#include <astarquery.h>

Class Description

template<class TraverseLogic>
class Kaim::AStarQuery< TraverseLogic >

Runs an A-star algorithm to find a Path through the navigation data (NavMesh & NavGraph) from a starting point to a destination, refines the path found, and fills an object of type Path.

The template argument must be a class that have at least these three static functions :

bool CanTraverseNavTriangle(void* traverseLogicUserData, const NavTag& navTag)
bool CanTraverseAndGetCostMultiplier(void* traverseLogicUserData, const Kaim::NavTag& navTag, const Kaim::Vec3f& start,
    const Kaim::Vec3f& end, CostMultiplierCallContext callContext, KyFloat32& costMultiplier);
KyFloat32 GetHeuristicFromDistanceToDest(KyFloat32 distance3DToDestination) 

The template argument must also have to define a type CanEnterNavTagMode with typedef as follow, depending whether or not you have one-way navTag transition :

typedef DoNotUseCanEnterNavTag CanEnterNavTagMode; // this to indicate there is no One-Way navTag switch at all

or

typedef UseCanEnterNavTag CanEnterNavTagMode; // this to indicate there can be some One-Way navTag switched that need to be considered during pathFinding

If you are using UseCanEnterNavTag, you also have to implement this function :

bool CanEnterNavTag(const NavTag& exitNavTag, const NavTag& enterNavTag, const Vec3f& pos)

This function must tell if, at position pos, we can go from exitNavTag to enterNavTag. Please refer to the SimpleTraverseLogic class documentation for details on these functions Note that the template argument is stored in value within this class.

The propagation of the AStarQuery is bound to 2d oriented bounding box computed by inflating the segment going from startPos to destPos by a boxExtent that can be modified by calling the SetPropagationBoxExtent method. Note that bounds are only in 2D.

///                      Propagation bounding box
///  ____________________________________________________________________________
/// |                                                                           ^
/// |                                                                           |
/// |<----------->                                                 <----------->| boxExtent
/// |  boxExtent                                                      boxExtent |
/// |             x===============================================x             x
/// |        startPos                                         destPos           |
/// |                                                                           | boxExtent
/// |                                                                           |
/// |___________________________________________________________________________v
///

Examples:: gamekit/Tutorial_GameKitTraverseLogic.cpp, performance/Tutorial_MultiThreading.cpp, performance/Tutorial_MultiThreading_5_worlds.cpp, performance/Tutorial_NoTimeSlicing.cpp, Tutorial_FirstIntegration.cpp, Tutorial_Generation_postProcess.cpp, and Tutorial_QueryQueue.cpp.

Inherits Kaim::BaseAStarQuery.

Public Types
enum	PathFinderResult { PathFinderNotInitialized, PathFinderNotComputed, PathFinderUnderProcess, PathFinderSuccess, PathFinderFailure, PathFinderFailure_NavDataChanged }

Public Attributes
Database *	m_database

QueryStatusInQueue	m_inQueueStatus

QueryQueue *	m_queue

void *	m_traverseLogicUserData

Protected Attributes
Ptr< Path >	m_abstractPath

Vec3f	m_destInsidePos3f

Vec3f	m_destPos3f

NavTrianglePtr	m_destTrianglePtr

NavGraphEdgeDirection	m_navGraphEdgePathfindMode

KyFloat32	m_propagationBoxExtent

AStarQueryResult	m_result

Vec3f	m_startInsidePos3f

NavGraphEdgePtr	m_startNavGraphEdgePtr

NavGraphVertexPtr	m_startNavGraphVertexPtr

NavTrianglePtr	m_startTrianglePtr

Public Member Functions
	AStarQuery ()

virtual	~AStarQuery ()

Functions to set up the query
void	BindToDatabase (Database *database)

void	Initialize (const Vec3f &startPos, const Vec3f &destPos)

write accessors for query inputs
void	SetStartTrianglePtr (const NavTrianglePtr &startTrianglePtr)

void	SetStartNavGraphEdgePtr (const NavGraphEdgePtr &startNavGraphEdgePtr, NavGraphEdgeDirection navGraphEdgePathfindMode)

void	SetStartNavGraphVertexPtr (const NavGraphVertexPtr &startNavGraphVertexPtr)

void	SetDestTrianglePtr (const NavTrianglePtr &destTrianglePtr)

void	SetDestNavGraphEdgePtr (const NavGraphEdgePtr &startNavGraphEdgePtr, NavGraphEdgeDirection navGraphEdgePathfindMode)

void	SetDestNavGraphVertexPtr (const NavGraphVertexPtr &startNavGraphVertexPtr)

