Kaim::BotConfig Class Reference

#include <botconfig.h>

Class Description

Class that aggregates all parameters that allow to configure the PathFinding and the PathFollowing of a Bot.

Each Bot has its own instance of BotConfig.

Examples:

Inherits Kaim::RefCountBase< C, Stat >.

Deprecated functions
void	SetTrajectoryMode (TrajectoryMode trajectoryMode)
TrajectoryMode	GetTrajectoryMode () const

Shape Config
KyFloat32	m_radius
KyFloat32	m_height

Trajectory Mode
TrajectoryMode	m_trajectoryMode

PathFind Config
PathFinderConfig	m_pathFinderConfig
ChannelComputerConfig	m_channelComputerConfig

Path Progress Config
PathProgressConfig	m_pathProgressConfig

Trajectory Config
KyFloat32	m_maxDesiredLinearSpeed
TrajectoryFailureMode	m_trajectoryFailureMode
ShortcutTrajectoryConfig	m_shortcutTrajectoryConfig
SplineTrajectoryConfig	m_splineTrajectoryConfig

Advanced Trajectory Config
KyFloat32	m_trajectoryMinimalMoveDistance

Trajectory Avoidance Config
bool	m_enableAvoidance
ColliderCollectorConfig	m_colliderCollectorConfig
AvoidanceConfig	m_avoidanceConfig

Member Data Documentation

AvoidanceConfig Kaim::BotConfig::m_avoidanceConfig

Configure the avoidance.

Examples:

ChannelComputerConfig Kaim::BotConfig::m_channelComputerConfig

Configure the channel computation, relevant when in TrajectoryMode_Spline.

Channel is a structure that represents the available space around the path.

The channel is mandatory to compute splines.

ColliderCollectorConfig Kaim::BotConfig::m_colliderCollectorConfig

Advanced settings which tell how Bot collects potential colliders (other bots, obstacles)

bool Kaim::BotConfig::m_enableAvoidance

Enable the Bot avoidance of other Bots and Obstacles.

default value:  false

Examples:

KyFloat32 Kaim::BotConfig::m_height

The Bot height in meter.

If set to 0.0f, the Bot will use m_database generation metrics height.

default value:  0.0f

KyFloat32 Kaim::BotConfig::m_maxDesiredLinearSpeed

The maximal linear speed for the Bot.

It is used to have a upper bound when estimating the Bot displacement in Trajectory computation and follow.

The computed velocity

default value:  5.0f

Examples:

PathFinderConfig Kaim::BotConfig::m_pathFinderConfig

Configure the Bot pathfinding.

PathProgressConfig Kaim::BotConfig::m_pathProgressConfig

Configures how the Bot progress on Path.

KyFloat32 Kaim::BotConfig::m_radius

The Bot radius in meter.

If set to 0.0f, the Bot will use m_database generation metrics radius.

default value:  0.0f

Examples:

ShortcutTrajectoryConfig Kaim::BotConfig::m_shortcutTrajectoryConfig

Configures the TrajectoryMode_Shortcut mode.

SplineTrajectoryConfig Kaim::BotConfig::m_splineTrajectoryConfig

Configures the TrajectoryMode_Spline mode.

TrajectoryFailureMode Kaim::BotConfig::m_trajectoryFailureMode

Choose between Safe or Unsafe behavior when Trajectory cannot follow the Path.

e.g. Bot is unexpectedly out of NavMesh, or UpperBound changed and current Trajectory is driving Bot after this new UpperBound.

default value:  TrajectoryFailureMode_Safe

KyFloat32 Kaim::BotConfig::m_trajectoryMinimalMoveDistance

The Trajectory velocity computation returns zero when the distance between the bot position and the target to reach is smaller than m_trajectoryMinimalMoveDistance.

This avoids to normalize epsilon-length vectors. In meters.

default value:  0.01f

TrajectoryMode Kaim::BotConfig::m_trajectoryMode

Choose Trajectory mode between Shortcut (Straight Line) and Spline (CircleArcSpline, also activate Channel computation with Path)

default value:  TrajectoryMode_Shortcut

Examples:

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

• gwnavruntime/world/botconfig.h