An oriented bounding box goal region with uniform probability. More...

#include <GoalOBB.h>

Inheritance diagram for Menge::BFSM::OBBGoal:

Public Member Functions
	OBBGoal ()
	Default constructor.

virtual float	squaredDistance (const Vector2 &pt) const
	Reports the squared distance from the given point to the goal. More...

virtual void	setDirections (const Vector2 &q, float r, Agents::PrefVelocity &directions) const
	Set the preferred velocity directions w.r.t. the goal: left, right, and preferred. More...

virtual Vector2	getTargetPoint (const Vector2 &q, float r) const
	Returns the closest "target" point in the goal to the given query point. More...

virtual Vector2	getCentroid () const
	Return the centroid of the goal.

void	setPivot (float x, float y)
	Set the OBB's pivot point. More...

void	setPivot (const Vector2 &p)
	Set the OBB's pivot point. More...

void	setSize (float w, float h)
	Set the AABB's size. More...

void	setSize (const Vector2 &size)
	Set the AABB's size. More...

void	setRotation (float angle)
	Set the OBB's rotation angle (in radians). More...

Public Member Functions inherited from Menge::BFSM::Goal
	Goal ()
	Basic constructor.

bool	hasCapacity () const
	Reports if the goal still has capacity. More...

void	assign (const Agents::BaseAgent *agent)
	Inform the goal that it has been assigned. More...

void	free ()
	Inform the goal that an assignment has been removed.

void	setGoalSet (GoalSet *goalSet)
	Sets this goal's goal set. More...

GoalSet *	getGoalSet ()
	Returns a pointer to this agent's goal set. More...

const GoalSet *	getGoalSet () const
	Returns a const pointer to this agent's goal set. More...

void	setWeight (float weight)
	Sets the goal's weight. More...

float	getWeight () const
	Retrieves the goal's weight. More...

void	setCapacity (size_t capacity)
	Sets the goal's capacity. More...

size_t	getCapacity () const
	Returns this goal's capacity. More...

void	setID (size_t id)
	Sets the id of the goal. More...

size_t	getID () const
	Gets the id of the goal. More...

virtual void	drawGL () const
	Draws the goal into an OpenGL context.

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 void	drawGLGeometry () const
	Draws the goal geometry.

Protected Member Functions inherited from Menge::BFSM::Goal
virtual	~Goal ()
	Destructor.

Protected Attributes
Vector2	_pivot
	The minimum point in the box region.

Vector2	_size
	The size of the box region beyond the minimum point.

Vector2	_rot0
	The first column of the rotation matrix A point, p, can be rotated to the box's orientation as: Vector( p * _rot0, p * _rot1 );.

Vector2	_rot1
	The second column of the rotation matrix A point, p, can be rotated to the box's orientation as: Vector( p * _rot0, p * _rot1 );.

Protected Attributes inherited from Menge::BFSM::Goal
float	_weight
	The relative weight of this goal.

size_t	_capacity
	The maximum capacity of this goal.

size_t	_id
	The id of this goal in its goal set.

GoalSet *	_goalSet
	The goal set to which this goal belongs.

size_t	_population
	The current "population" of this goal. More...

ReadersWriterLock	_lock
	The lock to maintain readers-writer access to the structure which control available goals.

Additional Inherited Members
Static Public Attributes inherited from Menge::BFSM::Goal
static const size_t	MAX_CAPACITY = -1
	The maximum capacity any goal can hold.

Detailed Description

An oriented bounding box goal region with uniform probability.

The oriented bounding box (OBB) is defined by a pivot point, a size, and an orientation. An OBB with no rotation is the same as an AABB whose minimum point is the pivot point and which extends along the x-axis and the y-axis the given width and height, respectively. Positive angle causes counter-clockwise rotation.

Member Function Documentation

Vector2 Menge::BFSM::OBBGoal::getTargetPoint	(	const Vector2 &	q,
		float	r
	)		const

virtual

Returns the closest "target" point in the goal to the given query point.

A "valid" target point is the nearest point to the query point that is sufficiently inside the goal region that a disk with the given radius is completely inside the goal. It need not be literally the best value, an approximation is sufficient.

In the case where the goal region is too small to hold the agent, then the "deepest" point in the region is a good approximation.

Parameters

q	The query point.
r	The radius of clearance.

Returns: A 2D position representing the target point.

Implements Menge::BFSM::Goal.

void Menge::BFSM::OBBGoal::setDirections	(	const Vector2 &	q,
		float	r,
		Agents::PrefVelocity &	directions
	)		const

virtual

Set the preferred velocity directions w.r.t. the goal: left, right, and preferred.

The Agents::PrefVelocity class represents a span of velocities that will reach the goal. For a goal that covers a 2D region, the directions in the Agents::PrefVelocity should span the arc subtended by the goal from the query point's perspective. Furthermore, it should have sufficient clearance for a disk with the given radius to pass through. This should be overridden by subclasses to account for their unique geometry.

Parameters

q	The query point.
r	The radius of clearance.
directions	An instance of Agents::PrefVelocity.

Implements Menge::BFSM::Goal.

void Menge::BFSM::OBBGoal::setPivot	(	float	x,
		float	y
	)

inline

Set the OBB's pivot point.

Parameters

x	The x-value of the OBB's pivot point.
y	The y-value of the OBB's pivot point.

void Menge::BFSM::OBBGoal::setPivot ( const Vector2 & p )

inline

Set the OBB's pivot point.

Parameters

p	The position of the OBB's pivot point.

void Menge::BFSM::OBBGoal::setRotation ( float angle )

Set the OBB's rotation angle (in radians).

Parameters

angle The angle of rotation (in radians).

void Menge::BFSM::OBBGoal::setSize	(	float	w,
		float	h
	)

inline

Set the AABB's size.

Parameters

w	The width (extent along the x-axis) of the AABB.
h	The height (extent along the y-axis) of the AABB.

void Menge::BFSM::OBBGoal::setSize ( const Vector2 & size )

inline

Set the AABB's size.

Parameters

size	The size of the AABB (width, height).

float Menge::BFSM::OBBGoal::squaredDistance ( const Vector2 & pt ) const

virtual

Reports the squared distance from the given point to the goal.

Parameters

pt	The query point.

Returns: The squared distance from the point to the goal.

Implements Menge::BFSM::Goal.

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

src/menge/MengeCore/BFSM/Goals/GoalOBB.h
src/menge/MengeCore/BFSM/Goals/GoalOBB.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation