godot/thirdparty/rvo2/rvo2_2d/Agent2d.h

/*
 * Agent2d.h
 * RVO2 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 <[email protected]>.
 *
 * 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/>
 */

#ifndef RVO2D_AGENT_H_
#define RVO2D_AGENT_H_

/**
 * \file       Agent2d.h
 * \brief      Contains the Agent class.
 */

#include "Definitions.h"
#include "RVOSimulator2d.h"

namespace RVO2D {
	/**
	 * \brief      Defines an agent in the simulation.
	 */
	class Agent2D { … };

	/**
	 * \relates    Agent
	 * \brief      Solves a one-dimensional linear program on a specified line
	 *             subject to linear constraints defined by lines and a circular
	 *             constraint.
	 * \param      lines         Lines defining the linear constraints.
	 * \param      lineNo        The specified line constraint.
	 * \param      radius        The radius of the circular constraint.
	 * \param      optVelocity   The optimization velocity.
	 * \param      directionOpt  True if the direction should be optimized.
	 * \param      result        A reference to the result of the linear program.
	 * \return     True if successful.
	 */
	bool linearProgram1(const std::vector<Line> &lines, size_t lineNo,
						float radius, const Vector2 &optVelocity,
						bool directionOpt, Vector2 &result);

	/**
	 * \relates    Agent
	 * \brief      Solves a two-dimensional linear program subject to linear
	 *             constraints defined by lines and a circular constraint.
	 * \param      lines         Lines defining the linear constraints.
	 * \param      radius        The radius of the circular constraint.
	 * \param      optVelocity   The optimization velocity.
	 * \param      directionOpt  True if the direction should be optimized.
	 * \param      result        A reference to the result of the linear program.
	 * \return     The number of the line it fails on, and the number of lines if successful.
	 */
	size_t linearProgram2(const std::vector<Line> &lines, float radius,
						  const Vector2 &optVelocity, bool directionOpt,
						  Vector2 &result);

	/**
	 * \relates    Agent
	 * \brief      Solves a two-dimensional linear program subject to linear
	 *             constraints defined by lines and a circular constraint.
	 * \param      lines         Lines defining the linear constraints.
	 * \param      numObstLines  Count of obstacle lines.
	 * \param      beginLine     The line on which the 2-d linear program failed.
	 * \param      radius        The radius of the circular constraint.
	 * \param      result        A reference to the result of the linear program.
	 */
	void linearProgram3(const std::vector<Line> &lines, size_t numObstLines, size_t beginLine,
						float radius, Vector2 &result);
}

#endif /* RVO2D_AGENT_H_ */