Remove reference to simulator in agent class

src/Agent.cc

@@ -44,7 +44,6 @@
 
 #include "KdTree.h"
 #include "Obstacle.h"
-#include "RVOSimulator.h"
 
 namespace RVO {
 namespace {
@@ -243,9 +242,8 @@ void linearProgram3(const std::vector<Line> &lines, std::size_t numObstLines,
 }
 } /* namespace */
 
-Agent::Agent(RVOSimulator *simulator)
-    : simulator_(simulator),
-      id_(0U),
+Agent::Agent()
+    : id_(0U),
       maxNeighbors_(0U),
       maxSpeed_(0.0F),
       neighborDist_(0.0F),
@@ -255,21 +253,21 @@ Agent::Agent(RVOSimulator *simulator)
 
 Agent::~Agent() {}
 
-void Agent::computeNeighbors() {
+void Agent::computeNeighbors(const KdTree *kdTree) {
   obstacleNeighbors_.clear();
   const float range = timeHorizonObst_ * maxSpeed_ + radius_;
-  simulator_->kdTree_->computeObstacleNeighbors(this, range * range);
+  kdTree->computeObstacleNeighbors(this, range * range);
 
   agentNeighbors_.clear();
 
   if (maxNeighbors_ > 0U) {
     float rangeSq = neighborDist_ * neighborDist_;
-    simulator_->kdTree_->computeAgentNeighbors(this, rangeSq);
+    kdTree->computeAgentNeighbors(this, rangeSq);
   }
 }
 
 /* Search for the best new velocity. */
-void Agent::computeNewVelocity() {
+void Agent::computeNewVelocity(float timeStep) {
   orcaLines_.clear();
 
   const float invTimeHorizonObst = 1.0F / timeHorizonObst_;
@@ -594,7 +592,7 @@ void Agent::computeNewVelocity() {
       }
     } else {
       /* Collision. Project on cut-off circle of time timeStep. */
-      const float invTimeStep = 1.0F / simulator_->timeStep_;
+      const float invTimeStep = 1.0F / timeStep;
 
       /* Vector from cutoff center to relative velocity. */
       const Vector2 w = relativeVelocity - invTimeStep * relativePosition;
@@ -674,8 +672,8 @@ void Agent::insertObstacleNeighbor(const Obstacle *obstacle, float rangeSq) {
   }
 }
 
-void Agent::update() {
+void Agent::update(float timeStep) {
   velocity_ = newVelocity_;
-  position_ += velocity_ * simulator_->timeStep_;
+  position_ += velocity_ * timeStep;
 }
 } /* namespace RVO */

src/Agent.h

@@ -47,34 +47,36 @@
 #include "Vector2.h"
 
 namespace RVO {
+class KdTree;
 class Obstacle;
-class RVOSimulator;
 
 /**
  * @brief Defines an agent in the simulation.
  */
 class Agent {
  private:
   /**
-   * @brief     Constructs an agent instance.
-   * @param[in] simulator The simulator instance.
+   * @brief Constructs an agent instance.
    */
-  explicit Agent(RVOSimulator *simulator);
+  Agent();
 
   /**
    * @brief Destroys this agent instance.
    */
   ~Agent();
 
   /**
-   * @brief Computes the neighbors of this agent.
+   * @brief     Computes the neighbors of this agent.
+   * @param[in] kdTree A pointer to the k-D trees for agents and static
+   *                   obstacles in the simulation.
    */
-  void computeNeighbors();
+  void computeNeighbors(const KdTree *kdTree);
 
   /**
-   * @brief Computes the new velocity of this agent.
+   * @brief     Computes the new velocity of this agent.
+   * @param[in] timeStep The time step of the simulation.
    */
-  void computeNewVelocity();
+  void computeNewVelocity(float timeStep);
 
   /**
    * @brief          Inserts an agent neighbor into the set of neighbors of this
@@ -94,10 +96,11 @@ class Agent {
   void insertObstacleNeighbor(const Obstacle *obstacle, float rangeSq);
 
