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VelCompNavMesh.h
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3 License
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5 Menge
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14 This software program and documentation are copyrighted by the University of North
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37 */
38 
47 #ifndef __VEL_COMP_NAV_MESH_H__
48 #define __VEL_COMP_NAV_MESH_H__
49 
50 #include "CoreConfig.h"
54 #include "NavMesh.h"
55 #include "NavMeshLocalizer.h"
56 
57 // forward declaration
58 
59 namespace Menge {
60 
61  namespace BFSM {
62  // forward declaration
63  class NavMeshVCContext;
64 
73  class MENGE_API NavMeshVelComponent : public VelComponent {
74  public:
79 
85  virtual void onExit( Agents::BaseAgent * agent );
86 
92  void setNavMesh( const NavMeshPtr & nm ) { _navMesh = nm; }
93 
99  NavMeshPtr getNavMesh() { return _navMesh; }
100 
106  NavMeshLocalizerPtr getLocalizer() { return _localizer; }
107 
113  void setNavMeshLocalizer( const NavMeshLocalizerPtr & nml ) { _localizer = nml; }
114 
120  void setHeadingDeviation( float angle );
121 
136  virtual void setPrefVelocity( const Agents::BaseAgent * agent, const Goal * goal, Agents::PrefVelocity & pVel );
137 
145  virtual VelCompContext * getContext();
146 
154  virtual Task * getTask();
155 
156  friend class NavMeshVCContext;
157 
158  protected:
165 
170 
175  };
176 
178 
182  class MENGE_API NavMeshVCContext : public VelCompContext {
183  public:
191 
201  virtual std::string getUIText( const std::string & indent="" ) const;
202 
211  virtual SceneGraph::ContextResult handleKeyboard( SDL_Event & e );
212 
221  virtual void draw3DGL( const Agents::BaseAgent * agt, const Goal * goal );
222 
223  protected:
227  void drawNavMesh() const;
228 
235  void drawPath( const Agents::BaseAgent * agt, const Goal * goal ) const;
236 
240  void drawNodeIDs() const;
241 
246 
251 
256  };
257 
259 
263  class MENGE_API NavMeshVCFactory : public VelCompFactory {
264  public:
269 
278  virtual const char * name() const { return "nav_mesh"; }
279 
287  virtual const char * description() const {
288  return "Provides a preferred velocity which is derived from a path along a "\
289  "polygonally decomposed representation of the traversable space (a navigaiton mesh).";
290  };
291 
292  protected:
303  VelComponent * instance() const { return new NavMeshVelComponent(); }
304 
323  virtual bool setFromXML( VelComponent * vc, TiXmlElement * node, const std::string & behaveFldr ) const;
324 
328  size_t _fileNameID;
329 
333  size_t _headingID;
334  };
335  } // namespace BFSM
336 } // namespace Menge
337 #endif // __VEL_COMP_NAV_MESH_H__
SDL_Event SDL_Event
Forward declaration of the SDL event type.
Definition: Context.h:53
The core namespace. All elements of Menge are contained in this namespace.
Definition: AgentGenerator.cpp:43
VelComponent * instance() const
Create an instance of this class's velocity component.
Definition: VelCompNavMesh.h:303
void setNavMeshLocalizer(const NavMeshLocalizerPtr &nml)
Sets the navigation mesh localizer pointer.
Definition: VelCompNavMesh.h:113
Sets up the proper compiler directives for platform and dll export/import.
Data structure responsible for knowing where on the navigation mesh each agent is located...
A class for parsing the xml description of a velocity component and instantiating particular instance...
Definition: VelComponentFactory.h:60
The base, abstract class defining goals.
Definition: Goal.h:110
The base class for computing an agent's preferred velocity.
Definition: VelComponent.h:112
NavMeshVelComponent * _vc
The underlying finite state machine velocity component.
Definition: VelCompNavMesh.h:245
virtual const char * description() const
A description of the velocity component.
Definition: VelCompNavMesh.h:287
A velocity component that returns a preferred velocity whose direction and preferred speed are comput...
Definition: VelCompNavMesh.h:73
virtual const char * name() const
The name of the velocity component.
Definition: VelCompNavMesh.h:278
float _headingDevCos
The cosine of the heading deviation angular threshold. This detects when the angle of approach deviat...
Definition: VelCompNavMesh.h:164
bool _drawCenters
Visualization flag - controls if polygon centers are drawn.
Definition: VelCompNavMesh.h:250
Defines the result of the context's consideration of user input.
Definition: Context.h:74
The namespace contains the Behavior Finite State Machine (BFSM) definition.
NavMeshLocalizerPtr _localizer
The localizer for the navigation mesh.
Definition: VelCompNavMesh.h:174
Factory for the NavMeshVelComponent.
Definition: VelCompNavMesh.h:263
NavMeshPtr _navMesh
The navigation mesh.
Definition: VelCompNavMesh.h:169
NavMeshLocalizerPtr getLocalizer()
Returns a resource pointer to the underlying navigation mesh localizer.
Definition: VelCompNavMesh.h:106
The definition of how preferred velocity is computed in a state.
Interface for basic FSM task.
Definition: Task.h:110
The definition of a preferred velocity.
Definition: PrefVelocity.h:68
Defines the basic agent properties and functionality that all simulation agents share.
Definition: BaseAgent.h:123
The context for the NavMeshVelComponent.
Definition: VelCompNavMesh.h:182
The factory for parsing xml data and instantiating velocity components.
NavMeshPtr getNavMesh()
Returns a resource pointer to the underlying navigation mesh.
Definition: VelCompNavMesh.h:99
Defines the classes which maintain the navigation mesh data.
size_t _fileNameID
The identifier for the "file_name" string attribute.
Definition: VelCompNavMesh.h:328
bool _drawNodeIDs
Visualizaton flag - controls if polygon ids are drawn.
Definition: VelCompNavMesh.h:255
The definition of a basic UI context for finite state machine velocity components.
void setNavMesh(const NavMeshPtr &nm)
Sets the navigation mesh pointer.
Definition: VelCompNavMesh.h:92
Base context for finite state machine velocity components.
Definition: VelCompContext.h:70
size_t _headingID
The identifier for the "heading_threshold" float attribute.
Definition: VelCompNavMesh.h:333