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Merge pull request #22422 from DefinitelyTyped/not-needed-rvo2

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rvo2: Provides its own types
This commit is contained in:
Paul van Brenk
2017-12-28 17:09:50 -08:00
committed by GitHub
parent f845c9e81c 2e6a1c83cf
commit c53feeb433
5 changed files with 6 additions and 820 deletions
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6
notNeededPackages.json
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@@ -936,6 +936,12 @@
"sourceRepoURL": "https://github.com/router5/router5",
"asOfVersion": "5.0.0"
},
{
"libraryName": "rvo2",
"typingsPackageName": "rvo2",
"sourceRepoURL": "https://github.com/TNOCS/rvo2",
"asOfVersion": "1.1.0"
},
{
"libraryName": "samchon",
"typingsPackageName": "samchon",

581
types/rvo2/index.d.ts vendored
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@@ -1,581 +0,0 @@
// Type definitions for rvo2
// Project: https://github.com/TNOCS/rvo2
// Definitions by: Erik Vullings <https://github.com/erikvullings>
// Definitions: https://github.com/DefinitelyTyped/DefinitelyTyped
declare namespace rvo2 {
class Line {
/**
* A point on the directed line.
*/
point: Vector2;
/**
* The direction of the directed line.
*/
direction: Vector2;
}
/**
* The Agent class has no public members or methods.
*
* @class Agent
*/
class Agent { }
/**
* The KdTree class has no public members or methods.
*
* @class KdTree
*/
class KdTree { }
/**
* The Obstacle class has no public members or methods.
*
* @class Obstacle
*/
class Obstacle { }
/**
* A simple two dimensional vector with an x and y position.
*
* @class Vector2
*/
class Vector2 {
/**
* Creates an instance of Vector2.
*
* @param {number} x
* @param {number} y
*
* @memberOf Vector2
*/
constructor(x: number, y: number);
/**
* Returns the x position.
*
* @returns {number}
*
* @memberOf Vector2
*/
x(): number;
/**
* Returns the y position.
*
* @returns {number}
*
* @memberOf Vector2
*/
y(): number;
/**
* Add two vectors.
*
* @param {Vector2} v
* @returns {Vector2}
*
* @memberOf Vector2
*/
add(v: Vector2): Vector2;
/**
* Subtract two vectors.
*
* @param {Vector2} v
* @returns {Vector2}
*
* @memberOf Vector2
*/
sub(v: Vector2): Vector2;
/**
* Multiplies the vector by a scalar.
*
* @param {number} s
* @returns {Vector2}
*
* @memberOf Vector2
*/
mul(s: number): Vector2;
}
/**
* An array of Vector2 vectors.
*
* @class vectorvector
*/
class vectorvector {
constructor(size?: number);
[index: number]: Vector2;
}
/**
* Simulation engine.
*
* @class sim
*/
class RVOSimulator {
constructor();
/**
* Constructs a simulator instance and sets the default
* properties for any new agent that is added.
*
* @param {number} timeStep The time step of the simulation.
* Must be positive.
* @param {number} neighborDist The default maximum distance (center point
* to center point) to other agents a new agent
* takes into account in the navigation. The
* larger this number, the longer he running
* time of the simulation. If the number is too
* low, the simulation will not be safe. Must be
* non-negative.
* @param {number} maxNeighbors The default maximum number of other agents a
* new agent takes into account in the
* navigation. The larger this number, the
* longer the running time of the simulation.
* If the number is too low, the simulation
* will not be safe.
* @param {number} timeHorizon The default minimal amount of time for which
* a new agent's velocities that are computed
* by the simulation are safe with respect to
* other agents. The larger this number, the
* sooner an agent will respond to the presence
* of other agents, but the less freedom the
* agent has in choosing its velocities.
* Must be positive.
* @param {number} timeHorizonObst The default minimal amount of time for which
* a new agent's velocities that are computed
* by the simulation are safe with respect to
* obstacles. The larger this number, the
* sooner an agent will respond to the presence
* of obstacles, but the less freedom the agent
* has in choosing its velocities.
* Must be positive.
* @param {number} radius The default radius of a new agent.
* Must be non-negative.
* @param {number} maxSpeed The default maximum speed of a new agent.
* Must be non-negative.
* @param {Vector2} velocity The default initial two-dimensional linear
* velocity of a new agent (optional).
*/
constructor(timeStep: number, neighborDist: number, maxNeighbors: number,
timeHorizon: number, timeHorizonObst: number, radius: number,
maxSpeed: number, velocity?: Vector2);
/**
* Sets the time step of the simulation.
*
* @param {number} timeStep The time step of the simulation.
* Must be positive.
*
* @memberOf sim
*/
setTimeStep(timeStep: number): void;
/**
* Lets the simulator perform a simulation step and updates the
* two-dimensional position and two-dimensional velocity of each agent.
*
* @memberOf RVOSimulator
*/
doStep(): void;
/**
* Sets the default properties for any new agent that is added.
* @param {number} neighborDist The default maximum distance (center point
* to center point) to other agents a new agent
* takes into account in the navigation. The
* larger this number, the longer he running
* time of the simulation. If the number is too
* low, the simulation will not be safe.
* Must be non-negative.
* @param {number} maxNeighbors The default maximum number of other agents a
* new agent takes into account in the
* navigation. The larger this number, the
* longer the running time of the simulation.
* If the number is too low, the simulation
* will not be safe.
* @param {number} timeHorizon The default minimal amount of time for which
* a new agent's velocities that are computed
* by the simulation are safe with respect to
* other agents. The larger this number, the
* sooner an agent will respond to the presence
* of other agents, but the less freedom the
* agent has in choosing its velocities.
* Must be positive.
* @param {number} timeHorizonObst The default minimal amount of time for which
* a new agent's velocities that are computed
* by the simulation are safe with respect to
* obstacles. The larger this number, the
* sooner an agent will respond to the presence
* of obstacles, but the less freedom the agent
* has in choosing its velocities.
* Must be positive.
* @param {number} radius The default radius of a new agent.
* Must be non-negative.
* @param {number} maxSpeed The default maximum speed of a new agent.
* Must be non-negative.
* @param {Vector2} velocity The default initial two-dimensional linear
* velocity of a new agent (optional).
*/
setAgentDefaults(neighborDist: number, maxNeighbors: number, timeHorizon: number, timeHorizonObst: number, radius: number, maxSpeed: number, velocity?: Vector2): void;
/**
* Adds a new agent with default properties to the simulation.
*
* @param {Vector2} position The two-dimensional starting position of this agent.
* @returns {number} The number of the agent, or RVO::RVO_ERROR when the * agent defaults have not been set.
*
* @membeim
*/
addAgent(position: Vector2): number;
/**
* Adds a new agent to the simulation.
*
* @param {Vector2} position The two-dimensional starting position of
* this agent.
* @param {number} neighborDist The maximum distance (center point to
* center point) to other agents this agent
* takes into account in the navigation. The
* larger this number, the longer the running
* of the simulation. If the number is too
* low, the simulation will not be safe.
* Must be non-negative.
* @param {number} maxNeighbors The maximum number of other agents this
* agent takes into account in the navigation.
* The larger this number, the longer the
* running time of the simulation. If the
* number is too low, the simulation will not
* safe.
* @param {number} timeHorizon The minimal amount of time for which this
* agent's velocities that are computed by the
* simulation are safe with respect to other
* agents. The larger this number, the sooner
* this agent will respond to the presence of
* other agents, but the less freedom this
* agent has in choosing its velocities.
* be positive.
* @param {number} timeHorizonObst The minimal amount of time for which this
* agevelocities that are computed by the
* simulation are safe with respect to
* obst. The larger this number, the
* sooner this agent will respond to the
* presence of obstacles, but the less freedom
* this agent has in choosing its velocities.
* Must be positive.
* @param {number} radius The radius of this agent.
* Must be non-negative.
* @param {number} maxSpeed The maximum speed of this agent.
* Must be non-negative.
* @param {number} velocity The initial two-dimensional linear velocity
* of this agent (optional).
* @returns {number} The number of the agent.
*/
addAgent(position: Vector2, neighborDist: number, maxNeighbors: number,
timeHorizon: number, timeHorizonObst: number, radius: number,
maxSpeed: number, velocity: Vector2): number;
/**
* Adds a new obstacle to the simulation.
*
* To add a "negative" obstacle, e.g. a bounding polygon around
* the environment, the vertices should be listed in clockwise order.
*
* @param {vectorvector} vertices List of the vertices of the polygonal
* obstacle in counterclockwise order.
* @returns {number} The number of the first vertex of the obstacle,
* or RVO::RVO_ERROR when the number of vertices is less than two.
*/
addObstacle(vertices: vectorvector): number;
/**
* Returns the position of agent at the specified index.
*
* @param {number} index Index of the agent. Must be >= 0.
* @returns {Vector2} Position of the agent.
*
* @memberOf sim
*/
getAgentPosition(index: number): Vector2;
/**
* Sets the two-dimensional preferred velocity of a specified agent.
* @param {number} agentNo The number of the agent whose two-dimensional
* preferred velocity is to be modified.
* @param {Vector2} prefVelocity The replacement of the two-dimensional
* preferred velocity.
*/
setAgentPrefVelocity(agentNo: number, prefVelocity: Vector2): void;
/**
* Returns the specified agent neighbor of the specified agent.
*
* @param {number} agentNo The number of the agent whose agent
* neighbor is to be retrieved.
* @param {number} neighborNo The number of the agent neighbor to be
* retrieved.
* @returns The number of the neighboring agent.
*/
getAgentAgentNeighbor(agentNo: number, neighborNo: number): number;
/**
* Returns the maximum neighbor count of a specified agent.
*
* @param {number} agentNo The number of the agent whose maximum neighbor count is
* to be retrieved.
* @return {number} The present maximum neighbor count of the agent.
*/
getAgentMaxNeighbors(agentNo: number): number;
/**
* Returns the maximum speed of a specified agent.
*
* @param {number} agentNo The number of the agent whose maximum speed is to be retrieved.
* @return {number} The present maximum speed of the agent.
*/
getAgentMaxSpeed(agentNo: number): number;
/**
* Returns the maximum neighbor distance of a specified agent.
* @param {number} agentNo The number of the agent whose maximum
* neighbor distance is to be retrieved.
* @return The present maximum neighbor distance of the agent.
*/
getAgentNeighborDist(agentNo: number): number;
/**
* Returns the count of agent neighbors taken into account to
* compute the current velocity for the specified agent.
*
* @param {number} agentNo The number of the agent whose count of agent
* neighbors is to be retrieved.
* @return {number} The count of agent neighbors taken into account to compute
* the current velocity for the specified agent.
*/
getAgentNumAgentNeighbors(agentNo: number): number;
/**
* Returns the count of obstacle neighbors taken into account
* to compute the current velocity for the specified agent.
*
* @param {number} agentNo The number of the agent whose count of
* obstacle neighbors is to be retrieved.
* @return {number} The count of obstacle neighbors taken into account to
* compute the current velocity for the specified agent.
*/
getAgentNumObstacleNeighbors(agentNo: number): number;
/**
* Returns the count of ORCAconstraints used to compute
*
* the current velocity for the specified agent.
*
* @param {number} agentNo The number of the agent whose count of ORCA
* constraints is to be retrieved.
*
* @return {number} The count of ORCAconstraints used to compute the current
*
* velocity for the specified agent.
*/
getAgentNumORCALines(agentNo: number): number;
/**
* Returns the specified obstacle neighbor of the specified agent.
*
* @param {number} agentNo The number of the agent whose obstacle
* neighbor is to be retrieved.
* @param {number} neighborNo The number of the obstacle neighbor to be
* retrieved.
* @return {number} The number of the first vertex of the neighboring obstacle edge.
*/
getAgentObstacleNeighbor(agentNo: number, neighborNo: number): number;
/**
* Returns the specified ORCA constraint of the specified agent.
*
* The halfplane to the left of the line is the region of
* permissible velocities with respect to the specified
* ORCAconstraint.
*
* @param {number} agentNo The number of the agent whose ORCA constraint is to be retrieved.
*
* @param {number} lineNo The number of the ORCAconstraint to be retrieved.
* @return {number} A line representing the specified ORCAconstraint.
*
*
*/
getAgentORCALine(agentNo: number, lineNo: number): Line;
/**
* Returns the two-dimensional position of a specified
* agent.
* @param {number} agentNo The number of the agent whose two-dimensional position
* is to be retrieved.
* @return {number} The present two-dimensional position of the (center of the) agent.
*/
getAgentPosition(agentNo: number): Vector2;
/**
* Returns the two-dimensional preferred velocity of a
* specified agent.
* @param {number} agentNo The number of the agent whose two-dimensional
* preferred velocity is to be retrieved.
* @return {number} The present two-dimensional preferred velocity of the agent.
*/
getAgentPrefVelocity(agentNo: number): Vector2;
/**
* Returns the radius of a specified agent.
* @param {number} agentNo The number of the agent whose radius is to be retrieved.
* @return {number} The present radius of the agent.
*/
getAgentRadius(agentNo: number): number;
/**
* Returns the time horizon of a specified agent.
* @param {number} agentNo The number of the agent whose time horizon is to be retrieved.
* @return {number} The present time horizon of the agent.
*/
getAgentTimeHorizon(agentNo: number): number;
/**
* Returns the time horizon with respect to obstacles of a specified agent.
*
* @param {number} agentNo The number of the agent whose time horizon
* with respect to obstacles is to be retrieved.
* @return {number} The present time horizon with respect to obstacles of the
* agent.
*/
getAgentTimeHorizonObst(agentNo: number): number;
/**
* Returns the two-dimensional linear velocity of a
* specified agent.
* @param {number} agentNo The number of the agent whose two-dimensional linear
* velocity is to be retrieved.
* @return {Vector2} The present two-dimensional linear velocity of the agent.
*/
getAgentVelocity(agentNo: number): Vector2;
/**
* Returns the global time of the simulation.
*
* @return {number} The present global time of the simulation (zero initially).
*/
getGlobalTime(): number;
/**
* Returns the count of agents in the simulation.
*
* @return {number} The count of agents in the simulation.
*/
getNumAgents(): number;
/**
* Returns the count of obstacle vertices in the simulation.
*
* @return {number} The count of obstacle vertices in the simulation.
*/
getNumObstacleVertices(): number;
/**
* Returns the two-dimensional position of a specified obstacle vertex.
* @param {number} vertexNo The number of the obstacle vertex to be retrieved.
* @return {Vector2} The two-dimensional position of the specified obstacle vertex.
*/
getObstacleVertex(vertexNo: number): Vector2;
/**
* Returns the number of the obstacle vertex succeeding the specified obstacle vertex in its polygon.
*
* @param {number} vertexNo The number of the obstacle vertex whose
* successor is to be retrieved.
* @return {number} The number of the obstacle vertex succeeding the specified
* obstacle vertex in its polygon.
*/
getNextObstacleVertexNo(vertexNo: number): number;
/**
* Returns the number of the obstacle vertex preceding the specified obstacle
* vertex in its polygon.
*
* @param {number} vertexNo The number of the obstacle vertex whose
* predecessor is to be retrieved.
* @return {number} The number of the obstacle vertex preceding the specified
* obstacle vertex in its polygon.
*/
getPrevObstacleVertexNo(vertexNo: number): number;
/**
* Returns the time step of the simulation.
*
* @return {number} The present time step of the simulation.
*/
getTimeStep(): number;
/**
* Processes the obstacles that have been added so that they are accounted for in
* the simulation.
*
* Obstacles added to the simulation after this function has
* been called are not accounted for in the simulation.
*/
processObstacles(): void;
/**
* Performs a visibility query between the two specified points with respect to
* the obstacles
*
* @param {number} point1 The first point of the query.
* @param {number} point2 The second point of the query.
* @param {number} radius The minimal distance between the line
* connecting the two points and the obstacles
* in order for the points to be mutually
* visible (optional). Must be non-negative.
* @return {number} A boolean specifying whether the two points are mutually
* visible. Returns true when the obstacles have not been processed.
*/
queryVisibility(point1: Vector2, point2: Vector2, radius?: number): number;
}
/**
* Computes the length of a specified two-dimensional vector.
*
* @param {Vector2} v The two-dimensional vector whose length is to be computed.
* @returns {number} The length of the two-dimensional vector.
*
* @memberOf sim
*/
function abs(v: Vector2): number;
/**
* Computes the squared length of a specified two-dimensional vector.
* @param {Vector2} v The two-dimensional vector whose squared length is to be computed.
* @returns {number} The squared length of the two-dimensional vector.
*/
function absSq(v: Vector2): number;
/**
* Computes the determinant of a two-dimensional square matrix with
* rows consisting of the specified two-dimensional vectors.
* @param {Vector2} v1 The top row of the two-dimensional square matrix.
* @param {Vector2} v2 The bottom row of the two-dimensional square matrix.
* @returns {number} The determinant of the two-dimensional square matrix.
*/
function det(v1: Vector2, v2: Vector2): number;
/**
* Computes the normalization of the specified two-dimensional vector.
* @param {Vector2} vector The two-dimensional vector whose normalization
* is to be computed.
* returns {Vector2} The normalization of the two-dimensional vector.
*/
function normalize(vector: Vector2): Vector2
}
export = rvo2;

137
types/rvo2/rvo2-tests.ts
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@@ -1,137 +0,0 @@
import { Vector2, vectorvector, RVOSimulator, absSq, normalize } from './index';
// Some examples of vector functions.
const v1 = new Vector2(-1, 2);
const v2 = new Vector2(1, 2);
const v3 = v1.mul(3); // -3, 6
const v4 = v1.sub(v2); // -2, 0
const v5 = v1.add(v2); // 0, 4
function setupScenario(sim: RVOSimulator, goals: vectorvector) {
sim.setTimeStep(0.25);
/* Specify the default parameters for agents that are subsequently added. */
sim.setAgentDefaults(15, 10, 5, 5, 2, 2);
/*
* Add agents, specifying their start position, and store their goals on the
* opposite side of the environment.
*/
for (var i = 0; i < 5; ++i) {
for (var j = 0; j < 5; ++j) {
var index = sim.addAgent(new Vector2(55 + i * 10, 55 + j * 10));
goals[index] = new Vector2(-75, -75);
index = sim.addAgent(new Vector2(-55 - i * 10, 55 + j * 10));
goals[index] = new Vector2(75, -75);
index = sim.addAgent(new Vector2(55 + i * 10, -55 - j * 10));
goals[index] = new Vector2(-75, 75);
index = sim.addAgent(new Vector2(-55 - i * 10, -55 - j * 10));
goals[index] = new Vector2(75, 75);
}
}
/*
* Add (polygonal) obstacles, specifying their vertices in counterclockwise
* order.
*/
const obstacle1 = new vectorvector(4)
, obstacle2 = new vectorvector(4)
, obstacle3 = new vectorvector(4)
, obstacle4 = new vectorvector(4);
obstacle1[0] = new Vector2(-10, 40);
obstacle1[1] = new Vector2(-40, 40);
obstacle1[2] = new Vector2(-40, 10);
obstacle1[3] = new Vector2(-10, 10);
obstacle2[0] = new Vector2(10, 40);
obstacle2[1] = new Vector2(10, 10);
obstacle2[2] = new Vector2(40, 10);
obstacle2[3] = new Vector2(40, 40);
obstacle3[0] = new Vector2(10, -40);
obstacle3[1] = new Vector2(40, -40);
obstacle3[2] = new Vector2(40, -10);
obstacle3[3] = new Vector2(10, -10);
obstacle4[0] = new Vector2(-10, -40);
obstacle4[1] = new Vector2(-10, -10);
obstacle4[2] = new Vector2(-40, -10);
obstacle4[3] = new Vector2(-40, -40);
sim.addObstacle(obstacle1);
sim.addObstacle(obstacle2);
sim.addObstacle(obstacle3);
sim.addObstacle(obstacle4);
/* Process the obstacles so that they are accounted for in the simulation. */
sim.processObstacles();
}
function updateVisualization(sim: RVOSimulator)
{
/* Output the current global time. */
const time = sim.getGlobalTime();
// console.log(`Time: ${time}`);
/* Output the current position of all the agents. */
for (let i = 0; i < sim.getNumAgents(); ++i) {
const p = sim.getAgentPosition(i);
// console.log(`#${i}) x: ${p.x()}, y: ${p.y()}`);
}
}
function setPreferredVelocity(sim: RVOSimulator, goals: vectorvector) {
for (var i = 0; i < sim.getNumAgents(); i++) {
const delta = goals[i].sub(sim.getAgentPosition(i));
/*
* Perturb a little to avoid deadlocks due to perfect symmetry.
*/
const angle = Math.random() * 2.0 * Math.PI;
const dist = Math.random() * 0.0001;
var goalVector = new Vector2(delta.x() + dist * Math.cos(angle), delta.y() + dist * Math.sin(angle));
if (absSq(goalVector) > 1.0) {
goalVector = normalize(goalVector);
}
sim.setAgentPrefVelocity(i, goalVector);
}
}
function reachedGoal(sim: RVOSimulator, goals: vectorvector) {
/* Check if all agents have reached their goals. */
for (var i = 0; i < sim.getNumAgents(); ++i) {
const dist = sim.getAgentPosition(i).sub(goals[i]);
if (absSq(dist) > 400) { // 400 <= 20 x 20
return false;
}
}
return true;
}
function main(debug = false) {
const nbrAgents = 100;
const sim = new RVOSimulator();
const goals = new vectorvector(nbrAgents);
setupScenario(sim, goals);
// sim.addObstacle(vv);
var i = 0;
do {
if (++i % 10 === 0) {
// console.log('TIME: ' + i);
}
setPreferredVelocity(sim, goals);
if (debug) { updateVisualization(sim); }
sim.doStep();
} while (!reachedGoal(sim, goals));
// console.log('Done');
}
main();

23
types/rvo2/tsconfig.json
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@@ -1,23 +0,0 @@
{
"compilerOptions": {
"module": "commonjs",
"lib": [
"es6"
],
"noImplicitAny": true,
"noImplicitThis": true,
"strictNullChecks": false,
"strictFunctionTypes": true,
"baseUrl": "../",
"typeRoots": [
"../"
],
"types": [],
"noEmit": true,
"forceConsistentCasingInFileNames": true
},
"files": [
"index.d.ts",
"rvo2-tests.ts"
]
}

79
types/rvo2/tslint.json
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@@ -1,79 +0,0 @@
{
"extends": "dtslint/dt.json",
"rules": {
"adjacent-overload-signatures": false,
"array-type": false,
"arrow-return-shorthand": false,
"ban-types": false,
"callable-types": false,
"comment-format": false,
"dt-header": false,
"eofline": false,
"export-just-namespace": false,
"import-spacing": false,
"interface-name": false,
"interface-over-type-literal": false,
"jsdoc-format": false,
"max-line-length": false,
"member-access": false,
"new-parens": false,
"no-any-union": false,
"no-boolean-literal-compare": false,
"no-conditional-assignment": false,
"no-consecutive-blank-lines": false,
"no-construct": false,
"no-declare-current-package": false,
"no-duplicate-imports": false,
"no-duplicate-variable": false,
"no-empty-interface": false,
"no-for-in-array": false,
"no-inferrable-types": false,
"no-internal-module": false,
"no-irregular-whitespace": false,
"no-mergeable-namespace": false,
"no-misused-new": false,
"no-namespace": false,
"no-object-literal-type-assertion": false,
"no-padding": false,
"no-redundant-jsdoc": false,
"no-redundant-jsdoc-2": false,
"no-redundant-undefined": false,
"no-reference-import": false,
"no-relative-import-in-test": false,
"no-self-import": false,
"no-single-declare-module": false,
"no-string-throw": false,
"no-unnecessary-callback-wrapper": false,
"no-unnecessary-class": false,
"no-unnecessary-generics": false,
"no-unnecessary-qualifier": false,
"no-unnecessary-type-assertion": false,
"no-useless-files": false,
"no-var-keyword": false,
"no-var-requires": false,
"no-void-expression": false,
"no-trailing-whitespace": false,
"object-literal-key-quotes": false,
"object-literal-shorthand": false,
"one-line": false,
"one-variable-per-declaration": false,
"only-arrow-functions": false,
"prefer-conditional-expression": false,
"prefer-const": false,
"prefer-declare-function": false,
"prefer-for-of": false,
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}
}