accompanying example code, and this documentation is
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released for educational, research, and non-profit purposes under the following
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\subpage terms "terms and conditions".
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\page whatsnew What Is New in RVO2-3D Library
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\section localca Three Dimensions
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In contrast to RVO2 Library, <b>RVO2-3D Library</b> operates in 3D workspaces. It uses
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a three dimensional implementation of <a href="http://gamma.cs.unc.edu/CA/">Optimal
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Reciprocal Collision Avoidance</a> (ORCA) for local collision avoidance. <b>RVO2-3D
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Library</b> does not replace RVO2 Library; for 2D applications, RVO2 Library should
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be used.
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\section structure Structure of RVO2-3D Library
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The structure of <b>RVO2-3D Library</b> is similar to that of RVO2 Library.
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Users familiar with RVO2 Library should find little trouble in using <b>RVO2-3D
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Library</b>. <b>RVO2-3D Library</b> currently does not support static obstacles.
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\page building Building RVO2-3D Library
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We assume that you have downloaded <b>RVO2-3D Library</b> and unpacked the ZIP
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archive to a path <tt>$RVO_ROOT</tt>.
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\section xcode Apple Xcode 4.x
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Open <tt>$RVO_ROOT/RVO.xcodeproj</tt> and select the <tt>Static Library</tt> scheme. A static library <tt>libRVO.a</tt> will be built in the default build directory.
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\section cmake CMake
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Create and switch to your chosen build directory, e.g. <tt>$RVO_ROOT/build</tt>.
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Run <tt>cmake</tt> inside the build directory on the source directory, e.g.
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<tt>cmake $RVO_ROOT/src</tt>. Build files for the default generator for your
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platform will be generated in the build directory.
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\section make GNU Make
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Switch to the source directory <tt>$RVO_ROOT/src</tt> and run <tt>make</tt>.
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Public header files (<tt>API.h</tt>, <tt>RVO.h</tt>, <tt>RVOSimulator.h</tt>, and <tt>Vector3.h</tt>) will be copied to the <tt>$RVO_ROOT/include</tt> directory and a static library <tt>libRVO.a</tt> will be compiled into the
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<tt>$RVO_ROOT/lib</tt> directory.
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\section visual Microsoft Visual Studio 2010
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Open <tt>$RVO_ROOT/RVO.sln</tt> and select the <tt>RVOStatic</tt> project and a
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configuration (<tt>Debug</tt> or <tt>Release</tt>). Public header files (<tt>API.h</tt>, <tt>RVO.h</tt>, <tt>RVOSimulator.h</tt>, and <tt>Vector3.h</tt>) will be copied to the <tt>$RVO_ROOT/include</tt> directory and a static library, e.g. <tt>RVO.lib</tt>, will be compiled into the
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<tt>$RVO_ROOT/lib</tt> directory.
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\page using Using RVO2-3D Library
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\section structure Structure
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A program performing an <b>RVO2-3D Library</b> simulation has the following global
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structure.
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\code
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#include <RVO.h>
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std::vector<RVO::Vector3> goals;
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int main()
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{
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// Create a new simulator instance.
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RVO::RVOSimulator* sim = new RVO::RVOSimulator();
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// Set up the scenario.
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setupScenario(sim);
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// Perform (and manipulate) the simulation.
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do {
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updateVisualization(sim);
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setPreferredVelocities(sim);
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sim->doStep();
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} while (!reachedGoal(sim));
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delete sim;
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}
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\endcode
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In order to use <b>RVO2-3D Library</b>, the user needs to include RVO.h. The first
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step is then to create an instance of RVO::RVOSimulator. Then, the process
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consists of two stages. The first stage is specifying the simulation scenario
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and its parameters. In the above example program, this is done in the method
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setupScenario(...), which we will discuss below. The second stage is the actual
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performing of the simulation.
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In the above example program, simulation steps are taken until all
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the agents have reached some predefined goals. Prior to each simulation step,
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we set the preferred velocity for each agent, i.e. the
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velocity the agent would have taken if there were no other agents around, in the
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method setPreferredVelocities(...). The simulator computes the actual velocities
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of the agents and attempts to follow the preferred velocities as closely as
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possible while guaranteeing collision avoidance at the same time. During the
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simulation, the user may want to retrieve information from the simulation for
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instance to visualize the simulation. In the above example program, this is done
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in the method updateVisualization(...), which we will discuss below. It is also
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possible to manipulate the simulation during the simulation, for instance by
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changing positions, radii, velocities, etc. of the agents.
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\section spec Setting up the Simulation Scenario
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A scenario that is to be simulated can be set up as follows. A scenario consists
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of a set of agents that can be manually specified. Agents may be added anytime
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before or during the simulation. The user may also want to define goal positions
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of the agents, or a roadmap to guide the agents around obstacles. This is not done
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in <b>RVO2-3D Library</b>, but needs to be taken care of in the user's external
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application.
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The following example creates a scenario with eight agents exchanging positions.
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\code
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void setupScenario(RVO::RVOSimulator* sim) {
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// Specify global time step of the simulation.
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sim->setTimeStep(0.25f);
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// Specify default parameters for agents that are subsequently added.
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sim->setAgentDefaults(15.0f, 10, 10.0f, 2.0f, 2.0f);
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// Add agents, specifying their start position.
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sim->addAgent(RVO::Vector3(-50.0f, -50.0f, -50.0f));
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sim->addAgent(RVO::Vector3(50.0f, -50.0f, -50.0f));
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sim->addAgent(RVO::Vector3(50.0f, 50.0f, -50.0f));
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sim->addAgent(RVO::Vector3(-50.0f, 50.0f, -50.0f));
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sim->addAgent(RVO::Vector3(-50.0f, -50.0f, 50.0f));
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sim->addAgent(RVO::Vector3(50.0f, -50.0f, 50.0f));
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sim->addAgent(RVO::Vector3(50.0f, 50.0f, 50.0f));
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sim->addAgent(RVO::Vector3(-50.0f, 50.0f, 50.0f));
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// Create goals (simulator is unaware of these).
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for (size_t i = 0; i < sim->getNumAgents(); ++i) {
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goals.push_back(-sim->getAgentPosition(i));
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}
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}
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\endcode
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See the documentation on RVO::RVOSimulator for a full overview of the
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functionality to specify scenarios.
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\section ret Retrieving Information from the Simulation
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During the simulation, the user can extract information from the simulation for
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instance for visualization purposes, or to determine termination conditions of
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the simulation. In the example program above, visualization is done in the
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updateVisualization(...) method. Below we give an example that simply writes
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the positions of each agent in each time step to the standard output. The
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termination condition is checked in the reachedGoal(...) method. Here we give an
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example that returns true if all agents are within one radius of their goals.
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\code
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void updateVisualization(RVO::RVOSimulator* sim) {
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// Output the current global time.
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std::cout << sim->getGlobalTime() << " ";
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// Output the position for all the agents.
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for (size_t i = 0; i < sim->getNumAgents(); ++i) {
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std::cout << sim->getAgentPosition(i) << " ";
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}
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std::cout << std::endl;
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}
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\endcode
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\code
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bool reachedGoal(RVO::RVOSimulator* sim) {
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// Check whether all agents have arrived at their goals.
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for (size_t i = 0; i < sim->getNumAgents(); ++i) {
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if (absSq(goals[i] - sim->getAgentPosition(i)) > sim->getAgentRadius(i) * sim->getAgentRadius(i)) {
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// Agent is further away from its goal than one radius.
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return false;
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}
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}
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return true;
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}
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\endcode
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Using similar functions as the ones used in this example, the user can access
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information about other parameters of the agents, as well as the global
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parameters, and the obstacles. See the documentation of the class
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RVO::RVOSimulator for an exhaustive list of public functions for retrieving
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simulation information.
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\section manip Manipulating the Simulation
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During the simulation, the user can manipulate the simulation, for instance by
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changing the global parameters, or changing the parameters of the agents
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(potentially causing abrupt different behavior). It is also possible to give the
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agents a new position, which make them jump through the scene.
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New agents can be added to the simulation at any time.
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See the documentation of the class RVO::RVOSimulator for an exhaustive list of
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public functions for manipulating the simulation.
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To provide global guidance to the agents, the preferred velocities of the agents
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can be changed ahead of each simulation step. In the above example program, this
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happens in the method setPreferredVelocities(...). Here we give an example that
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simply sets the preferred velocity to the unit vector towards the agent's goal
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for each agent (i.e., the preferred speed is 1.0).
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\code
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void setPreferredVelocities(RVO::RVOSimulator* sim) {
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// Set the preferred velocity for each agent.
