#include <diguyWaypoint.h>

Public Member Functions
General Functions
Unless otherwise noted all functions in this class section are callable from: C++ Script
const char *	get_name ()
	Returns the name of the object. More...

long	get_uid ()
	All waypoints are assigned a unique identifier, or uid. More...

int	get_selected ()
	Returns: 1 if waypoint is selected in DI-Guy Scenario or DI-Guy Author, 0 if not. More...

Position and Orientation Functions
The Boston Dynamics global coordinate system is right-handed, with X forward, Z up, and Y to the left. Rotation directions follow standard right-handed coordinate system conventions: positive rotations about Z cause (rz) a yaw to the left positive rotations about X cause (rx) a counter-clockwise roll position rotations about Y cause (ry) a forward pitch NOTE: If modifications are made to the waypoint using any of the set_*() commands, if the waypoint is part of a diguyCharacterPath or diguyPathShape, the diguyCharacterPath::update() or diguyPathShape::update() function must be called for changes to take effect. Multiple changes can be made before the update calls are made.
void	set_position (float x, float y, float z)
	This function sets the x, y, z coordinates of the waypoint in meters. More...

void	set_position_double (double x, double y, double z)
	Double precision version of set_position(). More...

void	get_position (float x, float y, float *z)
	Returns: x, y, z coordinate of waypoint in meters. More...

void	get_position_double (double tx, double ty, double *tz)
	Double precision version of get_position(). More...

void	set_orientation_in (float rz, float rx, float ry)
	Sets the orientation of the path entering the waypoint. More...

void	get_orientation_in (float rz, float rx, float *ry)
	Retrieves the orientation of the path entering the waypoint. More...

void	set_orientation_out (float rz, float rx, float ry)
	Equivalent to set_orientation_in(), but for the path exiting the waypoint. More...

void	get_orientation_out (float rz, float rx, float *ry)
	Equivalent to get_orientation_in(), but for the path exiting the waypoint. More...

void	set_yaw_coupled (int yaw_coupled)
	This function sets whether the yaw in and yaw out angles are coupled together. More...

int	get_yaw_coupled ()
	Returns: whether the yaw in and yaw out angles are coupled together; see set_yaw_coupled() More...

void	set_yaw_coupling_offset (float yaw_coupling_offset)
	This function sets by how much the yaw in and yaw out angles should be offset when they are coupled together. More...

float	get_yaw_coupling_offset ()
	Returns: the offset between yaw in and yaw out when the yaw angles are coupled together; see set_yaw_coupling_offset() More...

void	set_roll_coupled (int roll_coupled)
	This function is the same as its yaw counterpart, but rotation is about the x axis. More...

int	get_roll_coupled ()
	This function is the same as its yaw counterpart, but rotation is about the x axis. More...

void	set_roll_coupling_offset (float roll_coupling_offset)
	This function is the same as its yaw counterpart, but rotation is about the x axis. More...

float	get_roll_coupling_offset ()
	This function is the same as its yaw counterpart, but rotation is about the x axis. More...

void	set_pitch_coupled (int pitch_coupled)
	This function is the same as its yaw counterpart, but rotation is about the y axis. More...

int	get_pitch_coupled ()
	This function is the same as its yaw counterpart, but rotation is about the y axis. More...

void	set_pitch_coupling_offset (float pitch_coupling_offset)
	This function is the same as its yaw counterpart, but rotation is about the y axis. More...

float	get_pitch_coupling_offset ()
	This function is the same as its yaw counterpart, but rotation is about the y axis. More...

void	set_weight_in (float weight_in)
	This function sets the weight of the control handle heading into the waypoint. More...

float	get_weight_in ()
	Returns: weight heading into the waypoint, in meters; see set_weight_in() More...

void	set_weight_out (float weight_out)
	Similar to set_weight_in(), but for the outgoing weight. More...

float	get_weight_out ()
	Returns: weight heading out of the waypoint, in meters; see set_weight_out(). More...

void	set_weight_coupled (int weight_coupled)
	This function sets whether the weight in and weight out are coupled together. More...

int	get_weight_coupled ()
	Returns: whether the weight in and weight out are coupled together; see set_weight_coupled() More...

void	get_control_point_in_position (float x, float y, float *z)
	This function returns the world position of the control point heading into the waypoint. More...

void	get_control_point_out_position (float x, float y, float *z)
	Similar to get_control_point_in_position(), but for out control point. More...

void	get_forward_normal_in (float x, float y, float *z)
	This function returns the normal vector of the control bar heading into the waypoint. More...

void	get_left_normal_in (float x, float y, float *z)
	Similar to get_forward_normal_in(), but for left normal. More...

void	get_up_normal_in (float x, float y, float *z)
	Similar to get_out_normal_in(), but for up normal. More...

void	get_forward_normal_out (float x, float y, float *z)
	Similar to get_forward_normal_in(), but for out control bar. More...

void	get_left_normal_out (float x, float y, float *z)
	Similar to get_left_normal_in(), but for out control bar. More...

void	get_up_normal_out (float x, float y, float *z)
	Similar to get_up_normal_in(), but for out control bar. More...

Other Functions
void	set_num_segments (int num_segments)
	This function sets how many segments the path portion this waypoint begins will be divided into. More...

int	get_num_segments ()
	Returns: how many segments the path portion this waypoint begins will be divided into; see set_num_segments() More...

Deprecated Functions
The following functions are deprecated as of DI-Guy 10 As these functions may disappear in a future version of DI-Guy, it is recommended that you replace calls to these functions from your application.
void	set_x (float x)
	This function is deprecated. More...

float	get_x ()
	This function is deprecated. More...

void	set_y (float y)
	This function is deprecated. More...

float	get_y ()
	This function is deprecated. More...

void	set_z (float z)
	This function is deprecated. More...

float	get_z ()
	This function is deprecated. More...

void	set_yaw_in (float yaw)
	This function is deprecated. More...

float	get_yaw_in ()
	This function is deprecated. More...

void	set_yaw_out (float yaw)
	This function is deprecated. More...

float	get_yaw_out ()
	This function is deprecated. More...

int	get_yaw_smooth ()
	This function is deprecated. More...

void	set_yaw_smooth (int yaw_smooth)
	This function is deprecated. More...

float	get_yaw_offset ()
	This function is deprecated. More...

void	set_yaw_offset (float yaw_offset)
	This function is deprecated. More...

void	set_roll_in (float roll)
	This function is deprecated. More...

float	get_roll_in ()
	This function is deprecated. More...

void	set_roll_out (float roll)
	This function is deprecated. More...

float	get_roll_out ()
	This function is deprecated. More...

int	get_roll_smooth ()
	This function is deprecated. More...

void	set_roll_smooth (int roll_smooth)
	This function is deprecated. More...

float	get_roll_offset ()
	This function is deprecated. More...

void	set_roll_offset (float roll_offset)
	This function is deprecated. More...

void	set_pitch_in (float pitch)
	This function is deprecated. More...

float	get_pitch_in ()
	This function is deprecated. More...

void	set_pitch_out (float pitch)
	This function is deprecated. More...

float	get_pitch_out ()
	This function is deprecated. More...

int	get_pitch_smooth ()
	This function is deprecated. More...

void	set_pitch_smooth (int pitch_smooth)
	This function is deprecated. More...

float	get_pitch_offset ()
	This function is deprecated. More...

void	set_pitch_offset (float pitch_offset)
	This function is deprecated. More...

int	get_distance_smooth ()
	This function is deprecated. More...

void	set_distance_smooth (int distance_smooth)
	This function is deprecated. More...

Private Functions
The functions and variables past this point are for internal use only. No external access to them is expected or necessary.
bdiBeadWaypoint *	m_scripted_object
	A pointer to internal data. More...

class	diguyScenario

class	bdiBeadWaypoint

bdiBeadWaypoint *	get_scripted_object ()

	diguyWaypoint (bdiBeadWaypoint *waypoint)
	A private constructor. More...

	~diguyWaypoint ()
	A private destructor. More...

Constructor & Destructor Documentation

diguyWaypoint::diguyWaypoint ( bdiBeadWaypoint * waypoint )

private

A private constructor.

diguyWaypoint::~diguyWaypoint ( )

private

A private destructor.

Member Function Documentation

const char* diguyWaypoint::get_name ( )

Returns the name of the object.

This pointer will never be NULL.

Returns:

name of the object

long diguyWaypoint::get_uid ( )

All waypoints are assigned a unique identifier, or uid.

This function returns this waypoints's uid.

Note: unique identifiers will change between DI-Guy runs!

Returns:

unique identifier of object

int diguyWaypoint::get_selected ( )

Returns: 1 if waypoint is selected in DI-Guy Scenario or DI-Guy Author, 0 if not.

void diguyWaypoint::set_position	(	float	x,
		float	y,
		float	z
	)

This function sets the x, y, z coordinates of the waypoint in meters.

Requires subsequent call to diguyCharacterPath::update() or diguyPathShape::update(). (See above.)

Returns:

x, y, z coordinate of waypoint in meters

void diguyWaypoint::set_position_double	(	double	x,
		double	y,
		double	z
	)

Double precision version of set_position().

void diguyWaypoint::get_position	(	float *	x,
		float *	y,
		float *	z
	)

Returns: x, y, z coordinate of waypoint in meters.

Note: in Lua this will return 3 values.

void diguyWaypoint::get_position_double	(	double *	tx,
		double *	ty,
		double *	tz
	)

Double precision version of get_position().

Note: in Lua this will return 3 values.

void diguyWaypoint::set_orientation_in	(	float	rz,
		float	rx,
		float	ry
	)

Sets the orientation of the path entering the waypoint.

If the angles in and angles out are coupled (e.g., get_yaw_coupled() returns 1) this will set rz out, as well. The new angle out will be angle in plus the angle coupling offset.

Requires subsequent call to diguyCharacterPath::update() or diguyPathShape::update(). (See above.)

Parameters

rz,rx,ry orientations in degrees

void diguyWaypoint::get_orientation_in	(	float *	rz,
		float *	rx,
		float *	ry
	)

Retrieves the orientation of the path entering the waypoint.

Parameters

rz,rx,ry orientations in degrees counter-clockwise from the positive X axis

Note: in Lua this will return 3 values.

void diguyWaypoint::set_orientation_out	(	float	rz,
		float	rx,
		float	ry
	)

Equivalent to set_orientation_in(), but for the path exiting the waypoint.

void diguyWaypoint::get_orientation_out	(	float *	rz,
		float *	rx,
		float *	ry
	)

Equivalent to get_orientation_in(), but for the path exiting the waypoint.

Note: in Lua this will return 3 values.

void diguyWaypoint::set_yaw_coupled ( int yaw_coupled )

This function sets whether the yaw in and yaw out angles are coupled together.

In general, for paths to look smooth, the in and out angles should be coupled together with 0 coupling offset.

Requires subsequent call to diguyCharacterPath::update() or diguyPathShape::update(). (See above.)

Parameters

yaw_coupled pass 1 to couple yaw in to yaw out

int diguyWaypoint::get_yaw_coupled ( )

Returns: whether the yaw in and yaw out angles are coupled together; see set_yaw_coupled()

void diguyWaypoint::set_yaw_coupling_offset ( float yaw_coupling_offset )

This function sets by how much the yaw in and yaw out angles should be offset when they are coupled together.

Requires subsequent call to diguyCharacterPath::update() or diguyPathShape::update(). (See above.)

Parameters

yaw_coupling_offset new yaw coupling offset, in degrees

float diguyWaypoint::get_yaw_coupling_offset ( )

Returns: the offset between yaw in and yaw out when the yaw angles are coupled together; see set_yaw_coupling_offset()

void diguyWaypoint::set_roll_coupled ( int roll_coupled )

This function is the same as its yaw counterpart, but rotation is about the x axis.

int diguyWaypoint::get_roll_coupled ( )

This function is the same as its yaw counterpart, but rotation is about the x axis.

void diguyWaypoint::set_roll_coupling_offset ( float roll_coupling_offset )

This function is the same as its yaw counterpart, but rotation is about the x axis.

float diguyWaypoint::get_roll_coupling_offset ( )

This function is the same as its yaw counterpart, but rotation is about the x axis.

void diguyWaypoint::set_pitch_coupled ( int pitch_coupled )

This function is the same as its yaw counterpart, but rotation is about the y axis.

int diguyWaypoint::get_pitch_coupled ( )

This function is the same as its yaw counterpart, but rotation is about the y axis.

void diguyWaypoint::set_pitch_coupling_offset ( float pitch_coupling_offset )

This function is the same as its yaw counterpart, but rotation is about the y axis.

float diguyWaypoint::get_pitch_coupling_offset ( )

This function is the same as its yaw counterpart, but rotation is about the y axis.

void diguyWaypoint::set_weight_in ( float weight_in )

This function sets the weight of the control handle heading into the waypoint.

The weights of the waypoint set how long the "control handles" of the waypoint are, in meters. The longer the control handle, the more the path will be stretched in the direction of the waypoint's orientation.

If the weight in and weight out are coupled (get_weight_coupled() returns 1) this will set weight out, as well.

Requires subsequent call to diguyCharacterPath::update() or diguyPathShape::update(). (See above.)

float diguyWaypoint::get_weight_in ( )

Returns: weight heading into the waypoint, in meters; see set_weight_in()

void diguyWaypoint::set_weight_out ( float weight_out )

Similar to set_weight_in(), but for the outgoing weight.

float diguyWaypoint::get_weight_out ( )

Returns: weight heading out of the waypoint, in meters; see set_weight_out().

void diguyWaypoint::set_weight_coupled ( int weight_coupled )

This function sets whether the weight in and weight out are coupled together.

If this waypoint is part of a diguyCharacterPath or diguyPathShape, the diguyCharacterPath::update() or diguyPathShape::update() function must be called for changes to take effect.

int diguyWaypoint::get_weight_coupled ( )

Returns: whether the weight in and weight out are coupled together; see set_weight_coupled()

void diguyWaypoint::get_control_point_in_position	(	float *	x,
		float *	y,
		float *	z
	)

This function returns the world position of the control point heading into the waypoint.

This is derived from the waypoint's position, orientation in, and the weights of the in control bar.

void diguyWaypoint::get_control_point_out_position	(	float *	x,
		float *	y,
		float *	z
	)

Similar to get_control_point_in_position(), but for out control point.

void diguyWaypoint::get_forward_normal_in	(	float *	x,
		float *	y,
		float *	z
	)

This function returns the normal vector of the control bar heading into the waypoint.

void diguyWaypoint::get_left_normal_in	(	float *	x,
		float *	y,
		float *	z
	)

Similar to get_forward_normal_in(), but for left normal.

void diguyWaypoint::get_up_normal_in	(	float *	x,
		float *	y,
		float *	z
	)

Similar to get_out_normal_in(), but for up normal.

void diguyWaypoint::get_forward_normal_out	(	float *	x,
		float *	y,
		float *	z
	)

Similar to get_forward_normal_in(), but for out control bar.

void diguyWaypoint::get_left_normal_out	(	float *	x,
		float *	y,
		float *	z
	)

Similar to get_left_normal_in(), but for out control bar.

void diguyWaypoint::get_up_normal_out	(	float *	x,
		float *	y,
		float *	z
	)

Similar to get_up_normal_in(), but for out control bar.

void diguyWaypoint::set_num_segments ( int num_segments )

This function sets how many segments the path portion this waypoint begins will be divided into.

This is strictly for visualization purposes only and will have no functional effect.

If this waypoint is part of a diguyCharacterPath or diguyPathShape, the diguyCharacterPath::update() or diguyPathShape::update() function must be called for changes to take effect.

Parameters

num_segments number of segments to divide path portion into; default is 64

int diguyWaypoint::get_num_segments ( )

Returns: how many segments the path portion this waypoint begins will be divided into; see set_num_segments()

void diguyWaypoint::set_x ( float x )

This function is deprecated.

Use set_position() instead.

float diguyWaypoint::get_x ( )

This function is deprecated.

