Urho3D::NavigationMesh Class Reference

Navigation mesh component. Collects the navigation geometry from child nodes with the Navigable component and responds to path queries. More...

#include <Urho3D/Navigation/NavigationMesh.h>

Inheritance diagram for Urho3D::NavigationMesh:

Collaboration diagram for Urho3D::NavigationMesh:

Public Member Functions
	NavigationMesh (Context *context)
	Construct.
virtual	~NavigationMesh ()
	Destruct.
virtual void	DrawDebugGeometry (DebugRenderer *debug, bool depthTest)
	Visualize the component as debug geometry.
void	SetTileSize (int size)
	Set tile size.
void	SetCellSize (float size)
	Set cell size.
void	SetCellHeight (float height)
	Set cell height.
void	SetAgentHeight (float height)
	Set navigation agent height.
void	SetAgentRadius (float radius)
	Set navigation agent radius.
void	SetAgentMaxClimb (float maxClimb)
	Set navigation agent max vertical climb.
void	SetAgentMaxSlope (float maxSlope)
	Set navigation agent max slope.
void	SetRegionMinSize (float size)
	Set region minimum size.
void	SetRegionMergeSize (float size)
	Set region merge size.
void	SetEdgeMaxLength (float length)
	Set edge max length.
void	SetEdgeMaxError (float error)
	Set edge max error.
void	SetDetailSampleDistance (float distance)
	Set detail sampling distance.
void	SetDetailSampleMaxError (float error)
	Set detail sampling maximum error.
void	SetPadding (const Vector3 &padding)
	Set padding of the navigation mesh bounding box. Having enough padding allows to add geometry on the extremities of the navigation mesh when doing partial rebuilds.
void	SetAreaCost (unsigned areaID, float cost)
	Set the cost of an area.
virtual bool	Build ()
	Rebuild the navigation mesh. Return true if successful.
virtual bool	Build (const BoundingBox &boundingBox)
	Rebuild part of the navigation mesh contained by the world-space bounding box. Return true if successful.
Vector3	FindNearestPoint (const Vector3 &point, const Vector3 &extents=Vector3::ONE, const dtQueryFilter *filter=0, dtPolyRef *nearestRef=0)
	Find the nearest point on the navigation mesh to a given point. Extents specifies how far out from the specified point to check along each axis.
Vector3	MoveAlongSurface (const Vector3 &start, const Vector3 &end, const Vector3 &extents=Vector3::ONE, int maxVisited=3, const dtQueryFilter *filter=0)
	Try to move along the surface from one point to another.
void	FindPath (PODVector< Vector3 > &dest, const Vector3 &start, const Vector3 &end, const Vector3 &extents=Vector3::ONE, const dtQueryFilter *filter=0)
	Find a path between world space points. Return non-empty list of points if successful. Extents specifies how far off the navigation mesh the points can be.
void	FindPath (PODVector< NavigationPathPoint > &dest, const Vector3 &start, const Vector3 &end, const Vector3 &extents=Vector3::ONE, const dtQueryFilter *filter=0)
	Find a path between world space points. Return non-empty list of navigation path points if successful. Extents specifies how far off the navigation mesh the points can be.
Vector3	GetRandomPoint (const dtQueryFilter *filter=0, dtPolyRef *randomRef=0)
	Return a random point on the navigation mesh.
Vector3	GetRandomPointInCircle (const Vector3 &center, float radius, const Vector3 &extents=Vector3::ONE, const dtQueryFilter *filter=0, dtPolyRef *randomRef=0)
	Return a random point on the navigation mesh within a circle. The circle radius is only a guideline and in practice the returned point may be further away.
float	GetDistanceToWall (const Vector3 &point, float radius, const Vector3 &extents=Vector3::ONE, const dtQueryFilter *filter=0, Vector3 *hitPos=0, Vector3 *hitNormal=0)
	Return distance to wall from a point. Maximum search radius must be specified.
Vector3	Raycast (const Vector3 &start, const Vector3 &end, const Vector3 &extents=Vector3::ONE, const dtQueryFilter *filter=0, Vector3 *hitNormal=0)
	Perform a walkability raycast on the navigation mesh between start and end and return the point where a wall was hit, or the end point if no walls.
void	DrawDebugGeometry (bool depthTest)
	Add debug geometry to the debug renderer.
String	GetMeshName () const
	Return the given name of this navigation mesh.
void	SetMeshName (const String &newName)
	Set the name of this navigation mesh.
int	GetTileSize () const
	Return tile size.
float	GetCellSize () const
	Return cell size.
float	GetCellHeight () const
	Return cell height.
float	GetAgentHeight () const
	Return navigation agent height.
float	GetAgentRadius () const
