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Update RVO2 to git 2022.09
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DeeJayLSP
278
thirdparty/rvo2/rvo2_2d/KdTree2d.h
vendored
278
thirdparty/rvo2/rvo2_2d/KdTree2d.h
vendored
@@ -2,13 +2,14 @@
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* KdTree2d.h
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* RVO2 Library
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*
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* Copyright 2008 University of North Carolina at Chapel Hill
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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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* http://www.apache.org/licenses/LICENSE-2.0
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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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@@ -27,177 +28,162 @@
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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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* <https://gamma.cs.unc.edu/RVO2/>
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*/
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#ifndef RVO2D_KD_TREE_H_
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#define RVO2D_KD_TREE_H_
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/**
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* \file KdTree2d.h
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* \brief Contains the KdTree class.
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* @file KdTree2d.h
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* @brief Declares the KdTree2D class.
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*/
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#include "Definitions.h"
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#include <cstddef>
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#include <vector>
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namespace RVO2D {
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/**
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* \brief Defines <i>k</i>d-trees for agents and static obstacles in the
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* simulation.
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*/
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class KdTree2D {
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public:
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/**
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* \brief Defines an agent <i>k</i>d-tree node.
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*/
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class AgentTreeNode {
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public:
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/**
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* \brief The beginning node number.
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*/
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size_t begin;
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class Agent2D;
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class Obstacle2D;
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class RVOSimulator2D;
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class Vector2;
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/**
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* \brief The ending node number.
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*/
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size_t end;
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/**
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* @brief Defines k-D trees for agents and static obstacles in the simulation.
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*/
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class KdTree2D {
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public:
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class AgentTreeNode;
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class ObstacleTreeNode;
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/**
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* \brief The left node number.
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*/
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size_t left;
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/**
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* @brief Constructs a k-D tree instance.
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* @param[in] simulator The simulator instance.
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*/
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explicit KdTree2D(RVOSimulator2D *simulator);
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/**
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* \brief The maximum x-coordinate.
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*/
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float maxX;
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/**
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* @brief Destroys this k-D tree instance.
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*/
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~KdTree2D();
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/**
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* \brief The maximum y-coordinate.
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*/
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float maxY;
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/**
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* @brief Builds an agent k-D tree.
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*/
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void buildAgentTree(std::vector<Agent2D *> agents);
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/**
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* \brief The minimum x-coordinate.
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*/
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float minX;
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/**
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* @brief Recursive function to build an agent k-D tree.
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* @param[in] begin The beginning agent k-D tree node.
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* @param[in] end The ending agent k-D tree node.
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* @param[in] node The current agent k-D tree node.
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*/
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void buildAgentTreeRecursive(std::size_t begin, std::size_t end,
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std::size_t node);
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/**
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* \brief The minimum y-coordinate.
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*/
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float minY;
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/**
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* @brief Builds an obstacle k-D tree.
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*/
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void buildObstacleTree(std::vector<Obstacle2D *> obstacles);
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/**
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* \brief The right node number.
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*/
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size_t right;
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};
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/**
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* @brief Recursive function to build an obstacle k-D tree.
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* @param[in] obstacles List of obstacles from which to build the obstacle k-D
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* tree.
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*/
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ObstacleTreeNode *buildObstacleTreeRecursive(
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const std::vector<Obstacle2D *> &obstacles);
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/**
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* \brief Defines an obstacle <i>k</i>d-tree node.
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*/
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class ObstacleTreeNode {
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public:
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/**
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* \brief The left obstacle tree node.
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*/
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ObstacleTreeNode *left;
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/**
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* @brief Computes the agent neighbors of the specified agent.
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* @param[in] agent A pointer to the agent for which agent neighbors
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* are to be computed.
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* @param[in, out] rangeSq The squared range around the agent.
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*/
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void computeAgentNeighbors(
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Agent2D *agent, float &rangeSq) const; /* NOLINT(runtime/references) */
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/**
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* \brief The obstacle number.
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*/
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const Obstacle2D *obstacle;
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/**
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* @brief Computes the obstacle neighbors of the specified agent.
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* @param[in] agent A pointer to the agent for which obstacle neighbors are
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* to be computed.
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* @param[in] rangeSq The squared range around the agent.
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*/
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void computeObstacleNeighbors(Agent2D *agent, float rangeSq) const;
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/**
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* \brief The right obstacle tree node.
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*/
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ObstacleTreeNode *right;
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};
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/**
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* @brief Deletes the specified obstacle tree node.
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* @param[in] node A pointer to the obstacle tree node to be deleted.
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*/
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void deleteObstacleTree(ObstacleTreeNode *node);
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/**
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* \brief Constructs a <i>k</i>d-tree instance.
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* \param sim The simulator instance.
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*/
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explicit KdTree2D(RVOSimulator2D *sim);
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/**
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* @brief Recursive function to compute the neighbors of the specified
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* agent.
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* @param[in] agent A pointer to the agent for which neighbors are to be
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* computed.
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* @param[in,out] rangeSq The squared range around the agent.
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* @param[in] node The current agent k-D tree node.
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*/
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void queryAgentTreeRecursive(Agent2D *agent,
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float &rangeSq, /* NOLINT(runtime/references) */
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std::size_t node) const;
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/**
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* \brief Destroys this kd-tree instance.
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*/
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~KdTree2D();
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/**
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* @brief Recursive function to compute the neighbors of the specified
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* obstacle.
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* @param[in] agent A pointer to the agent for which neighbors are to be
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* computed.
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* @param[in,out] rangeSq The squared range around the agent.
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* @param[in] node The current obstacle k-D tree node.
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*/
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void queryObstacleTreeRecursive(Agent2D *agent, float rangeSq,
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const ObstacleTreeNode *node) const;
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/**
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* \brief Builds an agent <i>k</i>d-tree.
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*/
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void buildAgentTree(std::vector<Agent2D *> agents);
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/**
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* @brief Queries the visibility between two points within a specified
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* radius.
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* @param[in] vector1 The first point between which visibility is to be
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* tested.
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* @param[in] vector2 The second point between which visibility is to be
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* tested.
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* @param[in] radius The radius within which visibility is to be tested.
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* @return True if q1 and q2 are mutually visible within the radius; false
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* otherwise.
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*/
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bool queryVisibility(const Vector2 &vector1, const Vector2 &vector2,
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float radius) const;
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void buildAgentTreeRecursive(size_t begin, size_t end, size_t node);
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/**
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* @brief Recursive function to query the visibility between two points
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* within a specified radius.
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* @param[in] vector1 The first point between which visibility is to be
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* tested.
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* @param[in] vector2 The second point between which visibility is to be
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* tested.
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* @param[in] radius The radius within which visibility is to be tested.
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* @param[in] node The current obstacle k-D tree node.
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* @return True if q1 and q2 are mutually visible within the radius; false
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* otherwise.
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*/
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bool queryVisibilityRecursive(const Vector2 &vector1, const Vector2 &vector2,
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float radius,
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const ObstacleTreeNode *node) const;
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/**
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* \brief Builds an obstacle <i>k</i>d-tree.
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*/
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void buildObstacleTree(std::vector<Obstacle2D *> obstacles);
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/* Not implemented. */
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KdTree2D(const KdTree2D &other);
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ObstacleTreeNode *buildObstacleTreeRecursive(const std::vector<Obstacle2D *> &
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obstacles);
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/* Not implemented. */
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KdTree2D &operator=(const KdTree2D &other);
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/**
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* \brief Computes the agent neighbors of the specified agent.
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* \param agent A pointer to the agent for which agent
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* neighbors are to be computed.
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* \param rangeSq The squared range around the agent.
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*/
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void computeAgentNeighbors(Agent2D *agent, float &rangeSq) const;
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std::vector<Agent2D *> agents_;
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std::vector<AgentTreeNode> agentTree_;
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ObstacleTreeNode *obstacleTree_;
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RVOSimulator2D *simulator_;
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/**
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* \brief Computes the obstacle neighbors of the specified agent.
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* \param agent A pointer to the agent for which obstacle
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* neighbors are to be computed.
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* \param rangeSq The squared range around the agent.
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*/
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void computeObstacleNeighbors(Agent2D *agent, float rangeSq) const;
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/**
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* \brief Deletes the specified obstacle tree node.
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* \param node A pointer to the obstacle tree node to be
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* deleted.
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*/
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void deleteObstacleTree(ObstacleTreeNode *node);
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void queryAgentTreeRecursive(Agent2D *agent, float &rangeSq,
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size_t node) const;
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void queryObstacleTreeRecursive(Agent2D *agent, float rangeSq,
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const ObstacleTreeNode *node) const;
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/**
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* \brief Queries the visibility between two points within a
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* specified radius.
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* \param q1 The first point between which visibility is
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* to be tested.
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* \param q2 The second point between which visibility is
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* to be tested.
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* \param radius The radius within which visibility is to be
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* tested.
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* \return True if q1 and q2 are mutually visible within the radius;
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* false otherwise.
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*/
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bool queryVisibility(const Vector2 &q1, const Vector2 &q2,
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float radius) const;
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bool queryVisibilityRecursive(const Vector2 &q1, const Vector2 &q2,
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float radius,
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const ObstacleTreeNode *node) const;
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std::vector<Agent2D *> agents_;
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std::vector<AgentTreeNode> agentTree_;
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ObstacleTreeNode *obstacleTree_;
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RVOSimulator2D *sim_;
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static const size_t MAX_LEAF_SIZE = 10;
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friend class Agent2D;
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friend class RVOSimulator2D;
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};
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}
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friend class Agent2D;
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friend class RVOSimulator2D;
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};
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} /* namespace RVO2D */
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#endif /* RVO2D_KD_TREE_H_ */
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