The base class for performing spatial queries. More...

#include <SpatialQuery.h>

Inheritance diagram for Menge::Agents::SpatialQuery:

Public Member Functions
	SpatialQuery ()
	Constructor.

virtual void	setAgents (const std::vector< BaseAgent * > &agents)=0
	Define the set of agents on which query class will operate.

virtual void	updateAgents ()=0
	Allows the spatial query structure to update its knowledge of the agent positions. TODO: Replace this with a task.

virtual void	addObstacle (Obstacle *obs)
	adds an obstacle to the internal list of the spatial query

const std::vector< Obstacle * >	getObstacles ()
	returns the collected obstacles of the spatial query for use in visualization More...

virtual void	agentQuery (ProximityQuery *query) const =0
	performs an agent based proximity query More...

virtual void	processObstacles ()=0
	Do the necessary pre-computation to support obstacle definitions. Now uses the internal obstacle representation.

virtual void	obstacleQuery (ProximityQuery *query) const =0
	performs an obstacle based proximity query More...

virtual bool	queryVisibility (const Vector2 &q1, const Vector2 &q2, float radius) const =0
	Queries the visibility between two points within a specified radius. More...

virtual void	setNeighborVisibleTest (bool state)
	Sets the spatial query to include visibility in finding agent neighbors. More...

void	setTestVisibility (bool status)
	Sets the test visibility status of the neighbor functions. More...

bool	getTestVisibility () const
	Reports the test visibility property of the spatial query instance. More...

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

virtual BFSM::Task *	getTask ()
	Return an optional task associated with this element. More...

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

Protected Member Functions
virtual	~SpatialQuery ()
	Virtual destructor.

Protected Attributes
bool	_testVisibility
	Dictates if visibility queries should be used (true) for neighbor queries or not (false).

std::vector< Obstacle * >	_obstacles
	an internal central list of obstacles

Detailed Description

The base class for performing spatial queries.

A spatial query implementation has to support several operations:

Given a maximum distance, find agents within that distance from a point
Given a maximum distance, find obstacles within that distance from a point
Given two points and a width, determines if a straight link between them is collision free (the link has the given width).
Updates its internal structure based on current agent state. // TODO: This should be done via a task.
The spatial query is also responsible for visiblity testing Spatial Queries work in tandem with a Filter. The query itself is agnostic of the filter or the results

Member Function Documentation

virtual void Menge::Agents::SpatialQuery::agentQuery ( ProximityQuery * query ) const

pure virtual

performs an agent based proximity query

Parameters

query a pointer for the proximity query to be performed

Implemented in Menge::Agents::BergKDTree, and Menge::Agents::NavMeshSpatialQuery.

const std::vector< Obstacle * > Menge::Agents::SpatialQuery::getObstacles ( )

inline

returns the collected obstacles of the spatial query for use in visualization

Returns: const pointer to the obstacle set

bool Menge::Agents::SpatialQuery::getTestVisibility ( ) const

inline

Reports the test visibility property of the spatial query instance.

Returns: A boolean reporting if the spatial query instance uses visibility tests when computing nearby agents and obstacles (true) or not (false).

virtual void Menge::Agents::SpatialQuery::obstacleQuery ( ProximityQuery * query ) const

pure virtual

performs an obstacle based proximity query

Parameters

query a pointer for the proximity query to be performed

Implemented in Menge::Agents::BergKDTree, and Menge::Agents::NavMeshSpatialQuery.

virtual bool Menge::Agents::SpatialQuery::queryVisibility	(	const Vector2 &	q1,
		const Vector2 &	q2,
		float	radius
	)		const

pure virtual

Queries the visibility between two points within a specified radius.

Parameters

q1	The first point between which visibility is to be tested.
q2	The second point between which visibility is to be tested.
radius	The radius within which visibility is to be tested.

Returns: True if q1 and q2 are mutually visible within the radius; false otherwise.

Implemented in Menge::Agents::NavMeshSpatialQuery, and Menge::Agents::BergKDTree.

virtual void Menge::Agents::SpatialQuery::setNeighborVisibleTest ( bool state )

inlinevirtual

Sets the spatial query to include visibility in finding agent neighbors.

Parameters

state If true, the spatial query has to consider visibility. if false, it doesn't.

void Menge::Agents::SpatialQuery::setTestVisibility ( bool status )

inline

Sets the test visibility status of the neighbor functions.

Parameters

status The new stats of the test visibility property.

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

src/menge/MengeCore/Agents/SpatialQueries/SpatialQuery.h
src/menge/MengeCore/Agents/SpatialQueries/SpatialQuery.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation