Added RVO2 library for later use in character nav w/o navmesh

modules/world/thirdparty/RVO2-3D/Agent.h

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+/*
+ * Agent.h
+ * RVO2-3D Library
+ *
+ * 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.
+ *
+ * Please send all bug reports to <geom@cs.unc.edu>.
+ *
+ * The authors may be contacted via:
+ *
+ * Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, Dinesh Manocha
+ * Dept. of Computer Science
+ * 201 S. Columbia St.
+ * Frederick P. Brooks, Jr. Computer Science Bldg.
+ * Chapel Hill, N.C. 27599-3175
+ * United States of America
+ *
+ * <http://gamma.cs.unc.edu/RVO2/>
+ */
+
+/**
+ * \file    Agent.h
+ * \brief   Contains the Agent class.
+ */
+#ifndef RVO_AGENT_H_
+#define RVO_AGENT_H_
+
+#include "API.h"
+
+#include <cstddef>
+#include <utility>
+#include <vector>
+
+#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 {
+
+public:
+    /**
+		 * \brief   Constructs an agent instance.
+		 * \param   sim  The simulator instance.
+		 */
+    explicit Agent();
+
+    /**
+		 * \brief   Computes the neighbors of this agent.
+		 */
+    void computeNeighbors(class KdTree *kdTree_);
+
+    /**
+		 * \brief   Computes the new velocity of this agent.
+		 */
+    void computeNewVelocity(float timeStep);
+
+    /**
+		 * \brief   Inserts an agent neighbor into the set of neighbors of this agent.
+		 * \param   agent    A pointer to the agent to be inserted.
+		 * \param   rangeSq  The squared range around this agent.
+		 */
+    void insertAgentNeighbor(const Agent *agent, float &rangeSq);
+
+    Vector3 newVelocity_;
+    Vector3 position_;
+    Vector3 prefVelocity_;
+    Vector3 velocity_;
+    size_t id_;
+    size_t maxNeighbors_;
+    float maxSpeed_;
+    float neighborDist_;
+    float radius_;
+    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;
+};
+} // namespace RVO
+
+#endif /* RVO_AGENT_H_ */