A velocity component that returns a preferred velocity whose direction and preferred speed are computed from a navigation mesh. More...

#include <VelCompNavMesh.h>

Inheritance diagram for Menge::BFSM::NavMeshVelComponent:

Public Member Functions
	NavMeshVelComponent ()
	Default constructor.

virtual void	onExit (Agents::BaseAgent *agent)
	Called when the agent exits the state that uses this velocity component. More...

void	setNavMesh (const NavMeshPtr &nm)
	Sets the navigation mesh pointer. More...

NavMeshPtr	getNavMesh ()
	Returns a resource pointer to the underlying navigation mesh. More...

NavMeshLocalizerPtr	getLocalizer ()
	Returns a resource pointer to the underlying navigation mesh localizer. More...

void	setNavMeshLocalizer (const NavMeshLocalizerPtr &nml)
	Sets the navigation mesh localizer pointer. More...

void	setHeadingDeviation (float angle)
	Sets the angular deviation which triggers replanning. More...

virtual void	setPrefVelocity (const Agents::BaseAgent agent, const Goal goal, Agents::PrefVelocity &pVel)
	Computes and sets the agent's preferred velocity. More...

virtual VelCompContext *	getContext ()
	Provides a display context for interacting with this velocity component. More...

virtual Task *	getTask ()
	Returns a pointer to the nav mesh localizer task. More...

Public Member Functions inherited from Menge::BFSM::VelComponent
	VelComponent ()
	Default constructor.

virtual void	onEnter (Agents::BaseAgent *agent)
	Called when the agent enters the state which possesses this velocity component. More...

Public Member Functions inherited from Menge::Element
void	destroy ()
	This supplants the destructor. More...

virtual SceneGraph::GLNode *	getSGNode ()
	Returns an optional visualization element associated with the element. More...

Protected Attributes
float	_headingDevCos
	The cosine of the heading deviation angular threshold. This detects when the angle of approach deviates beyond a threshold and the agent needs to replan.

NavMeshPtr	_navMesh
	The navigation mesh.

NavMeshLocalizerPtr	_localizer
	The localizer for the navigation mesh.

Friends
class	NavMeshVCContext

Additional Inherited Members
Protected Member Functions inherited from Menge::BFSM::VelComponent
virtual	~VelComponent ()
	Virtual destructor.

Detailed Description

A velocity component that returns a preferred velocity whose direction and preferred speed are computed from a navigation mesh.

A navigation mesh is a representation of the traversalbe space. The traversable space is represented as a polygonal mesh. Graph searches through the mesh are performed to find paths through arbitrarily complex environments.

Member Function Documentation

VelCompContext * Menge::BFSM::NavMeshVelComponent::getContext ( )

virtual

Provides a display context for interacting with this velocity component.

It is the responsibility of the caller to delete the provided context.

Returns: A pointer to a context for this vel component.

Reimplemented from Menge::BFSM::VelComponent.

NavMeshLocalizerPtr Menge::BFSM::NavMeshVelComponent::getLocalizer ( )

inline

Returns a resource pointer to the underlying navigation mesh localizer.

Returns: The navigation mesh localizer.

NavMeshPtr Menge::BFSM::NavMeshVelComponent::getNavMesh ( )

inline

Returns a resource pointer to the underlying navigation mesh.

Returns: The navigation mesh.

BFSM::Task * Menge::BFSM::NavMeshVelComponent::getTask ( )

virtual

Returns a pointer to the nav mesh localizer task.

Returns: A pointer to the nav mesh localizer task. It is the responsibility of the caller to free the memory of the provided task by calling its destroy method.

Reimplemented from Menge::Element.

void Menge::BFSM::NavMeshVelComponent::onExit ( Agents::BaseAgent * agent )

virtual

Called when the agent exits the state that uses this velocity component.

Parameters

agent The agent exiting the state.

Reimplemented from Menge::BFSM::VelComponent.

void Menge::BFSM::NavMeshVelComponent::setHeadingDeviation ( float angle )

Sets the angular deviation which triggers replanning.

Parameters

angle The angle of deviation in radians.

void Menge::BFSM::NavMeshVelComponent::setNavMesh ( const NavMeshPtr & nm )

inline

Sets the navigation mesh pointer.

Parameters

nm	The managed pointer to the navigation mesh.

void Menge::BFSM::NavMeshVelComponent::setNavMeshLocalizer ( const NavMeshLocalizerPtr & nml )

inline

Sets the navigation mesh localizer pointer.

Parameters

nml	The managed pointer to the navigation mesh localizer.

void Menge::BFSM::NavMeshVelComponent::setPrefVelocity	(	const Agents::BaseAgent *	agent,
		const Goal *	goal,
		Agents::PrefVelocity &	pVel
	)

virtual

Computes and sets the agent's preferred velocity.

The velocity component directly sets preferred velocity values in the the provided preferred velocity instance. See Agents::PrefVelocity for details. Rather than setting the agent's preferred velocity value directly, a reference to a preferred velocity instance is passed in to make the use more general. This allows the computation of the preferred velocity for the agent, without necessarily making changes to it.

Parameters

agent	The agent for which a preferred velocity is computed.
goal	The agent's goal (although this may be ignored).
pVel	The instance of Agents::PrefVelocity to set.

Implements Menge::BFSM::VelComponent.

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

src/menge/MengeCore/BFSM/VelocityComponents/VelCompNavMesh.h
src/menge/MengeCore/BFSM/VelocityComponents/VelCompNavMesh.cpp

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation