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Add RVO collision avoidance #32557
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nathanmerrill
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Add RVO collision avoidance #32557
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| #!/usr/bin/env python | ||
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| Import('env') | ||
| Import('env_modules') | ||
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| env_orca = env_modules.Clone() | ||
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| # Thirdparty source files | ||
| if env['builtin_rvo2']: | ||
| thirdparty_dir = "#thirdparty/rvo2/" | ||
| thirdparty_sources = [ | ||
| "src/Agent.cpp", | ||
| "src/KdTree.cpp", | ||
| "src/Obstacle.cpp", | ||
| ] | ||
| thirdparty_sources = [thirdparty_dir + file for file in thirdparty_sources] | ||
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| env_orca.Prepend(CPPPATH=[thirdparty_dir + "/src"]) | ||
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| env_thirdparty = env_orca.Clone() | ||
| env_thirdparty.disable_warnings() | ||
| env_thirdparty.add_source_files(env.modules_sources, thirdparty_sources) | ||
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| # Godot source files | ||
| env_orca.add_source_files(env.modules_sources, "*.cpp") |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,201 @@ | ||
| /*************************************************************************/ | ||
| /* collision_avoidance_2d.cpp */ | ||
| /*************************************************************************/ | ||
| /* This file is part of: */ | ||
| /* GODOT ENGINE */ | ||
| /* https://godotengine.org */ | ||
| /*************************************************************************/ | ||
| /* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ | ||
| /* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ | ||
| /* */ | ||
| /* Permission is hereby granted, free of charge, to any person obtaining */ | ||
| /* a copy of this software and associated documentation files (the */ | ||
| /* "Software"), to deal in the Software without restriction, including */ | ||
| /* without limitation the rights to use, copy, modify, merge, publish, */ | ||
| /* distribute, sublicense, and/or sell copies of the Software, and to */ | ||
| /* permit persons to whom the Software is furnished to do so, subject to */ | ||
| /* the following conditions: */ | ||
| /* */ | ||
| /* The above copyright notice and this permission notice shall be */ | ||
| /* included in all copies or substantial portions of the Software. */ | ||
| /* */ | ||
| /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ | ||
| /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ | ||
| /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ | ||
| /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ | ||
| /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ | ||
| /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ | ||
| /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ | ||
| /*************************************************************************/ | ||
|
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| #include "collision_avoidance_2d.h" | ||
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| #include <Agent.h> | ||
| #include <Definitions.h> | ||
| #include <KdTree.h> | ||
| #include <Obstacle.h> | ||
| #include <Vector2.h> | ||
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| RVO::KdTree *CollisionAvoidance2D::get_tree() { | ||
| return &kd_tree; | ||
| } | ||
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| void CollisionAvoidance2D::remove_bounds() { | ||
| remove_obstacle(0); | ||
| bounds = Rect2(); | ||
| } | ||
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| void CollisionAvoidance2D::set_bounds(Rect2 p_bounds) { | ||
| bounds = p_bounds; | ||
| if (p_bounds.has_no_area()) { | ||
| remove_obstacle(0); | ||
| return; | ||
| } | ||
| Vector<Vector2> points = Vector<Vector2>(); | ||
| Vector2 top_left = p_bounds.get_position(); | ||
| Vector2 bottom_right = p_bounds.get_size() + p_bounds.get_position(); | ||
| if (top_left.x > bottom_right.x) { | ||
| float swap = top_left.x; | ||
| top_left.x = bottom_right.x; | ||
| bottom_right.x = swap; | ||
| } | ||
| if (top_left.y > bottom_right.y) { | ||
| float swap = top_left.y; | ||
| top_left.y = bottom_right.y; | ||
| bottom_right.y = swap; | ||
| } | ||
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| points.push_back(top_left); | ||
| points.push_back(Vector2(top_left.x, bottom_right.y)); | ||
| points.push_back(bottom_right); | ||
| points.push_back(Vector2(bottom_right.x, top_left.y)); | ||
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| _add_obstacle(points, 0); | ||
| } | ||
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| Rect2 CollisionAvoidance2D::get_bounds() { | ||
| return bounds; | ||
| } | ||
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| void CollisionAvoidance2D::move_obstacle(int p_obstacle, Vector<Vector2> p_obstacle_points) { | ||
| remove_obstacle(p_obstacle); | ||
| _add_obstacle(p_obstacle_points, p_obstacle); | ||
| } | ||
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| void CollisionAvoidance2D::_add_obstacle(Vector<Vector2> p_obstacle_points, int p_obstacle) { | ||
| Vector<RVO::Obstacle *> obstacles = Vector<RVO::Obstacle *>(); | ||
| obstacles.resize(p_obstacle_points.size()); | ||
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| for (int i = 0; i < p_obstacle_points.size(); i++) { | ||
| RVO::Obstacle *point = new RVO::Obstacle(); | ||
| point->point_ = RVO::Vector2(p_obstacle_points[i].x, p_obstacle_points[i].y); | ||
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| // RVO expects the points in counterclockwise order | ||
| obstacles.set(p_obstacle_points.size() - i - 1, point); | ||
| } | ||
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| for (int i = 0; i < obstacles.size(); i++) { | ||
| RVO::Obstacle *point = obstacles[i]; | ||
| point->id_ = p_obstacle; | ||
| point->prevObstacle_ = obstacles[i > 0 ? i - 1 : obstacles.size() - 1]; | ||
| point->nextObstacle_ = obstacles[i < obstacles.size() - 1 ? i + 1 : 0]; | ||
| point->unitDir_ = RVO::normalize(point->point_ - point->nextObstacle_->point_); | ||
| if (obstacles.size() > 2) { | ||
| point->isConvex_ = RVO::leftOf(point->prevObstacle_->point_, point->point_, point->nextObstacle_->point_); | ||
| } else { | ||
| point->isConvex_ = true; | ||
| } | ||
| } | ||
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| obstacles_dirty = true; | ||
| obstacles_map[p_obstacle] = obstacles; | ||
| } | ||
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| int CollisionAvoidance2D::add_obstacle(Vector<Vector2> p_obstacle_points) { | ||
| if (p_obstacle_points.size() < 2) { | ||
| return -1; | ||
| } | ||
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| ++last_obstacle_id; | ||
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| _add_obstacle(p_obstacle_points, last_obstacle_id); | ||
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| return last_obstacle_id; | ||
| } | ||
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| void CollisionAvoidance2D::remove_obstacle(int p_obstacle) { | ||
| Vector<RVO::Obstacle *> points = obstacles_map[p_obstacle]; | ||
| for (int i = 0; i < points.size(); i++) { | ||
| delete points[i]; | ||
| } | ||
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| obstacles_map.erase(p_obstacle); | ||
| obstacles_dirty = true; | ||
| } | ||
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| int CollisionAvoidance2D::add_actor(CollisionAvoidanceActor2D *p_actor) { | ||
| ++last_actor_id; | ||
| actor_map[last_actor_id] = p_actor; | ||
| return last_actor_id; | ||
| } | ||
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| void CollisionAvoidance2D::remove_actor(int p_id) { | ||
| actor_map.erase(p_id); | ||
| } | ||
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| void CollisionAvoidance2D::navigate_actors() { | ||
| auto e = actor_map.front(); | ||
| while (e != NULL) { | ||
| e->get()->sync_position(); | ||
| e = e->next(); | ||
| } | ||
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| if (obstacles_dirty) { | ||
| std::vector<RVO::Obstacle *> obstacles = std::vector<RVO::Obstacle *>(); | ||
| auto o = obstacles_map.front(); | ||
| while (o != NULL) { | ||
| Vector<RVO::Obstacle *> obstacle = o->get(); | ||
| for (int i = 0; i < obstacle.size(); i++) { | ||
| obstacles.push_back(obstacle[i]); | ||
| } | ||
| o = o->next(); | ||
| } | ||
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| int previous_size = obstacles.size(); | ||
| kd_tree.buildObstacleTree(obstacles); | ||
| for (long unsigned int i = previous_size; i < obstacles.size(); i++) { | ||
| obstacles_map[obstacles[i]->id_].push_back(obstacles[i]); | ||
| } | ||
| obstacles_dirty = false; | ||
| } | ||
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| auto agents = std::vector<RVO::Agent *>(); | ||
| e = actor_map.front(); | ||
| while (e != NULL) { | ||
| agents.push_back(e->get()->get_agent()); | ||
| e = e->next(); | ||
| } | ||
| kd_tree.buildAgentTree(agents); | ||
| } | ||
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| void CollisionAvoidance2D::_bind_methods() { | ||
| ClassDB::bind_method(D_METHOD("set_bounds", "bounds"), &CollisionAvoidance2D::set_bounds); | ||
| ClassDB::bind_method(D_METHOD("get_bounds"), &CollisionAvoidance2D::get_bounds); | ||
| ClassDB::bind_method(D_METHOD("remove_bounds"), &CollisionAvoidance2D::remove_bounds); | ||
| ClassDB::bind_method(D_METHOD("add_obstacle", "points"), &CollisionAvoidance2D::add_obstacle); | ||
| ClassDB::bind_method(D_METHOD("move_obstacle", "obstacle_id", "points"), &CollisionAvoidance2D::move_obstacle); | ||
| ClassDB::bind_method(D_METHOD("remove_obstacle", "obstacle_id"), &CollisionAvoidance2D::remove_obstacle); | ||
| ClassDB::bind_method(D_METHOD("navigate_actors"), &CollisionAvoidance2D::navigate_actors); | ||
| ADD_PROPERTY(PropertyInfo(Variant::RECT2, "bounds"), "set_bounds", "get_bounds"); | ||
| } | ||
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| CollisionAvoidance2D::CollisionAvoidance2D() : | ||
| processed_obstacles(false), | ||
| actor_map(), | ||
| obstacles_map(), | ||
| bounds(), | ||
| kd_tree(), | ||
| last_obstacle_id(0), | ||
| last_actor_id(0), | ||
| obstacles_dirty(false) { | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,77 @@ | ||
| /*************************************************************************/ | ||
| /* collision_avoidance_2d.h */ | ||
| /*************************************************************************/ | ||
| /* This file is part of: */ | ||
| /* GODOT ENGINE */ | ||
| /* https://godotengine.org */ | ||
| /*************************************************************************/ | ||
| /* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ | ||
| /* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ | ||
| /* */ | ||
| /* Permission is hereby granted, free of charge, to any person obtaining */ | ||
| /* a copy of this software and associated documentation files (the */ | ||
| /* "Software"), to deal in the Software without restriction, including */ | ||
| /* without limitation the rights to use, copy, modify, merge, publish, */ | ||
| /* distribute, sublicense, and/or sell copies of the Software, and to */ | ||
| /* permit persons to whom the Software is furnished to do so, subject to */ | ||
| /* the following conditions: */ | ||
| /* */ | ||
| /* The above copyright notice and this permission notice shall be */ | ||
| /* included in all copies or substantial portions of the Software. */ | ||
| /* */ | ||
| /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ | ||
| /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ | ||
| /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ | ||
| /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ | ||
| /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ | ||
| /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ | ||
| /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ | ||
| /*************************************************************************/ | ||
|
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| #ifndef COLLISION_AVOIDANCE_2D_H | ||
| #define COLLISION_AVOIDANCE_2D_H | ||
|
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| #include "collision_avoidance_actor_2d.h" | ||
| #include "scene/2d/node_2d.h" | ||
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| #include <KdTree.h> | ||
| #include <Obstacle.h> | ||
|
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| class CollisionAvoidance2D : public Node2D { | ||
| GDCLASS(CollisionAvoidance2D, Node2D); | ||
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| private: | ||
| bool processed_obstacles; | ||
| Map<int, CollisionAvoidanceActor2D *> actor_map; | ||
| Map<int, Vector<RVO::Obstacle *> > obstacles_map; | ||
| Rect2 bounds; | ||
| RVO::KdTree kd_tree; | ||
| int last_obstacle_id; | ||
| int last_actor_id; | ||
| bool obstacles_dirty; | ||
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| void _add_obstacle(Vector<Vector2> p_obstacle_points, int p_obstacle); | ||
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| protected: | ||
| static void _bind_methods(); | ||
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| public: | ||
| RVO::KdTree *get_tree(); | ||
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| void set_bounds(Rect2 p_bounds); | ||
| Rect2 get_bounds(); | ||
| void remove_bounds(); | ||
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| int add_obstacle(Vector<Vector2> p_obstacle_points); | ||
| void move_obstacle(int p_obstacle, Vector<Vector2> p_obstacle_points); | ||
| void remove_obstacle(int p_obstacle); | ||
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| int add_actor(CollisionAvoidanceActor2D *p_actor); | ||
| void remove_actor(int p_id); | ||
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| void navigate_actors(); | ||
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| CollisionAvoidance2D(); | ||
| }; | ||
|
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| #endif |
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What version of RVO is this? Is there a git hash or a version number?
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Version 2.0.2. This is listed in thirdparty/README.md