RVO3D.h

#pragma once
// ===========================================================================
// Copyright (c) 2015 Toolchefs Ltd. All rights reserved.
//
// Use of this software is subject to the terms of the Toolchefs license
// agreement provided at the time of installation or download, or which
// otherwise accompanies this software in either electronic or hard copy form.
// ===========================================================================
 
#include <Atoms/Agent.h>
#include <AtomsCore/AtomsMath.h>
 
 
namespace Atoms
{
    namespace RVO3D
    {
        class Plane {
        public:
            AtomsMath::Vector3f point;
 
            AtomsMath::Vector3f normal;
        };
 
        class Line {
        public:
 
            AtomsMath::Vector3f direction;
 
            AtomsMath::Vector3f point;
        };
 
        ATOMS_EXPORT size_t computeORCAPlanes(
            const AtomsCore::Vector3f& position,
            const AtomsCore::Vector3f& velocity,
            const AtomsCore::Vector3f& prefVelocity,
            const std::vector<const Atoms::Agent*>& agentNeighbors,
            float timeHorizon,
            float radius,
            float maxSpeed,
            float timeStep,
            float fps,
            float sceneScale,
            float radiusMultiplier,
            int step,
            int steps,
            std::vector<Atoms::RVO3D::Plane>& orcaPlanes);
 
        ATOMS_EXPORT AtomsCore::Vector3f computeNewVelocity(
            const AtomsCore::Vector3f& position,
            const AtomsCore::Vector3f& velocity,
            AtomsCore::Vector3f prefVelocity,
            const std::vector<const Atoms::Agent*>& neighbors,
            float timeHorizon,
            float radius,
            float maxSpeed,
            float timeStep,
            float fps,
            float sceneScale,
            float radiusMultiplier,
            float obstacleRadiusMultiplier,
            int step,
            int steps);
 
        ATOMS_EXPORT bool linearProgram1(
            const std::vector<Plane> &planes,
            size_t planeNo, 
            const Line &line, 
            float radius, 
            const AtomsMath::Vector3f &optVelocity, 
            bool directionOpt,
            AtomsMath::Vector3f &result);
 
        ATOMS_EXPORT bool linearProgram2(
            const std::vector<Plane> &planes,
            size_t planeNo, 
            float radius, 
            const AtomsMath::Vector3f &optVelocity, 
            bool directionOpt, 
            AtomsMath::Vector3f &result);
 
        ATOMS_EXPORT size_t linearProgram3(
            const std::vector<Plane> &planes, 
            float radius, 
            const AtomsMath::Vector3f &optVelocity, 
            bool directionOpt, 
            AtomsMath::Vector3f &result);
 
        ATOMS_EXPORT void linearProgram4(
            const std::vector<Plane> &planes, 
            size_t beginPlane, 
            float radius, 
            AtomsMath::Vector3f &result);
    }
}