mirror of
https://github.com/godotengine/godot.git
synced 2024-11-25 05:33:11 +00:00
358 lines
12 KiB
C++
358 lines
12 KiB
C++
/*
|
|
* KdTree2d.cpp
|
|
* 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 <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/>
|
|
*/
|
|
|
|
#include "KdTree2d.h"
|
|
|
|
#include "Agent2d.h"
|
|
#include "RVOSimulator2d.h"
|
|
#include "Obstacle2d.h"
|
|
|
|
namespace RVO2D {
|
|
KdTree2D::KdTree2D(RVOSimulator2D *sim) : obstacleTree_(NULL), sim_(sim) { }
|
|
|
|
KdTree2D::~KdTree2D()
|
|
{
|
|
deleteObstacleTree(obstacleTree_);
|
|
}
|
|
|
|
void KdTree2D::buildAgentTree(std::vector<Agent2D *> agents)
|
|
{
|
|
agents_.swap(agents);
|
|
|
|
if (!agents_.empty()) {
|
|
agentTree_.resize(2 * agents_.size() - 1);
|
|
buildAgentTreeRecursive(0, agents_.size(), 0);
|
|
}
|
|
}
|
|
|
|
void KdTree2D::buildAgentTreeRecursive(size_t begin, size_t end, size_t node)
|
|
{
|
|
agentTree_[node].begin = begin;
|
|
agentTree_[node].end = end;
|
|
agentTree_[node].minX = agentTree_[node].maxX = agents_[begin]->position_.x();
|
|
agentTree_[node].minY = agentTree_[node].maxY = agents_[begin]->position_.y();
|
|
|
|
for (size_t i = begin + 1; i < end; ++i) {
|
|
agentTree_[node].maxX = std::max(agentTree_[node].maxX, agents_[i]->position_.x());
|
|
agentTree_[node].minX = std::min(agentTree_[node].minX, agents_[i]->position_.x());
|
|
agentTree_[node].maxY = std::max(agentTree_[node].maxY, agents_[i]->position_.y());
|
|
agentTree_[node].minY = std::min(agentTree_[node].minY, agents_[i]->position_.y());
|
|
}
|
|
|
|
if (end - begin > MAX_LEAF_SIZE) {
|
|
/* No leaf node. */
|
|
const bool isVertical = (agentTree_[node].maxX - agentTree_[node].minX > agentTree_[node].maxY - agentTree_[node].minY);
|
|
const float splitValue = (isVertical ? 0.5f * (agentTree_[node].maxX + agentTree_[node].minX) : 0.5f * (agentTree_[node].maxY + agentTree_[node].minY));
|
|
|
|
size_t left = begin;
|
|
size_t right = end;
|
|
|
|
while (left < right) {
|
|
while (left < right && (isVertical ? agents_[left]->position_.x() : agents_[left]->position_.y()) < splitValue) {
|
|
++left;
|
|
}
|
|
|
|
while (right > left && (isVertical ? agents_[right - 1]->position_.x() : agents_[right - 1]->position_.y()) >= splitValue) {
|
|
--right;
|
|
}
|
|
|
|
if (left < right) {
|
|
std::swap(agents_[left], agents_[right - 1]);
|
|
++left;
|
|
--right;
|
|
}
|
|
}
|
|
|
|
if (left == begin) {
|
|
++left;
|
|
++right;
|
|
}
|
|
|
|
agentTree_[node].left = node + 1;
|
|
agentTree_[node].right = node + 2 * (left - begin);
|
|
|
|
buildAgentTreeRecursive(begin, left, agentTree_[node].left);
|
|
buildAgentTreeRecursive(left, end, agentTree_[node].right);
|
|
}
|
|
}
|
|
|
|
void KdTree2D::buildObstacleTree(std::vector<Obstacle2D *> obstacles)
|
|
{
|
|
deleteObstacleTree(obstacleTree_);
|
|
|
|
obstacleTree_ = buildObstacleTreeRecursive(obstacles);
|
|
}
|
|
|
|
|
|
KdTree2D::ObstacleTreeNode *KdTree2D::buildObstacleTreeRecursive(const std::vector<Obstacle2D *> &obstacles)
|
|
{
|
|
if (obstacles.empty()) {
|
|
return NULL;
|
|
}
|
|
else {
|
|
ObstacleTreeNode *const node = new ObstacleTreeNode;
|
|
|
|
size_t optimalSplit = 0;
|
|
size_t minLeft = obstacles.size();
|
|
size_t minRight = obstacles.size();
