Class Description

This class computes minimal trajectory made of just one velocity.

It can be configured to:

either always goes straight towards target on path at maxSpeed (when Avoidance is disabled)
or delegate to an IAvoidanceComputer the computation of a velocity compatible with surrounding moving obstacles and bots (when Avoidance is enabled).

BaseShortcutTrajectory is the non-templated abstract base class of the concrete ShortcutTrajectory<TraverseLogic>

Inherits Kaim::RefCountBase< C, Stat >.

Public Member Functions
	BaseShortcutTrajectory (Trajectory *trajectory)

virtual	~BaseShortcutTrajectory ()=0

void	Compute (KyFloat32 simulationTimeInSeconds)

void	Clear ()

void	ClearTrajectory ()

const Vec3f &	GetTrajectoryTarget () const

void	ForceTargetToTargetOnPath ()

void	ForceTargetToPosition (const Vec3f &forcedTarget)

For internal use only
Trajectory *	m_trajectory

ShortcutTrajectoryConfig	m_config

Ptr< IAvoidanceComputer >	m_avoidanceComputer

TargetOnPath	m_targetOnPath

bool	m_useTargetProvidedByUser

Vec3f	m_target

KyUInt32	m_lastUpdateIdx

ShortcutTrajectoryComputeMode	m_trajectoryComputeMode

bool	m_useMinimalTargetUpdate

bool	m_visualDebugBlobSent

Bot *	GetBot () const

void	SendVisualDebugBlob (VisualDebugServer &visualDebugServer, VisualDebugSendChangeEvent changeEvent)

void	RemoveAllVisualDebugBeforeTrajectoryChange (VisualDebugServer &visualDebugServer)

void	UpdateTarget (KyFloat32 simulationTimeInSeconds)

void	InitTargetOnPathIfNeeded ()

void	UpdateTrajectoryComputeMode ()

ShortcutTrajectoryComputeMode	GetComputeModeToApply () const

bool	CanUseTargetOnPath () const

void	ComputeStraightTrajectory (KyFloat32 simulationTimeInSeconds)

void	ComputeAvoidanceTrajectory (KyFloat32 simulationTimeInSeconds)

void	ComputeSnapOnPathTrajectory (KyFloat32 simulationTimeInSeconds)

virtual KyResult	ComputeTargetOnPath (KyFloat32 simulationTimeInSeconds)=0

virtual bool	IsShortcutTrajectoryAllowingToSkipPathFollowingThisFrame (KyFloat32 &simulationTimeInSeconds)=0

virtual KyResult	ComputeTargetOnPathOnNavMeshOnly (TargetOnPath &targetOnPath, KyFloat32 simulationTimeInSeconds, ComputeTargetOnPathSearchControl forwardSearchControl) const =0

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

Kaim::BaseShortcutTrajectory Class Reference