cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh
Class NavMesh

java.lang.Object
  cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh.NavMesh

All Implemented Interfaces:

IPathPlanner<ILocated>

public class NavMesh
extends Object
implements IPathPlanner<ILocated>

Class storing NavMesh data structures. Controlled from NavMeshModule.

Author:

Jakub Tomek, Jakub Gemrot aka Jimmy

Constructor Summary

NavMesh(IWorldView worldView, Logger log)

Method Summary

protected void	clear()
IPathFuture<ILocated>	computePath(ILocated from, ILocated to) Computes and returns a path between two points anywhere on the map.
protected void	eliminateUnreachablePolygons() Some polygons cannot be reached we find them with the help of navigation graph Definition: 1.
NavMeshBSPNode	getBiggestLeafInTree()
double	getDistanceFromEdge(Location location, javax.vecmath.Vector2d vector) Returns distance of the location from the navmesh's edge in the given direction.
double	getDistanceFromEdge(Location location, javax.vecmath.Vector2d vector, double rayLength) A simple implementation of NavMesh's 2D raycasting.
ArrayList	getNeighbourIdsToPolygon(int i) Gets an array of polygon ids by an polygon id
int	getNumberOfPolygonsInBiggestLeaf() Debug method: helps to describe BSP tree by telling the number of polygons in the biggest leaf (this should not bee too big. 5 is a good number.)
List<OffMeshPoint>	getOffMeshPoinsOnPolygon(int pId) Returns a List of offmeshpoints that are located on target polygon
ArrayList<OffMeshPoint>	getOffMeshPoints()
List<ILocated>	getPath(ILocated from, ILocated to) Computes and returns a path between two points anywhere on the map.
int[]	getPolygon(int i) Gets a polygon by its order
int	getPolygonIdByLocation(Location location) Gets the id of a polygon that contains this location
int	getPolygonIdByPoint3D(math.geom3d.Point3D point3D)
List<INavMeshAtom>	getPolygonPath(INavMeshAtom fromAtom, INavMeshAtom toAtom) Gets a List of polygons on which the path should go.
List<INavMeshAtom>	getPolygonPath(Location from, Location to) Calls the method with the same name but polygons as arguments and returns result
ArrayList	getPolygonsByVertex(int i) Gets a list of polygons containing this vertex
ArrayList<int[]>	getPolys()
double[]	getVertex(int i) Gets a vertex by its order
ArrayList<double[]>	getVerts()
boolean	isLoaded()
protected boolean	load(GameInfo info)
protected void	loadNavMeshFromCoreFile(File processedNavMeshFile)
protected void	loadSourceFile(File pureMeshFile)
int	polyCount() Returns the number of polygons in navmesh
protected void	resetBSPTree() Gets a new BSPTree for this mesh
protected void	resetOffMeshConnections() Creates off-mesh connections between polygons that does not share an edge, but there is a connection from one to the other in navigation graph.
protected void	resetSafeVerts() Resets the array of boolean values saying whether a vertex is at the edge of navmesh
protected void	resetVertsToPolys() Builds the resetVertsToPolys mapping array
protected void	saveNavMeshCore(String mapName)
void	setBiggestLeafInTree(NavMeshBSPNode node) Debug method: sets the biggest leaf so it can be easily found.
int	vertCount() Returns the number of vertices in navmesh

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

NavMesh

public NavMesh(IWorldView worldView,
               Logger log)

Method Detail

isLoaded

public boolean isLoaded()

clear

protected void clear()

load

protected boolean load(GameInfo info)

loadNavMeshFromCoreFile

protected void loadNavMeshFromCoreFile(File processedNavMeshFile)
                                throws FileNotFoundException,
                                       IOException,
                                       ClassNotFoundException

Throws:

FileNotFoundException

IOException

ClassNotFoundException

loadSourceFile

protected void loadSourceFile(File pureMeshFile)
                       throws NumberFormatException,
                              IOException

Throws:

NumberFormatException

IOException

resetVertsToPolys

protected void resetVertsToPolys()

Builds the resetVertsToPolys mapping array

resetSafeVerts

protected void resetSafeVerts()

Resets the array of boolean values saying whether a vertex is at the edge of navmesh

resetBSPTree

protected void resetBSPTree()

Gets a new BSPTree for this mesh

eliminateUnreachablePolygons

protected void eliminateUnreachablePolygons()

Some polygons cannot be reached we find them with the help of navigation graph Definition: 1. Any polygon with navigation point is reachable 2. Any polygon sharing edge with a reachable polygon is also reachable.

resetOffMeshConnections

protected void resetOffMeshConnections()

Creates off-mesh connections between polygons that does not share an edge, but there is a connection from one to the other in navigation graph. The endpoints are not necessarily polygons. Thay also may be off-mesh navpoints. This method also creates list of off-mesh points and also creates mappings between polygons and these points

saveNavMeshCore

protected void saveNavMeshCore(String mapName)

polyCount

public int polyCount()

Returns the number of polygons in navmesh

vertCount

public int vertCount()

Returns the number of vertices in navmesh

getPolygon

public int[] getPolygon(int i)

Gets a polygon by its order

getVertex

public double[] getVertex(int i)

Gets a vertex by its order

getPolygonsByVertex

public ArrayList getPolygonsByVertex(int i)

Gets a list of polygons containing this vertex

getNeighbourIdsToPolygon

public ArrayList getNeighbourIdsToPolygon(int i)

Gets an array of polygon ids by an polygon id

getOffMeshPoinsOnPolygon

public List<OffMeshPoint> getOffMeshPoinsOnPolygon(int pId)

Returns a List of offmeshpoints that are located on target polygon

Parameters:

pId -

Returns:

getNumberOfPolygonsInBiggestLeaf

public int getNumberOfPolygonsInBiggestLeaf()

Debug method: helps to describe BSP tree by telling the number of polygons in the biggest leaf (this should not bee too big. 5 is a good number.)

setBiggestLeafInTree

public void setBiggestLeafInTree(NavMeshBSPNode node)

Debug method: sets the biggest leaf so it can be easily found.

getPolygonIdByPoint3D

public int getPolygonIdByPoint3D(math.geom3d.Point3D point3D)

Parameters:

point3D -

Returns:

id of polygon on which is this point

getPolygonIdByLocation

public int getPolygonIdByLocation(Location location)

Gets the id of a polygon that contains this location

Parameters:

location -

Returns:

id of polygon or value < 0 if the is no such polygon

getPolygonPath

public List<INavMeshAtom> getPolygonPath(INavMeshAtom fromAtom,
                                         INavMeshAtom toAtom)

Gets a List of polygons on which the path should go.

Parameters:

from -

to -

Returns:

getPolygonPath

public List<INavMeshAtom> getPolygonPath(Location from,
                                         Location to)

Calls the method with the same name but polygons as arguments and returns result

Parameters:

from -

to -

Returns:

getPath

public List<ILocated> getPath(ILocated from,
                              ILocated to)

Computes and returns a path between two points anywhere on the map. If no such path is found, returns null;

Parameters:

from -

to -

Returns:

computePath

public IPathFuture<ILocated> computePath(ILocated from,
                                         ILocated to)

Computes and returns a path between two points anywhere on the map. If no such path is found, returns path of zero length;

Specified by:

computePath in interface IPathPlanner<ILocated>

Parameters:

from -

to -

Returns:

getDistanceFromEdge

public double getDistanceFromEdge(Location location,
                                  javax.vecmath.Vector2d vector,
                                  double rayLength)

A simple implementation of NavMesh's 2D raycasting. Returns distance from the edge of navmesh in a direction from a location if the entrire ray is inside navmesh of there is no navmesh it returns 0;

Parameters:

location -

vector -

Returns:

getDistanceFromEdge

public double getDistanceFromEdge(Location location,
                                  javax.vecmath.Vector2d vector)

Returns distance of the location from the navmesh's edge in the given direction. If location is not not on navmesh, 0 is returned

Parameters:

location -

vector -

Returns:

getOffMeshPoints

public ArrayList<OffMeshPoint> getOffMeshPoints()

getBiggestLeafInTree

public NavMeshBSPNode getBiggestLeafInTree()

getPolys

public ArrayList<int[]> getPolys()

getVerts

public ArrayList<double[]> getVerts()