Contains all the data and logic for navigation within a specific area. More...

Classes
struct	DtNavDataDebugInfo

Public Types
typedef DtNavArea (	DtNavAreaCreatorFcn )()
typedef DtOnGraphVertexVisitedResult(*	DtPointOfInterestEvaluatorFcn )(const DtVector &localPoint, void *userData)
typedef DtOnGraphVertexVisitedResult(*	DtPointOfInterestNavTagEvaluatorFcn )(const DtVector &localPoint, const DtNavTag &tag, void *userData)
typedef void(*	DtSearchAreaPointCostModifierEvaluatorFcn )(const DtVector &localPoint, float currentCost, void userData)
typedef DtOnPathToGraphVertexComputedResult(*	DtPathCalculatedEvaluatorFcn )(const DtVector &localPoint, double pathCost, void *userData)
typedef void(*	DtSectorRegenerationCb )(void *userData)
typedef bool(*	DtLocalPointUserEvalCallback )(const DtVector &localVector, DtNavAreaQuery query, void userData)

Public Member Functions
virtual	~DtNavArea ()
virtual bool	initialize (Coordinate_System coordSys, DtTerrainInterface terrainIf, DtNavAreaConfig config, std::vector< DtString > profiles=std::vector< DtString >())=0
virtual void	update (float deltaTimeInSeconds)=0
virtual bool	loadNavData (const DtString &path, const DtVariableBindingsList &variableBindings=DtReaderWriter::nullVariableReference(), bool objectNavData=false)=0
virtual bool	inNavArea (const DtVector &localPos)=0
virtual bool	validPosition (const DtString &profile, const DtVector &localPos, DtNavTag *navTag=0)=0
virtual bool	validForProfile (const DtString &profile) const =0
virtual DtNavDataDebugInfo *	debugInfo ()=0
virtual void	setExtent (DtExtent *e)=0
virtual DtExtent	localExtent ()=0
virtual void	cancelQuery (DtNavAreaQuery::Ptr)=0
	Cancels the given query.
virtual DtNavAreaQuery::Ptr	findNearbyPointOfInterest (const DtString &profile, const DtVector &startLocalPos, int tag=DtNavDataTagAny, double propagationRadius=200., DtPointOfInterestEvaluatorFcn evalFcn=0, DtPathCalculatedEvaluatorFcn pathFcn=0, void *evalFcnUserData=0)=0
	Finds a defined point of interest in the navArea with the shortest path from startLocalPos that has the specified tag (-1 matches all tags) and returns true when passed to evalFcn, if specified.
virtual DtNavAreaQuery::Ptr	findNearbyPointOfInterestUsingNavTag (const DtString &profile, const DtVector &startLocalPos, int tag=DtNavDataTagAny, double propagationRadius=200., DtPointOfInterestNavTagEvaluatorFcn evalFcn=0, DtPathCalculatedEvaluatorFcn pathFcn=0, void *evalFcnUserData=0)=0
	Finds a defined point of interest in the navArea with the shortest path from startLocalPos that has the specified tag (-1 matches all tags) and returns true when passed to evalFcn, if specified.
virtual DtNavAreaQuery::Ptr	findBestExitPoint (const DtString &profile, DtNavBot searcher, const DtVector &startLocalPos, const DtVector &destination, int tag=DtNavDataTagAny, double propagationRadius=200., DtPointOfInterestEvaluatorFcn evalFcn=0, DtPathCalculatedEvaluatorFcn pathFcn=0, void evalFcnUserData=0)=0
	Given a start and end destination outside of the nav mesh, find the best exit point matching the tag the bot can use to leave the navigation mesh.
virtual bool	findInsidePositionFromOutsidePosition (const DtString &profile, double searchRadius, double searchHeight, const DtVector &fromFromHere, DtVector &result, int &halfEdgeType)=0
	Finds the closest point in the nav mesh from the given start point. If a point is found result is returned in result.
virtual DtNavAreaQuery::Ptr	findBestPathTo (const DtString &profile, const DtVector &start, const std::vector< DtVector > &localDestinationPositions, DtNavBot searcher, int tag=-1, DtSearchAreaPointCostModifierEvaluatorFcn=0, DtPointOfInterestEvaluatorFcn=0, DtPathCalculatedEvaluatorFcn=0, void usrData=0, bool startMovingWhenFound=false)=0
	Find the best path to the given locations.
virtual DtNavAreaQuery::Ptr	findPathToLocation (const DtString &profile, const DtVector &start, const DtVector &destination, bool useAbstractGraphs=true, const DtVector &locationToAvoid=DtVector(), double avoidanceRadius=0)=0
	Find path to the specified location from the specified start point.
virtual bool	findFarthestPositionAlongHeading (const DtString &profile, const DtVector &start, double heading, double maxDistance, DtVector &result, bool &reachedMaxDist)=0
	Finds the farthest point along a given heading that can be traveled without hitting the border of the NavMesh, a non-traversable triangle, or the max distance.
virtual DtNavAreaQuery::Ptr	generateRandomPoints (const DtString &profile, const DtVector &localAccessibilityPoint=DtVector::zero(), double minRadius=-1, double maxRadius=-1, const DtLocalVertexList &boundingArea=DtLocalVertexList(), unsigned numberOfPoints=1, double minDistanceBetweenPoints=0.0, const DtString &placementRestriction=DtString::nullString(), bool isStrict=true, bool tightlyPack=false, bool needLos=false, bool groundClamp=false, const DtLocalVertexList &leftOfLine=DtLocalVertexList(), DtLocalPointUserEvalCallback callbackFcn=emptyCallback, void *userData=0)=0
virtual bool	tagVolumesToBeIntegrated () const =0
	Returns true if there are any tag volumes which still need to be integrated into the mesh.
DtVrfObject *	attachedObject ()
void	setAttachedObject (DtVrfObject *object)
virtual std::vector< DtVector >	searchInArea (const DtString &profile, const DtVector &startLocalPos, double radius, double postSpacing, DtNavBot searcher, DtPointOfInterestEvaluatorFcn evalFcn=0, void evalFcnUserData=0, int tag=-1)=0
	Returns a list of points that have been judged to be usable within the given area and post spacing.
virtual unsigned	newNavTagVolumeId ()=0
	Generates a new ID for a nav tag volume.
virtual void	associateNavTagVolumeIdWithObject (unsigned tagVolumeId, const DtUUID &objectUUID)=0
	Associates a nav tag volume ID with a VRF object UUID.
virtual DtUUID	uuidFromNavTagVolumeId (unsigned navTagId)=0
	Returns the object UUID that is associated with this nav tag volume ID.
virtual unsigned	navTagVolumeIdFromUuid (const DtUUID &objectUUID)=0
	Returns the nav tag volume ID that is associated with this object UUID.
virtual const DtNavSectorNames &	sectorsQueuedForRegeneration () const =0
	Returns the set of all sectors currently queued for regeneration.
virtual const DtNavSectorNames &	sectorsBeingRegenerated () const =0
	Returns the set of all sectors currently being regenerated.
virtual void	addSectorRegenerationCallback (DtSectorRegenerationCb cb, void *usr)=0
	Installs a callback to be notified when sector regeneration status changes (i.e.
virtual void	removeSectorRegenerationCallback (DtSectorRegenerationCb cb, void *usr)=0
virtual DtNavRegenRequestId	requestNavDataGeneration (const DtVector &location, double radius, const std::set< DtString > &profiles=std::set< DtString >())=0
	Requests nav data regeneration at the specified location for the specified profiles.
virtual void	requestNavDataReversion (DtNavRegenRequestId id)=0
	Request that nav data be regenerated to undo a previous nav data generation change.

Static Public Member Functions
static DtNavArea *	create ()
static void	setNavAreaCreatorFcn (DtNavAreaCreatorFcn fcn)
static bool	navAreaDebuggingEnabled ()
static void	setNavAreaDebuggingEnabled (bool enable)
static bool	emptyCallback (const DtVector &, DtNavAreaQuery , void )

Protected Attributes
DtVrfObject *	myAttachedObject
	Points to the host object if this navArea is attached to an object like a cultural feature or a large ship, for example.

Static Protected Attributes
static DtNavAreaCreatorFcn	theNavAreaCreatorFcn
static bool	theNavAreaDebuggingEnabled

Detailed Description

Contains all the data and logic for navigation within a specific area.

NavData is loaded for various types of entities into a DtNavArea. NavBots are created within a specific DtNavArea.

Note: This class is abstract, and must be created through the create() method.

Member Typedef Documentation

typedef DtNavArea*(* DtNavArea::DtNavAreaCreatorFcn)()

typedef DtOnGraphVertexVisitedResult(* DtNavArea::DtPointOfInterestEvaluatorFcn)(const DtVector &localPoint, void *userData)

typedef DtOnGraphVertexVisitedResult(* DtNavArea::DtPointOfInterestNavTagEvaluatorFcn)(const DtVector &localPoint, const DtNavTag &tag, void *userData)

typedef void(* DtNavArea::DtSearchAreaPointCostModifierEvaluatorFcn)(const DtVector &localPoint, float *currentCost, void *userData)

typedef DtOnPathToGraphVertexComputedResult(* DtNavArea::DtPathCalculatedEvaluatorFcn)(const DtVector &localPoint, double pathCost, void *userData)

typedef void(* DtNavArea::DtSectorRegenerationCb)(void *userData)

typedef bool(* DtNavArea::DtLocalPointUserEvalCallback)(const DtVector &localVector, DtNavAreaQuery *query, void *userData)

Constructor & Destructor Documentation

virtual DtNavArea::~DtNavArea ( )

inlinevirtual

Member Function Documentation

static DtNavArea* DtNavArea::create ( )

static

static void DtNavArea::setNavAreaCreatorFcn ( DtNavAreaCreatorFcn fcn )

static

static bool DtNavArea::navAreaDebuggingEnabled ( )

static

static void DtNavArea::setNavAreaDebuggingEnabled ( bool enable )

static

virtual bool DtNavArea::initialize	(	Coordinate_System *	coordSys,
		DtTerrainInterface *	terrainIf,
		DtNavAreaConfig	config,
		std::vector< DtString >	profiles = `std::vector< DtString >()`
	)

pure virtual

virtual void DtNavArea::update ( float deltaTimeInSeconds )

pure virtual

virtual bool DtNavArea::loadNavData	(	const DtString &	path,
		const DtVariableBindingsList &	variableBindings = `DtReaderWriter::nullVariableReference()`,
		bool	objectNavData = `false`
	)

pure virtual

Parameters

objectNavData Indicates if this nav data is for an embarkable object, or for a terrain.

virtual bool DtNavArea::inNavArea ( const DtVector & localPos )

pure virtual

virtual bool DtNavArea::validPosition	(	const DtString &	profile,
		const DtVector &	localPos,
		DtNavTag *	navTag = `0`
	)

pure virtual

virtual bool DtNavArea::validForProfile ( const DtString & profile ) const

pure virtual

virtual DtNavDataDebugInfo* DtNavArea::debugInfo ( )

pure virtual

virtual void DtNavArea::setExtent ( DtExtent * e )

pure virtual

virtual DtExtent DtNavArea::localExtent ( )

pure virtual

virtual void DtNavArea::cancelQuery ( DtNavAreaQuery::Ptr )

pure virtual

Cancels the given query.

virtual DtNavAreaQuery::Ptr DtNavArea::findNearbyPointOfInterest	(	const DtString &	profile,
		const DtVector &	startLocalPos,
		int	tag = `DtNavDataTagAny`,
		double	propagationRadius = `200.`,
		DtPointOfInterestEvaluatorFcn	evalFcn = `0`,
		DtPathCalculatedEvaluatorFcn	pathFcn = `0`,
		void *	evalFcnUserData = `0`
	)

pure virtual

Finds a defined point of interest in the navArea with the shortest path from startLocalPos that has the specified tag (-1 matches all tags) and returns true when passed to evalFcn, if specified.

virtual DtNavAreaQuery::Ptr DtNavArea::findNearbyPointOfInterestUsingNavTag	(	const DtString &	profile,
		const DtVector &	startLocalPos,
		int	tag = `DtNavDataTagAny`,
		double	propagationRadius = `200.`,
		DtPointOfInterestNavTagEvaluatorFcn	evalFcn = `0`,
		DtPathCalculatedEvaluatorFcn	pathFcn = `0`,
		void *	evalFcnUserData = `0`
	)

pure virtual

Finds a defined point of interest in the navArea with the shortest path from startLocalPos that has the specified tag (-1 matches all tags) and returns true when passed to evalFcn, if specified.

The point evaluator function is passed the full nav tag so that it may be used in evaluation.

virtual DtNavAreaQuery::Ptr DtNavArea::findBestExitPoint	(	const DtString &	profile,
		DtNavBot *	searcher,
		const DtVector &	startLocalPos,
		const DtVector &	destination,
		int	tag = `DtNavDataTagAny`,
		double	propagationRadius = `200.`,
		DtPointOfInterestEvaluatorFcn	evalFcn = `0`,
		DtPathCalculatedEvaluatorFcn	pathFcn = `0`,
		void *	evalFcnUserData = `0`
	)

pure virtual

Given a start and end destination outside of the nav mesh, find the best exit point matching the tag the bot can use to leave the navigation mesh.

virtual bool DtNavArea::findInsidePositionFromOutsidePosition	(	const DtString &	profile,
		double	searchRadius,
		double	searchHeight,
		const DtVector &	fromFromHere,
		DtVector &	result,
		int &	halfEdgeType
	)

pure virtual

Finds the closest point in the nav mesh from the given start point. If a point is found result is returned in result.

virtual DtNavAreaQuery::Ptr DtNavArea::findBestPathTo	(	const DtString &	profile,
		const DtVector &	start,
		const std::vector< DtVector > &	localDestinationPositions,
		DtNavBot *	searcher,
		int	tag = `-1`,
		DtSearchAreaPointCostModifierEvaluatorFcn	= `0`,
		DtPointOfInterestEvaluatorFcn	= `0`,
		DtPathCalculatedEvaluatorFcn	= `0`,
		void *	usrData = `0`,
		bool	startMovingWhenFound = `false`
	)

pure virtual

Find the best path to the given locations.

virtual DtNavAreaQuery::Ptr DtNavArea::findPathToLocation	(	const DtString &	profile,
		const DtVector &	start,
		const DtVector &	destination,
		bool	useAbstractGraphs = `true`,
		const DtVector &	locationToAvoid = `DtVector()`,
		double	avoidanceRadius = `0`
	)

pure virtual

Find path to the specified location from the specified start point.

virtual bool DtNavArea::findFarthestPositionAlongHeading	(	const DtString &	profile,
		const DtVector &	start,
		double	heading,
		double	maxDistance,
		DtVector &	result,
		bool &	reachedMaxDist
	)

pure virtual

Finds the farthest point along a given heading that can be traveled without hitting the border of the NavMesh, a non-traversable triangle, or the max distance.

static bool DtNavArea::emptyCallback	(	const DtVector &	,
		DtNavAreaQuery *	,
		void *
	)

static

virtual DtNavAreaQuery::Ptr DtNavArea::generateRandomPoints	(	const DtString &	profile,
		const DtVector &	localAccessibilityPoint = `DtVector::zero()`,
		double	minRadius = `-1`,
		double	maxRadius = `-1`,
		const DtLocalVertexList &	boundingArea = `DtLocalVertexList()`,
		unsigned	numberOfPoints = `1`,
		double	minDistanceBetweenPoints = `0.0`,
		const DtString &	placementRestriction = `DtString::nullString()`,
		bool	isStrict = `true`,
		bool	tightlyPack = `false`,
		bool	needLos = `false`,
		bool	groundClamp = `false`,
		const DtLocalVertexList &	leftOfLine = `DtLocalVertexList()`,
		DtLocalPointUserEvalCallback	callbackFcn = `emptyCallback`,
		void *	userData = `0`
	)

pure virtual

virtual bool DtNavArea::tagVolumesToBeIntegrated ( ) const

pure virtual

Returns true if there are any tag volumes which still need to be integrated into the mesh.

DtVrfObject* DtNavArea::attachedObject ( )

inline

void DtNavArea::setAttachedObject ( DtVrfObject * object )

inline

virtual std::vector<DtVector> DtNavArea::searchInArea	(	const DtString &	profile,
		const DtVector &	startLocalPos,
		double	radius,
		double	postSpacing,
		DtNavBot *	searcher,
		DtPointOfInterestEvaluatorFcn	evalFcn = `0`,
		void *	evalFcnUserData = `0`,
		int	tag = `-1`
	)

pure virtual

Returns a list of points that have been judged to be usable within the given area and post spacing.

When using the evaluator function return OnGraphVertexVisited_VertexIsTheBestSoFar_GoOn to add that point to the potential list points to use. Return OnGraphVertexVisited_StopOnThisVertex to only use this vertex and OnGraphVertexVisited_IgnoreVertex_StopWithBestSoFar to not add this point but to stop the search

virtual unsigned DtNavArea::newNavTagVolumeId ( )

pure virtual

Generates a new ID for a nav tag volume.

virtual void DtNavArea::associateNavTagVolumeIdWithObject	(	unsigned	tagVolumeId,
		const DtUUID &	objectUUID
	)

pure virtual

Associates a nav tag volume ID with a VRF object UUID.

virtual DtUUID DtNavArea::uuidFromNavTagVolumeId ( unsigned navTagId )

pure virtual

Returns the object UUID that is associated with this nav tag volume ID.

If not found, an invalid UUID will be returned.

virtual unsigned DtNavArea::navTagVolumeIdFromUuid ( const DtUUID & objectUUID )

pure virtual

Returns the nav tag volume ID that is associated with this object UUID.

If not found, an invalid (0) UUID will be returned.

virtual const DtNavSectorNames& DtNavArea::sectorsQueuedForRegeneration ( ) const

pure virtual

Returns the set of all sectors currently queued for regeneration.

virtual const DtNavSectorNames& DtNavArea::sectorsBeingRegenerated ( ) const

pure virtual

Returns the set of all sectors currently being regenerated.

virtual void DtNavArea::addSectorRegenerationCallback	(	DtSectorRegenerationCb	cb,
		void *	usr
	)

pure virtual

Installs a callback to be notified when sector regeneration status changes (i.e.

regen queued, started, or completed).

virtual void DtNavArea::removeSectorRegenerationCallback	(	DtSectorRegenerationCb	cb,
		void *	usr
	)

pure virtual

virtual DtNavRegenRequestId DtNavArea::requestNavDataGeneration	(	const DtVector &	location,
		double	radius,
		const std::set< DtString > &	profiles = `std::set< DtString >()`
	)

pure virtual

Requests nav data regeneration at the specified location for the specified profiles.

If no specific profiles are requested, data will be regenerated for all profiles. The location must be specified in local terrain coordinates.

virtual void DtNavArea::requestNavDataReversion ( DtNavRegenRequestId id )

pure virtual

Request that nav data be regenerated to undo a previous nav data generation change.

Member Data Documentation

DtNavAreaCreatorFcn DtNavArea::theNavAreaCreatorFcn

staticprotected

bool DtNavArea::theNavAreaDebuggingEnabled

staticprotected

DtVrfObject* DtNavArea::myAttachedObject

protected

Points to the host object if this navArea is attached to an object like a cultural feature or a large ship, for example.

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

/exports/nfedora7-1/nightly/docs/vrforcesDevelopment.vrf4-6-branch/include/vrfNavigation/navArea.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation