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VR-Forces 4.0.4 Class Documentation
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VR-Forces 4.0.4 Class Documentation
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Path planning metric used with the DtPathPlanner. More...
Public Member Functions | |
| DtHumanPathMetric (DtVrfObject *entity) | |
| virtual | ~DtHumanPathMetric () |
| virtual bool | init () |
| Call immediately after constructor. | |
| virtual double | transitionCost (const DtPoint &startPoint, const DtPoint &endPoint) const |
| Calculates the cost of moving directly from startPoint to endPoint based on what slope is between the points. | |
| virtual double | turningCost (double cosAngle) const |
| Returns a cost based on the turning radius of the vehicle. | |
| virtual double | multiplierForPoint (const DtPoint &point) const |
| Override this function to add your own cost calculations to the path. | |
| virtual void | setTerrainSampleDistance (double distance) |
| Sets the distance between terrain sample points used when calculating the cost of moving between two points. | |
| virtual double | terrainSampleDistance () const |
| Returns the current terrain sample distance. | |
Static Public Member Functions | |
| static DtPathMetric * | creator (DtVrfObject *entity) |
Protected Attributes | |
| DtPhysicalWorld * | myPhysicalWorld |
| double | myTerrainSampleDistance |
Path planning metric used with the DtPathPlanner.
Checks the slope and of the terrain being passed over, compares them to the capabilities of the entity, and returns a cost based on those values.
The returned cost is equivalent to the distance across a flat paved surface the vehicle would need to travel to cross the segment.
| DtHumanPathMetric::DtHumanPathMetric | ( | DtVrfObject * | entity | ) |
| virtual DtHumanPathMetric::~DtHumanPathMetric | ( | ) | [virtual] |
| virtual bool DtHumanPathMetric::init | ( | ) | [virtual] |
Call immediately after constructor.
Reimplemented from DtPathMetric.
| virtual double DtHumanPathMetric::transitionCost | ( | const DtPoint & | startPoint, |
| const DtPoint & | endPoint | ||
| ) | const [virtual] |
Calculates the cost of moving directly from startPoint to endPoint based on what slope is between the points.
Takes samples of the terrain along the segment at terrainSampleDistance apart and calls multiplierForPoint() for each point checked along the segment. Note: this function makes a blocking terrain call to insure the required data is paged in. It also sets overrideBlockingAssert on its call to DtPhysicalWorld::terrainHeightAndSurface to prevent an assertion. This is safe because this function is not called from the main simulation thread.
Implements DtPathMetric.
| virtual double DtHumanPathMetric::turningCost | ( | double | cosAngle | ) | const [virtual] |
Returns a cost based on the turning radius of the vehicle.
Implements DtPathMetric.
| virtual double DtHumanPathMetric::multiplierForPoint | ( | const DtPoint & | point | ) | const [virtual] |
Override this function to add your own cost calculations to the path.
Default implementation return 1.0. To further customize this metric, override this method and return a multiplier for each point. Do not return less than 1.0 in order to keep the optimistic heuristic rule.
| virtual void DtHumanPathMetric::setTerrainSampleDistance | ( | double | distance | ) | [virtual] |
Sets the distance between terrain sample points used when calculating the cost of moving between two points.
This distance will be the average used.
| virtual double DtHumanPathMetric::terrainSampleDistance | ( | ) | const [virtual] |
Returns the current terrain sample distance.
| static DtPathMetric* DtHumanPathMetric::creator | ( | DtVrfObject * | entity | ) | [static] |
DtPhysicalWorld* DtHumanPathMetric::myPhysicalWorld [protected] |
double DtHumanPathMetric::myTerrainSampleDistance [protected] |