09bc9eb101
Change the entire navigation system. Remove editor prefix from nav mesh generator class. It is now used for baking at runtime as well. Navigation supports obstacle avoidance now with the RVO2 library. Nav system will also automatically link all nav meshes together to form one overall complete nav map.
122 lines
3.1 KiB
C++
122 lines
3.1 KiB
C++
/*
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* Agent.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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/**
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* \file Agent.h
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* \brief Contains the Agent class.
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*/
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#ifndef RVO_AGENT_H_
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#define RVO_AGENT_H_
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#include "API.h"
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#include <cstddef>
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#include <utility>
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#include <vector>
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#include "Vector3.h"
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// Note: Slightly modified to work better in Godot.
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// - The agent can be created by anyone.
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// - The simulator pointer is removed.
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// - The update function is removed.
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// - The compute velocity function now need the timeStep.
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// - Moved the `Plane` class here.
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// - 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.
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namespace RVO {
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/**
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* \brief Defines a plane.
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*/
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class Plane {
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public:
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/**
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* \brief A point on the plane.
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*/
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Vector3 point;
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/**
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* \brief The normal to the plane.
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*/
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Vector3 normal;
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};
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/**
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* \brief Defines an agent in the simulation.
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*/
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class Agent {
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public:
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/**
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* \brief Constructs an agent instance.
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* \param sim The simulator instance.
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*/
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explicit Agent();
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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(class KdTree *kdTree_);
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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(float timeStep);
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/**
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* \brief Inserts an agent neighbor into the set of neighbors of this agent.
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* \param agent A pointer to the agent to be inserted.
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* \param rangeSq The squared range around this agent.
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*/
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void insertAgentNeighbor(const Agent *agent, float &rangeSq);
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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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size_t id_;
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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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std::vector<std::pair<float, const Agent *> > agentNeighbors_;
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std::vector<Plane> orcaPlanes_;
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/// This is a godot feature that allows the Agent to avoid collision by mooving
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/// on the horizontal plane.
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bool ignore_y_;
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friend class KdTree;
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};
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} // namespace RVO
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#endif /* RVO_AGENT_H_ */
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