The navigation mesh adjacency graph node. It corresponds to a convex polygon in the navigation mesh. More...

#include <NavMeshNode.h>

Public Member Functions
	NavMeshNode ()
	Constructor.

	~NavMeshNode ()
	Destructor.

NavMeshNode &	operator= (const NavMeshNode &n)
	Assignment operator.

void	setID (unsigned int id)
	Sets the node identifier. More...

unsigned int	getID () const
	Retrive the identifier for this node.

void	setCenter (const Vector2 &c)
	Sets the node's center value. More...

Vector2	getCenter () const
	Reports the center (centroid) of the node's polygon. More...

Vector3	getCenter3D () const
	Reports the center (centroid) of the node's polygon. More...

size_t	getVertexCount () const
	Returns the number of vertices in the node's polygon. More...

void	setVertices (const Vector2 *vertices)
	Sets this node's polygon to the given vertex array. The polygon can then evaluate its indices with respect to this array of vertex values. More...

unsigned int	getVertexID (size_t i) const
	Gets the index of the ith vertex in this node's polygon. More...

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

const NavMeshObstacle *	getObstacle (size_t i) const
	Returns a const pointer to the ith obstacle in the node. More...

NavMeshObstacle *	getObstacle (size_t i)
	Returns a const pointer to the ith obstacle in the node. More...

size_t	getNeighborCount () const
	Reports the number of nodes adjacent to this node.

const NavMeshNode *	getNeighbor (size_t i) const
	Returns a pointer to the ith neighbor. More...

size_t	getEdgeCount () const
	Reports the number of edges on the node. More...

NavMeshEdge *	getEdge (size_t i)
	Retrieves the ith edge connected to this node. More...

const NavMeshEdge *	getEdge (size_t i) const
	Retrieves a const pointer to the ith edge connected to this node. More...

NavMeshEdge *	getConnection (unsigned nodeID)
	Returns the pointer to the edge connecting this node with the node whose identifier is given. More...

bool	containsPoint (const Vector2 &point) const
	Reports if the given point is inside the polygon. More...

bool	loadFromAscii (std::ifstream &f)
	Sets the node properties from a node definition in the given ascii file stream. More...

float	getElevation (const Vector2 &p) const
	Computes the height based on this node's polygon.

Vector2	getGradient () const
	Computes the gradient based on this node's polygon.

Protected Attributes
NavMeshEdge **	_edges
	An array of edges connecting to other nodes.

size_t	_edgeCount
	The number of edges connecting to this node.

NavMeshObstacle **	_obstacles
	An array of obstacles connected to this node.

size_t	_obstCount
	The number of obstacles connecting to this node.

Vector2	_center
	The "position" of the node - used to compute distance between node and goal (A* heuristic)

NavMeshPoly	_poly
	The polygon associated with this node.

unsigned int	_id
	The identifier of this node.

Friends
class	NavMesh

class	NavMeshEdge

class	PathPlanner

Detailed Description

The navigation mesh adjacency graph node. It corresponds to a convex polygon in the navigation mesh.

Member Function Documentation

bool Menge::NavMeshNode::containsPoint ( const Vector2 & point ) const

inline

Reports if the given point is inside the polygon.

Parameters

point The point to test.

Returns: A boolean reporting if the point lies inside the polygon (true) or outside (false ). // TODO: What about the boundary?

Vector2 Menge::NavMeshNode::getCenter ( ) const

inline

Reports the center (centroid) of the node's polygon.

Returns: The position of the polygon's centroid.

Vector3 Menge::NavMeshNode::getCenter3D ( ) const

inline

Reports the center (centroid) of the node's polygon.

Returns: The position of the polygon's centroid.

NavMeshEdge * Menge::NavMeshNode::getConnection ( unsigned nodeID )

Returns the pointer to the edge connecting this node with the node whose identifier is given.

Parameters

nodeID The id of the desired adjacent node.

Returns: The pointer to the edge connecting the two nodes. If the nodes are not connected, NULL is returned.

NavMeshEdge* Menge::NavMeshNode::getEdge ( size_t i )

inline

Retrieves the ith edge connected to this node.

Parameters

i	The local index of the desired edge.

Returns: A pointer to the ith edge.

const NavMeshEdge* Menge::NavMeshNode::getEdge ( size_t i ) const

inline

Retrieves a const pointer to the ith edge connected to this node.

Parameters

i	The local index of the desired edge.

Returns: A pointer to the ith edge.

size_t Menge::NavMeshNode::getEdgeCount ( ) const

inline

Reports the number of edges on the node.

Returns: The number of edges.

const NavMeshNode * Menge::NavMeshNode::getNeighbor ( size_t i ) const

Returns a pointer to the ith neighbor.

Parameters

i	The index of the neighboring node to retrieve. The index is defined in the range [0, N-1], where this node has N neighbors.

Returns: A pointer to the ith neighboring node.

const NavMeshObstacle* Menge::NavMeshNode::getObstacle ( size_t i ) const

inline

Returns a const pointer to the ith obstacle in the node.

Parameters

i	The local index of the desired obstacle.

Returns: A const pointer to the ith obstacle.

NavMeshObstacle* Menge::NavMeshNode::getObstacle ( size_t i )

inline

Returns a const pointer to the ith obstacle in the node.

Parameters

i	The local index of the desired obstacle.

Returns: A pointer to the ith obstacle.

size_t Menge::NavMeshNode::getObstacleCount ( ) const

inline

Returns the number of obstacles connected to this node.

Returns: The number of obtacles in on this node.

size_t Menge::NavMeshNode::getVertexCount ( ) const

inline

Returns the number of vertices in the node's polygon.

Returns: The number of vertices in the polygon.

unsigned int Menge::NavMeshNode::getVertexID ( size_t i ) const

inline

Gets the index of the ith vertex in this node's polygon.

Parameters

i	The local index of the vertex in the node's polygon.

Returns: The global index in the navigation mesh of the ith vertex in this node's polygon.

bool Menge::NavMeshNode::loadFromAscii ( std::ifstream & f )

Sets the node properties from a node definition in the given ascii file stream.

Parameters

f	The input file stream.

Returns: A boolean indicating successful parsing (true) or failure (false).

void Menge::NavMeshNode::setCenter ( const Vector2 & c )

inline

Sets the node's center value.

Parameters

c	The point value to set.

void Menge::NavMeshNode::setID ( unsigned int id )

inline

Sets the node identifier.

Parameters

id	The identifier to set this node to.

void Menge::NavMeshNode::setVertices ( const Vector2 * vertices )

inline

Sets this node's polygon to the given vertex array. The polygon can then evaluate its indices with respect to this array of vertex values.

Parameters

vertices An array of Vector2's defining the polygon vertices.

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

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation