Menge::Agents::Obstacle Class Reference

Defines static obstacles in the simulation. More...

#include <Obstacle.h>

Inheritance diagram for Menge::Agents::Obstacle:

Public Types
enum	NearTypeEnum { FIRST, MIDDLE, LAST }
	An enumeration to define the type of nearest point - first, middle, last.

Public Member Functions
	Obstacle ()
	Constructs a static obstacle instance.
	~Obstacle ()
	Destroys this static obstacle instance.
Vector2	normal () const
	Retrieves the normal of the obstacle. More...
const Vector2 &	getP0 () const
	Retrieve the first point on the obstacle.
const Vector2	midPt () const
	Retrieve the obstacle's mid-point.
Vector2	getP1 () const
	Retrieve the second point on the obstacle.
const Obstacle *	next () const
	Returns the next obstacle in sequence.
NearTypeEnum	distanceSqToPoint (const Vector2 &pt, Vector2 &nearPt, float &distSq) const
	Computes the squared distance from the obstacle to the given point. Also sets the value of the point in the provided Vector2. More...
float	circleIntersection (const Vector2 &dir, const Vector2 &start, float radius) const
	Determines if a circle, moving along a ray, will intersect the obstacle. More...
float	length () const
	Returns the length of the obstacle. More...
bool	pointOnObstacle (const Vector2 &pt) const
	Reports if the given point lies on the obstacle. More...
bool	pointOutside (const Vector2 &point) const
	Reports if the given point is on the "outside" of the obstacle. This definition depends on whether the obstacle is double-sided or not. More...
bool	p0Convex (bool agtOnRight) const
	Reports if the obstacle is convext at _point. More...
bool	p1Convex (bool agtOnRight) const
	Reports if the obstacle is convext at _point + _length * _unitDir. More...
void	setClosedState (bool closed)
	Sets the obstacle's closed state. More...

Public Attributes
bool	_doubleSided
	Reports if the obstacle is double sided. More...
bool	_isConvex
	Reports if the obstacle is convex around the obstacle's point (_point).
Obstacle *	_nextObstacle
	Pointer to the next obstacle in the greater obstacle structure. If the obstacle is open, it could be NULL.
Vector2	_point
	The point from which the obstacle is defined.
Obstacle *	_prevObstacle
	Pointer to the previous obstacle in the greater obstacle structure. If the obstacle is open, it could be NULL.
Vector2	_unitDir
	The direction the obstacle extends from the originating point.
float	_length
	The distance in the direction the obstacle extends.
size_t	_id
	A unique identifier for this obstacle.
size_t	_class
	The class of obstacle, used so agents can ignore/include obstacles.

Detailed Description

Defines static obstacles in the simulation.

Member Function Documentation

float Menge::Agents::Obstacle::circleIntersection	(	const Vector2 &	dir,
		const Vector2 &	start,
		float	radius
	)		const

Determines if a circle, moving along a ray, will intersect the obstacle.

Parameters

dir	The direction of motion
start	The starting point of the circle
radius	The radius of the circle

Returns

The time to collision (a large value representing infinity if no collision is possible.)

Obstacle::NearTypeEnum Menge::Agents::Obstacle::distanceSqToPoint	(	const Vector2 &	pt,
		Vector2 &	nearPt,
		float &	distSq
	)		const

Computes the squared distance from the obstacle to the given point. Also sets the value of the point in the provided Vector2.

Parameters

pt	The point whose distance is to be evaluated
nearPt	The position on the obstacle which is nearest to the test point will be set here.
distSq	The squared distance to the line (i.e. ||pt - nearPt||^2) is placed inside this parameter.

Returns

The classificaiton of what the nearest point is - first, middle, or last

float Menge::Agents::Obstacle::length ( ) const

inline

Returns the length of the obstacle.

Returns

The length.

Vector2 Menge::Agents::Obstacle::normal ( ) const

inline

Retrieves the normal of the obstacle.

Returns

The normal

bool Menge::Agents::Obstacle::p0Convex ( bool  agtOnRight ) const

inline

Reports if the obstacle is convext at _point.

Takes into account the double-sidedness of the obstacle and the side of the obstacle the agent is on.

Parameters

agtOnRight

Indicate if the agent is on the right side of the obstacle (true) or the left (false).

Returns

True if the obstacle is convex, false otherwise.

bool Menge::Agents::Obstacle::p1Convex ( bool  agtOnRight ) const

inline

Reports if the obstacle is convext at _point + _length * _unitDir.

Takes into account the double-sidedness of the obstacle and the side of the obstacle the agent is on.

Parameters

agtOnRight

Indicate if the agent is on the right side of the obstacle (true) or the left (false).

Returns

True if the obstacle is convex, false otherwise.

bool Menge::Agents::Obstacle::pointOnObstacle

(

const Vector2 &

pt

)

const

Reports if the given point lies on the obstacle.

Parameters

pt	The point to test

Returns

True if pt is on the obstacle, false otherwise

bool Menge::Agents::Obstacle::pointOutside ( const Vector2 &  point ) const

inline

Reports if the given point is on the "outside" of the obstacle. This definition depends on whether the obstacle is double-sided or not.

Parameters

point

The point to test.

Returns

A boolean reporting if the point lies on the outside of this obstacle (true) or not (false).

void Menge::Agents::Obstacle::setClosedState ( bool  closed )

inline

Sets the obstacle's closed state.

If closed, it is part of a sequence of obstacles that form a closed polygon. If open, it is part of a polyline.

Parameters

closed

Defines the obstacle as part of a closed polygon (true), or a closed polygon (false).

Member Data Documentation

bool Menge::Agents::Obstacle::_doubleSided

Reports if the obstacle is double sided.

If double sided (true) then the obstacle should be included in the nearby obstacles, regardless of which side of the line the agent lies.

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

• src/menge/MengeCore/Agents/Obstacle.h
• src/menge/MengeCore/Agents/Obstacle.cpp