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.

Inheritance diagram for DtActiveBotNavInterface:

[legend]

Public Member Functions
virtual void	postObjectInit ()

virtual void	firstTick ()

virtual void	tick ()

virtual	~DtActiveBotNavInterface ()

virtual bool	ableToNavigate () const

DtNavArea *	navArea ()

const DtNavArea *	navArea () const

virtual const DtString &	navProfile () const

virtual void	setNavProfile (const DtString &profile)

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

virtual bool	hasControl (int priority)

virtual void	releaseControl (int priority)

virtual void	setDestination (const DtVector &localDest)

virtual DtVector	destination () const

virtual void	resetDestination ()

virtual void	setPositionInvalid ()

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 void	getNavPathAsRw (DtRwBinaryData &)

virtual unsigned	currentAbstractPathIndex ()

virtual void	setUseAbstractGraph (bool yesNo)

virtual void	resetUseAbstractGraph ()

virtual bool	usingAbstractGraph () const

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

virtual void	clearPathCostEvalFunction ()

virtual DtVector	transitionPoint () const

virtual bool	usingTransitionPoint () const

virtual bool	nextTransitionPoint (DtVector &tPoint)

virtual bool	findingTransitionPoint () const

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

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)

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

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

virtual void	cancelQuery (DtNavAreaQuery::Ptr)

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

virtual DtNavTag	navTagAtPosition (const DtVector &localPos) const

virtual DtNavTag	upcomingNavTagOnPath () const

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

virtual void	setNavigationMethod (DtNavBot::NavigationMethod navMethod)

virtual void	resetNavigationMethod ()

virtual DtNavBot::NavigationMethod	navigationMethod () const

virtual DtVector	performMovement (double dt)

virtual DtVector	groundClamp (const DtVector &localPos, DtVector &normal)

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

virtual DtNavBot *	navBot ()

virtual bool	changeAreaIfOverlapping (const DtVector &dest)

Public Member Functions inherited from DtVrfObjectNavInterface
virtual	~DtVrfObjectNavInterface ()=0

virtual void	addNavAreaChangedCallback (DtNoArgumentCallbackList::DtCallbackFunctionType callback, void *usr) const

virtual void	removeNavAreaChangedCallback (DtNoArgumentCallbackList::DtCallbackFunctionType callback, void *usr) const

virtual void	invokeNavAreaChangedCallbacks ()

virtual void	setWaitingForLoad (bool isLoading)

virtual bool	isWaitingForLoad () const

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

Protected Member Functions
	DtActiveBotNavInterface (DtLocalObject *vrfObject)

virtual bool	init ()

virtual void	changingNavArea (DtNavArea *newNavArea)

virtual void	processSetLocationComplete ()

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)

virtual DtVector	localOrParentPos (const DtVector &localPos)

virtual DtVector	objectLocationLocalOrParent () const

virtual bool	botShouldBeActive ()

virtual void	setCollisionAvoidParams (DtNavBot::CollisionAvoidanceConfiguration &collAvoidConfig)

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

virtual void	removeDebugTransitionPoints ()

virtual void	setNavigationConfigParams (DtNavBot::NavigationConfiguration &navConfig)

Protected Member Functions inherited from DtVrfObjectNavInterface
	DtVrfObjectNavInterface (DtLocalObject *vrfObject)

	DtVrfObjectNavInterface (DtSimObjectReference vrfObject)

virtual bool	isCollidableWhenDestroyed () const

Protected Attributes
DtString	myProfile

DtNavBot *	myNavBot

DtNavArea *	myNavArea

DtVector	myTransitionPoint

DtNavArea *	myDestNavArea

DtVector	myDestNavAreaTransitionPoint

bool	myFindingDestNavAreaTransitionPoint

DtNavAreaQuery::Ptr	myPendingQuery

boost::shared_ptr < DtTransitionPointFinder >	myPendingPointFinder

std::list < DtNavAreaQuery::WeakPtr >	myActiveQueries

boost::shared_ptr < DtCoverPointFinder >	myPendingCoverPointFinder

int	myControllerPriority

DtString	myController

DtString	myStatusString

DtNavBot::DtNavBotPathLocationEvalFcn	myPathCostEvalFcn

void *	myPathCostEvalFcnUsrData

std::vector< DtLocalObject * >	myDebugTransitionPoints

bool	myFailedToFindTransitionPoint

bool	myFailedToFindCoverPoint

bool	myWaitingForInitialNav

bool	mySetDestinationWaitingForNav

bool	myNavigationIsEnabled

DtVector	myDestinationWaitingForNav

DtTime	myInitialSimTime

DtNavBot::NavigationMethod	myDefaultNavigationMethod

boost::signals2::scoped_connection	myLocationCompleteConnection

DtPlatformLocalObjectFacade	myPlatformLocalObjectFacade

Protected Attributes inherited from DtVrfObjectNavInterface
DtLocalObject *	myVrfObject

DtSimObjectReference	mySimObjectReference

DtSimulationServices *	mySimulationServices

DtNavArea *	myCurrentNavArea

bool	myFirstTick

bool	myIsWaitingForNavLoad

DtNoArgumentCallbackList	myChangedNavAreaCallbackList

Private Member Functions
	DtActiveBotNavInterface ()

	DtActiveBotNavInterface (const DtActiveBotNavInterface &orig)

DtActiveBotNavInterface &	operator= (const DtActiveBotNavInterface &orig)

Constructor & Destructor Documentation

DtActiveBotNavInterface::DtActiveBotNavInterface ( )

private

Not Implemented.

DtActiveBotNavInterface::DtActiveBotNavInterface ( const DtActiveBotNavInterface & orig )

private

Not Implemented.

DtActiveBotNavInterface::DtActiveBotNavInterface ( DtLocalObject * 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 ( DtLocalObject * vrfObject )

static

virtual bool DtActiveBotNavInterface::init ( )

protectedvirtual

Virtual init, called from the create() method.

Reimplemented from DtVrfObjectNavInterface.

virtual void DtActiveBotNavInterface::postObjectInit ( )

virtual

Perform additional initialization after the object has been initialized. Default behavior is to do nothing, must be implemented in subclass.

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.

DtNavArea* DtActiveBotNavInterface::navArea ( )

inline

const DtNavArea* DtActiveBotNavInterface::navArea ( ) const

inline

virtual const DtString& DtActiveBotNavInterface::navProfile ( ) const

virtual

virtual void DtActiveBotNavInterface::setNavProfile ( const DtString & profile )

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 DtVector DtActiveBotNavInterface::destination ( ) const

virtual

virtual void DtActiveBotNavInterface::resetDestination ( )

virtual

virtual void DtActiveBotNavInterface::setPositionInvalid ( )

virtual

Can be used to indicate that the bot's current position is invalid.

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 void DtActiveBotNavInterface::getNavPathAsRw ( DtRwBinaryData & )

virtual

virtual unsigned DtActiveBotNavInterface::currentAbstractPathIndex ( )

virtual

virtual void DtActiveBotNavInterface::setUseAbstractGraph ( bool yesNo )

virtual

Can be used to enable or disable abstract graph usage. Takes effect the next time the destination is set.

virtual void DtActiveBotNavInterface::resetUseAbstractGraph ( )

virtual

Resets abstract graph usage to configured settings, undoing any settings from setUseAbstractGraph.

virtual bool DtActiveBotNavInterface::usingAbstractGraph ( ) const

virtual

Returns whether the abstract graph is currently in use.

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 void DtActiveBotNavInterface::clearPathCostEvalFunction ( )

virtual

Clears the current path cost eval function and cancels all current queries, which will be using the old, invalid function.

virtual DtVector DtActiveBotNavInterface::transitionPoint ( ) const

inlinevirtual

virtual bool DtActiveBotNavInterface::usingTransitionPoint ( ) const

virtual

virtual bool DtActiveBotNavInterface::nextTransitionPoint ( DtVector & tPoint )

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 DtNavAreaQuery::Ptr DtActiveBotNavInterface::findPathToLocation	(	const DtVector &	start,
		const DtVector &	destination,
		bool	useAbstractGraphs,
		const DtVector &	locationToAvoid = `DtVector()`,
		double	avoidanceRadius = `0`
	)

virtual

Returns a query to find a path from the given starting location to the given destination position. Optionally a location to avoid can be given. Will use the profile and current navigation settings of the bot.

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

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

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.

virtual DtVector DtActiveBotNavInterface::performMovement ( double dt )

virtual

Allows the nav bot to perform movement for the entity. Returns the new entity location after processing movement for the next dt seconds.

virtual DtVector DtActiveBotNavInterface::groundClamp	(	const DtVector &	localPos,
		DtVector &	normal
	)

virtual

Finds a ground clamped position on the nav data near the specified local position. Also outputs the normal of the clamped position.

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

Finds a valid point near the specific position.

virtual DtNavBot* DtActiveBotNavInterface::navBot ( )

virtual

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 bool DtActiveBotNavInterface::changeAreaIfOverlapping ( const DtVector & dest )

virtual

If we are in an overlapping area, and the current area can be made the destination area due to movement, then change it to the destination area. Returns true if area was switched.

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.

virtual void DtActiveBotNavInterface::processSetLocationComplete ( )

protectedvirtual

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

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 ( ) const

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

DtNavArea* DtActiveBotNavInterface::myDestNavArea

protected

DtVector DtActiveBotNavInterface::myDestNavAreaTransitionPoint

protected

bool DtActiveBotNavInterface::myFindingDestNavAreaTransitionPoint

protected

DtNavAreaQuery::Ptr DtActiveBotNavInterface::myPendingQuery

protected

boost::shared_ptr<DtTransitionPointFinder> DtActiveBotNavInterface::myPendingPointFinder

protected

std::list<DtNavAreaQuery::WeakPtr> DtActiveBotNavInterface::myActiveQueries

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<DtLocalObject*> 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

boost::signals2::scoped_connection DtActiveBotNavInterface::myLocationCompleteConnection

protected

DtPlatformLocalObjectFacade DtActiveBotNavInterface::myPlatformLocalObjectFacade

protected

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

/data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-1-branch/include/vrfobjcore/activeBotNavInterface.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation