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Revert "Update RVO2 to git 2022.09"

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This reverts commit c920881105.

Fixes #78826.
This commit is contained in:
Rémi Verschelde
2023-06-29 12:50:49 +02:00
parent c83f912bcb
commit d0c1dd16ee
33 changed files with 4093 additions and 4877 deletions
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18
modules/navigation/SCsub
View File

@ -37,12 +37,10 @@ if env["builtin_recastnavigation"]:
if env["builtin_rvo2_2d"]:
thirdparty_dir = "#thirdparty/rvo2/rvo2_2d/"
thirdparty_sources = [
"Agent2d.cc",
"Obstacle2d.cc",
"KdTree2d.cc",
"Line.cc",
"RVOSimulator2d.cc",
"Vector2.cc",
"Agent2d.cpp",
"Obstacle2d.cpp",
"KdTree2d.cpp",
"RVOSimulator2d.cpp",
]
thirdparty_sources = [thirdparty_dir + file for file in thirdparty_sources]
@ -56,11 +54,9 @@ if env["builtin_rvo2_2d"]:
if env["builtin_rvo2_3d"]:
thirdparty_dir = "#thirdparty/rvo2/rvo2_3d/"
thirdparty_sources = [
"Agent3d.cc",
"KdTree3d.cc",
"Plane.cc",
"RVOSimulator3d.cc",
"Vector3.cc",
"Agent3d.cpp",
"KdTree3d.cpp",
"RVOSimulator3d.cpp",
]
thirdparty_sources = [thirdparty_dir + file for file in thirdparty_sources]

22
modules/navigation/nav_map.cpp
View File

@ -1042,16 +1042,16 @@ void NavMap::_update_rvo_obstacles_tree_2d() {
rvo_2d_obstacle->avoidance_layers_ = _obstacle_avoidance_layers;
if (i != 0) {
rvo_2d_obstacle->previous_ = raw_obstacles.back();
rvo_2d_obstacle->previous_->next_ = rvo_2d_obstacle;
rvo_2d_obstacle->prevObstacle_ = raw_obstacles.back();
rvo_2d_obstacle->prevObstacle_->nextObstacle_ = rvo_2d_obstacle;
}
if (i == rvo_2d_vertices.size() - 1) {
rvo_2d_obstacle->next_ = raw_obstacles[obstacleNo];
rvo_2d_obstacle->next_->previous_ = rvo_2d_obstacle;
rvo_2d_obstacle->nextObstacle_ = raw_obstacles[obstacleNo];
rvo_2d_obstacle->nextObstacle_->prevObstacle_ = rvo_2d_obstacle;
}
rvo_2d_obstacle->direction_ = normalize(rvo_2d_vertices[(i == rvo_2d_vertices.size() - 1 ? 0 : i + 1)] - rvo_2d_vertices[i]);
rvo_2d_obstacle->unitDir_ = normalize(rvo_2d_vertices[(i == rvo_2d_vertices.size() - 1 ? 0 : i + 1)] - rvo_2d_vertices[i]);
if (rvo_2d_vertices.size() == 2) {
rvo_2d_obstacle->isConvex_ = true;
@ -1099,9 +1099,9 @@ void NavMap::_update_rvo_simulation() {
}
void NavMap::compute_single_avoidance_step_2d(uint32_t index, NavAgent **agent) {
(*(agent + index))->get_rvo_agent_2d()->computeNeighbors(rvo_simulation_2d.kdTree_);
(*(agent + index))->get_rvo_agent_2d()->computeNewVelocity(rvo_simulation_2d.timeStep_);
(*(agent + index))->get_rvo_agent_2d()->update(rvo_simulation_2d.timeStep_);
(*(agent + index))->get_rvo_agent_2d()->computeNeighbors(&rvo_simulation_2d);
(*(agent + index))->get_rvo_agent_2d()->computeNewVelocity(&rvo_simulation_2d);
(*(agent + index))->get_rvo_agent_2d()->update(&rvo_simulation_2d);
(*(agent + index))->update();
}
@ -1124,9 +1124,9 @@ void NavMap::step(real_t p_deltatime) {
WorkerThreadPool::get_singleton()->wait_for_group_task_completion(group_task);
} else {
for (NavAgent *agent : active_2d_avoidance_agents) {
agent->get_rvo_agent_2d()->computeNeighbors(rvo_simulation_2d.kdTree_);
agent->get_rvo_agent_2d()->computeNewVelocity(rvo_simulation_2d.timeStep_);
agent->get_rvo_agent_2d()->update(rvo_simulation_2d.timeStep_);
agent->get_rvo_agent_2d()->computeNeighbors(&rvo_simulation_2d);
agent->get_rvo_agent_2d()->computeNewVelocity(&rvo_simulation_2d);
agent->get_rvo_agent_2d()->update(&rvo_simulation_2d);
agent->update();
}
}