   /**
-   * @brief Updates the two-dimensional position and two-dimensional velocity of
-   *        this agent.
+   * @brief     Updates the two-dimensional position and two-dimensional
+   *            velocity of this agent.
+   * @param[in] timeStep The time step of the simulation.
    */
-  void update();
+  void update(float timeStep);
 
   /* Not implemented. */
   Agent(const Agent &other);
@@ -112,7 +115,6 @@ class Agent {
   Vector2 position_;
   Vector2 prefVelocity_;
   Vector2 velocity_;
-  RVOSimulator *simulator_;
   std::size_t id_;
   std::size_t maxNeighbors_;
   float maxSpeed_;

src/RVOSimulator.cc

@@ -63,7 +63,7 @@ RVOSimulator::RVOSimulator()
 RVOSimulator::RVOSimulator(float timeStep, float neighborDist,
                            std::size_t maxNeighbors, float timeHorizon,
                            float timeHorizonObst, float radius, float maxSpeed)
-    : defaultAgent_(new Agent(this)),
+    : defaultAgent_(new Agent()),
       kdTree_(new KdTree(this)),
       globalTime_(0.0F),
       timeStep_(timeStep) {
@@ -79,7 +79,7 @@ RVOSimulator::RVOSimulator(float timeStep, float neighborDist,
                            std::size_t maxNeighbors, float timeHorizon,
                            float timeHorizonObst, float radius, float maxSpeed,
                            const Vector2 &velocity)
-    : defaultAgent_(new Agent(this)),
+    : defaultAgent_(new Agent()),
       kdTree_(new KdTree(this)),
       globalTime_(0.0F),
       timeStep_(timeStep) {
@@ -107,7 +107,7 @@ RVOSimulator::~RVOSimulator() {
 
 std::size_t RVOSimulator::addAgent(const Vector2 &position) {
   if (defaultAgent_ != NULL) {
-    Agent *const agent = new Agent(this);
+    Agent *const agent = new Agent();
     agent->position_ = position;
     agent->velocity_ = defaultAgent_->velocity_;
     agent->id_ = agents_.size();
@@ -137,7 +137,7 @@ std::size_t RVOSimulator::addAgent(const Vector2 &position, float neighborDist,
                                    std::size_t maxNeighbors, float timeHorizon,
                                    float timeHorizonObst, float radius,
                                    float maxSpeed, const Vector2 &velocity) {
-  Agent *const agent = new Agent(this);
+  Agent *const agent = new Agent();
   agent->position_ = position;
   agent->velocity_ = velocity;
   agent->id_ = agents_.size();
@@ -200,15 +200,15 @@ void RVOSimulator::doStep() {
 #pragma omp parallel for
 #endif /* _OPENMP */
   for (int i = 0; i < static_cast<int>(agents_.size()); ++i) {
-    agents_[i]->computeNeighbors();
-    agents_[i]->computeNewVelocity();
+    agents_[i]->computeNeighbors(kdTree_);
+    agents_[i]->computeNewVelocity(timeStep_);
   }
 
 #ifdef _OPENMP
 #pragma omp parallel for
 #endif /* _OPENMP */
   for (int i = 0; i < static_cast<int>(agents_.size()); ++i) {
-    agents_[i]->update();
+    agents_[i]->update(timeStep_);
   }
 
   globalTime_ += timeStep_;
@@ -315,7 +315,7 @@ void RVOSimulator::setAgentDefaults(float neighborDist,
                                     float timeHorizonObst, float radius,
                                     float maxSpeed, const Vector2 &velocity) {
   if (defaultAgent_ == NULL) {
-    defaultAgent_ = new Agent(this);
+    defaultAgent_ = new Agent();
   }
 
   defaultAgent_->maxNeighbors_ = maxNeighbors;

src/RVOSimulator.h

@@ -659,9 +659,7 @@ class RVO_EXPORT RVOSimulator {
   float globalTime_;
   float timeStep_;
 
-  friend class Agent;
   friend class KdTree;
-  friend class Obstacle;
 };
 } /* namespace RVO */