write accessors for query parameters
void	SetPropagationBoxExtent (KyFloat32 propagationBoxExtent)

void	SetTryCanGoMode (AStarQueryTryCanGoMode tryCanGoMode)

void	SetFromOutsideNavMeshDistance (KyFloat32 fromOutsideNavMeshDistance)

void	SetToOutsideNavMeshDistance (KyFloat32 toOutsideNavMeshDistance)

void	SetPositionSpatializationRange (const PositionSpatializationRange &positionSpatializationRange)

void	SetComputeChannelMode (PathFinderQueryComputeChannelMode computeChannelMode)

void	SetChannelComputerConfig (const ChannelComputerConfig &channelComputerConfig)

void	SetAbstractGraphTraversalMode (PathFinderAbstractGraphTraversalMode abstractGraphTraversalMode)

void	SetNumberOfProcessedNodePerFrame (KyUInt32 numberOfProcessedNodePerFrame)

Query framework functions
virtual void	Advance (WorkingMemory *workingMemory)

virtual void	ReleaseWorkingMemoryOnCancelDuringProcess (WorkingMemory *workingMemory=0)

Accessors
AStarQueryResult	GetResult () const

AStarQueryTryCanGoMode	GetTryCanGoMode () const

KyFloat32	GetFromOutsideNavMeshDistance () const

KyFloat32	GetToOutsideNavMeshDistance () const

KyFloat32	GetPropagationBoxExtent () const

const Vec3f &	GetStartPos () const

const Vec3f &	GetDestPos () const

const NavTrianglePtr &	GetStartTrianglePtr () const

const NavGraphEdgePtr &	GetStartNavGraphEdgePtr () const

const NavGraphVertexPtr &	GetStartNavGraphVertexPtr () const

const NavTrianglePtr &	GetDestTrianglePtr () const

const NavGraphEdgePtr &	GetDestNavGraphEdgePtr () const

const NavGraphVertexPtr &	GetDestNavGraphVertexPtr () const

Path *	GetPath () const

KyUInt32	GetNumberOfProcessedNodePerFrame () const

const PositionSpatializationRange &	GetPositionSpatializationRange () const

void	ComputePathRefinerConfigInternals ()

const PathRefinerConfig &	GetPathRefinerConfig () const

Public Member Functions
ChannelArray *	GetChannelArray () const

void	SetNavigationProfileId (KyUInt32 navigationProfileId)

KyUInt32	GetNavigationProfileId () const

Public Data Members
Vec3f	m_startPos3f

Ptr< Path >	m_path

KyUInt32	m_navigationProfileId

PathFinderQueryComputeChannelMode	m_computeChannelMode

ChannelComputerConfig	m_channelComputerConfig

KyUInt32	m_dataBaseChangeIdx

bool	m_enableAdvancedVisualDebug

Main API functions
virtual void	GetPathFinderTextResult (String &) const

virtual void	DisplayPropagationBounds (ScopedDisplayList &displayList) const

virtual PathFinderResult	GetPathFinderResult () const

virtual const Vec3f *	GetDestination () const

PathFinderQueryComputeChannelMode	GetComputeChannelMode () const

const ChannelComputerConfig &	GetChannelComputerConfig () const

Path *	GetAbstractPath () const

PathFinderAbstractGraphTraversalMode	GetAbstractGraphTraversalMode () const

Main API Functions
bool	CanBeInitialized () const

bool	IsInAQueryQueue () const

bool	IsSafeToReadResult () const

void	PerformQueryBlocking (WorkingMemory *workingMemory=0)

void	OnDone ()

KyResult	SendVisualDebug ()

void	SetTraverseLogicUserData (void *traverseLogicUserData)

void *	GetTraverseLogicUserData () const

For internal use only
static const char *	GetQueryTypeName (QueryType queryType)

Public Data Members
QueryProcessStatus	m_processStatus

Ptr< IOnDone >	m_onDone

Public Member Functions
void	Initialize ()

Member Enumeration Documentation

enum Kaim::IPathFinderQuery::PathFinderResult

inherited

Enumerates the possible status of a IPathFinderQuery.

Enumerator
PathFinderNotInitialized	The IPathFinderQuery is not yet initialized.
PathFinderNotComputed	The IPathFinderQuery is initialized but has not been processed.
PathFinderUnderProcess	The IPathFinderQuery is currently under process.
PathFinderSuccess	The IPathFinderQuery has been completed and a Path has been found.
PathFinderFailure	The IPathFinderQuery has been completed but no Path has been found.
PathFinderFailure_NavDataChanged	The IPathFinderQuery ended prematurely due to changes into NavData.

Member Function Documentation

template<class TLogic >

KY_EXIT_CLASS_SCOPE_END void Kaim::AStarQuery< TLogic >::Advance ( WorkingMemory * workingMemory )

inlinevirtual

Performs a single iteration of the PathFinder.

This function is called by the QueryQueue to process one step on the query. It MUST NEVER, under any circumstances, take too long. As a guideline, consider 0.1ms as too long.

It is under the responsibility of this function to update m_processStatus. Obviously, if the query is atomic (i.e. not time-sliced), a call to Advance() will fully perform the query and set m_processStatus to QueryDone. If the query is time-sliced, several calls to Advance() will be needed to complete the query; the first call should set m_processStatus to Kaim::QueryInProcess and the last one to Kaim::QueryDone.

Parameters

workingMemory Sandbox memory used to perform queries.

Implements Kaim::IQuery.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::BindToDatabase ( Database * database )

Binds the query with the specified Database, clears all the inputs and outputs and sets all other parameters to their default value (they may be changed by calling the corresponding write accessors.)

Parameters

database A pointer to the Database on which the query must be performed.

Examples:: performance/Tutorial_MultiThreading.cpp, and Tutorial_FirstIntegration.cpp.

bool Kaim::IQuery::CanBeInitialized ( ) const

inlineinherited

In the case of a query processed in a QueryQueue, this must be tested before initializing the query, to prevent modifying the query during the process.

virtual void Kaim::BaseAStarQuery::DisplayPropagationBounds ( ScopedDisplayList & ) const

virtualinherited

Fill the displayList with display info that may help to understand a PathFinderFailure (mainly propagation bounds)

Reimplemented from Kaim::IPathFinderQuery.

const Vec3f * Kaim::BaseAStarQuery::GetDestination ( ) const

inlinevirtualinherited

This function is virtual because not all the PathFinders have a preset destination, it may return KY_NULL.

Implements Kaim::IPathFinderQuery.

virtual void Kaim::BaseAStarQuery::GetPathFinderTextResult ( String & ) const

virtualinherited

Fills the String with an explanation of the result. Use this to debug your pathfinder query.

Reimplemented from Kaim::IPathFinderQuery.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::Initialize	(	const Vec3f &	startPos,
		const Vec3f &	destPos
	)

Sets an instance of this class with minimum input requirements.

Clears all the input and output, lets all configuration parameters unchanged. They may be changed by calling the corresponding write accessors.

Parameters

startPos	Sets the value of m_startPos3f.
destPos	Sets the value of m_destPos3f.

void Kaim::ITimeSlicedQuery::Initialize ( )

inlineinherited

Should be called by the derived class before trying to perform the query or to push it in a QueryQueue.

This function calls IQuery::Initialize().

bool Kaim::IQuery::IsInAQueryQueue ( ) const

inlineinherited

Returns true if the query is currently registered in a QueryQueue.

If true, you must not push it again in QueryQueue (even the same one).

If false, you must not try to cancel it from the QueryQueue.

bool Kaim::IQuery::IsSafeToReadResult ( ) const

inlineinherited

Returns true if the query has been processed, is no longer in a queue, and OnDone (if there is one) has been called.

If true, it's guaranteed to be safe to read the results of this query.

Will return false if the Query has been cancelled or has not yet been processed.

void Kaim::IQuery::OnDone ( )

inlineinherited

Calls the OnDone function of the IOnDone object if provided.

Called automatically by the QueryQueue during the World::Update() (in FlushQueries() step) when this query has been completed.

Not called if this query is canceled.

Note that the member m_onDone is reset to KY_NULL at the end of this function.

void Kaim::IQuery::PerformQueryBlocking ( WorkingMemory * workingMemory = 0 )

inherited

Process the query at once whether it is time-sliced or not.

Parameters

workingMemory Sandbox memory used to perform queries. If let to KY_NULL, the m_database internal WorkingMemory is used.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::ReleaseWorkingMemoryOnCancelDuringProcess ( WorkingMemory * workingMemory = 0 )

inlinevirtual

Called when a query is canceled in FlushCommands while its status is QueryInProcess to make sure that the WorkingMemory is left in valid state (typically, no WorkingMemory buffer should be in used after this call).

Implements Kaim::ITimeSlicedQuery.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetAbstractGraphTraversalMode ( PathFinderAbstractGraphTraversalMode abstractGraphTraversalMode )

inline

Write accessor for TraversalParams::m_abstractGraphTraversalMode.

Call this method after BindToDatabase(), during which TraversalParams::m_abstractGraphTraversalMode is set to its default value.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetChannelComputerConfig ( const ChannelComputerConfig & channelComputerConfig )

inline

Write accessor for m_channelComputerConfig.

Call this method after BindToDatabase(), during which m_channelComputerConfig is set to its default value.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetComputeChannelMode ( PathFinderQueryComputeChannelMode computeChannelMode )

inline

Write accessor for m_computeChannelMode.

Call this method after BindToDatabase(), during which m_computeChannelMode is set to its default value.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetDestNavGraphEdgePtr	(	const NavGraphEdgePtr &	startNavGraphEdgePtr,
		NavGraphEdgeDirection	navGraphEdgePathfindMode
	)

inline

Optional NavGraph edge you want the dest position must be considered to lie on.

If specified, we won't try to project the dest position in the NavMesh and the path, if found, will end on this NavGraphEdge.

Call this method after Initialize(), during which it is cleared.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetDestNavGraphVertexPtr ( const NavGraphVertexPtr & startNavGraphVertexPtr )

inline

Optional NavGraph Vertex you want the dest position must be considered to be on.

If specified, we won't try to project the dest position in the NavMesh and the path, if found, will end on this navGraphVertex.

Note that you pass the same NavGraphVertexPtr to SetStartNavGraphVertexPtr and SetDestNavGraphVertexPtr, no path will be calculated.

Call this method after Initialize(), during which it is cleared.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetDestTrianglePtr ( const NavTrianglePtr & destTrianglePtr )

inline

The NavMesh triangle that corresponds to m_destPos3f.

If a valid NavTrianglePtr is specified, this value will be used.

If no value is specified, it will be automatically computed during the query.

Call this method after Initialize(), during which it is cleared.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetFromOutsideNavMeshDistance ( KyFloat32 fromOutsideNavMeshDistance )

inline

Write accessor for TraversalParams::m_fromOutsideNavMeshDistance.

Call this method after BindToDatabase(), during which TraversalParams::m_fromOutsideNavMeshDistance is set to its default value.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetNumberOfProcessedNodePerFrame ( KyUInt32 numberOfProcessedNodePerFrame )

inline

Write accessor for TraversalParams::m_numberOfVisitedNodePerFrame.

Call this method after BindToDatabase(), during which TraversalParams::m_numberOfVisitedNodePerFrame is set to its default value.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetPositionSpatializationRange ( const PositionSpatializationRange & positionSpatializationRange )

inline

Write accessor for TraversalParams::m_positionSpatializationRange.

Call this method after BindToDatabase(), during which TraversalParams::m_positionSpatializationRange is set to its default value.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetPropagationBoxExtent ( KyFloat32 propagationBoxExtent )

inline

Write accessor for m_propagationBoxExtent.

Call this method after BindToDatabase(), during which m_propagationBoxExtent is set to its default value.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetStartNavGraphEdgePtr	(	const NavGraphEdgePtr &	startNavGraphEdgePtr,
		NavGraphEdgeDirection	navGraphEdgePathfindMode
	)

inline

Optional NavGraph edge you want the start position must be considered to lie on.

If specified, we won't try to project the startPosition in the NavMesh and the path, if found, will start on this NavGraphEdge.

Call this method after Initialize(), during which it is cleared.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetStartNavGraphVertexPtr ( const NavGraphVertexPtr & startNavGraphVertexPtr )

inline

Optional NavGraph Vertex you want the start position must be considered to be on.

If specified, we won't try to project the startPosition in the NavMesh and the path, if found, will start on this navGraphVertex.

Call this method after Initialize(), during which it is cleared.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetStartTrianglePtr ( const NavTrianglePtr & startTrianglePtr )

inline

The NavMesh triangle that corresponds to m_startPos3f.

If a valid NavTrianglePtr is specified, this value will be used.

If no value is specified, it will be automatically computed during the query. Call this method after Initialize(), during which it is cleared.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetToOutsideNavMeshDistance ( KyFloat32 toOutsideNavMeshDistance )

inline

Write accessor for TraversalParams::m_toOutsideNavMeshDistance.

Call this method after BindToDatabase(), during which TraversalParams::m_toOutsideNavMeshDistance is set to its default value.

void Kaim::IQuery::SetTraverseLogicUserData ( void * traverseLogicUserData )

inlineinherited

Should be set for queries templated by a traverse logic, useless otherwise.

template<class TLogic >

void Kaim::AStarQuery< TLogic >::SetTryCanGoMode ( AStarQueryTryCanGoMode tryCanGoMode )

inline

Write accessor for m_tryCanGoMode.

Call this method after BindToDatabase(), during which m_tryCanGoMode is set to its default value.

Member Data Documentation

Ptr<Path> Kaim::BaseAStarQuery::m_abstractPath

protectedinherited

The Abstract Path found by the query.

ChannelComputerConfig Kaim::IPathFinderQuery::m_channelComputerConfig

inherited

The parameter set specific to Channels computation.

PathFinderQueryComputeChannelMode Kaim::IPathFinderQuery::m_computeChannelMode

inherited

The mode toggling Channels computation.

Database* Kaim::IQuery::m_database

inherited

The database on which the query will be performed. Set in Initialize(), do not directly modify.

KyUInt32 Kaim::IPathFinderQuery::m_dataBaseChangeIdx

inherited

Stores the revision of the Database when the Path has been computed.

Vec3f Kaim::BaseAStarQuery::m_destInsidePos3f

protectedinherited

if m_destPos3f is slightly outside and we hook on the NavMesh, it is the computed inside pos, else it is equal to m_destPos3f.

Vec3f Kaim::BaseAStarQuery::m_destPos3f

protectedinherited

The destination point for the path request.

NavTrianglePtr Kaim::BaseAStarQuery::m_destTrianglePtr

protectedinherited

The NavMesh triangle that corresponds to m_destPos3f.

If a valid NavTrianglePtr is specified, this value will be used.

If no value is specified, it will be automatically computed during the query.

As an input AND output parameter, this member is cleared during the Setup of the Query and should therefore be specified

QueryStatusInQueue Kaim::IQuery::m_inQueueStatus

inherited

Used by the QueryQueue. Do not modify.

NavGraphEdgeDirection Kaim::BaseAStarQuery::m_navGraphEdgePathfindMode

protectedinherited

Whether we should pathfind on that edge both ways or not.

Ptr<IOnDone> Kaim::IQuery::m_onDone

inherited

The optional IOnDone instance to be called. Must be set manually by the user. See IOnDone.

Ptr<Path> Kaim::IPathFinderQuery::m_path

inherited

The Path found by the query.

QueryProcessStatus Kaim::IQuery::m_processStatus

inherited

Modified by the query within Advance().

Do not modify.

Before reading m_processStatus, always ensure IsInAQueryQueue() returns false.

KyFloat32 Kaim::BaseAStarQuery::m_propagationBoxExtent

protectedinherited

the propagation is limited to a 2d oriented bounding box computed by inflating the segment going from startPos to destPos by this value

QueryQueue* Kaim::IQuery::m_queue

inherited

Updated by the QueryQueue. Do not modify.

AStarQueryResult Kaim::BaseAStarQuery::m_result

protectedinherited

Updated during processing to indicate the result of the PathFinderQueryResult query.

Vec3f Kaim::BaseAStarQuery::m_startInsidePos3f

protectedinherited

if m_startPos3f is slightly outside and we hook on the NavMesh, it is the computed inside pos, else it is equal to m_startPos3f.

NavGraphEdgePtr Kaim::BaseAStarQuery::m_startNavGraphEdgePtr

protectedinherited

When this NavGraph edge is valid, that means that you want the path to start with that edge.

NavGraphVertexPtr Kaim::BaseAStarQuery::m_startNavGraphVertexPtr

protectedinherited

When this NavGraph vertex is valid, that means that you want the path to start at that vertice.

Vec3f Kaim::IPathFinderQuery::m_startPos3f

inherited

The starting position for the Path request.

NavTrianglePtr Kaim::BaseAStarQuery::m_startTrianglePtr

protectedinherited

The NavMesh triangle that corresponds to m_startPos3f.

If a valid NavTrianglePtr is specified, this value will be used.

If no value is specified, it will be automatically computed during the query.

As an input AND output parameter, this member is cleared during the Setup of the Query and should therefore be specified

void* Kaim::IQuery::m_traverseLogicUserData

inherited

This userData is typically passed by the Bot.

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

gwnavruntime/queries/astarquery.h
gwnavruntime/queries/astarquery.inl

Kaim::AStarQuery< TraverseLogic > Class Template Reference

Class Description

template<class TraverseLogic> class Kaim::AStarQuery< TraverseLogic >

Public Types

Public Attributes

Protected Attributes

Public Member Functions

Functions to set up the query

write accessors for query inputs

write accessors for query parameters

Query framework functions

Accessors

Public Member Functions

Public Data Members

Main API functions

Main API Functions

For internal use only

Public Data Members

Public Member Functions

Member Enumeration Documentation

Member Function Documentation

Member Data Documentation

template<class TraverseLogic>
class Kaim::AStarQuery< TraverseLogic >