Menge
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SpatialQueryNavMesh.h
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38 
44 #ifndef __SPATIAL_QUERY_NAV_MESH_H__
45 #define __SPATIAL_QUERY_NAV_MESH_H__
46 
47 // Menge Base
50 
51 // Resources
52 #include "NavMesh.h"
53 #include "NavMeshLocalizer.h"
54 
55 // STL
56 #include <vector>
57 
58 namespace Menge {
59 
60  // forward declaration
61  namespace BFSM {
62  class Task;
63  }
64 
65  namespace Agents {
66 
70  class MENGE_API NavMeshSpatialQuery : public SpatialQuery {
71  public:
76 
80  virtual void setAgents( const std::vector< BaseAgent * > & agents );
81 
88  virtual void updateAgents() {}
89 
94  virtual void agentQuery( ProximityQuery *query) const;
95 
102  virtual void agentQuery( ProximityQuery *query, float &rangeSq) const;
103 
104  // Obstacle operations
105 
110  virtual void processObstacles();
111 
116  virtual void obstacleQuery( ProximityQuery *query) const;
117 
123  virtual void obstacleQuery( ProximityQuery *query, float rangeSq) const;
124 
125 
138  virtual bool queryVisibility(const Vector2& q1, const Vector2& q2, float radius) const;
139 
145  void setNavMeshLocalizer( const NavMeshLocalizerPtr & nml ) { _localizer = nml; }
146 
154  virtual BFSM::Task * getTask();
155 
156  // TODO: Another version of this would be good where the inputs are an agent, and
157  // a point, and it uses the agent's position and radius.
158  protected:
159 
163  std::vector< BaseAgent * > _agents;
164 
169  };
170 
172 
177  public:
182 
192  virtual const char * name() const { return "nav_mesh"; }
193 
201  virtual const char * description() const {
202  return "Performs spatial queries by operating on a navigation mesh.";
203  };
204 
205  protected:
216  SpatialQuery * instance() const { return new NavMeshSpatialQuery(); }
217 
236  virtual bool setFromXML( SpatialQuery * sq, TiXmlElement * node, const std::string & specFldr ) const;
237 
241  size_t _fileNameID;
242  };
243  } // namespace Agents
244 } // namespace Menge
245 #endif // __SPATIAL_QUERY_NAV_MESH_H__
A spatial query structure based on a navigation mesh.
Definition: SpatialQueryNavMesh.h:70
Factory for the NavMeshSpatialQuery.
Definition: SpatialQueryNavMesh.h:176
The core namespace. All elements of Menge are contained in this namespace.
Definition: AgentGenerator.cpp:43
Data structure responsible for knowing where on the navigation mesh each agent is located...
virtual const char * name() const
The name of the spatial query implemenation.
Definition: SpatialQueryNavMesh.h:192
A class for parsing the xml description of a spatial query and instantiating particular instances...
Definition: SpatialQueryFactory.h:62
SpatialQuery * instance() const
Create an instance of this class's spatial query implementation.
Definition: SpatialQueryNavMesh.h:216
void setNavMeshLocalizer(const NavMeshLocalizerPtr &nml)
Sets the navigation mesh localizer pointer.
Definition: SpatialQueryNavMesh.h:145
The base class for filtering spatial queries according to proximity.
Definition: ProximityQuery.h:72
std::vector< BaseAgent * > _agents
A vector of pointers to all the agents in the simulation.
Definition: SpatialQueryNavMesh.h:163
virtual void updateAgents()
Allows the spatial query structure to update its knowledge of the agent positions.
Definition: SpatialQueryNavMesh.h:88
The factory for parsing xml data and instantiating spaital query implementations. ...
size_t _fileNameID
The identifier for the "file_name" string attribute.
Definition: SpatialQueryNavMesh.h:241
NavMeshLocalizerPtr _localizer
The localizer tied to the given navigation mesh.
Definition: SpatialQueryNavMesh.h:168
The namespace contains the Behavior Finite State Machine (BFSM) definition.
virtual const char * description() const
A description of the spatial query.
Definition: SpatialQueryNavMesh.h:201
The base class for all objects which support agent spatial queries including: k-nearest agent neighbo...
The base class for performing spatial queries.
Definition: SpatialQuery.h:114
Interface for basic FSM task.
Definition: Task.h:110
Defines the classes which maintain the navigation mesh data.
The namespace that contains the basic simulation mechanisms.