Use get_position() instead.

void diguyWaypoint::set_y ( float y )

This function is deprecated.

Use set_position() instead.

float diguyWaypoint::get_y ( )

This function is deprecated.

Use get_position() instead.

void diguyWaypoint::set_z ( float z )

This function is deprecated.

Use set_position() instead.

float diguyWaypoint::get_z ( )

This function is deprecated.

Use get_position() instead.

void diguyWaypoint::set_yaw_in ( float yaw )

This function is deprecated.

Use set_orientation_in() instead.

float diguyWaypoint::get_yaw_in ( )

This function is deprecated.

Use get_orientation_in() instead.

void diguyWaypoint::set_yaw_out ( float yaw )

This function is deprecated.

Use set_orientation_out() instead.

float diguyWaypoint::get_yaw_out ( )

This function is deprecated.

Use get_orientation_out() instead.

int diguyWaypoint::get_yaw_smooth ( )

This function is deprecated.

Use get_yaw_coupled() instead.

void diguyWaypoint::set_yaw_smooth ( int yaw_smooth )

This function is deprecated.

Use set_yaw_coupled() instead.

float diguyWaypoint::get_yaw_offset ( )

This function is deprecated.

Use get_yaw_coupling_offset() instead.

void diguyWaypoint::set_yaw_offset ( float yaw_offset )

This function is deprecated.

Use set_yaw_coupling_offset() instead.

void diguyWaypoint::set_roll_in ( float roll )

This function is deprecated.

Use set_orientation_in() instead.

float diguyWaypoint::get_roll_in ( )

This function is deprecated.

Use get_orientation_in() instead.

void diguyWaypoint::set_roll_out ( float roll )

This function is deprecated.

Use set_orientation_out() instead.

float diguyWaypoint::get_roll_out ( )

This function is deprecated.

Use get_orientation_out() instead.

int diguyWaypoint::get_roll_smooth ( )

This function is deprecated.

Use get_roll_coupled() instead.

void diguyWaypoint::set_roll_smooth ( int roll_smooth )

This function is deprecated.

Use set_roll_coupled() instead.

float diguyWaypoint::get_roll_offset ( )

This function is deprecated.

Use get_roll_coupling_offset() instead.

void diguyWaypoint::set_roll_offset ( float roll_offset )

This function is deprecated.

Use set_roll_coupling_offset() instead.

void diguyWaypoint::set_pitch_in ( float pitch )

This function is deprecated.

Use set_orientation_in() instead.

float diguyWaypoint::get_pitch_in ( )

This function is deprecated.

Use get_orientation_in() instead.

void diguyWaypoint::set_pitch_out ( float pitch )

This function is deprecated.

Use set_orientation_out() instead.

float diguyWaypoint::get_pitch_out ( )

This function is deprecated.

Use get_orientation_out() instead.

int diguyWaypoint::get_pitch_smooth ( )

This function is deprecated.

Use get_pitch_coupled() instead.

void diguyWaypoint::set_pitch_smooth ( int pitch_smooth )

This function is deprecated.

Use set_pitch_coupled() instead.

float diguyWaypoint::get_pitch_offset ( )

This function is deprecated.

Use get_pitch_coupling_offset() instead.

void diguyWaypoint::set_pitch_offset ( float pitch_offset )

This function is deprecated.

Use get_pitch_coupling_offset() instead.

int diguyWaypoint::get_distance_smooth ( )

This function is deprecated.

Use get_weight_coupled() instead.

void diguyWaypoint::set_distance_smooth ( int distance_smooth )

This function is deprecated.

Use set_weight_coupled() instead.

bdiBeadWaypoint* diguyWaypoint::get_scripted_object ( )

inline

Friends And Related Function Documentation

friend class diguyScenario

friend

friend class bdiBeadWaypoint

friend

Member Data Documentation

bdiBeadWaypoint* diguyWaypoint::m_scripted_object

private

A pointer to internal data.

The documentation for this class was generated from the following file:

e:/Jenkins/workspace/diguy_apps_13.2_vc12_x64/include/diguyWaypoint.h

Public Member Functions

Private Functions

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation