The definition of a path through space comprising of a sequence of portals. More...

#include <PortalPath.h>

Public Member Functions
	PortalPath (const Vector2 &startPos, const BFSM::Goal goal, const PortalRoute route, float agentRadius)
	Constructor. More...

	~PortalPath ()
	Destructor.

void	setPreferredDirection (const Agents::BaseAgent *agent, float headingCos, Agents::PrefVelocity &pVel)
	Sets the directions in the preferred velocity from the path. More...

unsigned int	updateLocation (const Agents::BaseAgent agent, const NavMeshPtr &navMesh, const NavMeshLocalizer localizer, PathPlanner *planner)
	Updates the location of the agent relative to the nav mesh. More...

unsigned int	getNode () const
	Reports the node the agent is currently in. More...

size_t	getWayPointCount () const
	Reports the number of way points in the path (not including the goal) More...

Vector2	getWayPoint (size_t i) const
	Returns the position of the ith way point. More...

const BFSM::Goal *	getGoal () const
	Returns the goal. More...

Vector2	getGoalCentroid () const
	Returns the centroid of the goal. More...

unsigned int	getEndNode () const
	Returns the identifier for the destination node on the path. More...

unsigned int	getNode (size_t i) const
	Returns the id of the node traveled for the ith way point. More...

size_t	getCurrentPortal () const
	Returns the index of the current portal (the portal the agent is currently headed towards. More...

size_t	getPortalCount () const
	Reports the number of portals in the path) More...

const WayPortal *	getPortal (size_t i) const
	Returns the ith portal. More...

void	setWaypoints (size_t start, size_t end, const Vector2 &p0, const Vector2 &dir)
	Set the waypoints for all of the indicated way portals. More...

Protected Member Functions
void	computeCrossing (const Vector2 &startPos, float agentRadius)
	Computes the crossing values for each portal. More...

void	replan (const Vector2 &startPos, unsigned int startNode, unsigned int endNode, float minWidth, PathPlanner *planner)
	Something has changed and the path has to replan. More...

Protected Attributes
const PortalRoute *	_route
	The route to follow.

const BFSM::Goal *	_goal
	The ultimate goal.

size_t	_currPortal
	The index of the way portal currently serving as immediate goal. -1 means it's at the end.

Vector2 *	_waypoints
	The sequence of way points. Some way points will be duplicated.

Vector2 *	_headings
	The original direction to the way point.

Detailed Description

The definition of a path through space comprising of a sequence of portals.

The path is repsonsible for computing instantaneous preferred velocity for an agent based on a PortalRoute and an optimized path through the portals.

Constructor & Destructor Documentation

Menge::PortalPath::PortalPath	(	const Vector2 &	startPos,
		const BFSM::Goal *	goal,
		const PortalRoute *	route,
		float	agentRadius
	)

Constructor.

Parameters

startPos	The 2D position where the path starts
goal	The goal (whose centroid lies in the final polygon).
route	The route the path follows
agentRadius	The radius of the given agent.

Member Function Documentation

void Menge::PortalPath::computeCrossing	(	const Vector2 &	startPos,
		float	agentRadius
	)

protected

Computes the crossing values for each portal.

Parameters

startPos	The 2D position where the path starts
agentRadius	The radius of the given agent.

size_t Menge::PortalPath::getCurrentPortal ( ) const

inline

Returns the index of the current portal (the portal the agent is currently headed towards.

Returns: The index of the current portal.

unsigned int Menge::PortalPath::getEndNode ( ) const

inline

Returns the identifier for the destination node on the path.

Returns: The destination node's index.

const BFSM::Goal* Menge::PortalPath::getGoal ( ) const

inline

Returns the goal.

Returns: The goal.

Vector2 Menge::PortalPath::getGoalCentroid ( ) const

inline

Returns the centroid of the goal.

Returns: The goal's centroid.

unsigned int Menge::PortalPath::getNode ( ) const

Reports the node the agent is currently in.

Returns: The index of the node associated with this location. If the location is not on a node, PortalPath::NO_NODE is returned.

unsigned int Menge::PortalPath::getNode ( size_t i ) const

Returns the id of the node traveled for the ith way point.

Parameters

i	The index of the ith way point.

Returns: The identifier of the node the agent would be travelling on while making progress toward the ith point.

const WayPortal* Menge::PortalPath::getPortal ( size_t i ) const

inline

Returns the ith portal.

Parameters

i	The index of the desired portal

Returns: A pointer to the ith portal.

size_t Menge::PortalPath::getPortalCount ( ) const

inline

Reports the number of portals in the path)

Returns: The number of portals.

Vector2 Menge::PortalPath::getWayPoint ( size_t i ) const

Returns the position of the ith way point.

Parameters

i	The index of the desired way point.

Returns: The 2d position of the desired way point.

size_t Menge::PortalPath::getWayPointCount ( ) const

inline

Reports the number of way points in the path (not including the goal)

Returns: The number of points (not including the goal).

void Menge::PortalPath::replan	(	const Vector2 &	startPos,
		unsigned int	startNode,
		unsigned int	endNode,
		float	minWidth,
		PathPlanner *	planner
	)

protected

Something has changed and the path has to replan.

Parameters

startPos	The starting position.
startNode	The starting node (startPos should lie on this node.)
endNode	The ending node.
minWidth	The minimum width required for clearance.
planner	The planner. ?? Extra stuff to do the funnel computation.

void Menge::PortalPath::setPreferredDirection	(	const Agents::BaseAgent *	agent,
		float	headingCos,
		Agents::PrefVelocity &	pVel
	)

Sets the directions in the preferred velocity from the path.

Parameters

agent	The agent for which the preferred direction should be computed.
headingCos	The cosine of the maximum allowable angular deviation of heading (between planned and realized) before a new funnel algorithm is triggered to improve the path.
pVel	The preferred velocity whose directions are to be set.

void Menge::PortalPath::setWaypoints	(	size_t	start,
		size_t	end,
		const Vector2 &	p0,
		const Vector2 &	dir
	)

Set the waypoints for all of the indicated way portals.

Parameters

start	The index of the first portal to set the crossing point.
end	The index of the first portal to stop at. In other words, portals in the open interval [start, end) will receive crossing values. end will not be included.
p0	The way point.
dir	The expected direction toward the way point along the path.

unsigned int Menge::PortalPath::updateLocation	(	const Agents::BaseAgent *	agent,
		const NavMeshPtr &	navMesh,
		const NavMeshLocalizer *	localizer,
		PathPlanner *	planner
	)

Updates the location of the agent relative to the nav mesh.

Parameters

agent	The agent whose location is updated.
navMesh	The navmesh for making queries.
localizer	The nav mesh localizer for identifying locations.
planner	The nav mesh path planner for creating new routes.

Returns: The index of the node the agent is in.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation