#include <channel.h>

Class Description

Channel enrich Path with clearance information on each side of the Path.

It's typically used to compute SplineTrajectory to drive the bot.

Inherits Kaim::RefCountBase< C, Stat >.

Main API Functions
KyUInt32	GetGateCount () const

const Gate &	GetGate (KyUInt32 index) const

const KyArray< Vec2f > &	GetPreChannelPolyline () const

const KyArray< Vec2f > &	GetPostChannelPolyline () const

KyUInt32	GetSectionCount () const

KyUInt32	GetLastSectionIdx () const

KyUInt32	GetSectionStartGateIdx (KyUInt32 sectionIdx) const

KyUInt32	GetSectionEndGateIdx (KyUInt32 sectionIdx) const

const Gate &	GetSectionStartGate (KyUInt32 sectionIdx) const

const Gate &	GetSectionEndGate (KyUInt32 sectionIdx) const

const Vec3f &	GetStartPos () const
	Returns the channel start position, i.e. More...

const Vec3f &	GetEndPos () const
	Returns the channel end position, i.e. More...

KyUInt32	GetFirstPathNodeIdx () const
	Return PathNodeIdx of the first gate. More...

KyUInt32	GetGatePathNodeIdx (KyUInt32 gateIndex) const
	Return PathNodeIdx of the gate at gateIndex. More...

bool	IsPositionInSection (const Vec2f &position, KyUInt32 sectionIndex, KyUInt32 &positionFlags) const
	Checks a provided 2D position is inside a channel section. More...

bool	IsPositionInSection (const Vec2f &position, KyUInt32 sectionIndex) const
	Just checks a provided 2D position is inside a channel section. More...

KyResult	GetSectionFromPositionAndSeed (const Kaim::Vec3f &previousPosition, KyUInt32 previousSectionIdx, const Kaim::Vec3f &newPosition, KyUInt32 &newSectionIdx) const
	Given a previous position and its section, computes the section for a new position that is supposed to be near the previous one. More...

KyResult	GetSectionFromPositionAndSeed_AlongBubble (const Bubble &bubble, const Kaim::Vec3f &previousPosition, KyUInt32 previousSectionIdx, const Kaim::Vec3f &newPosition, KyUInt32 &newSectionIdx) const
	Given a previous position and its section, computes the section for a new position that is supposed to be accessible from the previous one following a circle arc. More...

bool	IsConcaveCorner (KyUInt32 gateIdx, ChannelSide side) const

For internal use only
KyArray< Gate >	m_gates

KyArray< Vec2f >	m_preChannelPolyline

KyArray< Vec2f >	m_postChannelPolyline

KyUInt32	m_firstPathNodeIdx

KyResult	GetSectionFromPositionAndSeed (const Kaim::Vec3f &prevPos, KyUInt32 prevSectionIdx, const Kaim::Vec3f &newPos, KyUInt32 &newSectionIdx, KyFloat32 maxProgress) const

KyResult	GetSectionFromPositionAndSeed_Forward (const Kaim::Vec3f &prevPos, KyUInt32 prevGateIdx, const Kaim::Vec3f &newPos, KyUInt32 &newGateIdx, KyFloat32 maxProgress) const

KyResult	GetSectionFromPositionAndSeed_Backward (const Kaim::Vec3f &prevPos, KyUInt32 prevGateIdx, const Kaim::Vec3f &newPos, KyUInt32 &newGateIdx, KyFloat32 maxProgress) const

bool	IntersectSegmentVsPreChannelPolyline (const Vec2f &A, const Vec2f &B, Vec2f &intersection) const

bool	IntersectSegmentVsPostChannelPolyline (const Vec2f &A, const Vec2f &B, Vec2f &intersection) const

void	SendVisualDebug (DisplayListManager displayListManager, const ChannelDisplayConfig &displayConfig=ChannelDisplayConfig(), KyUInt32 indexInChannelArray=0, const char listBaseName="", const char *groupName="Channel", KyUInt32 visualDebugId=0xFFFFFFFF) const

Creation functions
KyResult	InitFromBlob (const ChannelBlob &channelBlob)
	These functions are expected to be used internally in Channel computation classes. More...

void	Initialize ()

void	Clear ()

void	AddGate (const Gate &gate)

Gate &	GetGate (KyUInt32 index)

void	SetPreChannelPolyline (const KyArray< Vec2f > &polyline)

void	SetPostChannelPolyline (const KyArray< Vec2f > &polyline)

void	SetPolylineFromBlob (const BlobArray< Vec2f > &polylineBlob, KyArray< Vec2f > &polyline)

void	SetFirstPathNodeIdx (KyUInt32 firstPathNodeIdx)

KyResult	ComputeChannelWidth ()

Member Function Documentation

const Vec3f& Kaim::Channel::GetEndPos ( ) const

inline

Returns the channel end position, i.e.

the m_pathPos of its last Gate.

Precondition: The Channel must not be empty.

KyUInt32 Kaim::Channel::GetFirstPathNodeIdx ( ) const

inline

Return PathNodeIdx of the first gate.

KyUInt32 Kaim::Channel::GetGatePathNodeIdx ( KyUInt32 gateIndex ) const

inline

Return PathNodeIdx of the gate at gateIndex.

KyResult Kaim::Channel::GetSectionFromPositionAndSeed	(	const Kaim::Vec3f &	previousPosition,
		KyUInt32	previousSectionIdx,
		const Kaim::Vec3f &	newPosition,
		KyUInt32 &	newSectionIdx
	)		const

Given a previous position and its section, computes the section for a new position that is supposed to be near the previous one.

KyResult Kaim::Channel::GetSectionFromPositionAndSeed_AlongBubble	(	const Bubble &	bubble,
		const Kaim::Vec3f &	previousPosition,
		KyUInt32	previousSectionIdx,
		const Kaim::Vec3f &	newPosition,
		KyUInt32 &	newSectionIdx
	)		const

Given a previous position and its section, computes the section for a new position that is supposed to be accessible from the previous one following a circle arc.

const Vec3f& Kaim::Channel::GetStartPos ( ) const

inline

Returns the channel start position, i.e.

the m_pathPos of its last Gate.

Precondition: The Channel must not be empty.

KyResult Kaim::Channel::InitFromBlob ( const ChannelBlob & channelBlob )

These functions are expected to be used internally in Channel computation classes.

Though you can use them when creating your own Channel.

bool Kaim::Channel::IsPositionInSection	(	const Vec2f &	position,
		KyUInt32	sectionIndex,
		KyUInt32 &	positionFlags
	)		const

Checks a provided 2D position is inside a channel section.

It updates positionFlags with a combination of the RelativePositionToChannelSectionFlag.

bool Kaim::Channel::IsPositionInSection	(	const Vec2f &	position,
		KyUInt32	sectionIndex
	)		const

inline

Just checks a provided 2D position is inside a channel section.

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

gwnavruntime/channel/channel.h
gwnavruntime/channel/channel.cpp

Kaim::Channel Class Reference

Class Description

Main API Functions

For internal use only

Creation functions

Member Function Documentation