	Return navigation agent radius.
float	GetAgentMaxClimb () const
	Return navigation agent max vertical climb.
float	GetAgentMaxSlope () const
	Return navigation agent max slope.
float	GetRegionMinSize () const
	Return region minimum size.
float	GetRegionMergeSize () const
	Return region merge size.
float	GetEdgeMaxLength () const
	Return edge max length.
float	GetEdgeMaxError () const
	Return edge max error.
float	GetDetailSampleDistance () const
	Return detail sampling distance.
float	GetDetailSampleMaxError () const
	Return detail sampling maximum error.
const Vector3 &	GetPadding () const
	Return navigation mesh bounding box padding.
float	GetAreaCost (unsigned areaID) const
	Get the current cost of an area.
bool	IsInitialized () const
	Return whether has been initialized with valid navigation data.
const BoundingBox &	GetBoundingBox () const
	Return local space bounding box of the navigation mesh.
BoundingBox	GetWorldBoundingBox () const
	Return world space bounding box of the navigation mesh.
IntVector2	GetNumTiles () const
	Return number of tiles.
void	SetPartitionType (NavmeshPartitionType aType)
	Set the partition type used for polygon generation.
NavmeshPartitionType	GetPartitionType () const
	Return Partition Type.
virtual void	SetNavigationDataAttr (const PODVector< unsigned char > &value)
	Set navigation data attribute.
virtual PODVector< unsigned char >	GetNavigationDataAttr () const
	Return navigation data attribute.
void	SetDrawOffMeshConnections (bool enable)
	Draw debug geometry for OffMeshConnection components.
bool	GetDrawOffMeshConnections () const
	Return whether to draw OffMeshConnection components.
void	SetDrawNavAreas (bool enable)
	Draw debug geometry for NavArea components.
bool	GetDrawNavAreas () const
	Return whether to draw NavArea components.
Public Member Functions inherited from Urho3D::Component
	Component (Context *context)
	Construct.
virtual	~Component ()
	Destruct.
virtual void	OnSetEnabled ()
	Handle enabled/disabled state change.
virtual bool	Save (Serializer &dest) const
	Save as binary data. Return true if successful.
virtual bool	SaveXML (XMLElement &dest) const
	Save as XML data. Return true if successful.
virtual bool	SaveJSON (JSONValue &dest) const
	Save as JSON data. Return true if successful.
virtual void	MarkNetworkUpdate ()
	Mark for attribute check on the next network update.
virtual void	GetDependencyNodes (PODVector< Node * > &dest)
	Return the depended on nodes to order network updates.
void	SetEnabled (bool enable)
	Set enabled/disabled state.
void	Remove ()
	Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
unsigned	GetID () const
	Return ID.
Node *	GetNode () const
	Return scene node.
Scene *	GetScene () const
	Return the scene the node belongs to.
bool	IsEnabled () const
	Return whether is enabled.
bool	IsEnabledEffective () const
	Return whether is effectively enabled (node is also enabled.)
Component *	GetComponent (StringHash type) const
	Return component in the same scene node by type. If there are several, returns the first.
void	GetComponents (PODVector< Component * > &dest, StringHash type) const
	Return components in the same scene node by type.
template<class T >
T *	GetComponent () const
	Template version of returning a component in the same scene node by type.
template<class T >
void	GetComponents (PODVector< T * > &dest) const
	Template version of returning components in the same scene node by type.
void	AddReplicationState (ComponentReplicationState *state)
	Add a replication state that is tracking this component.
void	PrepareNetworkUpdate ()
	Prepare network update by comparing attributes and marking replication states dirty as necessary.
void	CleanupConnection (Connection *connection)
	Clean up all references to a network connection that is about to be removed.
Public Member Functions inherited from Urho3D::Animatable
	Animatable (Context *context)
	Construct.
virtual	~Animatable ()
	Destruct.
virtual bool	LoadXML (const XMLElement &source, bool setInstanceDefault=false)
	Load from XML data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
virtual bool	LoadJSON (const JSONValue &source, bool setInstanceDefault=false)
	Load from JSON data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
void	SetAnimationEnabled (bool enable)
	Set automatic update of animation, default true.
void	SetAnimationTime (float time)
	Set time position of all attribute animations or an object animation manually. Automatic update should be disabled in this case.
void	SetObjectAnimation (ObjectAnimation *objectAnimation)
	Set object animation.
void	SetAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode=WM_LOOP, float speed=1.0f)
	Set attribute animation.
void	SetAttributeAnimationWrapMode (const String &name, WrapMode wrapMode)
	Set attribute animation wrap mode.
void	SetAttributeAnimationSpeed (const String &name, float speed)
	Set attribute animation speed.
void	SetAttributeAnimationTime (const String &name, float time)
	Set attribute animation time position manually. Automatic update should be disabled in this case.
void	RemoveObjectAnimation ()
	Remove object animation. Same as calling SetObjectAnimation with a null pointer.
void	RemoveAttributeAnimation (const String &name)
	Remove attribute animation. Same as calling SetAttributeAnimation with a null pointer.
bool	GetAnimationEnabled () const
	Return animation enabled.
ObjectAnimation *	GetObjectAnimation () const
	Return object animation.
ValueAnimation *	GetAttributeAnimation (const String &name) const
	Return attribute animation.
WrapMode	GetAttributeAnimationWrapMode (const String &name) const
	Return attribute animation wrap mode.
float	GetAttributeAnimationSpeed (const String &name) const
	Return attribute animation speed.
float	GetAttributeAnimationTime (const String &name) const
	Return attribute animation time position.
void	SetObjectAnimationAttr (const ResourceRef &value)
	Set object animation attribute.
ResourceRef	GetObjectAnimationAttr () const
	Return object animation attribute.
Public Member Functions inherited from Urho3D::Serializable
	Serializable (Context *context)
	Construct.
virtual	~Serializable ()
	Destruct.
virtual void	OnSetAttribute (const AttributeInfo &attr, const Variant &src)
	Handle attribute write access. Default implementation writes to the variable at offset, or invokes the set accessor.
virtual void	OnGetAttribute (const AttributeInfo &attr, Variant &dest) const
	Handle attribute read access. Default implementation reads the variable at offset, or invokes the get accessor.
virtual const Vector < AttributeInfo > *	GetAttributes () const
	Return attribute descriptions, or null if none defined.
virtual const Vector < AttributeInfo > *	GetNetworkAttributes () const
	Return network replication attribute descriptions, or null if none defined.
virtual bool	Load (Deserializer &source, bool setInstanceDefault=false)
	Load from binary data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
virtual void	ApplyAttributes ()
	Apply attribute changes that can not be applied immediately. Called after scene load or a network update.
virtual bool	SaveDefaultAttributes () const
	Return whether should save default-valued attributes into XML. Default false.
bool	SetAttribute (unsigned index, const Variant &value)
	Set attribute by index. Return true if successfully set.
bool	SetAttribute (const String &name, const Variant &value)
	Set attribute by name. Return true if successfully set.
void	ResetToDefault ()
	Reset all editable attributes to their default values.
void	RemoveInstanceDefault ()
	Remove instance's default values if they are set previously.
void	SetTemporary (bool enable)
	Set temporary flag. Temporary objects will not be saved.
void	SetInterceptNetworkUpdate (const String &attributeName, bool enable)
	Enable interception of an attribute from network updates. Intercepted attributes are sent as events instead of applying directly. This can be used to implement client side prediction.
void	AllocateNetworkState ()
	Allocate network attribute state.
void	WriteInitialDeltaUpdate (Serializer &dest, unsigned char timeStamp)
	Write initial delta network update.
void	WriteDeltaUpdate (Serializer &dest, const DirtyBits &attributeBits, unsigned char timeStamp)
	Write a delta network update according to dirty attribute bits.
void	WriteLatestDataUpdate (Serializer &dest, unsigned char timeStamp)
	Write a latest data network update.
bool	ReadDeltaUpdate (Deserializer &source)
	Read and apply a network delta update. Return true if attributes were changed.
bool	ReadLatestDataUpdate (Deserializer &source)
	Read and apply a network latest data update. Return true if attributes were changed.
Variant	GetAttribute (unsigned index) const
	Return attribute value by index. Return empty if illegal index.
Variant	GetAttribute (const String &name) const
	Return attribute value by name. Return empty if not found.
Variant	GetAttributeDefault (unsigned index) const
	Return attribute default value by index. Return empty if illegal index.
Variant	GetAttributeDefault (const String &name) const
	Return attribute default value by name. Return empty if not found.
unsigned	GetNumAttributes () const
	Return number of attributes.
unsigned	GetNumNetworkAttributes () const
	Return number of network replication attributes.
bool	IsTemporary () const
	Return whether is temporary.
bool	GetInterceptNetworkUpdate (const String &attributeName) const
	Return whether an attribute's network updates are being intercepted.
NetworkState *	GetNetworkState () const
	Return the network attribute state, if allocated.
Public Member Functions inherited from Urho3D::Object
	Object (Context *context)
	Construct.
virtual	~Object ()
	Destruct. Clean up self from event sender & receiver structures.
virtual StringHash	GetType () const =0
	Return type hash.
virtual const String &	GetTypeName () const =0
	Return type name.
virtual const TypeInfo *	GetTypeInfo () const =0
	Return type info.
virtual void	OnEvent (Object *sender, StringHash eventType, VariantMap &eventData)
	Handle event.
bool	IsInstanceOf (StringHash type) const
	Check current instance is type of specified type.
bool	IsInstanceOf (const TypeInfo *typeInfo) const
	Check current instance is type of specified type.
template<typename T >
bool	IsInstanceOf () const
	Check current instance is type of specified class.
void	SubscribeToEvent (StringHash eventType, EventHandler *handler)
	Subscribe to an event that can be sent by any sender.
void	SubscribeToEvent (Object *sender, StringHash eventType, EventHandler *handler)
	Subscribe to a specific sender's event.
void	UnsubscribeFromEvent (StringHash eventType)
	Unsubscribe from an event.
void	UnsubscribeFromEvent (Object *sender, StringHash eventType)
	Unsubscribe from a specific sender's event.
void	UnsubscribeFromEvents (Object *sender)
	Unsubscribe from a specific sender's events.
void	UnsubscribeFromAllEvents ()
	Unsubscribe from all events.
void	UnsubscribeFromAllEventsExcept (const PODVector< StringHash > &exceptions, bool onlyUserData)
	Unsubscribe from all events except those listed, and optionally only those with userdata (script registered events.)
void	SendEvent (StringHash eventType)
	Send event to all subscribers.
void	SendEvent (StringHash eventType, VariantMap &eventData)
	Send event with parameters to all subscribers. More...
VariantMap &	GetEventDataMap () const
	Return a preallocated map for event data. Used for optimization to avoid constant re-allocation of event data maps.
Context *	GetContext () const
	Return execution context.
const Variant &	GetGlobalVar (StringHash key) const
	Return global variable based on key.
const VariantMap &	GetGlobalVars () const
	Return all global variables.
void	SetGlobalVar (StringHash key, const Variant &value)
	Set global variable with the respective key and value.
Object *	GetSubsystem (StringHash type) const
	Return subsystem by type.
Object *	GetEventSender () const
	Return active event sender. Null outside event handling.
EventHandler *	GetEventHandler () const
	Return active event handler. Null outside event handling.
bool	HasSubscribedToEvent (StringHash eventType) const
	Return whether has subscribed to an event without specific sender.
bool	HasSubscribedToEvent (Object *sender, StringHash eventType) const
	Return whether has subscribed to a specific sender's event.
bool	HasEventHandlers () const
	Return whether has subscribed to any event.
template<class T >
T *	GetSubsystem () const
	Template version of returning a subsystem.
const String &	GetCategory () const
	Return object category. Categories are (optionally) registered along with the object factory. Return an empty string if the object category is not registered.
Public Member Functions inherited from Urho3D::RefCounted
	RefCounted ()
	Construct. Allocate the reference count structure and set an initial self weak reference.
virtual	~RefCounted ()
	Destruct. Mark as expired and also delete the reference count structure if no outside weak references exist.
void	AddRef ()
	Increment reference count. Can also be called outside of a SharedPtr for traditional reference counting.
void	ReleaseRef ()
	Decrement reference count and delete self if no more references. Can also be called outside of a SharedPtr for traditional reference counting.
int	Refs () const
	Return reference count.
int	WeakRefs () const
	Return weak reference count.
RefCount *	RefCountPtr ()
	Return pointer to the reference count structure.

Static Public Member Functions
static void	RegisterObject (Context *context)
	Register object factory.

Protected Member Functions
void	CollectGeometries (Vector< NavigationGeometryInfo > &geometryList)
	Collect geometry from under Navigable components.
void	CollectGeometries (Vector< NavigationGeometryInfo > &geometryList, Node *node, HashSet< Node * > &processedNodes, bool recursive)
	Visit nodes and collect navigable geometry. More...
void	GetTileGeometry (NavBuildData *build, Vector< NavigationGeometryInfo > &geometryList, BoundingBox &box)
	Get geometry data within a bounding box.
void	AddTriMeshGeometry (NavBuildData *build, Geometry *geometry, const Matrix3x4 &transform)
	Add a triangle mesh to the geometry data.
virtual bool	BuildTile (Vector< NavigationGeometryInfo > &geometryList, int x, int z)
	Build one tile of the navigation mesh. Return true if successful. More...
bool	InitializeQuery ()
	Ensure that the navigation mesh query is initialized. Return true if successful.
virtual void	ReleaseNavigationMesh ()
	Release the navigation mesh and the query.
Protected Member Functions inherited from Urho3D::Component
virtual void	OnAttributeAnimationAdded ()
	Handle attribute animation added.
virtual void	OnAttributeAnimationRemoved ()
	Handle attribute animation removed.
virtual void	OnNodeSet (Node *node)
	Handle scene node being assigned at creation.
virtual void	OnSceneSet (Scene *scene)
	Handle scene being assigned. This may happen several times during the component's lifetime. Scene-wide subsystems and events are subscribed to here.
virtual void	OnMarkedDirty (Node *node)
	Handle scene node transform dirtied.
virtual void	OnNodeSetEnabled (Node *node)
	Handle scene node enabled status changing.
void	SetID (unsigned id)
	Set ID. Called by Scene.
void	SetNode (Node *node)
	Set scene node. Called by Node when creating the component.
void	HandleAttributeAnimationUpdate (StringHash eventType, VariantMap &eventData)
	Handle scene attribute animation update event.
Component *	GetFixedUpdateSource ()
	Return a component from the scene root that sends out fixed update events (either PhysicsWorld or PhysicsWorld2D). Return null if neither exists.
Protected Member Functions inherited from Urho3D::Animatable
virtual Animatable *	FindAttributeAnimationTarget (const String &name, String &outName)
	Find target of an attribute animation from object hierarchy by name.
void	SetObjectAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode, float speed)
	Set object attribute animation internal.
void	OnObjectAnimationAdded (ObjectAnimation *objectAnimation)
	Handle object animation added.
void	OnObjectAnimationRemoved (ObjectAnimation *objectAnimation)
	Handle object animation removed.
void	UpdateAttributeAnimations (float timeStep)
	Update attribute animations.
bool	IsAnimatedNetworkAttribute (const AttributeInfo &attrInfo) const
	Is animated network attribute.
AttributeAnimationInfo *	GetAttributeAnimationInfo (const String &name) const
	Return attribute animation info.
void	HandleAttributeAnimationAdded (StringHash eventType, VariantMap &eventData)
	Handle attribute animation added.
void	HandleAttributeAnimationRemoved (StringHash eventType, VariantMap &eventData)
	Handle attribute animation removed.

Protected Attributes
String	meshName_
	Identifying name for this navigation mesh.
dtNavMesh *	navMesh_
	Detour navigation mesh.
dtNavMeshQuery *	navMeshQuery_
	Detour navigation mesh query.
dtQueryFilter *	queryFilter_
	Detour navigation mesh query filter.
FindPathData *	pathData_
	Temporary data for finding a path.
int	tileSize_
	Tile size.
float	cellSize_
	Cell size.
float	cellHeight_
	Cell height.
float	agentHeight_
	Navigation agent height.
float	agentRadius_
	Navigation agent radius.
float	agentMaxClimb_
	Navigation agent max vertical climb.
float	agentMaxSlope_
	Navigation agent max slope.
float	regionMinSize_
	Region minimum size.
float	regionMergeSize_
	Region merge size.
float	edgeMaxLength_
	Edge max length.
float	edgeMaxError_
	Edge max error.
float	detailSampleDistance_
	Detail sampling distance.
float	detailSampleMaxError_
	Detail sampling maximum error.
Vector3	padding_
	Bounding box padding.
int	numTilesX_
	Number of tiles in X direction.
int	numTilesZ_
	Number of tiles in Z direction.
BoundingBox	boundingBox_
	Whole navigation mesh bounding box.
NavmeshPartitionType	partitionType_
	Type of the heightfield partitioning.
bool	keepInterResults_
	Keep internal build resources for debug draw modes.
bool	drawOffMeshConnections_
	Debug draw OffMeshConnection components.
bool	drawNavAreas_
	Debug draw NavArea components.
Vector< WeakPtr< NavArea > >	areas_
	NavAreas for this NavMesh.
Protected Attributes inherited from Urho3D::Component
Node *	node_
	Scene node.
unsigned	id_
	Unique ID within the scene.
bool	networkUpdate_
	Network update queued flag.
bool	enabled_
	Enabled flag.
Protected Attributes inherited from Urho3D::Animatable
bool	animationEnabled_
	Animation enabled.
SharedPtr< ObjectAnimation >	objectAnimation_
	Animation.
HashSet< const AttributeInfo * >	animatedNetworkAttributes_
	Animated network attribute set.
HashMap< String, SharedPtr < AttributeAnimationInfo > >	attributeAnimationInfos_
	Attribute animation infos.
Protected Attributes inherited from Urho3D::Serializable
NetworkState *	networkState_
	Network attribute state.
Protected Attributes inherited from Urho3D::Object
Context *	context_
	Execution context.

Private Member Functions
	URHO3D_OBJECT (NavigationMesh, Component)

Friends
class	CrowdManager

Detailed Description

Navigation mesh component. Collects the navigation geometry from child nodes with the Navigable component and responds to path queries.

Member Function Documentation

bool Urho3D::NavigationMesh::BuildTile ( Vector< NavigationGeometryInfo > &  geometryList, int  x, int  z  )

protectedvirtual

Build one tile of the navigation mesh. Return true if successful.

Todo:

Assignment of flags from navigation areas?

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void Urho3D::NavigationMesh::CollectGeometries ( Vector< NavigationGeometryInfo > &  geometryList, Node *  node, HashSet< Node * > &  processedNodes, bool  recursive  )

protected

Visit nodes and collect navigable geometry.

Todo:

Evaluate whether should handle other types. Now StaticModel & TerrainPatch are supported, others skipped

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

• Source/Urho3D/Navigation/NavigationMesh.h
• Source/Urho3D/Navigation/NavigationMesh.cpp