|
|
|
|
for (size_t i = 0; i < obstacles.size(); ++i) {
|
|
size_t leftSize = 0;
|
|
size_t rightSize = 0;
|
|
|
|
const Obstacle2D *const obstacleI1 = obstacles[i];
|
|
const Obstacle2D *const obstacleI2 = obstacleI1->nextObstacle_;
|
|
|
|
/* Compute optimal split node. */
|
|
for (size_t j = 0; j < obstacles.size(); ++j) {
|
|
if (i == j) {
|
|
continue;
|
|
}
|
|
|
|
const Obstacle2D *const obstacleJ1 = obstacles[j];
|
|
const Obstacle2D *const obstacleJ2 = obstacleJ1->nextObstacle_;
|
|
|
|
const float j1LeftOfI = leftOf(obstacleI1->point_, obstacleI2->point_, obstacleJ1->point_);
|
|
const float j2LeftOfI = leftOf(obstacleI1->point_, obstacleI2->point_, obstacleJ2->point_);
|
|
|
|
if (j1LeftOfI >= -RVO_EPSILON && j2LeftOfI >= -RVO_EPSILON) {
|
|
++leftSize;
|
|
}
|
|
else if (j1LeftOfI <= RVO_EPSILON && j2LeftOfI <= RVO_EPSILON) {
|
|
++rightSize;
|
|
}
|
|
else {
|
|
++leftSize;
|
|
++rightSize;
|
|
}
|
|
|
|
if (std::make_pair(std::max(leftSize, rightSize), std::min(leftSize, rightSize)) >= std::make_pair(std::max(minLeft, minRight), std::min(minLeft, minRight))) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (std::make_pair(std::max(leftSize, rightSize), std::min(leftSize, rightSize)) < std::make_pair(std::max(minLeft, minRight), std::min(minLeft, minRight))) {
|
|
minLeft = leftSize;
|
|
minRight = rightSize;
|
|
optimalSplit = i;
|
|
}
|
|
}
|
|
|
|
/* Build split node. */
|
|
std::vector<Obstacle2D *> leftObstacles(minLeft);
|
|
std::vector<Obstacle2D *> rightObstacles(minRight);
|
|
|
|
size_t leftCounter = 0;
|
|
size_t rightCounter = 0;
|
|
const size_t i = optimalSplit;
|
|
|
|
const Obstacle2D *const obstacleI1 = obstacles[i];
|
|
const Obstacle2D *const obstacleI2 = obstacleI1->nextObstacle_;
|
|
|
|
for (size_t j = 0; j < obstacles.size(); ++j) {
|
|
if (i == j) {
|
|
continue;
|
|
}
|
|
|
|
Obstacle2D *const obstacleJ1 = obstacles[j];
|
|
Obstacle2D *const obstacleJ2 = obstacleJ1->nextObstacle_;
|
|
|
|
const float j1LeftOfI = leftOf(obstacleI1->point_, obstacleI2->point_, obstacleJ1->point_);
|
|
const float j2LeftOfI = leftOf(obstacleI1->point_, obstacleI2->point_, obstacleJ2->point_);
|
|
|
|
if (j1LeftOfI >= -RVO_EPSILON && j2LeftOfI >= -RVO_EPSILON) {
|
|
leftObstacles[leftCounter++] = obstacles[j];
|
|
}
|
|
else if (j1LeftOfI <= RVO_EPSILON && j2LeftOfI <= RVO_EPSILON) {
|
|
rightObstacles[rightCounter++] = obstacles[j];
|
|
}
|
|
else {
|
|
/* Split obstacle j. */
|
|
const float t = det(obstacleI2->point_ - obstacleI1->point_, obstacleJ1->point_ - obstacleI1->point_) / det(obstacleI2->point_ - obstacleI1->point_, obstacleJ1->point_ - obstacleJ2->point_);
|
|
|
|
const Vector2 splitpoint = obstacleJ1->point_ + t * (obstacleJ2->point_ - obstacleJ1->point_);
|
|
|
|
Obstacle2D *const newObstacle = new Obstacle2D();
|
|
newObstacle->point_ = splitpoint;
|
|
newObstacle->prevObstacle_ = obstacleJ1;
|
|
newObstacle->nextObstacle_ = obstacleJ2;
|
|
newObstacle->isConvex_ = true;
|
|
newObstacle->unitDir_ = obstacleJ1->unitDir_;
|
|
|
|
newObstacle->id_ = sim_->obstacles_.size();
|
|
|
|
sim_->obstacles_.push_back(newObstacle);
|
|
|
|
obstacleJ1->nextObstacle_ = newObstacle;
|
|
obstacleJ2->prevObstacle_ = newObstacle;
|
|
|
|
if (j1LeftOfI > 0.0f) {
|
|
leftObstacles[leftCounter++] = obstacleJ1;
|
|
rightObstacles[rightCounter++] = newObstacle;
|
|
}
|
|
else {
|
|
rightObstacles[rightCounter++] = obstacleJ1;
|
|
leftObstacles[leftCounter++] = newObstacle;
|
|
}
|
|
}
|
|
}
|
|
|
|
node->obstacle = obstacleI1;
|
|
node->left = buildObstacleTreeRecursive(leftObstacles);
|
|
node->right = buildObstacleTreeRecursive(rightObstacles);
|
|
return node;
|
|
}
|
|
}
|
|
|
|
void KdTree2D::computeAgentNeighbors(Agent2D *agent, float &rangeSq) const
|
|
{
|
|
queryAgentTreeRecursive(agent, rangeSq, 0);
|
|
}
|
|
|
|
void KdTree2D::computeObstacleNeighbors(Agent2D *agent, float rangeSq) const
|
|
{
|
|
queryObstacleTreeRecursive(agent, rangeSq, obstacleTree_);
|
|
}
|
|
|
|
void KdTree2D::deleteObstacleTree(ObstacleTreeNode *node)
|
|
{
|
|
if (node != NULL) {
|
|
deleteObstacleTree(node->left);
|
|
deleteObstacleTree(node->right);
|
|
delete node;
|
|
}
|
|
}
|
|
|
|
void KdTree2D::queryAgentTreeRecursive(Agent2D *agent, float &rangeSq, size_t node) const
|
|
{
|
|
if (agentTree_[node].end - agentTree_[node].begin <= MAX_LEAF_SIZE) {
|
|
for (size_t i = agentTree_[node].begin; i < agentTree_[node].end; ++i) {
|
|
agent->insertAgentNeighbor(agents_[i], rangeSq);
|
|
}
|
|
}
|
|
else {
|
|
const float distSqLeft = sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minX - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].left].maxX)) + sqr(std::max(0.0f, agentTree_[agentTree_[node].left].minY - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].left].maxY));
|
|
|
|
const float distSqRight = sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minX - agent->position_.x())) + sqr(std::max(0.0f, agent->position_.x() - agentTree_[agentTree_[node].right].maxX)) + sqr(std::max(0.0f, agentTree_[agentTree_[node].right].minY - agent->position_.y())) + sqr(std::max(0.0f, agent->position_.y() - agentTree_[agentTree_[node].right].maxY));
|
|
|
|
if (distSqLeft < distSqRight) {
|
|
if (distSqLeft < rangeSq) {
|
|
queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].left);
|
|
|
|
if (distSqRight < rangeSq) {
|
|
queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right);
|
|
}
|
|
}
|
|
}
|
|
else {
|
|
if (distSqRight < rangeSq) {
|
|
queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].right);
|
|
|
|
if (distSqLeft < rangeSq) {
|
|
queryAgentTreeRecursive(agent, rangeSq, agentTree_[node].left);
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
void KdTree2D::queryObstacleTreeRecursive(Agent2D *agent, float rangeSq, const ObstacleTreeNode *node) const
|
|
{
|
|
if (node == NULL) {
|
|
return;
|
|
}
|
|
else {
|
|
const Obstacle2D *const obstacle1 = node->obstacle;
|
|
const Obstacle2D *const obstacle2 = obstacle1->nextObstacle_;
|
|
|
|
const float agentLeftOfLine = leftOf(obstacle1->point_, obstacle2->point_, agent->position_);
|
|
|
|
queryObstacleTreeRecursive(agent, rangeSq, (agentLeftOfLine >= 0.0f ? node->left : node->right));
|
|
|
|
const float distSqLine = sqr(agentLeftOfLine) / absSq(obstacle2->point_ - obstacle1->point_);
|
|
|
|
if (distSqLine < rangeSq) {
|
|
if (agentLeftOfLine < 0.0f) {
|
|
/*
|
|
* Try obstacle at this node only if agent is on right side of
|
|
* obstacle (and can see obstacle).
|
|
*/
|
|
agent->insertObstacleNeighbor(node->obstacle, rangeSq);
|
|
}
|
|
|
|
/* Try other side of line. */
|
|
queryObstacleTreeRecursive(agent, rangeSq, (agentLeftOfLine >= 0.0f ? node->right : node->left));
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
bool KdTree2D::queryVisibility(const Vector2 &q1, const Vector2 &q2, float radius) const
|
|
{
|
|
return queryVisibilityRecursive(q1, q2, radius, obstacleTree_);
|
|
}
|
|
|
|
bool KdTree2D::queryVisibilityRecursive(const Vector2 &q1, const Vector2 &q2, float radius, const ObstacleTreeNode *node) const
|
|
{
|
|
if (node == NULL) {
|
|
return true;
|
|
}
|
|
else {
|
|
const Obstacle2D *const obstacle1 = node->obstacle;
|
|
const Obstacle2D *const obstacle2 = obstacle1->nextObstacle_;
|
|
|
|
const float q1LeftOfI = leftOf(obstacle1->point_, obstacle2->point_, q1);
|
|
const float q2LeftOfI = leftOf(obstacle1->point_, obstacle2->point_, q2);
|
|
const float invLengthI = 1.0f / absSq(obstacle2->point_ - obstacle1->point_);
|
|
|
|
if (q1LeftOfI >= 0.0f && q2LeftOfI >= 0.0f) {
|
|
return queryVisibilityRecursive(q1, q2, radius, node->left) && ((sqr(q1LeftOfI) * invLengthI >= sqr(radius) && sqr(q2LeftOfI) * invLengthI >= sqr(radius)) || queryVisibilityRecursive(q1, q2, radius, node->right));
|
|
}
|
|
else if (q1LeftOfI <= 0.0f && q2LeftOfI <= 0.0f) {
|
|
return queryVisibilityRecursive(q1, q2, radius, node->right) && ((sqr(q1LeftOfI) * invLengthI >= sqr(radius) && sqr(q2LeftOfI) * invLengthI >= sqr(radius)) || queryVisibilityRecursive(q1, q2, radius, node->left));
|
|
}
|
|
else if (q1LeftOfI >= 0.0f && q2LeftOfI <= 0.0f) {
|
|
/* One can see through obstacle from left to right. */
|
|
return queryVisibilityRecursive(q1, q2, radius, node->left) && queryVisibilityRecursive(q1, q2, radius, node->right);
|
|
}
|
|
else {
|
|
const float point1LeftOfQ = leftOf(q1, q2, obstacle1->point_);
|
|
const float point2LeftOfQ = leftOf(q1, q2, obstacle2->point_);
|
|
const float invLengthQ = 1.0f / absSq(q2 - q1);
|
|
|
|
return (point1LeftOfQ * point2LeftOfQ >= 0.0f && sqr(point1LeftOfQ) * invLengthQ > sqr(radius) && sqr(point2LeftOfQ) * invLengthQ > sqr(radius) && queryVisibilityRecursive(q1, q2, radius, node->left) && queryVisibilityRecursive(q1, q2, radius, node->right));
|
|
}
|
|
}
|
|
}
|
|
}
|