DtActiveBotNavInterface Class Reference

This is the DtVrfObjectNavInterface subclass for objects which are actively querying the navigation system. More...

Inheritance diagram for DtActiveBotNavInterface:

Public Member Functions
virtual void	firstTick ()
virtual void	tick ()
virtual	~DtActiveBotNavInterface ()
virtual bool	ableToNavigate () const
	Indicates whether or not this navInterface is currently able to provide navigation services for the entity.
virtual DtNavArea *	navArea ()
virtual bool	requestControl (int priority, const DtString &controller)
virtual bool	hasControl (int priority)
virtual void	releaseControl (int priority)
virtual void	setDestination (const DtVector &localDest)
	Sets the destination into the navBot if it is there.
virtual void	setDesiredSpeed (double speed)
virtual DtNavBot::PathStatus	pathStatus (double atDistance)
virtual DtString	pathStatusString ()
virtual double	getOutputSpeed ()
virtual double	getOutputHeading ()
virtual bool	currentPath (std::vector< DtVector > &path)
virtual bool	abstractPath (std::vector< DtVector > &path)
virtual bool	currentPathEdge (DtVector &edgeStart, DtVector &edgeEnd)
virtual unsigned	currentAbstractPathIndex ()
virtual void	setPathCostEvalFunction (DtNavBot::DtNavBotPathLocationEvalFcn fcn, void *usr)
	Sets a function that will be called frequently during path finding and path following to evaluate the cost of crossing various section of the navigation data.
virtual DtVector	transitionPoint () const
virtual bool	usingTransitionPoint () const
virtual bool	findingTransitionPoint () const
	Returns true if in the process of looking for a transition point.
virtual std::vector< DtVector >	searchInArea (double radius, double postSpacing, DtNavArea::DtPointOfInterestEvaluatorFcn=0, void *usrData=0, int navTag=-1)
	Returns a list of points that have been judged to be usable within the given area and post spacing.
virtual std::vector< DtVector >	searchInArea (const DtVector &startPoint, double radius, double postSpacing, DtNavArea::DtPointOfInterestEvaluatorFcn=0, void *usrData=0, int navTag=-1)
virtual DtNavAreaQuery::Ptr	findBestPathTo (const std::vector< DtVector > &localPositions, DtNavArea::DtSearchAreaPointCostModifierEvaluatorFcn=0, DtNavArea::DtPointOfInterestEvaluatorFcn=0, DtNavArea::DtPathCalculatedEvaluatorFcn=0, void *usrData=0)
	Starts the process of finding the best path to any of the given destination points.
virtual bool	findFarthestPositionAlongHeading (const DtVector &start, double heading, double maxDistance, DtVector &result, bool &reachedMaxDist)
	Finds the farthest point along a given vector that can be traveled without hitting the border of the NavMesh or a non-traversable triangle.
virtual void	cancelQuery (DtNavAreaQuery::Ptr)
	Cancels the given query.
virtual void	moveAlongPath (const std::vector< DtVector > &)
	Sets the bot to move along the given path. Points are in local coordinates.
virtual bool	findFarthestPositionAlongHeading (double heading, double maxDistance, DtVector &result, bool &reachedMaxDist)
	Finds the farthest point along a given vector that we can travel without hitting the border of the NavMesh or a non-traversable triangle.
virtual DtNavTag	navTagAtPosition (const DtVector &localPos) const
	Gets the nav tag of the position, if valid.
virtual DtNavTag	upcomingNavTagOnPath () const
	Gets the upcoming nav tag on the path.
virtual void	upcomingNavTagsOnPath (double distance, DtNavTagAndLocationList &navTags) const
	Gets all nav tags within the specified distance from the current location on the path.
virtual void	setNavigationMethod (DtNavBot::NavigationMethod navMethod)
	Updates the navigation method.
virtual void	resetNavigationMethod ()
	Resets the navigation method to the default setting.
virtual DtNavBot::NavigationMethod	navigationMethod () const
	Gets the current navigation method.
bool	findValidPositionNearby (const DtVector &localStart, double radius, DtVector &result)
	Finds a valid point near the specific position.
Public Member Functions inherited from DtVrfObjectNavInterface
virtual void	postObjectInit ()
	Perform additional initialization after the object has been initialized.
virtual	~DtVrfObjectNavInterface ()=0
virtual void	addNavAreaChangedCallback (DtNoArgumentCallbackList::DtCallbackFunctionType callback, void *usr)
virtual void	removeNavAreaChangedCallback (DtNoArgumentCallbackList::DtCallbackFunctionType callback, void *usr)
virtual void	invokeNavAreaChangedCallbacks ()

Static Public Member Functions
static DtVrfObjectNavInterface *	create (DtVrfObject *vrfObject)

Protected Member Functions
	DtActiveBotNavInterface (DtVrfObject *vrfObject)
	Use the create() method instead of calling the constructor.
virtual bool	init ()
	Virtual init, called from the create() method.
virtual DtNavBot *	navBot ()
virtual void	changingNavArea (DtNavArea *newNavArea)
	Called when the objects position is in a navArea that it was not on the previous check.
virtual void	processSetLocationComplete (DtVrfObject *vrfObject)
virtual DtNavAreaQuery::Ptr	findTransitionPoint (DtNavArea *navArea, const DtVector &localStart, const DtVector &localDest)
virtual DtNavAreaQuery::Ptr	findBestExitPoint (DtNavArea *navArea, const DtVector &localStart, const DtVector &localDest)
virtual DtNavAreaQuery::Ptr	findCoverPoint (DtNavArea *navArea, const DtVector &localStart, const DtVector &localCoverFrom, double coverFromRadius, double distanceFromThreat)
virtual bool	findInsidePositionFromOutsidePosition (DtNavArea *navArea, const DtVector &localStart, const DtVector &localDest, DtVector &result, int &halfEdgeType)
virtual DtVector	adjustDestination (const DtVector &localDest)
	Moves the destination to on the nav mesh if possible.
virtual DtVector	localOrParentPos (const DtVector &localPos)
	If the entity is embarked, converts the provided local position to the parent frame, otherwise returns the same local position provided.
virtual DtVector	objectLocationLocalOrParent ()
	Returns the local position of the entity, or the parent position if the entity is embarked.
virtual bool	botShouldBeActive ()
	Checks any special conditions (other than location) for the activation/deactivation of the bot, such as the entity being destroyed.
virtual void	setCollisionAvoidParams (DtNavBot::CollisionAvoidanceConfiguration &collAvoidConfig)
	Sets the collision avoidance configuration from the parameters specified in the platform OPE file.
virtual void	findTransitionPointStartingFrom (const DtVector &startingPoint, const DtVector &to)
	Finds a new transition point at the given start point.
virtual void	removeDebugTransitionPoints ()
virtual void	setNavigationConfigParams (DtNavBot::NavigationConfiguration &navConfig)
	Sets the navigation configuration from the parameters specified in the platform OPE file.
Protected Member Functions inherited from DtVrfObjectNavInterface
	DtVrfObjectNavInterface (DtVrfObject *vrfObject)
	Use the create() method instead of calling the constructor.
virtual bool	isCollidableWhenDestroyed () const

Static Protected Member Functions
static void	setLocationCompleteCallback (DtVrfObject *vrfObject, void *usr)
	Update nav bot's destination, to trigger a replan.

Protected Attributes
DtString	myProfile
DtNavBot *	myNavBot
DtNavArea *	myNavArea
DtVector	myTransitionPoint
DtNavAreaQuery::Ptr	myPendingQuery
boost::shared_ptr < DtTransitionPointFinder >	myPendingPointFinder
boost::shared_ptr < DtCoverPointFinder >	myPendingCoverPointFinder
int	myControllerPriority
DtString	myController
DtString	myStatusString
DtNavBot::DtNavBotPathLocationEvalFcn	myPathCostEvalFcn
void *	myPathCostEvalFcnUsrData
std::vector < DtSharedVrfObjectReference >	myDebugTransitionPoints
bool	myFailedToFindTransitionPoint
bool	myFailedToFindCoverPoint
bool	myWaitingForInitialNav
bool	mySetDestinationWaitingForNav
bool	myNavigationIsEnabled
DtVector	myDestinationWaitingForNav
DtTime	myInitialSimTime
DtNavBot::NavigationMethod	myDefaultNavigationMethod
Protected Attributes inherited from DtVrfObjectNavInterface
DtVrfObject *	myVrfObject
bool	myFirstTick
DtNavArea *	myCurrentNavArea
DtNoArgumentCallbackList	myChangedNavAreaCallbackList

Private Member Functions
	DtActiveBotNavInterface ()
	Not Implemented.
	DtActiveBotNavInterface (const DtActiveBotNavInterface &orig)
	Not Implemented.
DtActiveBotNavInterface &	operator= (const DtActiveBotNavInterface &orig)
	Not Implemented.

Detailed Description

This is the DtVrfObjectNavInterface subclass for objects which are actively querying the navigation system.

They will have a DtNavBot instantiated if they are within a navigation area.

Constructor & Destructor Documentation

DtActiveBotNavInterface::DtActiveBotNavInterface ( )

private

Not Implemented.

DtActiveBotNavInterface::DtActiveBotNavInterface ( const DtActiveBotNavInterface &  orig )

private

Not Implemented.

DtActiveBotNavInterface::DtActiveBotNavInterface ( DtVrfObject *  vrfObject )

protected

Use the create() method instead of calling the constructor.

virtual DtActiveBotNavInterface::~DtActiveBotNavInterface ( )

virtual

Member Function Documentation

DtActiveBotNavInterface& DtActiveBotNavInterface::operator= ( const DtActiveBotNavInterface &  orig )

private

Not Implemented.

static DtVrfObjectNavInterface* DtActiveBotNavInterface::create ( DtVrfObject *  vrfObject )

static

virtual bool DtActiveBotNavInterface::init ( )

protectedvirtual

Virtual init, called from the create() method.

Reimplemented from DtVrfObjectNavInterface.

virtual void DtActiveBotNavInterface::firstTick ( )

virtual

Reimplemented from DtVrfObjectNavInterface.

virtual void DtActiveBotNavInterface::tick ( )

virtual

Reimplemented from DtVrfObjectNavInterface.

virtual bool DtActiveBotNavInterface::ableToNavigate ( ) const

virtual

Indicates whether or not this navInterface is currently able to provide navigation services for the entity.

This will be true when the entity is in a navigation area and in a valid location for navigation.

Reimplemented from DtVrfObjectNavInterface.

virtual DtNavArea* DtActiveBotNavInterface::navArea ( )

virtual

virtual bool DtActiveBotNavInterface::requestControl ( int  priority, const DtString &  controller  )

virtual

virtual bool DtActiveBotNavInterface::hasControl ( int  priority )

virtual

virtual void DtActiveBotNavInterface::releaseControl ( int  priority )

virtual

virtual void DtActiveBotNavInterface::setDestination ( const DtVector &  localDest )

virtual

Sets the destination into the navBot if it is there.

If there is no navBot, but the destination is in a navArea, finds the best point to enter the area and sets it to transitionPoint.

virtual void DtActiveBotNavInterface::setDesiredSpeed ( double  speed )

virtual

virtual DtNavBot::PathStatus DtActiveBotNavInterface::pathStatus ( double  atDistance )

virtual

virtual DtString DtActiveBotNavInterface::pathStatusString ( )

virtual

Returns

A text string relating to the current path status.

virtual double DtActiveBotNavInterface::getOutputSpeed ( )

virtual

Returns

The desired speed generated by the navigation system to move the entity. This is relative to the entity's embarkation parent, if embarked.

virtual double DtActiveBotNavInterface::getOutputHeading ( )

virtual

Returns

The desired heading generated by the navigation system to move the entity. This is a heading from north, even if entity is embarked.

virtual bool DtActiveBotNavInterface::currentPath ( std::vector< DtVector > &  path )

virtual

virtual bool DtActiveBotNavInterface::abstractPath ( std::vector< DtVector > &  path )

virtual

virtual bool DtActiveBotNavInterface::currentPathEdge ( DtVector &  edgeStart, DtVector &  edgeEnd  )

virtual

virtual unsigned DtActiveBotNavInterface::currentAbstractPathIndex ( )

virtual

virtual void DtActiveBotNavInterface::setPathCostEvalFunction ( DtNavBot::DtNavBotPathLocationEvalFcn  fcn, void *  usr  )

virtual

Sets a function that will be called frequently during path finding and path following to evaluate the cost of crossing various section of the navigation data.

virtual DtVector DtActiveBotNavInterface::transitionPoint ( ) const

inlinevirtual

virtual bool DtActiveBotNavInterface::usingTransitionPoint ( ) const

virtual

virtual bool DtActiveBotNavInterface::findingTransitionPoint ( ) const

virtual

Returns true if in the process of looking for a transition point.

virtual std::vector<DtVector> DtActiveBotNavInterface::searchInArea ( double  radius, double  postSpacing, DtNavArea::DtPointOfInterestEvaluatorFcn  = 0, void *  usrData = 0, int  navTag = -1  )

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. Uses current location of entity

virtual std::vector<DtVector> DtActiveBotNavInterface::searchInArea ( const DtVector &  startPoint, double  radius, double  postSpacing, DtNavArea::DtPointOfInterestEvaluatorFcn  = 0, void *  usrData = 0, int  navTag = -1  )

virtual

virtual DtNavAreaQuery::Ptr DtActiveBotNavInterface::findBestPathTo ( const std::vector< DtVector > &  localPositions, DtNavArea::DtSearchAreaPointCostModifierEvaluatorFcn  = 0, DtNavArea::DtPointOfInterestEvaluatorFcn  = 0, DtNavArea::DtPathCalculatedEvaluatorFcn  = 0, void *  usrData = 0  )

virtual

Starts the process of finding the best path to any of the given destination points.

Check the pathStatus() to see when finished.

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

virtual

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

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

virtual

Cancels the given query.

virtual void DtActiveBotNavInterface::moveAlongPath ( const std::vector< DtVector > &  )

virtual

Sets the bot to move along the given path. Points are in local coordinates.

virtual bool DtActiveBotNavInterface::findFarthestPositionAlongHeading ( double  heading, double  maxDistance, DtVector &  result, bool &  reachedMaxDist  )

virtual

Finds the farthest point along a given vector that we can travel without hitting the border of the NavMesh or a non-traversable triangle.

virtual DtNavTag DtActiveBotNavInterface::navTagAtPosition ( const DtVector &  localPos ) const

virtual

Gets the nav tag of the position, if valid.

virtual DtNavTag DtActiveBotNavInterface::upcomingNavTagOnPath ( ) const

virtual

Gets the upcoming nav tag on the path.

virtual void DtActiveBotNavInterface::upcomingNavTagsOnPath ( double  distance, DtNavTagAndLocationList &  navTags  ) const

virtual

Gets all nav tags within the specified distance from the current location on the path.

virtual void DtActiveBotNavInterface::setNavigationMethod ( DtNavBot::NavigationMethod  navMethod )

virtual

Updates the navigation method.

virtual void DtActiveBotNavInterface::resetNavigationMethod ( )

virtual

Resets the navigation method to the default setting.

virtual DtNavBot::NavigationMethod DtActiveBotNavInterface::navigationMethod ( ) const

virtual

Gets the current navigation method.

bool DtActiveBotNavInterface::findValidPositionNearby	(	const DtVector &	localStart,
		double	radius,
		DtVector &	result
	)

Finds a valid point near the specific position.

virtual DtNavBot* DtActiveBotNavInterface::navBot ( )

protectedvirtual

Returns

The current DtNavBot, if it exists.

Note

Do not hold this between ticks, as it may be deleted, or recreated in a new DtNavArea at any time.

virtual void DtActiveBotNavInterface::changingNavArea ( DtNavArea *  newNavArea )

protectedvirtual

Called when the objects position is in a navArea that it was not on the previous check.

Reimplemented from DtVrfObjectNavInterface.

static void DtActiveBotNavInterface::setLocationCompleteCallback ( DtVrfObject *  vrfObject, void *  usr  )

staticprotected

Update nav bot's destination, to trigger a replan.

virtual void DtActiveBotNavInterface::processSetLocationComplete ( DtVrfObject *  vrfObject )

protectedvirtual

virtual DtNavAreaQuery::Ptr DtActiveBotNavInterface::findTransitionPoint ( DtNavArea *  navArea, const DtVector &  localStart, const DtVector &  localDest  )

protectedvirtual

virtual DtNavAreaQuery::Ptr DtActiveBotNavInterface::findBestExitPoint ( DtNavArea *  navArea, const DtVector &  localStart, const DtVector &  localDest  )

protectedvirtual

virtual DtNavAreaQuery::Ptr DtActiveBotNavInterface::findCoverPoint ( DtNavArea *  navArea, const DtVector &  localStart, const DtVector &  localCoverFrom, double  coverFromRadius, double  distanceFromThreat  )

protectedvirtual

virtual bool DtActiveBotNavInterface::findInsidePositionFromOutsidePosition ( DtNavArea *  navArea, const DtVector &  localStart, const DtVector &  localDest, DtVector &  result, int &  halfEdgeType  )

protectedvirtual

virtual DtVector DtActiveBotNavInterface::adjustDestination ( const DtVector &  localDest )

protectedvirtual

Moves the destination to on the nav mesh if possible.

May also ground clamp the destination. Assumes the localDest is in the current navArea.

virtual DtVector DtActiveBotNavInterface::localOrParentPos ( const DtVector &  localPos )

protectedvirtual

If the entity is embarked, converts the provided local position to the parent frame, otherwise returns the same local position provided.

virtual DtVector DtActiveBotNavInterface::objectLocationLocalOrParent ( )

protectedvirtual

Returns the local position of the entity, or the parent position if the entity is embarked.

virtual bool DtActiveBotNavInterface::botShouldBeActive ( )

protectedvirtual

Checks any special conditions (other than location) for the activation/deactivation of the bot, such as the entity being destroyed.

Returns true if the bot should be active based on these special conditions.

virtual void DtActiveBotNavInterface::setCollisionAvoidParams ( DtNavBot::CollisionAvoidanceConfiguration &  collAvoidConfig )

protectedvirtual

Sets the collision avoidance configuration from the parameters specified in the platform OPE file.

The following parameters are read from the navigation-params section: enable-avoidance (bool) avoidance-enable-stop (bool) avoidance-enable-slow-down (bool) avoidance-enable-push-through (bool) avoidance-collision-lookahead-time (float) avoidance-angle-eval-span (float) avoidance-num-angle-samples (int) avoidance-safety-distance (float)

virtual void DtActiveBotNavInterface::findTransitionPointStartingFrom ( const DtVector &  startingPoint, const DtVector &  to  )

protectedvirtual

Finds a new transition point at the given start point.

virtual void DtActiveBotNavInterface::removeDebugTransitionPoints ( )

protectedvirtual

virtual void DtActiveBotNavInterface::setNavigationConfigParams ( DtNavBot::NavigationConfiguration &  navConfig )

protectedvirtual

Sets the navigation configuration from the parameters specified in the platform OPE file.

The following parameters are read from the navigation-params sections: navigation-method (string: "shortcut" or "spline") use-abstract-graph (bool) min-abstract-graph-replan-distance (float)

Member Data Documentation

DtString DtActiveBotNavInterface::myProfile

protected

DtNavBot* DtActiveBotNavInterface::myNavBot

protected

DtNavArea* DtActiveBotNavInterface::myNavArea

protected

DtVector DtActiveBotNavInterface::myTransitionPoint

protected

DtNavAreaQuery::Ptr DtActiveBotNavInterface::myPendingQuery

protected

boost::shared_ptr<DtTransitionPointFinder> DtActiveBotNavInterface::myPendingPointFinder

protected

boost::shared_ptr<DtCoverPointFinder> DtActiveBotNavInterface::myPendingCoverPointFinder

protected

int DtActiveBotNavInterface::myControllerPriority

protected

DtString DtActiveBotNavInterface::myController

protected

DtString DtActiveBotNavInterface::myStatusString

protected

DtNavBot::DtNavBotPathLocationEvalFcn DtActiveBotNavInterface::myPathCostEvalFcn

protected

void* DtActiveBotNavInterface::myPathCostEvalFcnUsrData

protected

std::vector<DtSharedVrfObjectReference> DtActiveBotNavInterface::myDebugTransitionPoints

protected

bool DtActiveBotNavInterface::myFailedToFindTransitionPoint

protected

bool DtActiveBotNavInterface::myFailedToFindCoverPoint

protected

bool DtActiveBotNavInterface::myWaitingForInitialNav

protected

bool DtActiveBotNavInterface::mySetDestinationWaitingForNav

protected

bool DtActiveBotNavInterface::myNavigationIsEnabled

protected

DtVector DtActiveBotNavInterface::myDestinationWaitingForNav

protected

DtTime DtActiveBotNavInterface::myInitialSimTime

protected

DtNavBot::NavigationMethod DtActiveBotNavInterface::myDefaultNavigationMethod

protected

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

• /exports/nfedora7-1/nightly/docs/vrforcesDevelopment.tot/include/vrfobjcore/activeBotNavInterface.h