DtNavBot Class Reference

Classes
struct	CollisionAvoidanceConfiguration
struct	NavigationConfiguration

Public Types
enum	NavigationMethod { NavigationMethodShortcut = 0, NavigationMethodSpline = 1 }
enum	PathStatus {   PathStatusInactive, PathStatusComputing, PathStatusHasPath, PathStatusArrived,   PathStatusNoValidPath, PathStatusLeavingArea, PathStatusFindingTransitionPoint, PathStatusNoValidPathDestOutside,   PathStatusNoValidPathStartOutside }
typedef DtNavBot *(*	DtNavBotCreatorFcn )()
typedef bool(*	NavBotPathLocationEvalFcn )(const DtNavTag &navTag, float slope, float elevationChange, float *costMultiplier, void *userData)

Public Member Functions
virtual	~DtNavBot ()
virtual void	init (DtNavArea *world, const DtString &profile, double radius, double height, DtNavigationPriorityType queryQueuePriority, NavigationConfiguration navConfig=NavigationConfiguration(), CollisionAvoidanceConfiguration collAvoidConfig=CollisionAvoidanceConfiguration())=0
virtual void	setPosition (const DtVector &localPos)=0
virtual void	setPositionInvalid ()=0
virtual void	setQueryQueuePriority (const DtNavigationPriorityType &queryQueuePriority)=0
virtual void	botUpdate (const DtVector &localPos, double dT)=0
virtual void	setDestination (const DtVector &localPos, bool forceOutsideArea=false)=0
virtual void	setDesiredSpeed (double speed)=0
virtual void	clearFollowedPath ()=0
virtual void	clearDestination ()=0
virtual DtVector	currentDestination () const =0
virtual void	resetDestination ()=0
virtual int	getTriangleIndex () const =0
virtual void	getTriangleVertices (DtVector &corner1, DtVector &corner2, DtVector &corner3) const =0
virtual DtVector	getPointOnTriangle (const DtVector &localLocation) const =0
virtual DtVector	getOutputVelocity ()=0
virtual void	setPathEvalFcn (NavBotPathLocationEvalFcn fcn, void *user)=0
virtual PathStatus	pathStatus (double atDistance)=0
virtual DtString	pathStatusString ()=0
virtual bool	hasArrived (double arrivalDistance)=0
virtual bool	currentPath (std::vector< DtVector > &path)=0
virtual bool	abstractPath (std::vector< DtVector > &path)=0
virtual bool	currentPathEdge (DtVector &edgeStart, DtVector &edgeEnd)=0
virtual void	getNavPathAsRw (DtRwBinaryData &)=0
virtual bool	setPath (DtRwBinaryData &)=0
virtual unsigned	currentAbstractPathIndex ()=0
virtual void	setUseAbstractGraph (bool yesNo)=0
virtual void	resetUseAbstractGraph ()=0
virtual bool	usingAbstractGraph () const =0
virtual DtNavTag	navTagAtPosition (const DtVector &localPos) const =0
virtual DtNavTag	upcomingNavTagOnPath () const =0
virtual void	upcomingNavTagsOnPath (double distance, DtNavTagAndLocationList &navTags) const =0
virtual void	setCollisionAvoidanceEnabled (bool enable)=0
virtual void	setNavigationMethod (NavigationMethod navMethod)=0
virtual NavigationMethod	navigationMethod () const =0
virtual DtVector	performMovement (double dt)=0
virtual DtVector	groundClamp (const DtVector &localPos, DtVector &normal)=0

Static Public Member Functions
static DtNavBot *	create ()
static void	setNavBotCreatorFcn (DtNavBotCreatorFcn fcn)

Static Protected Attributes
static DtNavBotCreatorFcn	theNavBotCreatorFcn

Member Typedef Documentation

typedef DtNavBot*(* DtNavBot::DtNavBotCreatorFcn)()

typedef bool(* DtNavBot::NavBotPathLocationEvalFcn)(const DtNavTag &navTag, float slope, float elevationChange, float *costMultiplier, void *userData)

Member Enumeration Documentation

enum DtNavBot::NavigationMethod

Enumerator
NavigationMethodShortcut
NavigationMethodSpline

enum DtNavBot::PathStatus

Enumerator
PathStatusInactive
PathStatusComputing	Not actively trying to move.
PathStatusHasPath	Currently computing a path.
PathStatusArrived	Has a valid path to move along.
PathStatusNoValidPath	Has arrived at destination.
PathStatusLeavingArea	Failed to calculate a path.
PathStatusFindingTransitionPoint	Arrived at edge of area.
PathStatusNoValidPathDestOutside	Calculating a transition point.
PathStatusNoValidPathStartOutside	Failed to calculate a path, destination is outside nav.

Constructor & Destructor Documentation

virtual DtNavBot::~DtNavBot ( )

inlinevirtual

Member Function Documentation

static DtNavBot* DtNavBot::create ( )

static

static void DtNavBot::setNavBotCreatorFcn ( DtNavBotCreatorFcn  fcn )

static

virtual void DtNavBot::init ( DtNavArea *  world, const DtString &  profile, double  radius, double  height, DtNavigationPriorityType  queryQueuePriority, NavigationConfiguration  navConfig = NavigationConfiguration(), CollisionAvoidanceConfiguration  collAvoidConfig = CollisionAvoidanceConfiguration()  )

pure virtual

virtual void DtNavBot::setPosition ( const DtVector &  localPos )

pure virtual

virtual void DtNavBot::setPositionInvalid ( )

pure virtual

virtual void DtNavBot::setQueryQueuePriority ( const DtNavigationPriorityType &  queryQueuePriority )

pure virtual

virtual void DtNavBot::botUpdate ( const DtVector &  localPos, double  dT  )

pure virtual

virtual void DtNavBot::setDestination ( const DtVector &  localPos, bool  forceOutsideArea = false  )

pure virtual

virtual void DtNavBot::setDesiredSpeed ( double  speed )

pure virtual

virtual void DtNavBot::clearFollowedPath ( )

pure virtual

virtual void DtNavBot::clearDestination ( )

pure virtual

virtual DtVector DtNavBot::currentDestination ( ) const

pure virtual

virtual void DtNavBot::resetDestination ( )

pure virtual

virtual int DtNavBot::getTriangleIndex ( ) const

pure virtual

virtual void DtNavBot::getTriangleVertices ( DtVector &  corner1, DtVector &  corner2, DtVector &  corner3  ) const

pure virtual

virtual DtVector DtNavBot::getPointOnTriangle ( const DtVector &  localLocation ) const

pure virtual

virtual DtVector DtNavBot::getOutputVelocity ( )

pure virtual

virtual void DtNavBot::setPathEvalFcn ( NavBotPathLocationEvalFcn  fcn, void *  user  )

pure virtual

virtual PathStatus DtNavBot::pathStatus ( double  atDistance )

pure virtual

virtual DtString DtNavBot::pathStatusString ( )

pure virtual

Returns

A text status of the current path query, if available. Useful for debugging.

virtual bool DtNavBot::hasArrived ( double  arrivalDistance )

pure virtual

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

pure virtual

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

pure virtual

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

pure virtual

virtual void DtNavBot::getNavPathAsRw ( DtRwBinaryData &  )

pure virtual

virtual bool DtNavBot::setPath ( DtRwBinaryData &  )

pure virtual

returns false if the path wasn't initialized/set successfully

virtual unsigned DtNavBot::currentAbstractPathIndex ( )

pure virtual

virtual void DtNavBot::setUseAbstractGraph ( bool  yesNo )

pure virtual

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

virtual void DtNavBot::resetUseAbstractGraph ( )

pure virtual

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

virtual bool DtNavBot::usingAbstractGraph ( ) const

pure virtual

Return true if currently using the abstract graph for path planning.

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

pure virtual

Gets the nav tag of the position, if valid.

virtual DtNavTag DtNavBot::upcomingNavTagOnPath ( ) const

pure virtual

Gets the upcoming nav tag in the path.

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

pure virtual

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

virtual void DtNavBot::setCollisionAvoidanceEnabled ( bool  enable )

pure virtual

Enables or disables collision avoidance. Cannot enable collision avoidance if the bot is configured to have it disabled. Only has an effect if collision avoidance is configured.

virtual void DtNavBot::setNavigationMethod ( NavigationMethod  navMethod )

pure virtual

virtual NavigationMethod DtNavBot::navigationMethod ( ) const

pure virtual

virtual DtVector DtNavBot::performMovement ( double  dt )

pure 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 DtNavBot::groundClamp ( const DtVector &  localPos, DtVector &  normal  )

pure virtual

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

Member Data Documentation

DtNavBotCreatorFcn DtNavBot::theNavBotCreatorFcn

staticprotected

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

• /data/exports/nrhent7-1/nightly/docs/vrForces.vrf5-2-branch/include/vrfNavigation/navBot.h