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

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diff --git a/thirdparty/rvo2/API.h b/thirdparty/rvo2/API.h
index afef140253..9d424a661b 100644
--- a/thirdparty/rvo2/API.h
+++ b/thirdparty/rvo2/API.h
@@ -38,30 +38,6 @@
#ifndef RVO_API_H_
#define RVO_API_H_
-#ifdef _WIN32
-#include <SDKDDKVer.h>
-#define WIN32_LEAN_AND_MEAN
-#define NOCOMM
-#define NOIMAGE
-#define NOIME
-#define NOKANJI
-#define NOMCX
-#define NOMINMAX
-#define NOPROXYSTUB
-#define NOSERVICE
-#define NOSOUND
-#define NOTAPE
-#define NORPC
-#define _USE_MATH_DEFINES
-#include <windows.h>
-#endif
-
-#ifdef RVO_EXPORTS
-#define RVO_API __declspec(dllexport)
-#elif defined(RVO_IMPORTS)
-#define RVO_API __declspec(dllimport)
-#else
#define RVO_API
-#endif
#endif /* RVO_API_H_ */
diff --git a/thirdparty/rvo2/Agent.cpp b/thirdparty/rvo2/Agent.cpp
index 1a236c7831..49f14c4f7d 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 238f2d31b7..fd0bf4d1d4 100644
--- a/thirdparty/rvo2/Agent.h
+++ b/thirdparty/rvo2/Agent.h
@@ -43,30 +43,52 @@
#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.
@@ -75,16 +97,10 @@ 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_;
@@ -93,9 +109,11 @@ 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 719fabdf34..c6d43ee415 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 RVO_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 5dbc2b492f..e05a7f40d4 100644
--- a/thirdparty/rvo2/KdTree.h
+++ b/thirdparty/rvo2/KdTree.h
@@ -43,6 +43,9 @@
#include "Vector3.h"
+// Note: Slightly modified to work better with Godot.
+// - Removed `sim_`.
+// - KdTree things are public
namespace RVO {
class Agent;
class RVOSimulator;
@@ -51,7 +54,7 @@ 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.
*/
@@ -92,12 +95,12 @@ 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);
@@ -112,7 +115,6 @@ 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 adf3382339..8c8835c865 100644
--- a/thirdparty/rvo2/Vector3.h
+++ b/thirdparty/rvo2/Vector3.h
@@ -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.
- */
- RVO_API 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.
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