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for (size_t i = 0; i < sim->getNumAgents(); ++i) {
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if (absSq(goals[i] - sim->getAgentPosition(i)) < sim->getAgentRadius(i) * sim->getAgentRadius(i) ) {
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// Agent is within one radius of its goal, set preferred velocity to zero
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sim->setAgentPrefVelocity(i, RVO::Vector3());
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} else {
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// Agent is far away from its goal, set preferred velocity as unit vector towards agent's goal.
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sim->setAgentPrefVelocity(i, normalize(goals[i] - sim->getAgentPosition(i)));
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}
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}
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}
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\endcode
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\section example Example Programs
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<b>RVO2-3D Library</b> is accompanied by one example program, which can be found in the
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<tt>$RVO_ROOT/examples</tt> directory. The example is named Sphere, and
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contains the following demonstration scenario:
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<table border="0" cellpadding="3" width="100%">
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<tr>
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<td valign="top" width="100"><b>Sphere</b></td>
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<td valign="top">A scenario in which 812 agents, initially positioned evenly
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distributed on a sphere, move to the antipodal position on the
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sphere. </td>
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</tr>
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</table>
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\page params Parameter Overview
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\section globalp Global Parameters
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<table border="0" cellpadding="3" width="100%">
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<tr>
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<td valign="top" width="150"><strong>Parameter</strong></td>
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<td valign="top" width="150"><strong>Type (unit)</strong></td>
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<td valign="top"><strong>Meaning</strong></td>
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</tr>
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<tr>
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<td valign="top">timeStep</td>
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<td valign="top">float (time)</td>
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<td valign="top">The time step of the simulation. Must be positive.</td>
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</tr>
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</table>
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\section agent Agent Parameters
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<table border="0" cellpadding="3" width="100%">
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<tr>
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<td valign="top" width="150"><strong>Parameter</strong></td>
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<td valign="top" width="150"><strong>Type (unit)</strong></td>
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<td valign="top"><strong>Meaning</strong></td>
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</tr>
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<tr>
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<td valign="top">maxNeighbors</td>
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<td valign="top">size_t</td>
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<td valign="top">The maximum number of other agents the agent takes into
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account in the navigation. The larger this number, the
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longer the running time of the simulation. If the number is
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too low, the simulation will not be safe.</td>
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</tr>
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<tr>
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<td valign="top">maxSpeed</td>
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<td valign="top">float (distance/time)</td>
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<td valign="top">The maximum speed of the agent. Must be non-negative.</td>
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</tr>
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<tr>
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<td valign="top">neighborDist</td>
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<td valign="top">float (distance)</td>
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<td valign="top">The maximum distance (center point to center point) to
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other agents the agent takes into account in the
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navigation. The larger this number, the longer the running
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time of the simulation. If the number is too low, the
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simulation will not be safe. Must be non-negative.</td>
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</tr>
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<tr>
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<td valign="top" width="150">position</td>
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<td valign="top" width="150">RVO::Vector3 (distance, distance)</td>
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<td valign="top">The current position of the agent.</td>
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</tr>
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<tr>
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<td valign="top" width="150">prefVelocity</td>
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<td valign="top" width="150">RVO::Vector3 (distance/time, distance/time)
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</td>
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<td valign="top">The current preferred velocity of the agent. This is the
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velocity the agent would take if no other agents or
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obstacles were around. The simulator computes an actual
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velocity for the agent that follows the preferred velocity
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as closely as possible, but at the same time guarantees
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collision avoidance.</td>
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</tr>
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<tr>
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<td valign="top">radius</td>
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<td valign="top">float (distance)</td>
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<td valign="top">The radius of the agent. Must be non-negative.</td>
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</tr>
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<tr>
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<td valign="top" width="150">timeHorizon</td>
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<td valign="top" width="150">float (time)</td>
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<td valign="top">The minimum amount of time for which the agent's velocities
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that are computed by the simulation are safe with respect
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to other agents. The larger this number, the sooner this
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agent will respond to the presence of other agents, but the
|
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less freedom the agent has in choosing its velocities.
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Must be positive. </td>
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</tr>
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<tr>
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<td valign="top" width="150">velocity</td>
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<td valign="top" width="150">RVO::Vector3 (distance/time, distance/time)
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</td>
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<td valign="top">The (current) velocity of the agent.</td>
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</tr>
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</table>
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\page terms Terms and Conditions
|
||||
|
||||
<b>RVO2-3D Library</b>
|
||||
|
||||
Copyright 2008 University of North Carolina at Chapel Hill
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
||||
*/
|
||||
|
||||
#endif /* RVO_RVO_H_ */
|
||||
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Reference in New Issue