The class for defining a navigation mesh. A decomposition of the free space into a connected mesh of convex (or near convex) polygons used for global planning in planar or non-planar environments. More...

#include <NavMesh.h>

Inheritance diagram for Menge::NavMesh:

Public Member Functions
	NavMesh (const std::string &name)
	Constructor. More...

void	clear ()
	Clears the navigation mesh - removes edges and nodes.

virtual const std::string &	getLabel () const
	Returns a unique resource label to be used to identify different resource types which use the same underlying file data.

size_t	getVertexCount () const
	Reports the number of vertices in the navigation mesh. More...

size_t	getNodeCount () const
	Reports the number of nodes in the navigation mesh. More...

NavMeshNode &	getNode (unsigned int i)
	Returns a reference to the ith node. More...

const NavMeshNode &	getNode (unsigned int i) const
	Returns a const reference to the ith node. More...

size_t	getEdgeCount () const
	Reports the number of edges in the navigation mesh. More...

NavMeshEdge &	getEdge (unsigned int i)
	Returns a reference to the ith edge. More...

const NavMeshEdge &	getEdge (unsigned int i) const
	Returns a const reference to the ith edge. More...

size_t	getObstacleCount () const
	Returns the number of obstacles connected to this node. More...

NavMeshObstacle &	getObstacle (unsigned int i)
	Returns a reference to the ith obstacle. More...

const NavMeshObstacle &	getObstacle (unsigned int i) const
	Returns a const reference to the ith obstacle. More...

Vector2 *	getVertices ()
	Returns a pointer to the array of vertices. More...

const Vector2 *	getVertices () const
	Returns a const pointer to the array of vertices. More...

float	getElevation (unsigned int nodeID, const Vector2 &p) const
	Computes the elevation at a particular point based on the given node's geometry. More...

Vector2	getGradient (unsigned int nodeID, const Vector2 &p) const
	Computes the gradient at a particular point based on the given node's geometry. More...

void	setVertexCount (size_t count)
	Allocates memory for the given number of vertices. All previous vertices will be deleted. More...

void	setVertex (unsigned int i, float x, float y)
	Sets the value of the ith vertex. More...

void	setNodeCount (size_t count)
	Allocates memory for the given number of nodes. All previous nodes will be deleted. More...

void	setEdgeCount (size_t count)
	Allocates memory for the given number of edges. All previous edges will be deleted. More...

void	setObstacleCount (size_t count)
	Allocates memory for the given number of obstacles. All previous obstacles will be delete.d. More...

bool	finalize ()
	After initializing the navigation mesh's components this function needs to be called to make the mesh functional.

bool	addGroup (const std::string &grpName, size_t grpSize)
	Adds a group of polygons to the navigation mesh. More...

std::vector < Agents::ObstacleVertexList >	getObstacles ()
	Gets the navigation mesh's obstacles for the simulator. More...

Public Member Functions inherited from Menge::Resource
	Resource (const std::string &fileName)
	Constructor. More...

void	destroy ()
	This supplants the destructor. More...

const std::string &	getName () const
	Return the file name for this resource. More...

int	incRef ()
	Increment references to the managed data. More...

int	decRef ()
	Decrement references to the managed data. More...

bool	isUnreferenced () const
	Reports if the data is referenced. More...

Static Public Member Functions
static Resource *	load (const std::string &fileName)
	Parses a navigation mesh definition and returns a pointer to it. More...

Static Public Attributes
static const std::string	LABEL
	The unique label for this data type to be used with resource management.

Protected Member Functions
	~NavMesh ()
	Destructor.

Protected Member Functions inherited from Menge::Resource
virtual	~Resource ()
	Virtual destructor.

Protected Attributes
size_t	_vCount
	The number of vertices.

Vector2 *	_vertices
	An array containing all vertices.

size_t	_nCount
	The number of nodes (aka polygons in the mesh).

NavMeshNode *	_nodes
	An array containing all nodes.

size_t	_eCount
	The number of edges (aka portals or shared edges between polygons).

NavMeshEdge *	_edges
	An array containing all edges.

size_t	_obstCount
	The number of obstacles in the scene.

NavMeshObstacle *	_obstacles
	An array of obstacles.

std::map< const std::string, NMNodeGroup >	_nodeGroups
	The mapping from node group name to an instance of a NMNodeGroup.

Protected Attributes inherited from Menge::Resource
const std::string	_fileName
	The file which contains the resource's data.

int	_refCount
	The number of data wrappers using this managed data.

SimpleLock	_lock
	Simple lock to handle reference counts safely.

Friends
class	NavMeshFactory

class	PathPlanner

Detailed Description

The class for defining a navigation mesh. A decomposition of the free space into a connected mesh of convex (or near convex) polygons used for global planning in planar or non-planar environments.

It represents the minimum data required to do path planning. The navigation mesh is represented in 2.5D. The boundaries of mesh's polygons are only defined on the ground plane. The nodes themselves include a definition of the polygon's plane off the plane. Likewise, the vertices all lie on the plane.

Constructor & Destructor Documentation

Menge::NavMesh::NavMesh ( const std::string & name )

Constructor.

Parameters

name	The name of the underlying navigation mesh.

Member Function Documentation

bool Menge::NavMesh::addGroup	(	const std::string &	grpName,
		size_t	grpSize
	)

Adds a group of polygons to the navigation mesh.

The group name must be unique from all other group names in the navigation mesh. The number of polygons in the group extends the number of reported nodes in the mesh (see NavMesh::getNodeCount). Even if the nodes are not yet defined at this point, they are allocated and considered viable.

Parameters

grpName	The name of the group.
grpSize	The number of nodes in the group.

Returns: Returns a boolean reporting success (true) or failure (false).

NavMeshEdge & Menge::NavMesh::getEdge ( unsigned int i )

Returns a reference to the ith edge.

Parameters

i	The index of the desired edge. The validitity of the index is only tested in debug build.

Returns: A reference to the ith edge.

const NavMeshEdge & Menge::NavMesh::getEdge ( unsigned int i ) const

Returns a const reference to the ith edge.

Parameters

i	The index of the desired edge. The validitity of the index is only tested in debug build.

Returns: A const reference to the ith edge.

size_t Menge::NavMesh::getEdgeCount ( ) const

inline

Reports the number of edges in the navigation mesh.

Returns: The integer number of edges.

float Menge::NavMesh::getElevation	(	unsigned int	nodeID,
		const Vector2 &	p
	)		const

Computes the elevation at a particular point based on the given node's geometry.

Parameters

nodeID	The node to use in computing elevation.
p	The point to evaluate the elevation for.

Returns: The elevation at point p based on the geometry of nodeID.

Vector2 Menge::NavMesh::getGradient	(	unsigned int	nodeID,
		const Vector2 &	p
	)		const

Computes the gradient at a particular point based on the given node's geometry.

Parameters

nodeID	The node to use in computing gradient.
p	The point to evaluate the gradient for.

Returns: The gradient at point p based on the geometry of nodeID.

NavMeshNode & Menge::NavMesh::getNode ( unsigned int i )

Returns a reference to the ith node.

Parameters

i	The index of the desired node. The validitity of the index is only tested in debug build.

Returns: A reference to the ith node.

const NavMeshNode & Menge::NavMesh::getNode ( unsigned int i ) const

Returns a const reference to the ith node.

Parameters

i	The index of the desired node. The validitity of the index is only tested in debug build.

Returns: A const reference to the ith node.

size_t Menge::NavMesh::getNodeCount ( ) const

inline

Reports the number of nodes in the navigation mesh.

Returns: Thenumber of nodes.

NavMeshObstacle & Menge::NavMesh::getObstacle ( unsigned int i )

Returns a reference to the ith obstacle.

Parameters

i	The index of the desired obstacle. The validity of the index is only tested in debug build.

Returns: A reference to the ith obstacle.

const NavMeshObstacle & Menge::NavMesh::getObstacle ( unsigned int i ) const

Returns a const reference to the ith obstacle.

Parameters

i	The index of the desired obstacle. The validity of the index is only tested in debug build.

Returns: A reference to the ith obstacle.

size_t Menge::NavMesh::getObstacleCount ( ) const

inline

Returns the number of obstacles connected to this node.

Returns: The number of attached obstacles.

std::vector< Agents::ObstacleVertexList > Menge::NavMesh::getObstacles ( )

Gets the navigation mesh's obstacles for the simulator.

Returns: Vertex lists of the various obstacles

size_t Menge::NavMesh::getVertexCount ( ) const

inline

Reports the number of vertices in the navigation mesh.

Returns: The number of vertices.

Vector2* Menge::NavMesh::getVertices ( )

inline

Returns a pointer to the array of vertices.

Returns: The pointer to the array of vertices.

const Vector2* Menge::NavMesh::getVertices ( ) const

inline

Returns a const pointer to the array of vertices.

Returns: The const pointer to the array of vertices.

Resource * Menge::NavMesh::load ( const std::string & fileName )

static

Parses a navigation mesh definition and returns a pointer to it.

This function works in conjunction with the ResourceManager. That is why it returns a pointer, not to a NavMesh, but to a Resource. The ResourceManager uses it to load and instantiate VectorField instances.

Parameters

fileName The path to the file containing the NavMesh definition.

Returns: A pointer to the new NavMesh (if the file is valid), NULL if invalid.

void Menge::NavMesh::setEdgeCount ( size_t count )

Allocates memory for the given number of edges. All previous edges will be deleted.

Parameters

count The number of edges.

void Menge::NavMesh::setNodeCount ( size_t count )

Allocates memory for the given number of nodes. All previous nodes will be deleted.

Parameters

count The number of nodes.

void Menge::NavMesh::setObstacleCount ( size_t count )

Allocates memory for the given number of obstacles. All previous obstacles will be delete.d.

Parameters

count The number of obstacles.

void Menge::NavMesh::setVertex	(	unsigned int	i,
		float	x,
		float	y
	)

Sets the value of the ith vertex.

Parameters

i	The index of the vertex. Validity of the index is only tested in the debug build.
x	The x-value of the vertex.
y	The y-value of the vertex.

void Menge::NavMesh::setVertexCount ( size_t count )

Allocates memory for the given number of vertices. All previous vertices will be deleted.

Parameters

count The number of vertices.

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

src/menge/MengeCore/resources/NavMesh.h
src/menge/MengeCore/resources/NavMesh.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation